version: 66.07.10.p01
glider: 574
mission: 4
dive: 534
start: 1 30 113 4 0 11
data:
$ID,574
$MISSION,4
$DIVE,534
$D_SURF,3
$D_FLARE,3
$D_TGT,920
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,10800
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,160
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9913.5381
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,3858
$C_PITCH,2980
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1735
$C_ROLL_CLIMB,1685
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,396
$VBD_MAX,3960
$C_VBD,2827
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.017719
$PRESSURE_SLOPE,0.00011710486
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.812
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043508084
$SEABIRD_T_H,0.00062732975
$SEABIRD_T_I,2.3669163e-05
$SEABIRD_T_J,2.5502761e-06
$SEABIRD_C_G,-9.9075203
$SEABIRD_C_H,1.1452845
$SEABIRD_C_I,-0.00093430834
$SEABIRD_C_J,0.0001541152
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,513
$GPS1,300113,035829,-4115.478,-356.545,40,1.5,41,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-76.9
$GPS2,300113,035948,-4115.476,-356.524,22,1.5,22,-22.6
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4103.000,-230.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,101.8,123033,-11.7,-5.287
$D_GRID,920
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,50,0.00,0.00,-22.05,0.000,2,0.000,0.000,71,1699,1632,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.1,-1.4,2,131,12.40,2.38,-55.70,0.000,4,0.262,0.064,2755,3117,3266,0,0,0,0,0,0
$GC,229,-0.65,-107.0,18.5,-12.4,17,237,0.00,2.25,0.00,0.000,6,0.000,0.045,2755,1740,3267,0,0,0,0,0,0
$GC,345,-0.65,-107.0,30.6,-10.6,28,348,0.00,1.52,0.00,0.000,4,0.000,0.060,2755,828,3267,0,0,0,0,0,0
$GC,463,-0.65,-107.0,43.9,-9.8,33,467,0.00,1.40,0.00,0.000,6,0.000,0.036,2755,1713,3267,0,0,0,0,0,0
$GC,890,-0.65,-107.0,85.4,-10.0,48,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1713,3268,0,0,0,0,0,0
$GC,1598,-0.65,-107.0,157.6,-10.3,61,1602,0.00,1.45,0.00,0.000,4,0.000,0.056,2755,846,3269,0,0,0,0,0,0
$GC,1676,-0.65,-107.0,166.8,-12.0,62,1680,0.00,1.42,0.00,0.000,6,0.000,0.036,2755,1744,3270,0,0,0,0,0,0
$GC,2400,-0.65,-107.0,244.4,-9.9,74,2404,0.00,1.92,0.00,0.000,4,0.000,0.057,2755,607,3270,0,0,0,0,0,0
$GC,2460,-0.65,-107.0,250.5,-9.7,74,2466,0.00,1.77,0.00,0.000,6,0.000,0.034,2755,1728,3271,0,0,0,0,0,0
$GC,3195,-0.65,-107.0,320.7,-10.4,87,3199,0.00,2.25,0.00,0.000,4,0.000,0.047,2755,3143,3271,0,0,0,0,0,0
$GC,3306,-0.65,-107.0,333.4,-11.7,88,3310,0.00,2.28,0.00,0.000,6,0.000,0.041,2755,1733,3271,0,0,0,0,0,0
$GC,4051,-0.65,-107.0,420.0,-11.8,101,4055,0.00,0.43,0.00,0.000,4,0.000,0.045,2755,2029,3272,0,0,0,0,0,0
$GC,4095,-0.65,-107.0,425.2,-11.9,101,4100,0.00,0.47,0.00,0.000,6,0.000,0.050,2755,1723,3271,0,0,0,0,0,0
$GC,4847,-0.65,-107.0,501.6,-9.8,114,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1723,3271,0,0,0,0,0,0
$GC,5574,-0.65,-107.0,576.9,-10.6,126,5578,0.00,1.48,0.00,0.000,4,0.000,0.043,2755,2643,3271,0,0,0,0,0,0
$GC,5669,-0.65,-107.0,587.8,-11.7,127,5673,0.00,1.42,0.00,0.000,6,0.000,0.042,2755,1750,3271,0,0,0,0,0,0
$GC,6437,-0.65,-107.0,669.7,-10.7,140,6440,0.00,1.02,0.00,0.000,4,0.000,0.056,2755,1121,3269,0,0,0,0,0,0
$GC,6515,-0.65,-107.0,678.1,-10.6,141,6519,0.00,0.98,0.00,0.000,6,0.000,0.037,2755,1747,3270,0,0,0,0,0,0
$GC,7239,-0.65,-107.0,751.5,-10.0,153,7243,0.00,2.15,0.00,0.000,4,0.000,0.058,2755,463,3269,0,0,0,0,0,0
$GC,7307,-0.65,-107.0,758.4,-9.6,154,7311,0.00,1.98,0.00,0.000,6,0.000,0.034,2755,1730,3269,0,0,0,0,0,0
$GC,8042,-0.65,-107.0,832.0,-10.2,166,8046,0.00,0.90,0.00,0.000,4,0.000,0.044,2755,2328,3268,0,0,0,0,0,0
$GC,8125,-0.65,-107.0,840.9,-10.9,167,8130,0.00,0.95,0.00,0.000,6,0.000,0.044,2755,1725,3268,0,0,0,0,0,0
$STATE,8842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8842,begin apogee
$GC,8847,-0.28,0.0,922.4,11.4,179,8945,0.43,0.00,94.47,1.432,6,0.091,0.000,2895,1726,2827,0,0,0,0,0,0
$STATE,8945,end apogee,CONTROL_FINISHED_OK
$STATE,8946,begin loiter
$GC,9632,-0.26,266.1,999.4,-8.9,192,9879,0.00,2.72,237.25,1.437,4,0.000,0.058,2895,290,1742,0,0,0,0,0,0
$GC,10070,-0.26,266.1,1000.2,4.7,198,10075,0.00,2.22,0.00,0.000,6,0.000,0.034,2893,1691,1732,0,0,0,0,0,0
$GC,10804,-0.26,266.1,961.8,5.2,211,10808,0.00,2.35,0.00,0.000,4,0.000,0.060,2893,286,1730,0,0,0,0,0,0
$GC,10870,-0.26,266.1,958.3,5.9,212,10874,0.00,2.22,0.00,0.000,6,0.000,0.034,2892,1688,1730,0,0,0,0,0,0
$GC,11600,-0.26,266.1,924.8,4.3,224,11604,0.00,2.25,0.00,0.000,4,0.000,0.046,2891,3093,1730,0,0,0,0,0,0
$GC,11797,-0.26,266.1,916.5,5.3,227,11801,0.00,2.25,0.00,0.000,6,0.000,0.042,2892,1688,1730,0,0,0,0,0,0
$GC,12526,-0.26,266.1,893.6,2.8,239,12530,0.00,2.25,0.00,0.000,4,0.000,0.045,2891,3091,1729,0,0,0,0,0,0
$GC,12546,-0.26,266.1,892.9,3.1,239,12551,0.00,2.28,0.00,0.000,6,0.000,0.042,2891,1691,1730,0,0,0,0,0,0
$GC,13315,-0.26,266.1,875.1,2.3,252,13319,0.00,2.38,0.00,0.000,4,0.000,0.059,2891,270,1730,0,0,0,0,0,0
$GC,13472,-0.26,266.1,871.6,2.3,254,13476,0.00,2.22,0.00,0.000,6,0.000,0.034,2891,1688,1730,0,0,0,0,0,0
$GC,14233,-0.26,266.1,857.7,2.0,267,14237,0.00,2.40,0.00,0.000,4,0.000,0.061,2891,276,1730,0,0,0,0,0,0
$GC,14446,-0.26,266.1,852.3,2.8,270,14450,0.00,2.25,0.00,0.000,6,0.000,0.035,2891,1688,1730,0,0,0,0,0,0
$GC,15170,-0.26,266.1,831.7,3.2,282,15174,0.00,1.90,0.00,0.000,4,0.000,0.045,2891,2881,1730,0,0,0,0,0,0
$GC,15428,-0.26,266.1,823.9,3.0,285,15432,0.00,1.95,0.00,0.000,6,0.000,0.044,2891,1682,1730,0,0,0,0,0,0
$GC,16168,-0.26,266.1,807.7,1.8,298,16171,0.00,1.52,0.00,0.000,4,0.000,0.042,2890,2632,1730,0,0,0,0,0,0
$GC,16425,-0.26,266.1,802.8,1.9,301,16429,0.00,1.55,0.00,0.000,6,0.000,0.044,2890,1678,1731,0,0,0,0,0,0
$GC,17165,-0.26,266.1,788.7,2.2,314,17169,0.00,2.28,0.00,0.000,4,0.000,0.044,2890,3082,1732,0,0,0,0,0,0
$GC,17198,-0.26,266.1,788.0,2.2,314,17202,0.00,2.28,0.00,0.000,6,0.000,0.042,2890,1684,1732,0,0,0,0,0,0
$GC,17955,-0.26,266.1,771.8,2.0,327,17958,0.00,1.35,0.00,0.000,4,0.000,0.041,2890,2535,1733,0,0,0,0,0,0
$GC,18214,-0.26,266.1,767.3,2.2,330,18217,0.00,1.38,0.00,0.000,6,0.000,0.044,2890,1684,1734,0,0,0,0,0,0
$GC,18953,-0.26,266.1,753.9,2.2,343,18957,0.00,2.25,0.00,0.000,4,0.000,0.044,2885,3086,1735,0,0,0,0,0,0
$GC,19210,-0.26,266.1,746.4,3.9,346,19215,0.00,2.28,0.00,0.000,6,0.000,0.043,2886,1693,1735,0,0,0,0,0,0
$STATE,19760,end loiter,LOITER_COMPLETE
$STATE,19760,begin climb
$GC,19762,0.65,107.0,728.5,0.0,356,19768,0.95,2.45,0.00,0.000,4,0.112,0.059,3181,279,1737,0,0,0,0,0,0
$GC,20021,0.38,148.3,718.6,3.9,359,20027,0.30,2.22,0.00,0.000,6,0.177,0.036,3108,1681,1738,0,0,0,0,0,0
$GC,20755,0.38,204.3,693.7,3.4,372,20759,0.00,2.40,0.00,0.000,4,0.000,0.061,3117,279,1738,0,0,0,0,0,0
$GC,21012,0.38,267.2,684.4,3.2,375,21017,0.00,2.25,0.00,0.000,6,0.000,0.037,3117,1695,1740,0,0,0,0,0,0
$GC,21747,0.39,328.3,659.4,3.2,388,21812,0.00,1.33,60.50,1.274,4,0.000,0.057,3118,909,1487,0,0,0,0,0,0
$GC,22065,0.39,343.6,644.1,4.8,392,22085,0.00,1.23,14.05,1.140,6,0.000,0.037,3118,1685,1426,0,0,0,0,0,0
$GC,22804,0.39,345.4,607.0,5.2,405,22808,0.00,2.08,0.00,0.000,4,0.000,0.045,3117,2994,1425,0,0,0,0,0,0
$GC,22905,0.39,345.4,601.2,6.1,406,22909,0.00,2.15,0.00,0.000,6,0.000,0.046,3117,1684,1423,0,0,0,0,0,0
$GC,23667,0.39,345.4,556.6,5.8,419,23671,0.00,2.28,0.00,0.000,4,0.000,0.046,3117,3085,1423,0,0,0,0,0,0
$GC,23826,0.39,349.1,547.9,5.2,421,23837,0.00,2.28,6.35,0.916,6,0.000,0.045,3117,1686,1403,0,0,0,0,0,0
$GC,24590,0.39,351.0,510.1,5.2,434,24593,0.00,2.10,0.00,0.000,4,0.000,0.044,3117,2980,1403,0,0,0,0,0,0
$GC,24684,0.39,351.0,504.6,6.0,435,24688,0.00,2.12,0.00,0.000,6,0.000,0.044,3118,1689,1403,0,0,0,0,0,0
$GC,25452,0.39,351.0,453.6,7.1,448,25456,0.00,2.28,0.00,0.000,4,0.000,0.044,3118,3091,1402,0,0,0,0,0,0
$GC,25592,0.39,351.0,442.9,7.5,450,25596,0.00,2.30,0.00,0.000,6,0.000,0.042,3117,1671,1402,0,0,0,0,0,0
$GC,26322,0.39,351.0,397.6,5.4,462,26326,0.00,2.28,0.00,0.000,4,0.000,0.041,3117,3082,1402,0,0,0,0,0,0
$GC,26439,0.39,353.0,391.7,5.2,463,26450,0.00,2.28,5.53,0.793,6,0.000,0.041,3117,1675,1387,0,0,0,0,0,0
$GC,27178,0.39,353.0,350.8,5.7,476,27182,0.00,0.62,0.00,0.000,4,0.000,0.039,3118,2102,1387,0,0,0,0,0,0
$GC,27240,0.39,353.0,347.5,5.5,476,27245,0.00,0.68,0.00,0.000,6,0.000,0.047,3117,1677,1387,0,0,0,0,0,0
$GC,27974,0.39,379.5,313.4,4.4,489,28003,0.00,0.52,25.90,0.997,4,0.000,0.033,3118,2033,1279,0,0,0,0,0,0
$GC,28042,0.39,379.5,309.9,5.3,490,28046,0.00,0.57,0.00,0.000,6,0.000,0.047,3118,1678,1279,0,0,0,0,0,0
$GC,28773,0.39,379.5,263.9,6.9,502,28776,0.00,1.23,0.00,0.000,4,0.000,0.055,3117,925,1277,0,0,0,0,0,0
$GC,29030,0.39,379.5,246.3,7.2,505,29034,0.00,1.17,0.00,0.000,6,0.000,0.030,3117,1696,1276,0,0,0,0,0,0
$GC,29770,0.39,379.5,200.4,6.5,518,29774,0.00,2.20,0.00,0.000,4,0.000,0.042,3118,3080,1276,0,0,0,0,0,0
$GC,29967,0.39,379.5,186.4,7.9,521,29971,0.00,2.22,0.00,0.000,6,0.000,0.042,3118,1689,1275,0,0,0,0,0,0
$GC,30703,0.39,385.7,146.1,5.1,533,30716,0.00,2.40,6.60,0.708,4,0.000,0.060,3118,280,1253,0,0,0,0,0,0
$GC,30971,0.39,385.7,125.0,9.2,537,30975,0.00,2.15,0.00,0.000,6,0.000,0.029,3118,1677,1253,0,0,0,0,0,0
$GC,31726,0.39,385.7,69.2,5.4,553,31729,0.00,1.02,0.00,0.000,4,0.000,0.037,3117,2363,1253,0,0,0,0,0,0
$GC,31798,0.39,399.3,65.2,4.8,554,31816,0.00,1.08,13.85,0.771,6,0.000,0.047,3117,1687,1198,0,0,0,0,0,0
$GC,32543,0.39,399.3,18.0,6.4,597,32544,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1687,1197,0,0,0,0,0,0
$GC,32649,0.39,399.3,11.4,5.8,607,32652,0.00,1.02,0.00,0.000,4,0.000,0.056,3117,1050,1197,0,0,0,0,0,0
$STATE,32787,end climb,SURFACE_DEPTH_REACHED
$STATE,32787,begin surface coast
$FINISH,1.8,1.014144
$STATE,32824,end surface coast,CONTROL_FINISHED_OK
$STATE,32824,begin surface
$SM_CCo,32903,0.00,0.000,0,0,1192,401.06
$SM_GC,2.99,8.75,0.00,0.00,0.054,0.000,0.000,89,1755,1192,-8.98,0.57,401.06
$IRIDIUM_FIX,-4057.83,-400.45,290113,000002
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.7,125.755
$10V_AH,9.9,74.033
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.825,128.925,464.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,24.648,1958.435,27615.762,510.168,2711.643,186.944,0.000,1832.153,0.000,2643.593,0.000,1.013,0.000
$DEVICE_MAMPS,261.630,64.260,1436.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.347,337.575,262.291,53.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,36990,622
$CAP_FILE_SIZE,157829,0
$CFSIZE,2097086464,2020868096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300113,131012,-4117.430,-355.721,42,3.6,61,-22.6