version: 66.07.10.p01
glider: 574
mission: 4
dive: 542
start: 2 2 113 5 33 36
data:
$ID,574
$MISSION,4
$DIVE,542
$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,-9933.6025
$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,32
$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,521
$GPS1,020213,053152,-4123.108,-347.935,118,1.6,136,-22.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-73.7
$GPS2,020213,053313,-4123.099,-347.930,23,1.6,23,-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,93.7,115032,-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,-107.0,0.0,0.0,0,41,0.00,0.00,-12.45,0.000,2,0.000,0.000,70,1727,1554,0,0,0,0,0,0
$GC,44,-0.65,-107.0,3.2,-0.0,1,133,12.23,2.45,-65.72,0.000,4,0.252,0.071,2758,319,3265,0,0,0,0,0,0
$GC,286,-0.65,-107.0,21.2,-9.5,22,290,0.00,2.22,0.00,0.000,6,0.000,0.035,2758,1734,3266,0,0,0,0,0,0
$GC,400,-0.65,-107.0,32.6,-9.9,31,404,0.00,2.38,0.00,0.000,4,0.000,0.058,2758,318,3266,0,0,0,0,0,0
$GC,659,-0.65,-107.0,60.8,-10.7,42,667,0.00,2.25,0.00,0.000,6,0.000,0.034,2758,1730,3267,0,0,0,0,0,0
$GC,1092,-0.65,-107.0,110.2,-11.3,53,1096,0.00,2.35,0.00,0.000,4,0.000,0.057,2758,326,3267,0,0,0,0,0,0
$GC,1108,-0.65,-107.0,112.0,-10.4,53,1112,0.00,2.22,0.00,0.000,6,0.000,0.034,2758,1731,3267,0,0,0,0,0,0
$GC,1882,-0.65,-107.0,184.7,-10.5,66,1885,0.00,0.43,0.00,0.000,4,0.000,0.045,2758,2047,3269,0,0,0,0,0,0
$GC,1903,-0.65,-107.0,187.4,-11.4,66,1907,0.00,0.52,0.00,0.000,6,0.000,0.047,2758,1709,3269,0,0,0,0,0,0
$GC,2677,-0.65,-107.0,262.8,-8.5,79,2681,0.00,2.33,0.00,0.000,4,0.000,0.047,2758,3143,3269,0,0,0,0,0,0
$GC,2834,-0.65,-107.0,275.9,-8.2,81,2838,0.00,2.22,0.00,0.000,6,0.000,0.040,2758,1747,3269,0,0,0,0,0,0
$GC,3595,-0.65,-107.0,348.3,-10.5,94,3599,0.00,1.17,0.00,0.000,4,0.000,0.053,2758,1017,3269,0,0,0,0,0,0
$GC,3853,-0.65,-107.0,377.1,-11.4,97,3857,0.00,1.12,0.00,0.000,6,0.000,0.032,2758,1746,3269,0,0,0,0,0,0
$GC,4593,-0.65,-107.0,460.2,-11.6,110,4597,0.00,2.20,0.00,0.000,4,0.000,0.044,2758,3135,3269,0,0,0,0,0,0
$GC,4750,-0.65,-107.0,478.8,-11.9,112,4754,0.00,2.22,0.00,0.000,6,0.000,0.036,2758,1724,3269,0,0,0,0,0,0
$GC,5517,-0.65,-107.0,566.0,-11.1,125,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1724,3269,0,0,0,0,0,0
$GC,6244,-0.65,-107.0,636.4,-9.2,137,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1724,3268,0,0,0,0,0,0
$GC,6972,-0.65,-107.0,708.9,-10.8,149,6975,0.00,0.98,0.00,0.000,4,0.000,0.041,2758,2359,3267,0,0,0,0,0,0
$GC,7032,-0.65,-107.0,716.0,-11.0,149,7038,0.00,0.98,0.00,0.000,6,0.000,0.041,2758,1731,3266,0,0,0,0,0,0
$GC,7767,-0.65,-107.0,808.0,-12.9,162,7771,0.00,2.25,0.00,0.000,4,0.000,0.044,2758,3129,3266,0,0,0,0,0,0
$GC,7969,-0.65,-107.0,834.4,-12.8,165,7974,0.00,2.17,0.00,0.000,6,0.000,0.037,2758,1742,3265,0,0,0,0,0,0
$GC,8699,-0.65,-107.0,917.6,-10.9,177,8703,0.00,2.25,0.00,0.000,4,0.000,0.044,2758,3131,3265,0,0,0,0,0,0
$STATE,8723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8724,begin apogee
$GC,8731,-0.28,0.0,920.5,10.7,177,8828,0.38,0.00,93.62,1.418,6,0.085,0.000,2888,1678,2827,0,0,0,0,0,0
$STATE,8829,end apogee,CONTROL_FINISHED_OK
$STATE,8829,begin loiter
$GC,9550,-0.26,298.1,999.4,-10.0,191,9826,0.00,0.70,269.30,1.436,4,0.000,0.047,2888,1298,1612,0,0,0,0,0,0
$GC,10079,-0.26,298.1,1004.4,3.8,199,10083,0.00,0.62,0.00,0.000,6,0.000,0.035,2888,1704,1604,0,0,0,0,0,0
$GC,10853,-0.26,298.1,968.6,5.3,212,10857,0.00,2.28,0.00,0.000,4,0.000,0.057,2888,339,1601,0,0,0,0,0,0
$GC,11104,-0.26,298.1,954.4,5.6,215,11109,0.00,2.10,0.00,0.000,6,0.000,0.031,2888,1674,1599,0,0,0,0,0,0
$GC,11844,-0.26,298.1,918.8,4.3,228,11848,0.00,2.25,0.00,0.000,4,0.000,0.044,2888,3085,1599,0,0,0,0,0,0
$GC,12017,-0.26,298.1,912.9,2.7,230,12022,0.00,2.25,0.00,0.000,6,0.000,0.041,2888,1690,1598,0,0,0,0,0,0
$GC,12774,-0.26,298.1,900.4,1.3,243,12778,0.00,2.38,0.00,0.000,4,0.000,0.059,2888,270,1598,0,0,0,0,0,0
$GC,13026,-0.26,298.1,894.8,2.9,246,13030,0.00,2.22,0.00,0.000,6,0.000,0.032,2888,1692,1597,0,0,0,0,0,0
$GC,13760,-0.26,298.1,859.0,6.4,258,13764,0.00,2.40,0.00,0.000,4,0.000,0.059,2888,276,1596,0,0,0,0,0,0
$GC,13894,-0.26,298.1,849.2,7.7,260,13898,0.00,2.22,0.00,0.000,6,0.000,0.033,2888,1678,1596,0,0,0,0,0,0
$GC,14624,-0.26,298.1,804.9,5.2,272,14628,0.00,2.28,0.00,0.000,4,0.000,0.044,2887,3093,1596,0,0,0,0,0,0
$GC,14764,-0.26,298.1,799.0,4.6,274,14768,0.00,2.28,0.00,0.000,6,0.000,0.042,2887,1682,1596,0,0,0,0,0,0
$GC,15483,-0.26,298.1,778.6,2.7,286,15486,0.00,1.30,0.00,0.000,4,0.000,0.057,2887,897,1596,0,0,0,0,0,0
$GC,15740,-0.26,298.1,770.2,3.3,289,15744,0.00,1.25,0.00,0.000,6,0.000,0.034,2887,1694,1596,0,0,0,0,0,0
$GC,16480,-0.26,298.1,738.5,4.7,302,16484,0.00,1.60,0.00,0.000,4,0.000,0.056,2887,747,1596,0,0,0,0,0,0
$GC,16738,-0.26,298.1,726.4,4.0,305,16742,0.00,1.48,0.00,0.000,6,0.000,0.033,2887,1685,1596,0,0,0,0,0,0
$GC,17477,-0.26,298.1,701.9,2.5,318,17481,0.00,1.30,0.00,0.000,4,0.000,0.056,2887,913,1596,0,0,0,0,0,0
$GC,17735,-0.26,298.1,696.3,2.7,321,17739,0.00,1.20,0.00,0.000,6,0.000,0.034,2886,1681,1596,0,0,0,0,0,0
$GC,18475,-0.26,298.1,677.9,3.2,334,18478,0.00,0.90,0.00,0.000,4,0.000,0.054,2886,1136,1597,0,0,0,0,0,0
$GC,18732,-0.26,298.1,668.7,3.2,337,18737,0.00,0.88,0.00,0.000,6,0.000,0.035,2886,1695,1597,0,0,0,0,0,0
$GC,19472,-0.26,298.1,637.9,4.3,350,19476,0.00,2.40,0.00,0.000,4,0.000,0.060,2886,281,1597,0,0,0,0,0,0
$STATE,19622,end loiter,LOITER_COMPLETE
$STATE,19622,begin climb
$GC,19625,0.65,107.0,631.4,0.0,352,19630,1.00,2.20,0.00,0.000,6,0.108,0.032,3184,1683,1597,0,0,0,0,0,0
$GC,20400,0.39,153.1,600.1,3.7,365,20404,0.28,1.80,0.00,0.000,4,0.176,0.057,3115,640,1598,0,0,0,0,0,0
$GC,20613,0.40,228.1,593.6,2.8,368,20617,0.00,1.65,0.00,0.000,6,0.000,0.037,3115,1681,1599,0,0,0,0,0,0
$GC,21337,0.40,299.2,572.0,2.9,380,21341,0.00,2.28,0.00,0.000,4,0.000,0.046,3115,3088,1598,0,0,0,0,0,0
$GC,21595,0.40,344.4,562.6,3.8,383,21645,0.00,2.28,43.42,1.196,6,0.000,0.044,3120,1686,1422,0,0,0,0,0,0
$GC,22391,0.40,344.4,515.6,6.3,397,22395,0.00,2.35,0.00,0.000,4,0.000,0.061,3120,273,1416,0,0,0,0,0,0
$GC,22648,0.40,344.4,499.5,7.5,400,22653,0.00,2.25,0.00,0.000,6,0.000,0.035,3120,1680,1414,0,0,0,0,0,0
$GC,23382,0.40,344.4,455.0,5.9,413,23386,0.00,2.28,0.00,0.000,4,0.000,0.045,3120,3095,1414,0,0,0,0,0,0
$GC,23639,0.40,359.8,439.9,4.8,416,23659,0.00,2.30,14.32,1.033,6,0.000,0.044,3120,1677,1359,0,0,0,0,0,0
$GC,24384,0.40,365.2,400.2,5.1,429,24394,0.00,1.60,6.57,0.852,4,0.000,0.057,3120,696,1338,0,0,0,0,0,0
$GC,24648,0.40,365.2,385.5,5.4,433,24652,0.00,1.55,0.00,0.000,6,0.000,0.035,3120,1681,1337,0,0,0,0,0,0
$GC,25383,0.40,365.2,340.0,6.2,445,25387,0.00,2.40,0.00,0.000,4,0.000,0.061,3120,280,1337,0,0,0,0,0,0
$GC,25640,0.40,365.2,324.1,5.7,448,25645,0.00,2.22,0.00,0.000,6,0.000,0.034,3120,1679,1336,0,0,0,0,0,0
$GC,26374,0.40,365.2,281.3,5.7,461,26378,0.00,1.05,0.00,0.000,4,0.000,0.056,3120,1048,1336,0,0,0,0,0,0
$GC,26632,0.40,374.7,267.1,5.0,464,26647,0.00,1.00,10.32,0.875,6,0.000,0.036,3120,1696,1298,0,0,0,0,0,0
$GC,27377,0.40,374.7,219.9,6.8,477,27381,0.00,1.55,0.00,0.000,4,0.000,0.041,3120,2683,1298,0,0,0,0,0,0
$GC,27635,0.40,374.7,202.1,8.0,480,27639,0.00,1.62,0.00,0.000,6,0.000,0.045,3120,1687,1298,0,0,0,0,0,0
$GC,28375,0.40,374.7,147.7,7.3,493,28379,0.00,2.25,0.00,0.000,4,0.000,0.043,3120,3080,1298,0,0,0,0,0,0
$GC,28632,0.40,374.7,128.8,7.6,496,28637,0.00,2.25,0.00,0.000,6,0.000,0.043,3120,1684,1298,0,0,0,0,0,0
$GC,29347,0.40,415.6,92.2,3.9,510,29390,0.00,0.95,37.97,0.868,4,0.000,0.034,3120,2305,1133,0,0,0,0,0,0
$GC,29625,0.40,415.6,75.0,6.0,516,29630,0.00,0.98,0.00,0.000,6,0.000,0.045,3120,1685,1129,0,0,0,0,0,0
$GC,30363,0.40,415.6,24.1,6.0,550,30367,0.00,2.25,0.00,0.000,4,0.000,0.042,3120,3086,1127,0,0,0,0,0,0
$GC,30626,0.40,419.1,7.1,5.2,572,30634,0.00,2.28,1.00,0.124,6,0.000,0.042,3120,1688,1118,0,0,0,0,0,0
$STATE,30707,end climb,SURFACE_DEPTH_REACHED
$STATE,30707,begin surface coast
$FINISH,2.0,1.025822
$STATE,30750,end surface coast,CONTROL_FINISHED_OK
$STATE,30750,begin surface
$SM_CCo,30828,0.00,0.000,0,0,1117,419.46
$SM_GC,3.05,8.82,0.00,0.00,0.057,0.000,0.000,88,1688,1117,-8.99,-1.33,419.46
$IRIDIUM_FIX,-4106.41,-349.61,010213,202033
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.4,127.321
$10V_AH,9.8,74.797
$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,22.700,116.675,476.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,25.495,1901.654,25416.611,498.465,2903.250,187.956,0.000,1890.835,0.000,2821.201,0.000,1.013,0.000
$DEVICE_MAMPS,251.685,71.145,1435.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.606,334.291,249.379,53.157,0.000,0.000,0.000,0.000,0.000,0.000
$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,33754,584
$CAP_FILE_SIZE,156699,0
$CFSIZE,2097086464,2019819520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020213,140836,-4124.208,-347.633,35,0.9,36,-22.6