version: 66.07.10.p01
glider: 574
mission: 4
dive: 537
start: 1 31 113 7 59 8
data:
$ID,574
$MISSION,4
$DIVE,537
$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,-9920.5381
$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,26
$R_STBD_OVSHOOT,39
$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,516
$GPS1,310113,074718,-4118.893,-353.117,45,2.1,64,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-70.4
$GPS2,310113,075843,-4118.849,-353.092,22,1.0,23,-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,98.4,119706,-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,-107.0,0.0,0.0,0,60,0.00,0.00,-32.10,0.000,2,0.000,0.000,68,1723,1816,0,0,0,0,0,0
$GC,63,-0.65,-107.0,3.1,-2.1,3,130,12.15,2.40,-47.75,0.000,4,0.255,0.074,2760,320,3264,0,0,0,0,0,0
$GC,215,-0.65,-107.0,15.2,-10.6,16,219,0.00,2.20,0.00,0.000,6,0.000,0.034,2758,1728,3265,0,0,0,0,0,0
$GC,329,-0.65,-107.0,27.5,-10.5,26,333,0.00,1.05,0.00,0.000,4,0.000,0.044,2758,2410,3265,0,0,0,0,0,0
$GC,423,-0.65,-107.0,37.8,-10.9,31,426,0.00,1.08,0.00,0.000,6,0.000,0.044,2758,1732,3265,0,0,0,0,0,0
$GC,878,-0.65,-107.0,85.7,-10.5,47,881,0.00,1.52,0.00,0.000,4,0.000,0.059,2758,817,3266,0,0,0,0,0,0
$GC,927,-0.65,-107.0,90.8,-9.0,48,931,0.00,1.45,0.00,0.000,6,0.000,0.034,2758,1745,3266,0,0,0,0,0,0
$GC,1655,-0.65,-107.0,162.7,-10.7,61,1659,0.00,0.38,0.00,0.000,4,0.000,0.048,2758,2027,3266,0,0,0,0,0,0
$GC,1907,-0.65,-107.0,191.5,-11.8,64,1912,0.00,0.47,0.00,0.000,6,0.000,0.048,2758,1722,3266,0,0,0,0,0,0
$GC,2653,-0.65,-107.0,276.5,-11.5,77,2656,0.00,0.85,0.00,0.000,4,0.000,0.040,2758,2279,3266,0,0,0,0,0,0
$GC,2764,-0.65,-107.0,289.0,-11.0,78,2768,0.00,0.85,0.00,0.000,6,0.000,0.044,2758,1734,3267,0,0,0,0,0,0
$GC,3516,-0.65,-107.0,360.6,-9.3,91,3519,0.00,1.15,0.00,0.000,4,0.000,0.056,2758,1031,3267,0,0,0,0,0,0
$GC,3593,-0.65,-107.0,368.5,-10.0,92,3597,0.00,1.10,0.00,0.000,6,0.000,0.034,2758,1744,3267,0,0,0,0,0,0
$GC,4317,-0.65,-107.0,445.1,-11.4,104,4322,0.00,2.38,0.00,0.000,4,0.000,0.058,2757,329,3266,0,0,0,0,0,0
$GC,4401,-0.65,-107.0,455.2,-11.7,105,4405,0.00,2.20,0.00,0.000,6,0.000,0.031,2758,1736,3266,0,0,0,0,0,0
$GC,5175,-0.65,-107.0,543.9,-11.2,118,5178,0.00,1.30,0.00,0.000,4,0.000,0.054,2758,951,3265,0,0,0,0,0,0
$GC,5235,-0.65,-107.0,550.9,-11.3,118,5241,0.00,1.23,0.00,0.000,6,0.000,0.033,2758,1737,3265,0,0,0,0,0,0
$GC,5970,-0.65,-107.0,623.9,-9.7,131,5973,0.00,2.38,0.00,0.000,4,0.000,0.059,2758,325,3264,0,0,0,0,0,0
$GC,6064,-0.65,-107.0,633.6,-10.3,132,6068,0.00,2.20,0.00,0.000,6,0.000,0.032,2758,1739,3264,0,0,0,0,0,0
$GC,6832,-0.65,-107.0,712.6,-11.1,145,6836,0.00,2.25,0.00,0.000,4,0.000,0.055,2758,385,3262,0,0,0,0,0,0
$GC,6906,-0.65,-107.0,721.3,-11.9,146,6910,0.00,2.08,0.00,0.000,6,0.000,0.031,2758,1738,3262,0,0,0,0,0,0
$GC,7624,-0.65,-107.0,802.9,-11.5,158,7628,0.00,1.58,0.00,0.000,4,0.000,0.044,2758,2736,3260,0,0,0,0,0,0
$GC,7723,-0.65,-107.0,814.7,-11.8,159,7728,0.00,1.60,0.00,0.000,6,0.000,0.040,2758,1731,3261,0,0,0,0,0,0
$GC,8486,-0.65,-107.0,891.4,-9.3,172,8490,0.00,1.50,0.00,0.000,4,0.000,0.042,2758,2666,3259,0,0,0,0,0,0
$GC,8603,-0.65,-107.0,902.5,-9.7,173,8607,0.00,1.50,0.00,0.000,6,0.000,0.040,2758,1727,3259,0,0,0,0,0,0
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8801,begin apogee
$GC,8806,-0.28,0.0,920.1,8.9,177,8902,0.40,0.00,92.80,1.419,6,0.091,0.000,2889,1684,2827,0,0,0,0,0,0
$STATE,8903,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin loiter
$GC,9591,-0.26,280.8,988.7,-9.4,190,9846,0.00,0.00,252.05,1.424,6,0.000,0.000,2889,1684,1682,0,0,0,0,0,0
$GC,10559,-0.26,280.8,992.2,1.6,206,10563,0.00,2.33,0.00,0.000,4,0.000,0.060,2889,281,1672,0,0,0,0,0,0
$GC,10698,-0.26,280.8,989.2,2.8,208,10702,0.00,2.22,0.00,0.000,6,0.000,0.032,2889,1689,1670,0,0,0,0,0,0
$GC,11428,-0.26,280.8,962.6,4.5,220,11432,0.00,1.90,0.00,0.000,4,0.000,0.059,2889,535,1669,0,0,0,0,0,0
$GC,11686,-0.26,280.8,948.7,5.4,223,11690,0.00,1.80,0.00,0.000,6,0.000,0.033,2889,1679,1669,0,0,0,0,0,0
$GC,12426,-0.26,280.8,907.9,5.3,236,12430,0.00,2.38,0.00,0.000,4,0.000,0.060,2889,275,1668,0,0,0,0,0,0
$GC,12555,-0.26,280.8,901.3,5.3,238,12559,0.00,2.22,0.00,0.000,6,0.000,0.034,2889,1693,1668,0,0,0,0,0,0
$GC,13284,-0.26,280.8,875.8,2.9,250,13288,0.00,2.40,0.00,0.000,4,0.000,0.060,2889,280,1667,0,0,0,0,0,0
$GC,13424,-0.26,280.8,872.0,1.9,252,13428,0.00,2.22,0.00,0.000,6,0.000,0.034,2889,1692,1667,0,0,0,0,0,0
$GC,14141,-0.26,280.8,851.4,3.2,264,14143,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1701,1668,0,0,0,0,0,0
$GC,14869,-0.26,280.8,819.2,5.1,276,14873,0.00,2.38,0.00,0.000,4,0.000,0.058,2889,283,1668,0,0,0,0,0,0
$GC,15064,-0.26,280.8,808.6,5.2,278,15069,0.00,2.22,0.00,0.000,6,0.000,0.033,2889,1684,1668,0,0,0,0,0,0
$GC,15798,-0.26,280.8,770.3,5.1,291,15803,0.00,2.38,0.00,0.000,4,0.000,0.060,2889,284,1668,0,0,0,0,0,0
$GC,15910,-0.26,280.8,765.3,4.5,292,15914,0.00,2.22,0.00,0.000,6,0.000,0.034,2889,1686,1667,0,0,0,0,0,0
$GC,16655,-0.26,280.8,741.4,2.6,305,16659,0.00,2.40,0.00,0.000,4,0.000,0.061,2889,278,1668,0,0,0,0,0,0
$GC,16733,-0.26,280.8,739.5,2.7,306,16737,0.00,2.25,0.00,0.000,6,0.000,0.034,2889,1692,1668,0,0,0,0,0,0
$GC,17451,-0.26,280.8,722.5,2.8,318,17455,0.00,1.70,0.00,0.000,4,0.000,0.056,2889,671,1668,0,0,0,0,0,0
$GC,17709,-0.26,280.8,713.5,4.4,321,17713,0.00,1.60,0.00,0.000,6,0.000,0.032,2889,1689,1668,0,0,0,0,0,0
$GC,18449,-0.26,280.8,683.1,4.5,334,18450,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1692,1668,0,0,0,0,0,0
$GC,19176,-0.26,280.8,650.8,4.4,346,19180,0.00,0.70,0.00,0.000,4,0.000,0.056,2889,1261,1668,0,0,0,0,0,0
$GC,19434,-0.26,280.8,639.1,4.0,349,19438,0.00,0.68,0.00,0.000,6,0.000,0.036,2889,1698,1668,0,0,0,0,0,0
$STATE,19687,end loiter,LOITER_COMPLETE
$STATE,19687,begin climb
$GC,19689,0.65,107.0,628.7,0.0,354,19695,0.93,2.47,0.00,0.000,4,0.107,0.059,3182,280,1668,0,0,0,0,0,0
$GC,19948,0.39,125.2,616.7,4.7,357,19953,0.28,2.20,0.00,0.000,6,0.177,0.036,3114,1672,1669,0,0,0,0,0,0
$GC,20682,0.39,149.6,585.1,4.5,370,20686,0.00,0.73,0.00,0.000,4,0.000,0.057,3116,1230,1669,0,0,0,0,0,0
$GC,20885,0.39,178.0,576.5,4.3,373,20889,0.00,0.70,0.00,0.000,6,0.000,0.037,3116,1694,1669,0,0,0,0,0,0
$GC,21622,0.40,232.3,549.7,3.5,385,21625,0.00,0.68,0.00,0.000,4,0.000,0.056,3118,1285,1669,0,0,0,0,0,0
$GC,21770,0.40,280.3,544.9,3.7,387,21773,0.00,0.60,0.00,0.000,6,0.000,0.039,3118,1688,1669,0,0,0,0,0,0
$GC,22494,0.40,322.5,517.4,3.9,399,22537,0.00,0.68,38.30,1.155,4,0.000,0.044,3118,2116,1512,0,0,0,0,0,0
$GC,22650,0.40,322.5,509.7,5.7,401,22654,0.00,0.70,0.00,0.000,6,0.000,0.050,3118,1687,1510,0,0,0,0,0,0
$GC,23419,0.40,345.5,472.6,4.5,414,23445,0.00,1.30,21.95,1.087,4,0.000,0.057,3118,927,1417,0,0,0,0,0,0
$GC,23697,0.40,374.3,458.8,4.3,418,23729,0.00,1.17,27.38,1.098,6,0.000,0.036,3118,1678,1300,0,0,0,0,0,0
$GC,24468,0.40,374.3,411.3,6.8,431,24472,0.00,1.02,0.00,0.000,4,0.000,0.041,3118,2359,1295,0,0,0,0,0,0
$GC,24580,0.40,374.3,403.2,6.0,432,24584,0.00,1.08,0.00,0.000,6,0.000,0.047,3118,1686,1295,0,0,0,0,0,0
$GC,25331,0.40,374.3,350.3,6.5,445,25335,0.00,2.35,0.00,0.000,4,0.000,0.060,3118,283,1294,0,0,0,0,0,0
$GC,25588,0.40,391.0,335.0,4.7,448,25608,0.00,2.20,15.07,0.968,6,0.000,0.032,3118,1695,1231,0,0,0,0,0,0
$GC,26322,0.41,412.2,299.4,4.6,461,26344,0.00,0.00,21.02,0.969,6,0.000,0.000,3118,1696,1146,0,0,0,0,0,0
$GC,27049,0.41,412.2,247.3,8.2,473,27053,0.00,1.48,0.00,0.000,4,0.000,0.058,3118,812,1142,0,0,0,0,0,0
$GC,27306,0.41,412.2,225.4,7.3,476,27310,0.00,1.35,0.00,0.000,6,0.000,0.032,3118,1683,1140,0,0,0,0,0,0
$GC,28046,0.41,412.2,169.8,7.3,489,28050,0.00,2.22,0.00,0.000,4,0.000,0.043,3118,3078,1140,0,0,0,0,0,0
$GC,28303,0.41,412.2,151.0,6.8,492,28308,0.00,2.25,0.00,0.000,6,0.000,0.043,3118,1683,1140,0,0,0,0,0,0
$GC,29037,0.41,412.2,108.6,6.0,505,29041,0.00,2.22,0.00,0.000,4,0.000,0.041,3118,3081,1140,0,0,0,0,0,0
$GC,29294,0.41,412.2,88.3,7.7,509,29299,0.00,2.25,0.00,0.000,6,0.000,0.042,3118,1682,1140,0,0,0,0,0,0
$GC,30018,0.41,412.2,33.9,7.2,536,30022,0.00,2.38,0.00,0.000,4,0.000,0.061,3118,276,1140,0,0,0,0,0,0
$GC,30118,0.41,412.2,26.8,6.2,542,30122,0.00,2.17,0.00,0.000,6,0.000,0.031,3118,1681,1139,0,0,0,0,0,0
$GC,30232,0.41,412.2,18.8,6.6,552,30236,0.00,2.22,0.00,0.000,4,0.000,0.041,3118,3085,1139,0,0,0,0,0,0
$STATE,30479,end climb,SURFACE_DEPTH_REACHED
$STATE,30479,begin surface coast
$FINISH,1.6,1.025039
$STATE,30515,end surface coast,CONTROL_FINISHED_OK
$STATE,30515,begin surface
$SM_CCo,30595,0.00,0.000,0,0,1136,414.80
$SM_GC,2.97,8.98,0.00,0.00,0.062,0.000,0.000,92,1729,1136,-8.99,-0.20,414.80
$IRIDIUM_FIX,-4100.69,-352.08,300113,131343
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.6,126.356
$10V_AH,9.8,74.312
$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,22.725,111.375,468.575,0.000,0.000,28.810,37.920,440.110,0.000,0.000,25.703,1840.756,25574.736,548.186,3009.041,309.982,0.000,1764.188,0.000,2472.426,0.000,1.015,0.000
$DEVICE_MAMPS,254.745,155.295,1423.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.410,307.656,246.682,49.339,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,33651,576
$CAP_FILE_SIZE,155839,0
$CFSIZE,2097086464,2020474880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,310113,163035,-4119.702,-351.496,55,1.3,55,-22.6