version: 66.07.10.p01
glider: 574
mission: 4
dive: 536
start: 1 30 113 22 26 33
data:
$ID,574
$MISSION,4
$DIVE,536
$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,-9918.2031
$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,27
$R_STBD_OVSHOOT,35
$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,515
$GPS1,300113,222425,-4118.056,-354.779,95,3.8,114,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-71.8
$GPS2,300113,222610,-4118.062,-354.745,27,1.5,45,-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,99.3,121602,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,56,0.00,0.00,-27.45,0.000,2,0.000,0.000,69,1729,1811,0,0,0,0,0,0
$GC,59,-0.65,-107.0,3.2,-1.1,3,126,12.35,2.38,-47.90,0.000,4,0.257,0.073,2758,328,3266,0,0,0,0,0,0
$GC,257,-0.65,-107.0,19.7,-9.4,20,261,0.00,2.22,0.00,0.000,6,0.000,0.036,2759,1736,3267,0,0,0,0,0,0
$GC,379,-0.65,-107.0,33.1,-10.4,30,383,0.00,1.48,0.00,0.000,4,0.000,0.056,2758,859,3267,0,0,0,0,0,0
$GC,576,-0.65,-107.0,54.1,-10.1,38,584,0.00,1.40,0.00,0.000,6,0.000,0.035,2758,1742,3267,0,0,0,0,0,0
$GC,1015,-0.65,-107.0,95.8,-9.1,51,1018,0.00,1.15,0.00,0.000,4,0.000,0.052,2758,1044,3268,0,0,0,0,0,0
$GC,1103,-0.65,-107.0,105.1,-10.5,53,1108,0.00,1.08,0.00,0.000,6,0.000,0.032,2758,1738,3268,0,0,0,0,0,0
$GC,1877,-0.65,-107.0,182.2,-10.2,66,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1738,3269,0,0,0,0,0,0
$GC,2605,-0.65,-107.0,257.0,-10.4,78,2609,0.00,2.20,0.00,0.000,4,0.000,0.047,2758,3122,3270,0,0,0,0,0,0
$GC,2778,-0.65,-107.0,276.8,-11.9,80,2782,0.00,2.22,0.00,0.000,6,0.000,0.039,2758,1739,3269,0,0,0,0,0,0
$GC,3529,-0.65,-107.0,357.5,-10.0,93,3533,0.00,1.67,0.00,0.000,4,0.000,0.042,2758,2806,3270,0,0,0,0,0,0
$GC,3624,-0.65,-107.0,366.7,-9.2,94,3628,0.00,1.73,0.00,0.000,6,0.000,0.041,2758,1733,3270,0,0,0,0,0,0
$GC,4392,-0.65,-107.0,439.1,-9.8,107,4396,0.00,1.12,0.00,0.000,4,0.000,0.052,2758,1039,3270,0,0,0,0,0,0
$GC,4453,-0.65,-107.0,445.6,-10.1,107,4458,0.00,1.08,0.00,0.000,6,0.000,0.034,2758,1735,3270,0,0,0,0,0,0
$GC,5187,-0.65,-107.0,532.4,-12.2,120,5191,0.00,0.75,0.00,0.000,4,0.000,0.043,2758,2246,3269,0,0,0,0,0,0
$GC,5264,-0.65,-107.0,541.8,-11.6,121,5268,0.00,0.82,0.00,0.000,6,0.000,0.043,2758,1726,3269,0,0,0,0,0,0
$GC,5988,-0.65,-107.0,619.2,-9.7,133,5993,0.00,2.33,0.00,0.000,4,0.000,0.058,2758,333,3269,0,0,0,0,0,0
$GC,6161,-0.65,-107.0,635.8,-9.2,135,6166,0.00,2.20,0.00,0.000,6,0.000,0.031,2758,1737,3268,0,0,0,0,0,0
$GC,6913,-0.65,-107.0,698.1,-8.3,148,6917,0.00,2.33,0.00,0.000,4,0.000,0.054,2758,335,3268,0,0,0,0,0,0
$GC,7024,-0.65,-107.0,708.0,-8.8,149,7028,0.00,2.20,0.00,0.000,6,0.000,0.031,2758,1733,3267,0,0,0,0,0,0
$GC,7775,-0.65,-107.0,777.5,-9.6,162,7779,0.00,2.35,0.00,0.000,4,0.000,0.054,2758,328,3267,0,0,0,0,0,0
$GC,7886,-0.65,-107.0,789.1,-10.0,163,7890,0.00,2.22,0.00,0.000,6,0.000,0.031,2758,1734,3267,0,0,0,0,0,0
$GC,8631,-0.65,-107.0,863.6,-10.4,176,8635,0.00,2.33,0.00,0.000,4,0.000,0.055,2758,336,3266,0,0,0,0,0,0
$GC,8709,-0.65,-107.0,872.4,-11.1,177,8713,0.00,2.22,0.00,0.000,6,0.000,0.032,2758,1738,3266,0,0,0,0,0,0
$STATE,9189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9189,begin apogee
$GC,9194,-0.28,0.0,922.1,10.4,185,9291,0.40,0.00,93.78,1.427,6,0.089,0.000,2890,1671,2827,0,0,0,0,0,0
$STATE,9292,end apogee,CONTROL_FINISHED_OK
$STATE,9292,begin loiter
$GC,9979,-0.27,239.8,989.4,-8.0,198,10195,0.00,0.00,214.30,1.433,6,0.000,0.000,2890,1671,1849,0,0,0,0,0,0
$GC,10886,-0.27,239.8,973.8,3.9,213,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1671,1838,0,0,0,0,0,0
$GC,11613,-0.27,239.8,951.6,2.6,225,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1671,1836,0,0,0,0,0,0
$GC,12341,-0.27,239.8,938.2,1.7,237,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1671,1834,0,0,0,0,0,0
$GC,13068,-0.27,239.8,919.7,3.2,249,13072,0.00,0.93,0.00,0.000,4,0.000,0.054,2890,1096,1835,0,0,0,0,0,0
$GC,13326,-0.27,239.8,910.2,3.4,252,13330,0.00,0.93,0.00,0.000,6,0.000,0.034,2890,1696,1834,0,0,0,0,0,0
$GC,14066,-0.27,239.8,887.7,2.3,265,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1696,1834,0,0,0,0,0,0
$GC,14793,-0.27,239.8,880.0,0.8,277,14797,0.00,0.62,0.00,0.000,4,0.000,0.044,2890,2122,1834,0,0,0,0,0,0
$GC,15050,-0.27,239.8,877.6,1.3,280,15054,0.00,0.68,0.00,0.000,6,0.000,0.049,2890,1690,1835,0,0,0,0,0,0
$GC,15790,-0.27,239.8,863.0,2.6,293,15791,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1690,1835,0,0,0,0,0,0
$GC,16518,-0.27,239.8,839.0,3.5,305,16519,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1690,1834,0,0,0,0,0,0
$GC,17245,-0.27,239.8,818.7,2.4,317,17249,0.00,0.65,0.00,0.000,4,0.000,0.041,2890,2119,1834,0,0,0,0,0,0
$GC,17424,-0.27,239.8,815.1,1.9,319,17428,0.00,0.70,0.00,0.000,6,0.000,0.048,2890,1682,1834,0,0,0,0,0,0
$GC,18176,-0.27,239.8,802.8,1.6,332,18179,0.00,0.57,0.00,0.000,4,0.000,0.057,2890,1314,1834,0,0,0,0,0,0
$GC,18433,-0.27,239.8,799.1,1.4,335,18437,0.00,0.57,0.00,0.000,6,0.000,0.037,2890,1691,1834,0,0,0,0,0,0
$GC,19173,-0.27,239.8,792.4,0.8,348,19177,0.00,1.33,0.00,0.000,4,0.000,0.056,2890,903,1834,0,0,0,0,0,0
$GC,19430,-0.27,239.8,790.0,1.9,351,19434,0.00,1.20,0.00,0.000,6,0.000,0.034,2890,1671,1834,0,0,0,0,0,0
$STATE,20107,end loiter,LOITER_COMPLETE
$STATE,20107,begin climb
$GC,20109,0.65,107.0,781.4,0.0,363,20114,0.93,1.65,0.00,0.000,4,0.104,0.055,3184,718,1834,0,0,0,0,0,0
$GC,20367,0.34,194.3,776.7,2.4,366,20373,0.30,1.52,0.00,0.000,6,0.176,0.036,3098,1687,1835,0,0,0,0,0,0
$GC,21101,0.35,309.3,765.5,1.4,379,21171,0.00,1.12,63.70,1.336,4,0.000,0.056,3102,1053,1566,0,0,0,0,0,0
$GC,21266,0.35,323.4,758.6,4.8,381,21286,0.00,1.00,13.88,1.217,6,0.000,0.037,3102,1688,1508,0,0,0,0,0,0
$GC,22021,0.35,323.4,715.5,5.7,394,22022,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1688,1504,0,0,0,0,0,0
$GC,22748,0.35,323.4,676.9,5.4,406,22752,0.00,0.45,0.00,0.000,4,0.000,0.057,3102,1403,1504,0,0,0,0,0,0
$GC,23006,0.35,323.4,662.6,5.5,409,23010,0.00,0.45,0.00,0.000,6,0.000,0.043,3102,1695,1504,0,0,0,0,0,0
$GC,23746,0.35,323.4,619.1,5.9,422,23750,0.00,2.40,0.00,0.000,4,0.000,0.061,3102,287,1504,0,0,0,0,0,0
$GC,24003,0.35,347.4,604.4,4.5,425,24032,0.00,2.20,23.77,1.188,6,0.000,0.035,3102,1684,1410,0,0,0,0,0,0
$GC,24747,0.35,363.0,565.5,4.8,438,24764,0.00,0.00,15.80,1.114,6,0.000,0.000,3102,1684,1347,0,0,0,0,0,0
$GC,25474,0.35,365.7,529.9,5.2,450,25478,0.00,1.10,0.00,0.000,4,0.000,0.055,3102,1017,1344,0,0,0,0,0,0
$GC,25731,0.35,370.4,516.3,5.1,453,25743,0.00,1.05,8.05,0.963,6,0.000,0.037,3102,1686,1315,0,0,0,0,0,0
$GC,26473,0.35,370.4,470.7,6.6,466,26477,0.00,2.25,0.00,0.000,4,0.000,0.046,3102,3082,1314,0,0,0,0,0,0
$GC,26679,0.35,370.4,456.5,6.5,469,26684,0.00,2.28,0.00,0.000,6,0.000,0.044,3102,1696,1313,0,0,0,0,0,0
$GC,27404,0.35,370.4,403.7,7.8,481,27408,0.00,2.40,0.00,0.000,4,0.000,0.060,3102,276,1313,0,0,0,0,0,0
$GC,27661,0.35,370.4,383.6,9.1,484,27666,0.00,2.25,0.00,0.000,6,0.000,0.034,3102,1686,1312,0,0,0,0,0,0
$GC,28395,0.35,370.4,337.6,5.8,497,28399,0.00,2.22,0.00,0.000,4,0.000,0.044,3102,3085,1312,0,0,0,0,0,0
$GC,28652,0.35,370.4,322.7,5.7,500,28656,0.00,2.30,0.00,0.000,6,0.000,0.044,3102,1670,1312,0,0,0,0,0,0
$GC,29392,0.35,370.4,277.4,6.6,513,29396,0.00,0.82,0.00,0.000,4,0.000,0.040,3102,2212,1312,0,0,0,0,0,0
$GC,29509,0.35,370.4,268.9,6.8,514,29513,0.00,0.88,0.00,0.000,6,0.000,0.047,3102,1669,1312,0,0,0,0,0,0
$GC,30255,0.35,382.6,225.0,4.9,527,30271,0.00,1.12,12.18,0.860,4,0.000,0.038,3102,2369,1267,0,0,0,0,0,0
$GC,30523,0.35,422.6,214.3,3.9,531,30564,0.00,1.10,37.78,0.942,6,0.000,0.046,3102,1683,1103,0,0,0,0,0,0
$GC,31304,0.35,422.6,164.0,9.0,544,31308,0.00,2.22,0.00,0.000,4,0.000,0.042,3102,3090,1097,0,0,0,0,0,0
$GC,31562,0.35,422.6,136.9,9.8,547,31567,0.00,2.28,0.00,0.000,6,0.000,0.041,3102,1685,1097,0,0,0,0,0,0
$GC,32299,0.35,450.2,93.8,4.4,561,32328,0.00,2.17,24.38,0.832,4,0.000,0.040,3102,3049,991,0,0,0,0,0,0
$GC,32583,0.35,450.2,75.0,9.7,567,32587,0.00,2.20,0.00,0.000,6,0.000,0.041,3102,1680,990,0,0,0,0,0,0
$GC,33319,0.35,450.2,13.3,7.8,607,33323,0.00,2.25,0.00,0.000,4,0.000,0.040,3103,3093,987,0,0,0,0,0,0
$STATE,33428,end climb,SURFACE_DEPTH_REACHED
$STATE,33428,begin surface coast
$FINISH,1.7,1.025829
$STATE,33464,end surface coast,CONTROL_FINISHED_OK
$STATE,33464,begin surface
$SM_CCo,33544,0.00,0.000,0,0,984,452.08
$SM_GC,2.85,8.50,0.00,0.00,0.046,0.000,0.000,85,1731,984,-9.00,-0.11,452.08
$IRIDIUM_FIX,-4100.69,-412.28,290113,191958
$TT8_MAMPS,0.026964
$HUMID,50.90
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,21.9,126.150
$10V_AH,9.8,74.221
$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,22.475,91.700,507.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,47.374,1921.101,28382.865,589.078,2572.258,181.795,0.000,1802.111,0.000,2490.057,0.000,1.013,0.000
$DEVICE_MAMPS,257.040,88.740,1432.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.238,284.699,264.198,43.929,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354788
$DATA_FILE_SIZE,36919,619
$CAP_FILE_SIZE,145388,0
$CFSIZE,2097086464,2020605952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310113,074718,-4118.893,-353.117,45,2.1,64,-22.6