version: 66.07.10.p01
glider: 574
mission: 4
dive: 539
start: 2 1 113 1 57 47
data:
$ID,574
$MISSION,4
$DIVE,539
$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,-9925.7695
$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,52
$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,518
$GPS1,010213,014523,-4120.783,-350.832,38,1.8,38,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-74.1
$GPS2,010213,015722,-4120.863,-350.704,29,1.1,45,-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,96.2,117471,-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,-22.48,0.000,2,0.000,0.000,69,1679,1654,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.3,-2.9,2,131,12.20,2.40,-54.42,0.000,4,0.256,0.060,2754,3122,3266,0,0,0,0,0,0
$GC,390,-0.65,-107.0,36.4,-12.1,29,395,0.00,2.20,0.00,0.000,6,0.000,0.040,2754,1734,3266,0,0,0,0,0,0
$GC,808,-0.65,-107.0,82.7,-10.7,45,812,0.00,0.55,0.00,0.000,4,0.000,0.043,2754,2104,3266,0,0,0,0,0,0
$GC,1065,-0.65,-107.0,108.9,-9.3,50,1070,0.00,0.60,0.00,0.000,6,0.000,0.047,2753,1721,3266,0,0,0,0,0,0
$GC,1805,-0.65,-107.0,178.7,-9.8,63,1809,0.00,0.57,0.00,0.000,4,0.000,0.054,2754,1345,3268,0,0,0,0,0,0
$GC,1834,-0.65,-107.0,181.8,-10.4,63,1838,0.00,0.57,0.00,0.000,6,0.000,0.037,2754,1733,3268,0,0,0,0,0,0
$GC,2602,-0.65,-107.0,261.4,-10.6,76,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1734,3268,0,0,0,0,0,0
$GC,3329,-0.65,-107.0,339.1,-10.4,88,3333,0.00,2.22,0.00,0.000,4,0.000,0.047,2754,3124,3268,0,0,0,0,0,0
$GC,3586,-0.65,-107.0,365.1,-10.3,91,3590,0.00,2.20,0.00,0.000,6,0.000,0.037,2753,1747,3268,0,0,0,0,0,0
$GC,4326,-0.65,-107.0,434.0,-9.7,104,4330,0.00,2.22,0.00,0.000,4,0.000,0.044,2754,3132,3268,0,0,0,0,0,0
$GC,4583,-0.65,-107.0,463.0,-11.4,107,4588,0.00,2.20,0.00,0.000,6,0.000,0.037,2754,1723,3268,0,0,0,0,0,0
$GC,5317,-0.65,-107.0,550.8,-12.0,120,5321,0.00,2.28,0.00,0.000,4,0.000,0.054,2754,329,3267,0,0,0,0,0,0
$GC,5416,-0.65,-107.0,562.6,-11.2,121,5421,0.00,2.17,0.00,0.000,6,0.000,0.031,2753,1718,3266,0,0,0,0,0,0
$GC,6173,-0.65,-107.0,639.7,-9.7,134,6177,0.00,0.73,0.00,0.000,4,0.000,0.040,2754,2218,3266,0,0,0,0,0,0
$GC,6223,-0.65,-107.0,644.5,-9.6,134,6227,0.00,0.77,0.00,0.000,6,0.000,0.042,2753,1723,3266,0,0,0,0,0,0
$GC,6969,-0.65,-107.0,715.6,-9.9,147,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1724,3265,0,0,0,0,0,0
$GC,7696,-0.65,-107.0,790.4,-10.5,159,7700,0.00,0.70,0.00,0.000,4,0.000,0.043,2753,2189,3264,0,0,0,0,0,0
$GC,7785,-0.65,-107.0,800.5,-12.2,160,7789,0.00,0.73,0.00,0.000,6,0.000,0.044,2754,1730,3264,0,0,0,0,0,0
$GC,8559,-0.65,-107.0,889.2,-11.5,173,8562,0.00,1.55,0.00,0.000,4,0.000,0.053,2753,785,3263,0,0,0,0,0,0
$GC,8664,-0.65,-107.0,901.9,-12.2,174,8668,0.00,1.50,0.00,0.000,6,0.000,0.033,2753,1743,3263,0,0,0,0,0,0
$STATE,8873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8873,begin apogee
$GC,8879,-0.28,0.0,924.8,10.9,178,8976,0.43,0.00,93.72,1.422,6,0.091,0.000,2893,1678,2827,0,0,0,0,0,0
$STATE,8977,end apogee,CONTROL_FINISHED_OK
$STATE,8977,begin loiter
$GC,9663,-0.27,248.3,993.4,-8.3,191,9894,0.00,2.60,220.62,1.436,4,0.000,0.042,2893,3080,1813,0,0,0,0,0,0
$GC,10034,-0.27,248.3,1000.7,3.0,196,10040,0.00,2.28,0.00,0.000,6,0.000,0.041,2893,1692,1806,0,0,0,0,0,0
$GC,10769,-0.27,248.3,983.5,1.7,209,10773,0.00,2.35,0.00,0.000,4,0.000,0.058,2893,272,1802,0,0,0,0,0,0
$GC,11026,-0.27,248.3,980.7,0.6,212,11032,0.00,2.20,0.00,0.000,6,0.000,0.033,2892,1683,1801,0,0,0,0,0,0
$GC,11760,-0.27,248.3,972.2,1.7,225,11764,0.00,0.50,0.00,0.000,4,0.000,0.055,2893,1368,1801,0,0,0,0,0,0
$GC,12018,-0.27,248.3,965.4,2.3,228,12022,0.00,0.50,0.00,0.000,6,0.000,0.041,2893,1696,1801,0,0,0,0,0,0
$GC,12758,-0.27,248.3,936.5,4.1,241,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1696,1801,0,0,0,0,0,0
$GC,13485,-0.27,248.3,910.4,3.2,253,13489,0.00,1.45,0.00,0.000,4,0.000,0.044,2892,2611,1801,0,0,0,0,0,0
$GC,13743,-0.27,248.3,903.3,2.6,256,13747,0.00,1.50,0.00,0.000,6,0.000,0.044,2892,1685,1800,0,0,0,0,0,0
$GC,14483,-0.27,248.3,888.8,1.6,269,14487,0.00,2.25,0.00,0.000,4,0.000,0.044,2892,3078,1801,0,0,0,0,0,0
$GC,14740,-0.27,248.3,885.6,0.8,272,14744,0.00,2.28,0.00,0.000,6,0.000,0.042,2892,1684,1800,0,0,0,0,0,0
$GC,15480,-0.27,248.3,873.2,2.4,285,15484,0.00,2.35,0.00,0.000,4,0.000,0.058,2892,282,1800,0,0,0,0,0,0
$GC,15737,-0.27,248.3,866.0,3.1,288,15742,0.00,2.20,0.00,0.000,6,0.000,0.034,2892,1681,1800,0,0,0,0,0,0
$GC,16471,-0.27,248.3,845.6,2.6,301,16475,0.00,2.38,0.00,0.000,4,0.000,0.060,2892,282,1800,0,0,0,0,0,0
$GC,16728,-0.27,248.3,839.5,2.2,304,16733,0.00,2.22,0.00,0.000,6,0.000,0.033,2892,1684,1800,0,0,0,0,0,0
$GC,17462,-0.27,248.3,822.8,2.4,317,17466,0.00,2.40,0.00,0.000,4,0.000,0.060,2892,272,1800,0,0,0,0,0,0
$GC,17621,-0.27,248.3,818.7,2.2,319,17626,0.00,2.22,0.00,0.000,6,0.000,0.034,2892,1687,1800,0,0,0,0,0,0
$GC,18383,-0.27,248.3,803.9,1.6,332,18387,0.00,2.25,0.00,0.000,4,0.000,0.046,2892,3086,1801,0,0,0,0,0,0
$GC,18641,-0.27,248.3,800.4,1.4,335,18645,0.00,2.28,0.00,0.000,6,0.000,0.042,2892,1682,1801,0,0,0,0,0,0
$GC,19381,-0.27,248.3,790.9,1.8,348,19385,0.00,2.28,0.00,0.000,4,0.000,0.044,2893,3082,1801,0,0,0,0,0,0
$GC,19390,-0.27,248.3,790.6,1.9,348,19394,0.00,2.25,0.00,0.000,6,0.000,0.040,2892,1685,1801,0,0,0,0,0,0
$STATE,19743,end loiter,LOITER_COMPLETE
$STATE,19743,begin climb
$GC,19745,0.65,107.0,781.6,0.0,354,19751,0.90,2.42,0.00,0.000,4,0.101,0.058,3180,274,1801,0,0,0,0,0,0
$GC,20004,0.34,167.3,772.4,3.3,357,20010,0.35,2.25,0.00,0.000,6,0.181,0.037,3096,1691,1802,0,0,0,0,0,0
$GC,20738,0.35,285.3,756.3,1.3,370,20778,0.00,2.30,34.28,1.309,4,0.000,0.047,3095,3097,1662,0,0,0,0,0,0
$GC,21031,0.35,371.1,749.1,2.4,374,21119,0.00,2.25,80.88,1.328,6,0.000,0.044,3103,1687,1313,0,0,0,0,0,0
$GC,21854,0.35,406.6,717.3,4.1,388,21893,0.00,2.45,32.38,1.272,4,0.000,0.062,3103,272,1168,0,0,0,0,0,0
$GC,22095,0.35,406.6,704.0,5.4,391,22099,0.00,2.25,0.00,0.000,6,0.000,0.034,3103,1709,1162,0,0,0,0,0,0
$GC,22846,0.35,406.6,658.7,6.2,404,22851,0.00,2.42,0.00,0.000,4,0.000,0.061,3103,273,1160,0,0,0,0,0,0
$GC,23104,0.35,406.6,642.1,5.3,407,23109,0.00,2.25,0.00,0.000,6,0.000,0.034,3103,1689,1157,0,0,0,0,0,0
$GC,23838,0.35,418.4,603.8,4.9,420,23853,0.00,0.82,10.25,1.069,4,0.000,0.052,3103,1196,1121,0,0,0,0,0,0
$GC,24107,0.35,419.8,590.8,5.2,424,24111,0.00,0.75,0.00,0.000,6,0.000,0.039,3103,1688,1119,0,0,0,0,0,0
$GC,24842,0.35,419.8,547.3,6.7,436,24846,0.00,2.25,0.00,0.000,4,0.000,0.045,3103,3086,1119,0,0,0,0,0,0
$GC,25099,0.35,419.8,526.3,7.9,439,25104,0.00,2.28,0.00,0.000,6,0.000,0.044,3102,1683,1118,0,0,0,0,0,0
$GC,25833,0.35,419.8,460.4,9.0,452,25837,0.00,2.25,0.00,0.000,4,0.000,0.044,3103,3077,1118,0,0,0,0,0,0
$GC,26091,0.35,419.8,439.1,6.8,455,26095,0.00,2.28,0.00,0.000,6,0.000,0.044,3103,1689,1117,0,0,0,0,0,0
$GC,26831,0.35,419.8,385.7,7.0,468,26835,0.00,2.40,0.00,0.000,4,0.000,0.062,3103,276,1117,0,0,0,0,0,0
$GC,27087,0.35,419.8,366.6,7.4,471,27093,0.00,2.22,0.00,0.000,6,0.000,0.032,3102,1682,1116,0,0,0,0,0,0
$GC,27822,0.35,419.8,305.5,8.5,484,27823,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1685,1116,0,0,0,0,0,0
$GC,28549,0.35,419.8,255.0,6.3,496,28553,0.00,2.25,0.00,0.000,4,0.000,0.044,3103,3085,1116,0,0,0,0,0,0
$GC,28807,0.35,419.8,235.8,8.4,499,28812,0.00,2.28,0.00,0.000,6,0.000,0.043,3103,1670,1116,0,0,0,0,0,0
$GC,29541,0.35,419.8,180.0,7.8,512,29545,0.00,1.75,0.00,0.000,4,0.000,0.060,3103,615,1116,0,0,0,0,0,0
$GC,29798,0.35,419.8,155.1,10.9,515,29802,0.00,1.67,0.00,0.000,6,0.000,0.031,3103,1692,1116,0,0,0,0,0,0
$GC,30518,0.35,419.8,94.9,7.0,528,30522,0.00,2.42,0.00,0.000,4,0.000,0.061,3103,274,1116,0,0,0,0,0,0
$GC,30775,0.35,419.8,76.7,6.5,533,30781,0.00,2.22,0.00,0.000,6,0.000,0.031,3103,1690,1116,0,0,0,0,0,0
$GC,31499,0.35,419.8,34.9,6.4,562,31503,0.00,0.45,0.00,0.000,4,0.000,0.055,3103,1405,1116,0,0,0,0,0,0
$GC,31765,0.35,419.8,16.3,6.4,582,31769,0.00,0.43,0.00,0.000,6,0.000,0.039,3103,1707,1116,0,0,0,0,0,0
$GC,31886,0.35,419.8,8.6,6.5,593,31887,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1706,1116,0,0,0,0,0,0
$STATE,31957,end climb,SURFACE_DEPTH_REACHED
$STATE,31957,begin surface coast
$FINISH,1.8,1.002647
$STATE,32001,end surface coast,CONTROL_FINISHED_OK
$STATE,32001,begin surface
$SM_CCo,32078,0.00,0.000,0,0,1114,420.19
$SM_GC,3.12,8.85,0.00,0.00,0.054,0.000,0.000,84,1716,1114,-8.99,-0.48,420.19
$IRIDIUM_FIX,-4106.41,-355.33,310113,070749
$TT8_MAMPS,0.026964
$HUMID,51.06
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,21.8,126.756
$10V_AH,9.8,74.506
$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,22.725,114.325,472.125,0.000,0.000,30.497,39.563,442.238,0.000,0.000,47.809,1935.712,26683.291,516.786,3348.888,312.412,0.000,1880.750,0.000,2768.067,0.000,1.015,0.000
$DEVICE_MAMPS,256.275,90.270,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.115,317.805,258.247,50.608,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,33625,604
$CAP_FILE_SIZE,164380,0
$CFSIZE,2097086464,2020179968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010213,105353,-4121.689,-350.110,51,0.9,51,-22.6