version: 66.07.10.p01
glider: 574
mission: 4
dive: 541
start: 2 1 113 20 49 25
data:
$ID,574
$MISSION,4
$DIVE,541
$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,-9930.5293
$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,63
$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,520
$GPS1,010213,203205,-4121.992,-349.234,190,1.3,190,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-74.7
$GPS2,010213,204900,-4122.010,-349.135,20,1.3,20,-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,94.9,115996,-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,-107.0,0.0,0.0,0,40,0.00,0.00,-12.10,0.000,2,0.000,0.000,69,1707,1558,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.2,-0.0,1,121,12.38,2.38,-54.22,0.000,4,0.260,0.063,2756,3115,3266,0,0,0,0,0,0
$GC,380,-0.65,-107.0,40.8,-13.4,27,385,0.00,2.20,0.00,0.000,6,0.000,0.041,2756,1735,3267,0,0,0,0,0,0
$GC,795,-0.65,-107.0,80.5,-7.6,42,798,0.00,1.85,0.00,0.000,4,0.000,0.044,2756,2896,3267,0,0,0,0,0,0
$GC,1052,-0.65,-107.0,99.2,-7.8,47,1057,0.00,1.88,0.00,0.000,6,0.000,0.043,2756,1738,3267,0,0,0,0,0,0
$GC,1773,-0.65,-107.0,164.2,-9.6,60,1776,0.00,2.35,0.00,0.000,4,0.000,0.060,2756,322,3268,0,0,0,0,0,0
$GC,1941,-0.65,-107.0,181.3,-10.0,62,1945,0.00,2.15,0.00,0.000,6,0.000,0.032,2756,1708,3268,0,0,0,0,0,0
$GC,2703,-0.65,-107.0,260.0,-10.2,75,2707,0.00,2.33,0.00,0.000,4,0.000,0.057,2757,321,3268,0,0,0,0,0,0
$GC,2860,-0.65,-107.0,276.6,-10.9,77,2864,0.00,2.20,0.00,0.000,6,0.000,0.032,2756,1741,3268,0,0,0,0,0,0
$GC,3621,-0.65,-107.0,347.4,-8.9,90,3625,0.00,1.45,0.00,0.000,4,0.000,0.043,2756,2668,3267,0,0,0,0,0,0
$GC,3879,-0.65,-107.0,372.6,-10.7,93,3883,0.00,1.50,0.00,0.000,6,0.000,0.041,2756,1724,3267,0,0,0,0,0,0
$GC,4619,-0.65,-107.0,457.6,-12.3,106,4623,0.00,2.30,0.00,0.000,4,0.000,0.057,2756,329,3266,0,0,0,0,0,0
$GC,4855,-0.65,-107.0,487.7,-12.1,109,4859,0.00,2.17,0.00,0.000,6,0.000,0.030,2756,1742,3265,0,0,0,0,0,0
$GC,5611,-0.65,-107.0,574.1,-10.5,122,5615,0.00,2.35,0.00,0.000,4,0.000,0.055,2756,332,3264,0,0,0,0,0,0
$GC,5868,-0.65,-107.0,601.5,-10.6,125,5874,0.00,2.20,0.00,0.000,6,0.000,0.030,2756,1737,3263,0,0,0,0,0,0
$GC,6602,-0.65,-107.0,669.4,-9.5,138,6606,0.00,1.00,0.00,0.000,4,0.000,0.050,2756,1118,3261,0,0,0,0,0,0
$GC,6652,-0.65,-107.0,674.5,-10.2,138,6656,0.00,0.95,0.00,0.000,6,0.000,0.034,2756,1736,3261,0,0,0,0,0,0
$GC,7398,-0.65,-107.0,749.1,-10.3,151,7401,0.00,1.02,0.00,0.000,4,0.000,0.042,2756,2413,3260,0,0,0,0,0,0
$GC,7655,-0.65,-107.0,775.8,-10.8,154,7659,0.00,1.08,0.00,0.000,6,0.000,0.041,2756,1734,3259,0,0,0,0,0,0
$GC,8395,-0.65,-107.0,852.0,-10.5,167,8399,0.00,0.55,0.00,0.000,4,0.000,0.051,2756,1368,3257,0,0,0,0,0,0
$GC,8469,-0.65,-107.0,859.9,-10.6,168,8472,0.00,0.55,0.00,0.000,6,0.000,0.041,2756,1737,3257,0,0,0,0,0,0
$STATE,9075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9075,begin apogee
$GC,9081,-0.28,0.0,924.4,10.7,178,9176,0.43,0.00,92.43,1.426,6,0.093,0.000,2894,1674,2827,0,0,0,0,0,0
$STATE,9177,end apogee,CONTROL_FINISHED_OK
$STATE,9177,begin loiter
$GC,9865,-0.26,272.2,997.4,-9.1,191,10117,0.00,1.70,243.68,1.437,4,0.000,0.054,2894,771,1717,0,0,0,0,0,0
$GC,10369,-0.26,272.2,1001.8,4.3,198,10375,0.00,1.42,0.00,0.000,6,0.000,0.032,2893,1681,1708,0,0,0,0,0,0
$GC,11103,-0.26,272.2,976.6,3.5,211,11107,0.00,0.45,0.00,0.000,4,0.000,0.055,2893,1393,1705,0,0,0,0,0,0
$GC,11153,-0.26,272.2,975.0,3.4,211,11157,0.00,0.47,0.00,0.000,6,0.000,0.040,2893,1711,1705,0,0,0,0,0,0
$GC,11899,-0.26,272.2,942.1,5.1,224,11902,0.00,1.15,0.00,0.000,4,0.000,0.054,2893,1013,1703,0,0,0,0,0,0
$GC,12156,-0.26,272.2,927.6,6.1,227,12160,0.00,1.02,0.00,0.000,6,0.000,0.034,2893,1675,1702,0,0,0,0,0,0
$GC,12896,-0.26,272.2,887.8,5.2,240,12900,0.00,0.45,0.00,0.000,4,0.000,0.055,2893,1389,1701,0,0,0,0,0,0
$GC,13153,-0.26,272.2,876.6,4.1,243,13158,0.00,0.47,0.00,0.000,6,0.000,0.041,2893,1703,1701,0,0,0,0,0,0
$GC,13893,-0.26,272.2,853.0,2.9,256,13897,0.00,0.52,0.00,0.000,4,0.000,0.045,2891,2076,1701,0,0,0,0,0,0
$GC,14151,-0.26,272.2,845.8,3.2,259,14155,0.00,0.62,0.00,0.000,6,0.000,0.049,2891,1686,1701,0,0,0,0,0,0
$GC,14891,-0.26,272.2,823.2,3.2,272,14895,0.00,1.80,0.00,0.000,4,0.000,0.044,2891,2820,1701,0,0,0,0,0,0
$GC,15149,-0.26,272.2,813.9,3.8,275,15153,0.00,1.85,0.00,0.000,6,0.000,0.044,2891,1686,1701,0,0,0,0,0,0
$GC,15889,-0.26,272.2,788.7,3.3,288,15893,0.00,2.22,0.00,0.000,4,0.000,0.044,2891,3074,1700,0,0,0,0,0,0
$GC,16146,-0.26,272.2,780.5,3.1,291,16152,0.00,2.25,0.00,0.000,6,0.000,0.042,2891,1679,1700,0,0,0,0,0,0
$GC,16880,-0.26,272.2,758.7,2.9,304,16885,0.00,2.35,0.00,0.000,4,0.000,0.059,2891,280,1700,0,0,0,0,0,0
$GC,16965,-0.26,272.2,756.0,3.2,305,16969,0.00,2.17,0.00,0.000,6,0.000,0.032,2891,1673,1699,0,0,0,0,0,0
$GC,17732,-0.26,272.2,729.3,4.0,318,17736,0.00,2.28,0.00,0.000,4,0.000,0.044,2891,3091,1699,0,0,0,0,0,0
$GC,17889,-0.26,272.2,723.0,3.3,320,17893,0.00,2.28,0.00,0.000,6,0.000,0.042,2891,1682,1699,0,0,0,0,0,0
$GC,18656,-0.26,272.2,696.1,3.2,333,18660,0.00,1.85,0.00,0.000,4,0.000,0.057,2891,556,1700,0,0,0,0,0,0
$GC,18915,-0.26,272.2,688.9,2.5,336,18919,0.00,1.75,0.00,0.000,6,0.000,0.033,2891,1694,1699,0,0,0,0,0,0
$GC,19655,-0.26,272.2,672.4,2.4,349,19659,0.00,2.25,0.00,0.000,4,0.000,0.060,2891,372,1699,0,0,0,0,0,0
$GC,19912,-0.26,272.2,665.0,3.0,352,19917,0.00,2.08,0.00,0.000,6,0.000,0.032,2890,1685,1699,0,0,0,0,0,0
$STATE,19977,end loiter,LOITER_COMPLETE
$STATE,19978,begin climb
$GC,19980,0.65,107.0,663.0,0.0,354,19985,0.93,2.45,0.00,0.000,4,0.104,0.058,3182,281,1699,0,0,0,0,0,0
$GC,20238,0.36,173.0,653.1,3.1,357,20244,0.32,2.22,0.00,0.000,6,0.181,0.037,3104,1678,1700,0,0,0,0,0,0
$GC,20972,0.36,202.3,622.4,4.3,370,20974,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1688,1700,0,0,0,0,0,0
$GC,21700,0.37,292.3,600.4,2.3,382,21721,0.00,0.98,17.55,1.158,4,0.000,0.043,3104,2289,1635,0,0,0,0,0,0
$GC,21974,0.37,377.9,592.9,2.4,386,22058,0.00,0.98,80.10,1.230,6,0.000,0.049,3107,1686,1285,0,0,0,0,0,0
$GC,22816,0.37,377.9,544.5,6.4,400,22821,0.00,2.35,0.00,0.000,4,0.000,0.062,3107,273,1275,0,0,0,0,0,0
$GC,23074,0.37,377.9,527.4,7.8,403,23080,0.00,2.25,0.00,0.000,6,0.000,0.035,3107,1689,1271,0,0,0,0,0,0
$GC,23808,0.37,377.9,478.4,6.7,416,23812,0.00,1.02,0.00,0.000,4,0.000,0.057,3107,1077,1271,0,0,0,0,0,0
$GC,24066,0.37,377.9,460.5,6.6,419,24070,0.00,0.95,0.00,0.000,6,0.000,0.037,3108,1691,1271,0,0,0,0,0,0
$GC,24806,0.37,377.9,408.5,7.1,432,24810,0.00,0.40,0.00,0.000,4,0.000,0.047,3107,1982,1271,0,0,0,0,0,0
$GC,24844,0.37,377.9,405.8,7.7,432,24848,0.00,0.50,0.00,0.000,6,0.000,0.054,3107,1676,1271,0,0,0,0,0,0
$GC,25601,0.37,377.9,351.4,7.6,445,25605,0.00,2.30,0.00,0.000,4,0.000,0.044,3107,3091,1271,0,0,0,0,0,0
$GC,25858,0.37,377.9,330.0,7.7,448,25864,0.00,2.30,0.00,0.000,6,0.000,0.044,3107,1678,1270,0,0,0,0,0,0
$GC,26592,0.37,377.9,277.4,6.2,461,26596,0.00,2.28,0.00,0.000,4,0.000,0.044,3107,3082,1270,0,0,0,0,0,0
$GC,26850,0.37,390.5,262.0,4.9,464,26864,0.00,2.28,9.52,0.861,6,0.000,0.043,3107,1676,1235,0,0,0,0,0,0
$GC,27595,0.37,390.5,215.6,6.6,477,27596,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1676,1235,0,0,0,0,0,0
$GC,28323,0.37,390.5,169.7,5.8,489,28327,0.00,2.35,0.00,0.000,4,0.000,0.060,3107,279,1235,0,0,0,0,0,0
$GC,28580,0.37,390.5,152.3,6.1,492,28585,0.00,2.20,0.00,0.000,6,0.000,0.030,3107,1696,1235,0,0,0,0,0,0
$GC,29314,0.37,390.5,110.9,5.4,505,29315,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1701,1235,0,0,0,0,0,0
$GC,30026,0.37,390.5,66.4,5.7,521,30030,0.00,1.75,0.00,0.000,4,0.000,0.057,3107,636,1235,0,0,0,0,0,0
$GC,30285,0.37,390.5,52.5,6.2,529,30289,0.00,1.62,0.00,0.000,6,0.000,0.031,3107,1686,1235,0,0,0,0,0,0
$GC,30713,0.37,390.5,27.4,6.9,551,30714,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1688,1235,0,0,0,0,0,0
$GC,30818,0.37,390.5,20.0,6.6,561,30822,0.00,1.10,0.00,0.000,4,0.000,0.055,3107,1027,1235,0,0,0,0,0,0
$STATE,31060,end climb,SURFACE_DEPTH_REACHED
$STATE,31060,begin surface coast
$FINISH,1.9,1.001903
$STATE,31096,end surface coast,CONTROL_FINISHED_OK
$STATE,31096,begin surface
$SM_CCo,31175,0.00,0.000,0,0,1232,391.00
$SM_GC,3.12,8.70,0.00,0.00,0.051,0.000,0.000,85,1729,1232,-8.98,-0.14,391.00
$IRIDIUM_FIX,-4106.41,-349.61,010213,202033
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.6,127.142
$10V_AH,9.9,74.704
$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,22.750,101.375,443.275,0.000,0.000,51.230,88.084,609.098,0.000,0.000,22.704,1903.513,25913.477,477.546,3568.057,326.610,0.000,1829.035,0.000,2762.943,0.000,2.365,0.000
$DEVICE_MAMPS,260.100,88.740,1437.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.189,311.155,245.045,47.746,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354760
$DATA_FILE_SIZE,33658,585
$CAP_FILE_SIZE,164938,0
$CFSIZE,2097086464,2019917824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020213,053152,-4123.108,-347.935,118,1.6,136,-22.6