version: 66.07.10.p01
glider: 574
mission: 4
dive: 535
start: 1 30 113 13 21 50
data:
$ID,574
$MISSION,4
$DIVE,535
$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,-9915.8711
$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,28
$R_STBD_OVSHOOT,53
$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,514
$GPS1,300113,131012,-4117.430,-355.721,42,3.6,61,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-75.3
$GPS2,300113,132125,-4117.535,-355.676,19,2.9,38,-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,99.9,122651,-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,-107.0,0.0,0.0,0,40,0.00,0.00,-12.20,0.000,2,0.000,0.000,69,1749,1507,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,121,12.00,0.75,-60.67,0.000,4,0.251,0.090,2757,1283,3264,0,0,0,0,0,0
$GC,160,-0.65,-107.0,10.3,-11.2,11,168,0.00,0.70,0.00,0.000,6,0.000,0.040,2757,1722,3264,0,0,0,0,0,0
$GC,275,-0.65,-107.0,21.8,-9.7,22,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1723,3265,0,0,0,0,0,0
$GC,389,-0.65,-107.0,32.3,-8.7,32,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1723,3265,0,0,0,0,0,0
$GC,800,-0.65,-107.0,69.1,-9.6,50,804,0.00,1.20,0.00,0.000,4,0.000,0.056,2757,1005,3265,0,0,0,0,0,0
$GC,872,-0.65,-107.0,76.2,-9.7,51,876,0.00,1.12,0.00,0.000,6,0.000,0.034,2757,1730,3265,0,0,0,0,0,0
$GC,1619,-0.65,-107.0,154.9,-10.6,66,1623,0.00,1.02,0.00,0.000,4,0.000,0.052,2757,1100,3266,0,0,0,0,0,0
$GC,1691,-0.65,-107.0,162.2,-9.9,67,1695,0.00,0.98,0.00,0.000,6,0.000,0.034,2757,1736,3266,0,0,0,0,0,0
$GC,2421,-0.65,-107.0,224.4,-8.0,79,2425,0.00,0.90,0.00,0.000,4,0.000,0.050,2757,1178,3266,0,0,0,0,0,0
$GC,2510,-0.65,-107.0,231.9,-8.6,80,2514,0.00,0.88,0.00,0.000,6,0.000,0.034,2757,1754,3266,0,0,0,0,0,0
$GC,3284,-0.65,-107.0,305.5,-10.2,93,3288,0.00,2.20,0.00,0.000,4,0.000,0.049,2757,3134,3266,0,0,0,0,0,0
$GC,3383,-0.65,-107.0,316.6,-11.6,94,3387,0.00,2.25,0.00,0.000,6,0.000,0.040,2757,1737,3266,0,0,0,0,0,0
$GC,4140,-0.65,-107.0,391.7,-9.5,107,4144,0.00,2.22,0.00,0.000,4,0.000,0.045,2757,3133,3265,0,0,0,0,0,0
$GC,4262,-0.65,-107.0,403.1,-9.3,108,4268,0.00,2.22,0.00,0.000,6,0.000,0.037,2757,1735,3265,0,0,0,0,0,0
$GC,4997,-0.65,-107.0,473.5,-9.7,121,5001,0.00,2.25,0.00,0.000,4,0.000,0.044,2757,3136,3264,0,0,0,0,0,0
$GC,5130,-0.65,-107.0,487.7,-10.8,123,5134,0.00,2.20,0.00,0.000,6,0.000,0.036,2757,1732,3264,0,0,0,0,0,0
$GC,5860,-0.65,-107.0,564.1,-10.4,135,5864,0.00,2.25,0.00,0.000,4,0.000,0.041,2757,3140,3263,0,0,0,0,0,0
$GC,6073,-0.65,-107.0,585.7,-9.7,138,6077,0.00,2.22,0.00,0.000,6,0.000,0.035,2757,1739,3263,0,0,0,0,0,0
$GC,6797,-0.65,-107.0,647.1,-8.2,150,6801,0.00,2.33,0.00,0.000,4,0.000,0.053,2757,328,3261,0,0,0,0,0,0
$GC,6880,-0.65,-107.0,654.6,-9.1,151,6884,0.00,2.17,0.00,0.000,6,0.000,0.028,2757,1726,3261,0,0,0,0,0,0
$GC,7653,-0.65,-107.0,723.3,-9.5,164,7657,0.00,0.98,0.00,0.000,4,0.000,0.048,2757,1118,3260,0,0,0,0,0,0
$GC,7736,-0.65,-107.0,731.9,-10.6,165,7741,0.00,0.95,0.00,0.000,6,0.000,0.031,2757,1743,3259,0,0,0,0,0,0
$GC,8455,-0.65,-107.0,811.6,-11.5,177,8459,0.00,1.25,0.00,0.000,4,0.000,0.051,2757,984,3258,0,0,0,0,0,0
$GC,8539,-0.65,-107.0,821.9,-12.0,178,8543,0.00,1.15,0.00,0.000,6,0.000,0.034,2757,1729,3257,0,0,0,0,0,0
$GC,9257,-0.65,-107.0,905.8,-11.4,190,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1728,3257,0,0,0,0,0,0
$STATE,9437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9437,begin apogee
$GC,9443,-0.28,0.0,925.1,10.7,193,9538,0.40,0.00,92.60,1.423,6,0.092,0.000,2889,1682,2827,0,0,0,0,0,0
$STATE,9539,end apogee,CONTROL_FINISHED_OK
$STATE,9539,begin loiter
$GC,10227,-0.27,214.1,986.4,-7.2,206,10421,0.00,0.93,189.32,1.439,4,0.000,0.052,2888,1181,1953,0,0,0,0,0,0
$GC,10673,-0.27,214.1,995.5,0.2,213,10677,0.00,0.80,0.00,0.000,6,0.000,0.035,2888,1692,1945,0,0,0,0,0,0
$GC,11403,-0.26,291.9,1007.9,-2.6,225,11478,0.00,1.12,69.78,1.447,4,0.000,0.051,2889,1048,1635,0,0,0,0,0,0
$GC,11732,-0.26,291.9,1002.0,3.0,230,11736,0.00,0.98,0.00,0.000,6,0.000,0.036,2889,1679,1629,0,0,0,0,0,0
$GC,12467,-0.26,291.9,977.8,4.2,242,12471,0.00,2.25,0.00,0.000,4,0.000,0.045,2889,3091,1627,0,0,0,0,0,0
$GC,12545,-0.26,291.9,973.9,5.0,243,12549,0.00,2.28,0.00,0.000,6,0.000,0.041,2888,1685,1626,0,0,0,0,0,0
$GC,13264,-0.26,291.9,931.6,6.4,255,13268,0.00,2.35,0.00,0.000,4,0.000,0.059,2889,273,1626,0,0,0,0,0,0
$GC,13319,-0.26,291.9,928.1,5.2,255,13324,0.00,2.22,0.00,0.000,6,0.000,0.034,2889,1683,1625,0,0,0,0,0,0
$GC,14053,-0.26,291.9,896.0,3.4,268,14057,0.00,1.60,0.00,0.000,4,0.000,0.042,2883,2692,1625,0,0,0,0,0,0
$GC,14220,-0.26,291.9,890.8,3.2,270,14225,0.00,1.62,0.00,0.000,6,0.000,0.044,2883,1688,1624,0,0,0,0,0,0
$GC,14982,-0.26,291.9,869.9,3.0,283,14987,0.00,2.35,0.00,0.000,4,0.000,0.058,2883,276,1625,0,0,0,0,0,0
$GC,15116,-0.26,291.9,865.1,3.5,285,15121,0.00,2.22,0.00,0.000,6,0.000,0.034,2878,1695,1625,0,0,0,0,0,0
$GC,15846,-0.26,291.9,835.2,4.3,297,15850,0.00,1.00,0.00,0.000,4,0.000,0.056,2878,1093,1625,0,0,0,0,0,0
$GC,16104,-0.26,291.9,825.1,0.9,300,16108,0.00,0.93,0.00,0.000,6,0.000,0.036,2878,1696,1625,0,0,0,0,0,0
$GC,16844,-0.26,291.9,802.2,2.7,313,16847,0.00,0.55,0.00,0.000,4,0.000,0.056,2878,1362,1625,0,0,0,0,0,0
$GC,17103,-0.26,291.9,796.4,1.9,316,17106,0.00,0.47,0.00,0.000,6,0.000,0.042,2878,1682,1626,0,0,0,0,0,0
$GC,17842,-0.26,291.9,776.5,3.0,329,17846,0.00,2.40,0.00,0.000,4,0.000,0.060,2878,272,1627,0,0,0,0,0,0
$GC,17926,-0.26,291.9,773.7,3.1,330,17930,0.00,2.22,0.00,0.000,6,0.000,0.034,2879,1684,1627,0,0,0,0,0,0
$GC,18694,-0.26,291.9,738.0,5.2,343,18698,0.00,1.12,0.00,0.000,4,0.000,0.057,2878,1015,1628,0,0,0,0,0,0
$GC,18951,-0.26,291.9,724.5,5.1,346,18956,0.00,1.05,0.00,0.000,6,0.000,0.035,2878,1689,1629,0,0,0,0,0,0
$GC,19691,-0.26,291.9,696.7,2.8,359,19695,0.00,2.40,0.00,0.000,4,0.000,0.060,2878,279,1629,0,0,0,0,0,0
$GC,19932,-0.26,291.9,691.4,1.8,362,19936,0.00,2.22,0.00,0.000,6,0.000,0.034,2878,1675,1630,0,0,0,0,0,0
$STATE,20317,end loiter,LOITER_COMPLETE
$STATE,20317,begin climb
$GC,20319,0.65,107.0,685.4,0.0,369,20325,0.98,2.45,0.00,0.000,4,0.113,0.060,3180,270,1631,0,0,0,0,0,0
$GC,20527,0.66,194.2,680.4,2.4,372,20531,0.00,2.25,0.00,0.000,6,0.000,0.037,3180,1687,1632,0,0,0,0,0,0
$GC,21252,0.66,194.7,649.7,5.3,384,21255,0.00,1.95,0.00,0.000,4,0.000,0.046,3180,2900,1633,0,0,0,0,0,0
$GC,21369,0.39,208.1,643.2,4.8,385,21374,0.32,1.98,0.00,0.000,6,0.179,0.045,3111,1685,1633,0,0,0,0,0,0
$GC,22108,0.39,236.0,608.4,4.4,398,22112,0.00,1.50,0.00,0.000,4,0.000,0.044,3110,2612,1634,0,0,0,0,0,0
$GC,22231,0.40,280.6,603.4,3.8,399,22235,0.00,1.52,0.00,0.000,6,0.000,0.045,3116,1682,1634,0,0,0,0,0,0
$GC,22971,0.40,307.7,573.6,4.4,412,22991,0.00,0.70,16.95,1.134,4,0.000,0.042,3116,2118,1572,0,0,0,0,0,0
$GC,23159,0.40,307.7,563.9,5.8,414,23165,0.00,0.73,0.00,0.000,6,0.000,0.049,3118,1673,1572,0,0,0,0,0,0
$GC,23894,0.40,329.1,529.5,4.6,427,23919,0.00,1.30,21.38,1.132,4,0.000,0.039,3118,2486,1484,0,0,0,0,0,0
$GC,24082,0.40,329.1,520.2,5.7,429,24087,0.00,1.30,0.00,0.000,6,0.000,0.047,3118,1685,1483,0,0,0,0,0,0
$GC,24816,0.40,368.3,488.4,4.0,442,24856,0.00,0.00,37.80,1.142,6,0.000,0.000,3118,1684,1325,0,0,0,0,0,0
$GC,25544,0.40,395.1,456.3,4.4,454,25574,0.00,2.38,25.10,1.095,4,0.000,0.061,3118,274,1215,0,0,0,0,0,0
$GC,25826,0.40,398.0,441.3,5.2,458,25831,0.00,2.22,0.00,0.000,6,0.000,0.033,3118,1703,1210,0,0,0,0,0,0
$GC,26600,0.40,398.0,392.6,7.0,471,26603,0.00,1.45,0.00,0.000,4,0.000,0.057,3118,839,1208,0,0,0,0,0,0
$GC,26858,0.40,400.4,374.4,5.2,474,26869,0.00,1.33,4.88,0.739,6,0.000,0.033,3118,1691,1193,0,0,0,0,0,0
$GC,27597,0.40,414.0,333.3,4.8,487,27616,0.00,1.77,13.95,0.958,4,0.000,0.057,3118,647,1139,0,0,0,0,0,0
$GC,27869,0.40,414.1,318.3,5.3,491,27873,0.00,1.60,0.00,0.000,6,0.000,0.031,3117,1681,1136,0,0,0,0,0,0
$GC,28599,0.40,414.1,267.8,7.8,503,28603,0.00,0.73,0.00,0.000,4,0.000,0.054,3118,1233,1136,0,0,0,0,0,0
$GC,28851,0.40,414.1,246.2,8.1,506,28855,0.00,0.70,0.00,0.000,6,0.000,0.034,3118,1698,1137,0,0,0,0,0,0
$GC,29596,0.40,414.1,188.3,6.9,519,29600,0.00,1.77,0.00,0.000,4,0.000,0.058,3118,654,1137,0,0,0,0,0,0
$GC,29815,0.40,414.1,174.0,5.8,522,29819,0.00,1.58,0.00,0.000,6,0.000,0.031,3118,1671,1137,0,0,0,0,0,0
$GC,30533,0.40,414.1,117.0,8.0,534,30537,0.00,0.73,0.00,0.000,4,0.000,0.054,3118,1225,1136,0,0,0,0,0,0
$GC,30763,0.40,422.3,102.8,5.0,537,30777,0.00,0.70,8.80,0.741,6,0.000,0.033,3118,1699,1105,0,0,0,0,0,0
$GC,31492,0.40,422.3,54.3,5.7,556,31496,0.00,2.40,0.00,0.000,4,0.000,0.060,3118,281,1105,0,0,0,0,0,0
$GC,31750,0.40,422.3,39.1,6.5,567,31756,0.00,2.15,0.00,0.000,6,0.000,0.030,3118,1675,1103,0,0,0,0,0,0
$GC,32180,0.40,422.3,10.4,8.7,601,32184,0.00,1.92,0.00,0.000,4,0.000,0.058,3118,526,1103,0,0,0,0,0,0
$STATE,32274,end climb,SURFACE_DEPTH_REACHED
$STATE,32274,begin surface coast
$FINISH,1.9,1.023493
$STATE,32322,end surface coast,CONTROL_FINISHED_OK
$STATE,32323,begin surface
$SM_CCo,32402,0.00,0.000,0,0,1099,423.87
$SM_GC,2.98,8.77,0.00,0.00,0.055,0.000,0.000,96,1733,1099,-8.98,-0.03,423.87
$IRIDIUM_FIX,-4100.69,-412.28,290113,191958
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,22.1,125.964
$10V_AH,9.8,74.132
$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,22.475,110.375,480.550,0.000,0.000,23.208,43.253,406.347,0.000,0.000,41.590,1986.320,26950.541,542.845,3285.934,311.529,0.000,1892.238,0.000,2752.730,0.000,1.014,0.000
$DEVICE_MAMPS,250.920,104.805,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.412,330.842,259.146,53.153,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354764
$DATA_FILE_SIZE,36894,613
$CAP_FILE_SIZE,170051,0
$CFSIZE,2097086464,2020704256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,300113,222425,-4118.056,-354.779,95,3.8,114,-22.6