version: 66.07.10.p01
glider: 574
mission: 4
dive: 540
start: 2 1 113 10 55 35
data:
$ID,574
$MISSION,4
$DIVE,540
$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,-9928.1924
$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,58
$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,519
$GPS1,010213,105353,-4121.689,-350.110,51,0.9,51,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-73.6
$GPS2,010213,105512,-4121.689,-350.105,19,0.9,19,-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,95.4,117111,-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,-107.0,0.0,0.0,0,40,0.00,0.00,-11.52,0.000,2,0.000,0.000,69,1716,1411,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.2,-0.0,1,132,12.55,2.40,-68.20,0.000,4,0.259,0.073,2756,330,3266,0,0,0,0,0,0
$GC,182,-0.65,-107.0,10.8,-10.7,13,186,0.00,2.17,0.00,0.000,6,0.000,0.036,2756,1707,3267,0,0,0,0,0,0
$GC,297,-0.65,-107.0,22.2,-10.1,23,300,0.00,0.88,0.00,0.000,4,0.000,0.046,2756,2279,3267,0,0,0,0,0,0
$GC,313,-0.65,-107.0,24.4,-10.6,24,321,0.00,0.88,0.00,0.000,6,0.000,0.044,2756,1726,3267,0,0,0,0,0,0
$GC,427,-0.65,-107.0,35.0,-9.8,33,431,0.00,2.30,0.00,0.000,4,0.000,0.048,2756,3143,3267,0,0,0,0,0,0
$GC,510,-0.65,-107.0,43.6,-9.6,36,518,0.00,2.25,0.00,0.000,6,0.000,0.041,2756,1747,3267,0,0,0,0,0,0
$GC,946,-0.65,-107.0,83.6,-9.7,52,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1747,3268,0,0,0,0,0,0
$GC,1654,-0.65,-107.0,156.8,-9.9,65,1658,0.00,2.00,0.00,0.000,4,0.000,0.058,2756,541,3269,0,0,0,0,0,0
$GC,1912,-0.65,-107.0,186.5,-11.7,68,1916,0.00,1.90,0.00,0.000,6,0.000,0.033,2756,1746,3269,0,0,0,0,0,0
$GC,2652,-0.65,-107.0,271.9,-11.2,81,2656,0.00,2.38,0.00,0.000,4,0.000,0.057,2756,331,3269,0,0,0,0,0,0
$GC,2909,-0.65,-107.0,300.8,-11.3,84,2913,0.00,2.22,0.00,0.000,6,0.000,0.034,2756,1733,3269,0,0,0,0,0,0
$GC,3649,-0.65,-107.0,376.0,-9.8,97,3652,0.00,1.08,0.00,0.000,4,0.000,0.043,2756,2434,3269,0,0,0,0,0,0
$GC,3704,-0.65,-107.0,381.7,-9.6,97,3708,0.00,1.10,0.00,0.000,6,0.000,0.041,2756,1738,3269,0,0,0,0,0,0
$GC,4444,-0.65,-107.0,454.0,-10.1,110,4448,0.00,2.28,0.00,0.000,4,0.000,0.046,2756,3144,3269,0,0,0,0,0,0
$GC,4560,-0.65,-107.0,466.7,-10.8,111,4565,0.00,2.25,0.00,0.000,6,0.000,0.037,2756,1711,3268,0,0,0,0,0,0
$GC,5300,-0.65,-107.0,549.9,-10.8,124,5304,0.00,2.33,0.00,0.000,4,0.000,0.044,2756,3150,3267,0,0,0,0,0,0
$GC,5452,-0.65,-107.0,565.8,-10.7,126,5456,0.00,2.22,0.00,0.000,6,0.000,0.037,2756,1727,3267,0,0,0,0,0,0
$GC,6219,-0.65,-107.0,635.4,-8.8,139,6223,0.00,2.28,0.00,0.000,4,0.000,0.043,2756,3153,3266,0,0,0,0,0,0
$GC,6341,-0.65,-107.0,646.3,-8.4,140,6347,0.00,2.22,0.00,0.000,6,0.000,0.036,2756,1726,3266,0,0,0,0,0,0
$GC,7075,-0.65,-107.0,707.1,-8.5,153,7079,0.00,2.28,0.00,0.000,4,0.000,0.054,2757,332,3264,0,0,0,0,0,0
$GC,7227,-0.65,-107.0,721.2,-10.2,155,7232,0.00,2.20,0.00,0.000,6,0.000,0.031,2756,1744,3264,0,0,0,0,0,0
$GC,7995,-0.65,-107.0,796.8,-10.3,168,7999,0.00,2.20,0.00,0.000,4,0.000,0.044,2756,3133,3261,0,0,0,0,0,0
$GC,8111,-0.65,-107.0,810.2,-11.8,169,8116,0.00,2.22,0.00,0.000,6,0.000,0.037,2756,1719,3261,0,0,0,0,0,0
$GC,8851,-0.65,-107.0,892.1,-10.5,182,8855,0.00,2.30,0.00,0.000,4,0.000,0.044,2756,3142,3260,0,0,0,0,0,0
$GC,9030,-0.65,-107.0,910.9,-10.3,184,9034,0.00,2.25,0.00,0.000,6,0.000,0.037,2756,1737,3259,0,0,0,0,0,0
$STATE,9167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9167,begin apogee
$GC,9173,-0.28,0.0,924.0,9.6,187,9269,0.40,0.00,92.93,1.430,6,0.086,0.000,2890,1677,2827,0,0,0,0,0,0
$STATE,9270,end apogee,CONTROL_FINISHED_OK
$STATE,9270,begin loiter
$GC,9957,-0.27,238.1,988.3,-8.0,200,10177,0.00,2.62,210.82,1.436,4,0.000,0.055,2890,288,1855,0,0,0,0,0,0
$GC,10431,-0.27,238.1,995.1,1.8,207,10435,0.00,2.22,0.00,0.000,6,0.000,0.032,2890,1688,1846,0,0,0,0,0,0
$GC,11199,-0.27,238.1,981.5,1.8,220,11203,0.00,0.52,0.00,0.000,4,0.000,0.056,2890,1363,1843,0,0,0,0,0,0
$GC,11456,-0.27,238.1,975.9,2.7,223,11460,0.00,0.52,0.00,0.000,6,0.000,0.038,2890,1707,1843,0,0,0,0,0,0
$GC,12196,-0.27,238.1,953.1,3.3,236,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1707,1842,0,0,0,0,0,0
$GC,12923,-0.27,238.1,934.2,2.0,248,12927,0.00,0.88,0.00,0.000,4,0.000,0.042,2890,2284,1841,0,0,0,0,0,0
$GC,13181,-0.27,238.1,930.7,0.6,251,13185,0.00,0.95,0.00,0.000,6,0.000,0.046,2890,1688,1841,0,0,0,0,0,0
$GC,13921,-0.27,238.1,926.0,0.6,264,13925,0.00,2.25,0.00,0.000,4,0.000,0.044,2890,3077,1842,0,0,0,0,0,0
$GC,13958,-0.27,238.1,925.7,1.3,264,13963,0.00,2.25,0.00,0.000,6,0.000,0.041,2890,1693,1841,0,0,0,0,0,0
$GC,14709,-0.27,238.1,918.2,1.2,277,14713,0.00,2.35,0.00,0.000,4,0.000,0.058,2890,281,1841,0,0,0,0,0,0
$GC,14967,-0.27,238.1,914.7,1.2,280,14971,0.00,2.20,0.00,0.000,6,0.000,0.033,2890,1666,1840,0,0,0,0,0,0
$GC,15707,-0.27,238.1,901.0,2.2,293,15711,0.00,2.28,0.00,0.000,4,0.000,0.045,2890,3089,1840,0,0,0,0,0,0
$GC,15756,-0.27,238.1,900.0,1.8,293,15760,0.00,2.28,0.00,0.000,6,0.000,0.041,2890,1691,1840,0,0,0,0,0,0
$GC,16502,-0.27,238.1,887.8,1.2,306,16506,0.00,2.38,0.00,0.000,4,0.000,0.059,2890,279,1840,0,0,0,0,0,0
$GC,16759,-0.27,248.8,886.4,-0.4,309,16774,0.00,2.22,8.25,1.162,6,0.000,0.032,2890,1707,1813,0,0,0,0,0,0
$GC,17499,-0.27,248.8,883.0,0.5,322,17503,0.00,2.30,0.00,0.000,4,0.000,0.059,2889,319,1812,0,0,0,0,0,0
$GC,17756,-0.27,248.8,879.7,1.6,325,17762,0.00,2.12,0.00,0.000,6,0.000,0.032,2890,1663,1811,0,0,0,0,0,0
$GC,18491,-0.27,248.8,859.1,3.3,338,18494,0.00,1.73,0.00,0.000,4,0.000,0.056,2890,623,1811,0,0,0,0,0,0
$GC,18748,-0.27,248.8,849.2,3.4,341,18753,0.00,1.67,0.00,0.000,6,0.000,0.033,2889,1688,1811,0,0,0,0,0,0
$GC,19488,-0.27,248.8,829.2,1.5,354,19489,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1696,1811,0,0,0,0,0,0
$STATE,20032,end loiter,LOITER_COMPLETE
$STATE,20032,begin climb
$GC,20034,0.65,107.0,827.0,0.0,363,20038,0.90,0.75,0.00,0.000,4,0.102,0.034,3176,2198,1811,0,0,0,0,0,0
$GC,20291,0.36,263.9,826.7,0.0,366,20312,0.28,0.82,16.20,1.275,6,0.177,0.049,3107,1679,1750,0,0,0,0,0,0
$GC,21031,0.36,347.8,812.2,2.5,379,21117,0.00,2.38,80.15,1.375,4,0.000,0.044,3106,3086,1408,0,0,0,0,0,0
$GC,21370,0.36,347.8,792.6,7.0,384,21375,0.00,2.28,0.00,0.000,6,0.000,0.044,3112,1659,1401,0,0,0,0,0,0
$GC,22089,0.36,347.8,745.7,6.5,396,22093,0.00,2.22,0.00,0.000,4,0.000,0.046,3112,3046,1398,0,0,0,0,0,0
$GC,22346,0.36,347.8,729.9,6.3,399,22351,0.05,2.22,0.00,0.000,6,0.148,0.044,3095,1688,1396,0,0,0,0,0,0
$GC,23086,0.36,347.8,688.7,5.5,412,23089,0.00,0.70,0.00,0.000,4,0.000,0.042,3094,2149,1395,0,0,0,0,0,0
$GC,23343,0.36,347.8,674.7,6.1,415,23348,0.00,0.77,0.00,0.000,6,0.000,0.050,3095,1676,1395,0,0,0,0,0,0
$GC,24083,0.36,347.8,630.3,6.2,428,24087,0.00,2.28,0.00,0.000,4,0.000,0.045,3095,3086,1394,0,0,0,0,0,0
$GC,24341,0.36,347.8,613.6,6.8,431,24346,0.00,2.28,0.00,0.000,6,0.000,0.044,3099,1683,1393,0,0,0,0,0,0
$GC,25075,0.36,347.8,569.5,6.0,444,25079,0.00,2.30,0.00,0.000,4,0.000,0.045,3099,3092,1393,0,0,0,0,0,0
$GC,25333,0.36,347.8,554.3,5.4,447,25338,0.00,2.28,0.00,0.000,6,0.000,0.043,3106,1676,1393,0,0,0,0,0,0
$GC,26067,0.36,357.8,516.6,5.0,460,26081,0.00,1.45,7.68,0.969,4,0.000,0.041,3107,2562,1367,0,0,0,0,0,0
$GC,26335,0.37,374.2,502.6,4.7,464,26357,0.00,1.42,17.23,1.100,6,0.000,0.047,3110,1684,1301,0,0,0,0,0,0
$GC,27124,0.37,374.2,451.4,7.2,477,27126,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1685,1298,0,0,0,0,0,0
$GC,27852,0.37,374.2,397.2,7.1,489,27855,0.00,1.35,0.00,0.000,4,0.000,0.057,3113,865,1297,0,0,0,0,0,0
$GC,28111,0.37,374.2,380.1,6.7,492,28115,0.03,1.30,0.00,0.000,6,0.157,0.035,3104,1693,1295,0,0,0,0,0,0
$GC,28850,0.37,374.2,337.1,5.6,505,28851,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1696,1296,0,0,0,0,0,0
$GC,29577,0.37,374.2,293.4,6.4,517,29581,0.00,2.22,0.00,0.000,4,0.000,0.045,3104,3076,1296,0,0,0,0,0,0
$GC,29775,0.37,374.2,279.8,8.3,520,29779,0.00,2.25,0.00,0.000,6,0.000,0.044,3103,1682,1296,0,0,0,0,0,0
$GC,30509,0.37,374.2,232.5,6.3,532,30513,0.00,2.38,0.00,0.000,4,0.000,0.060,3103,273,1295,0,0,0,0,0,0
$GC,30767,0.37,374.2,217.2,5.4,535,30771,0.00,2.22,0.00,0.000,6,0.000,0.033,3104,1674,1295,0,0,0,0,0,0
$GC,31507,0.37,374.2,175.9,6.4,548,31511,0.00,2.10,0.00,0.000,4,0.000,0.061,3103,427,1295,0,0,0,0,0,0
$GC,31764,0.37,374.2,156.2,7.0,551,31768,0.00,1.98,0.00,0.000,6,0.000,0.031,3103,1683,1295,0,0,0,0,0,0
$GC,32504,0.37,374.2,103.3,7.5,564,32508,0.00,1.35,0.00,0.000,4,0.000,0.039,3103,2553,1295,0,0,0,0,0,0
$GC,32762,0.37,374.2,87.0,5.7,569,32766,0.00,1.42,0.00,0.000,6,0.000,0.045,3103,1676,1295,0,0,0,0,0,0
$GC,33488,0.37,374.2,52.8,5.6,590,33492,0.00,2.28,0.00,0.000,4,0.000,0.042,3103,3085,1295,0,0,0,0,0,0
$GC,33612,0.37,374.2,45.6,6.7,595,33617,0.00,2.25,0.00,0.000,6,0.000,0.041,3103,1686,1295,0,0,0,0,0,0
$GC,34039,0.37,374.2,18.1,7.6,623,34043,0.00,2.38,0.00,0.000,4,0.000,0.061,3103,283,1295,0,0,0,0,0,0
$GC,34220,0.37,388.5,3.6,4.8,638,34233,0.00,2.17,7.05,0.578,6,0.000,0.029,3103,1709,1243,0,0,0,0,0,0
$STATE,34242,end climb,SURFACE_DEPTH_REACHED
$STATE,34242,begin surface coast
$FINISH,1.8,1.002163
$STATE,34285,end surface coast,CONTROL_FINISHED_OK
$STATE,34286,begin surface
$SM_CCo,34363,0.00,0.000,0,0,1237,390.02
$SM_GC,3.13,8.65,0.00,0.00,0.047,0.000,0.000,84,1711,1237,-9.00,-0.68,390.02
$IRIDIUM_FIX,-4106.41,-355.33,310113,070749
$TT8_MAMPS,0.026964
$HUMID,50.74
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,21.8,126.928
$10V_AH,9.8,74.603
$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,22.850,134.200,440.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.085,2072.539,28660.072,495.208,3001.284,211.273,0.000,1943.976,0.000,2929.845,0.000,1.014,0.000
$DEVICE_MAMPS,259.335,119.340,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.939,330.967,275.804,50.302,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,36966,644
$CAP_FILE_SIZE,168155,0
$CFSIZE,2097086464,2020048896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010213,203205,-4121.992,-349.234,190,1.3,190,-22.6