version: 66.07.10.p01
glider: 574
mission: 4
dive: 538
start: 1 31 113 16 32 31
data:
$ID,574
$MISSION,4
$DIVE,538
$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,-9922.873
$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,45
$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,517
$GPS1,310113,163035,-4119.702,-351.496,55,1.3,55,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-74.9
$GPS2,310113,163208,-4119.692,-351.466,33,1.3,34,-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,97.4,117906,-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,24,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,40,0.00,0.00,-11.70,0.000,2,0.000,0.000,69,1726,1432,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,124,12.45,2.35,-62.33,0.000,4,0.259,0.064,2754,3123,3265,0,0,0,0,0,0
$GC,202,-0.65,-107.0,16.6,-11.3,15,206,0.00,2.22,0.00,0.000,6,0.000,0.042,2754,1736,3267,0,0,0,0,0,0
$GC,317,-0.65,-107.0,28.9,-9.9,25,321,0.00,2.25,0.00,0.000,4,0.000,0.048,2754,3125,3267,0,0,0,0,0,0
$GC,425,-0.65,-107.0,40.3,-11.0,30,429,0.00,2.25,0.00,0.000,6,0.000,0.043,2754,1727,3268,0,0,0,0,0,0
$GC,854,-0.65,-107.0,90.1,-11.9,45,858,0.00,2.33,0.00,0.000,4,0.000,0.058,2754,320,3268,0,0,0,0,0,0
$GC,1111,-0.65,-107.0,119.6,-10.0,49,1117,0.00,2.20,0.00,0.000,6,0.000,0.034,2754,1724,3268,0,0,0,0,0,0
$GC,1845,-0.65,-107.0,193.3,-10.5,62,1849,0.00,2.35,0.00,0.000,4,0.000,0.057,2754,324,3269,0,0,0,0,0,0
$GC,2103,-0.65,-107.0,223.0,-12.0,65,2108,0.00,2.22,0.00,0.000,6,0.000,0.034,2754,1733,3269,0,0,0,0,0,0
$GC,2837,-0.65,-107.0,305.2,-10.7,78,2841,0.00,2.38,0.00,0.000,4,0.000,0.057,2754,321,3270,0,0,0,0,0,0
$GC,3094,-0.65,-107.0,333.3,-11.0,81,3100,0.00,2.22,0.00,0.000,6,0.000,0.033,2754,1737,3270,0,0,0,0,0,0
$GC,3828,-0.65,-107.0,415.4,-11.7,94,3832,0.00,0.70,0.00,0.000,4,0.000,0.050,2754,1298,3270,0,0,0,0,0,0
$GC,4086,-0.65,-107.0,443.7,-9.9,97,4090,0.00,0.70,0.00,0.000,6,0.000,0.036,2754,1750,3270,0,0,0,0,0,0
$GC,4826,-0.65,-107.0,511.6,-9.1,110,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1750,3269,0,0,0,0,0,0
$GC,5553,-0.65,-107.0,592.4,-12.2,122,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1750,3269,0,0,0,0,0,0
$GC,6281,-0.65,-107.0,683.2,-12.0,134,6285,0.00,2.40,0.00,0.000,4,0.000,0.057,2754,327,3267,0,0,0,0,0,0
$GC,6538,-0.65,-107.0,713.2,-11.6,137,6543,0.00,2.20,0.00,0.000,6,0.000,0.032,2753,1724,3267,0,0,0,0,0,0
$GC,7272,-0.65,-107.0,781.1,-8.9,150,7276,0.00,2.35,0.00,0.000,4,0.000,0.056,2754,326,3266,0,0,0,0,0,0
$GC,7506,-0.65,-107.0,804.1,-9.9,153,7511,0.00,2.22,0.00,0.000,6,0.000,0.032,2754,1730,3266,0,0,0,0,0,0
$GC,8263,-0.65,-107.0,883.2,-11.0,166,8267,0.00,2.28,0.00,0.000,4,0.000,0.046,2754,3146,3264,0,0,0,0,0,0
$GC,8410,-0.65,-107.0,900.1,-11.4,168,8414,0.00,2.25,0.00,0.000,6,0.000,0.039,2754,1723,3264,0,0,0,0,0,0
$STATE,8634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8635,begin apogee
$GC,8640,-0.28,0.0,925.1,11.1,172,8736,0.43,0.00,93.65,1.426,6,0.085,0.000,2896,1723,2827,0,0,0,0,0,0
$STATE,8737,end apogee,CONTROL_FINISHED_OK
$STATE,8737,begin loiter
$GC,9424,-0.27,241.2,993.5,-8.1,185,9645,0.00,2.67,213.40,1.427,4,0.000,0.057,2896,286,1842,0,0,0,0,0,0
$GC,9899,-0.27,241.2,995.4,3.8,192,9903,0.00,2.22,0.00,0.000,6,0.000,0.034,2896,1685,1834,0,0,0,0,0,0
$GC,10661,-0.27,241.2,975.8,1.5,205,10665,0.00,2.33,0.00,0.000,4,0.000,0.059,2896,284,1833,0,0,0,0,0,0
$GC,10784,-0.27,241.2,974.1,1.3,206,10788,0.00,2.22,0.00,0.000,6,0.000,0.033,2893,1688,1833,0,0,0,0,0,0
$GC,11524,-0.27,251.3,972.7,-0.3,219,11539,0.00,2.25,8.85,1.205,4,0.000,0.045,2892,3077,1802,0,0,0,0,0,0
$GC,11622,-0.27,251.3,972.8,0.3,220,11627,0.00,2.22,0.00,0.000,6,0.000,0.042,2892,1692,1801,0,0,0,0,0,0
$GC,12385,-0.27,251.3,967.9,1.4,233,12389,0.00,2.35,0.00,0.000,4,0.000,0.059,2892,275,1801,0,0,0,0,0,0
$GC,12619,-0.27,251.3,962.9,2.0,236,12623,0.00,2.22,0.00,0.000,6,0.000,0.034,2892,1680,1800,0,0,0,0,0,0
$GC,13376,-0.27,251.3,943.1,2.7,249,13380,0.00,2.38,0.00,0.000,4,0.000,0.059,2892,272,1799,0,0,0,0,0,0
$GC,13611,-0.27,251.3,937.1,2.4,252,13615,0.00,2.22,0.00,0.000,6,0.000,0.034,2892,1691,1799,0,0,0,0,0,0
$GC,14374,-0.27,251.3,922.3,1.7,265,14378,0.00,2.22,0.00,0.000,4,0.000,0.046,2892,3085,1799,0,0,0,0,0,0
$GC,14553,-0.27,251.3,919.6,1.9,267,14557,0.00,2.25,0.00,0.000,6,0.000,0.042,2892,1686,1799,0,0,0,0,0,0
$GC,15304,-0.27,251.3,908.7,1.6,280,15308,0.00,2.38,0.00,0.000,4,0.000,0.059,2892,273,1799,0,0,0,0,0,0
$GC,15560,-0.27,251.3,903.7,1.8,283,15566,0.00,2.25,0.00,0.000,6,0.000,0.034,2892,1689,1799,0,0,0,0,0,0
$GC,16295,-0.27,251.3,892.0,1.4,296,16299,0.00,2.40,0.00,0.000,4,0.000,0.059,2892,274,1799,0,0,0,0,0,0
$GC,16428,-0.27,251.3,890.8,0.8,298,16432,0.00,2.25,0.00,0.000,6,0.000,0.034,2892,1688,1799,0,0,0,0,0,0
$GC,17158,-0.27,251.3,884.3,0.9,310,17162,0.00,2.25,0.00,0.000,4,0.000,0.045,2891,3089,1799,0,0,0,0,0,0
$GC,17355,-0.27,251.3,882.4,0.8,313,17359,0.00,2.28,0.00,0.000,6,0.000,0.042,2892,1678,1799,0,0,0,0,0,0
$GC,18085,-0.27,251.3,870.4,2.0,325,18089,0.00,2.33,0.00,0.000,4,0.000,0.059,2891,280,1799,0,0,0,0,0,0
$GC,18342,-0.27,251.3,864.3,2.2,328,18347,0.00,2.22,0.00,0.000,6,0.000,0.034,2892,1682,1799,0,0,0,0,0,0
$GC,19076,-0.27,251.3,849.4,1.7,341,19080,0.00,2.38,0.00,0.000,4,0.000,0.060,2892,281,1799,0,0,0,0,0,0
$GC,19221,-0.27,251.3,847.2,1.2,343,19226,0.00,2.20,0.00,0.000,6,0.000,0.033,2891,1687,1799,0,0,0,0,0,0
$STATE,19519,end loiter,LOITER_COMPLETE
$STATE,19519,begin climb
$GC,19521,0.65,107.0,843.1,0.0,348,19527,0.90,2.30,0.00,0.000,4,0.104,0.043,3176,3085,1799,0,0,0,0,0,0
$GC,19780,0.35,221.3,838.2,1.5,351,19786,0.38,2.28,0.00,0.000,6,0.187,0.044,3097,1681,1799,0,0,0,0,0,0
$GC,20514,0.35,325.4,826.2,1.8,364,20589,0.00,1.17,70.95,1.369,4,0.000,0.055,3098,976,1501,0,0,0,0,0,0
$GC,20843,0.36,356.7,810.9,4.2,369,20878,0.00,1.12,30.10,1.328,6,0.000,0.037,3098,1693,1372,0,0,0,0,0,0
$GC,21630,0.36,356.7,763.7,6.0,382,21633,0.00,1.17,0.00,0.000,4,0.000,0.057,3098,989,1366,0,0,0,0,0,0
$GC,21788,0.36,374.8,754.8,4.7,384,21809,0.00,1.10,16.90,1.242,6,0.000,0.037,3098,1688,1298,0,0,0,0,0,0
$GC,22555,0.36,374.8,710.1,5.7,397,22559,0.00,2.25,0.00,0.000,4,0.000,0.061,3098,340,1295,0,0,0,0,0,0
$GC,22813,0.36,374.8,694.9,6.4,400,22818,0.00,2.12,0.00,0.000,6,0.000,0.036,3098,1673,1293,0,0,0,0,0,0
$GC,23548,0.36,378.1,656.2,5.2,413,23551,0.00,2.38,0.00,0.000,4,0.000,0.062,3098,280,1293,0,0,0,0,0,0
$GC,23805,0.36,398.6,642.1,4.6,416,23835,0.00,2.22,22.90,1.202,6,0.000,0.036,3098,1693,1201,0,0,0,0,0,0
$GC,24548,0.36,398.6,590.2,7.6,429,24552,0.00,2.38,0.00,0.000,4,0.000,0.062,3098,276,1199,0,0,0,0,0,0
$GC,24806,0.36,398.6,568.5,8.4,432,24811,0.00,2.22,0.00,0.000,6,0.000,0.035,3098,1674,1196,0,0,0,0,0,0
$GC,25540,0.36,398.6,505.9,8.4,445,25544,0.00,2.28,0.00,0.000,4,0.000,0.046,3098,3085,1196,0,0,0,0,0,0
$GC,25612,0.36,398.6,499.9,8.2,446,25616,0.00,2.28,0.00,0.000,6,0.000,0.044,3098,1684,1196,0,0,0,0,0,0
$GC,26337,0.36,398.6,448.9,6.9,458,26341,0.00,2.38,0.00,0.000,4,0.000,0.062,3098,279,1196,0,0,0,0,0,0
$GC,26593,0.36,398.6,431.8,6.3,461,26599,0.00,2.22,0.00,0.000,6,0.000,0.034,3098,1681,1194,0,0,0,0,0,0
$GC,27328,0.36,398.6,382.9,6.4,474,27332,0.00,1.10,0.00,0.000,4,0.000,0.057,3098,1020,1194,0,0,0,0,0,0
$GC,27585,0.36,398.6,367.5,6.6,477,27590,0.00,1.05,0.00,0.000,6,0.000,0.035,3098,1695,1194,0,0,0,0,0,0
$GC,28325,0.36,398.6,325.6,5.4,490,28329,0.00,1.95,0.00,0.000,4,0.000,0.044,3098,2910,1194,0,0,0,0,0,0
$GC,28583,0.36,398.6,312.0,5.6,493,28587,0.00,2.03,0.00,0.000,6,0.000,0.045,3098,1684,1194,0,0,0,0,0,0
$GC,29323,0.36,398.6,264.5,8.0,506,29327,0.00,2.28,0.00,0.000,4,0.000,0.045,3098,3083,1194,0,0,0,0,0,0
$GC,29580,0.36,398.6,241.4,9.0,509,29586,0.00,2.28,0.00,0.000,6,0.000,0.043,3098,1681,1194,0,0,0,0,0,0
$GC,30314,0.36,398.6,186.1,6.9,522,30318,0.00,2.38,0.00,0.000,4,0.000,0.062,3098,273,1194,0,0,0,0,0,0
$GC,30572,0.36,398.6,167.5,7.5,525,30577,0.00,2.22,0.00,0.000,6,0.000,0.031,3098,1681,1194,0,0,0,0,0,0
$GC,31306,0.36,416.8,125.3,4.7,538,31327,0.00,0.82,17.17,0.835,4,0.000,0.055,3098,1199,1127,0,0,0,0,0,0
$GC,31579,0.36,416.8,106.5,7.4,542,31584,0.00,0.77,0.00,0.000,6,0.000,0.034,3098,1702,1126,0,0,0,0,0,0
$GC,32310,0.36,432.1,49.4,4.8,564,32333,0.00,1.30,14.88,0.773,4,0.000,0.041,3098,2527,1065,0,0,0,0,0,0
$GC,32587,0.36,432.1,32.9,7.4,576,32591,0.00,1.35,0.00,0.000,6,0.000,0.046,3098,1686,1064,0,0,0,0,0,0
$STATE,32986,end climb,SURFACE_DEPTH_REACHED
$STATE,32986,begin surface coast
$FINISH,1.7,1.016290
$STATE,33019,end surface coast,CONTROL_FINISHED_OK
$STATE,33019,begin surface
$SM_CCo,33097,0.00,0.000,0,0,1061,433.19
$SM_GC,3.09,8.68,0.00,0.00,0.054,0.000,0.000,87,1685,1061,-8.99,-1.41,433.19
$IRIDIUM_FIX,-4100.69,-352.08,300113,131343
$TT8_MAMPS,0.026964
$HUMID,51.14
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.8,126.542
$10V_AH,9.9,74.408
$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,22.825,139.775,488.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,36.355,2023.499,27310.646,531.793,3119.767,204.065,0.000,2021.439,0.000,3028.013,0.000,1.012,0.000
$DEVICE_MAMPS,259.335,64.260,1426.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.417,297.924,257.853,48.691,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354700
$DATA_FILE_SIZE,36928,614
$CAP_FILE_SIZE,168740,0
$CFSIZE,2097086464,2020311040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010213,014523,-4120.783,-350.832,38,1.8,38,-22.6