version: 66.07.10.p01
glider: 574
mission: 4
dive: 543
start: 2 2 113 14 20 54
data:
$ID,574
$MISSION,4
$DIVE,543
$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,-9936.0166
$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,28
$R_STBD_OVSHOOT,46
$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,522
$GPS1,020213,140836,-4124.208,-347.633,35,0.9,36,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-76.6
$GPS2,020213,142029,-4124.295,-347.553,42,0.9,42,-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,92.6,115272,-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,-12.00,0.000,2,0.000,0.000,69,1682,1424,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,124,12.12,2.38,-63.60,0.000,4,0.254,0.065,2762,3125,3264,0,0,0,0,0,0
$GC,209,-0.65,-107.0,15.9,-10.7,15,213,0.00,2.25,0.00,0.000,6,0.000,0.044,2762,1728,3266,0,0,0,0,0,0
$GC,324,-0.65,-107.0,28.3,-11.3,25,328,0.00,2.28,0.00,0.000,4,0.000,0.048,2762,3126,3267,0,0,0,0,0,0
$GC,446,-0.65,-107.0,43.4,-11.3,30,454,0.00,2.25,0.00,0.000,6,0.000,0.042,2762,1737,3267,0,0,0,0,0,0
$GC,864,-0.65,-107.0,77.6,-6.8,45,868,0.00,2.25,0.00,0.000,4,0.000,0.047,2762,3127,3267,0,0,0,0,0,0
$GC,1005,-0.65,-107.0,90.1,-9.0,48,1010,0.00,2.20,0.00,0.000,6,0.000,0.040,2762,1729,3267,0,0,0,0,0,0
$GC,1722,-0.65,-107.0,166.6,-11.3,61,1726,0.00,2.33,0.00,0.000,4,0.000,0.057,2762,328,3269,0,0,0,0,0,0
$GC,1918,-0.65,-107.0,190.4,-12.2,64,1923,0.00,2.17,0.00,0.000,6,0.000,0.030,2761,1742,3270,0,0,0,0,0,0
$GC,2653,-0.65,-107.0,274.5,-10.8,76,2657,0.00,2.22,0.00,0.000,4,0.000,0.045,2762,3140,3271,0,0,0,0,0,0
$GC,2890,-0.65,-107.0,299.8,-10.6,79,2894,0.00,2.22,0.00,0.000,6,0.000,0.037,2762,1728,3272,0,0,0,0,0,0
$GC,3646,-0.65,-107.0,376.3,-10.1,92,3650,0.00,2.30,0.00,0.000,4,0.000,0.056,2762,325,3274,0,0,0,0,0,0
$GC,3819,-0.65,-107.0,395.2,-10.3,94,3823,0.00,2.20,0.00,0.000,6,0.000,0.030,2762,1733,3274,0,0,0,0,0,0
$GC,4570,-0.65,-107.0,478.2,-11.4,107,4574,0.00,2.33,0.00,0.000,4,0.000,0.055,2762,324,3275,0,0,0,0,0,0
$GC,4729,-0.65,-107.0,497.5,-11.9,109,4733,0.00,2.20,0.00,0.000,6,0.000,0.030,2762,1747,3275,0,0,0,0,0,0
$GC,5490,-0.65,-107.0,586.2,-11.2,122,5494,0.00,1.83,0.00,0.000,4,0.000,0.052,2762,650,3278,0,0,0,0,0,0
$GC,5659,-0.65,-107.0,604.7,-10.9,124,5663,0.00,1.70,0.00,0.000,6,0.000,0.031,2762,1739,3278,0,0,0,0,0,0
$GC,6421,-0.65,-107.0,675.8,-8.9,137,6425,0.00,2.38,0.00,0.000,4,0.000,0.056,2762,322,3280,0,0,0,0,0,0
$GC,6561,-0.65,-107.0,689.6,-10.0,139,6565,0.00,2.22,0.00,0.000,6,0.000,0.031,2762,1740,3280,0,0,0,0,0,0
$GC,7285,-0.65,-107.0,766.1,-11.4,151,7289,0.00,0.50,0.00,0.000,4,0.000,0.050,2762,1414,3282,0,0,0,0,0,0
$GC,7542,-0.65,-107.0,797.5,-12.5,154,7546,0.00,0.50,0.00,0.000,6,0.000,0.041,2762,1747,3283,0,0,0,0,0,0
$GC,8282,-0.65,-107.0,886.1,-11.4,167,8286,0.00,2.35,0.00,0.000,4,0.000,0.056,2762,333,3285,0,0,0,0,0,0
$GC,8387,-0.65,-107.0,898.0,-10.2,168,8391,0.00,2.20,0.00,0.000,6,0.000,0.032,2762,1719,3285,0,0,0,0,0,0
$STATE,8651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8651,begin apogee
$GC,8656,-0.28,0.0,924.3,9.9,173,8758,0.40,0.00,98.82,1.422,6,0.088,0.000,2895,1724,2827,0,0,0,0,0,0
$STATE,8759,end apogee,CONTROL_FINISHED_OK
$STATE,8759,begin loiter
$GC,9441,-0.26,275.9,991.9,-9.2,186,9698,0.00,2.75,246.90,1.427,4,0.000,0.055,2895,284,1701,0,0,0,0,0,0
$GC,9817,-0.26,275.9,1003.8,3.8,192,9821,0.00,2.30,0.00,0.000,6,0.000,0.031,2892,1696,1694,0,0,0,0,0,0
$GC,10552,-0.26,275.9,988.1,2.1,204,10556,0.00,2.20,0.00,0.000,4,0.000,0.045,2892,3082,1691,0,0,0,0,0,0
$GC,10742,-0.26,275.9,982.9,3.0,206,10747,0.00,2.25,0.00,0.000,6,0.000,0.041,2892,1689,1689,0,0,0,0,0,0
$GC,11482,-0.26,275.9,952.5,4.9,219,11486,0.00,2.35,0.00,0.000,4,0.000,0.058,2892,277,1689,0,0,0,0,0,0
$GC,11728,-0.26,275.9,939.0,5.5,222,11733,0.00,2.22,0.00,0.000,6,0.000,0.033,2892,1681,1688,0,0,0,0,0,0
$GC,12474,-0.26,275.9,903.0,4.5,235,12478,0.00,2.28,0.00,0.000,4,0.000,0.045,2892,3098,1688,0,0,0,0,0,0
$GC,12681,-0.26,275.9,894.6,3.6,238,12685,0.00,2.28,0.00,0.000,6,0.000,0.042,2892,1680,1688,0,0,0,0,0,0
$GC,13405,-0.26,275.9,871.9,2.8,250,13409,0.00,2.35,0.00,0.000,4,0.000,0.060,2892,276,1688,0,0,0,0,0,0
$GC,13532,-0.26,275.9,868.5,2.5,251,13538,0.00,2.25,0.00,0.000,6,0.000,0.032,2892,1715,1688,0,0,0,0,0,0
$GC,14267,-0.26,275.9,847.9,3.4,264,14271,0.00,2.45,0.00,0.000,4,0.000,0.060,2892,276,1688,0,0,0,0,0,0
$GC,14450,-0.26,275.9,840.3,4.4,266,14455,0.00,2.22,0.00,0.000,6,0.000,0.033,2892,1681,1688,0,0,0,0,0,0
$GC,15190,-0.26,275.9,808.8,4.3,279,15194,0.00,2.28,0.00,0.000,4,0.000,0.045,2891,3094,1688,0,0,0,0,0,0
$GC,15447,-0.26,275.9,797.9,3.6,282,15452,0.00,2.28,0.00,0.000,6,0.000,0.042,2892,1684,1688,0,0,0,0,0,0
$GC,16181,-0.26,275.9,775.4,2.7,295,16185,0.00,2.35,0.00,0.000,4,0.000,0.060,2891,281,1689,0,0,0,0,0,0
$GC,16275,-0.26,275.9,772.9,2.5,296,16279,0.00,2.22,0.00,0.000,6,0.000,0.032,2891,1685,1689,0,0,0,0,0,0
$GC,17043,-0.26,275.9,754.5,2.9,309,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1694,1690,0,0,0,0,0,0
$GC,17771,-0.26,275.9,725.1,4.5,321,17774,0.00,1.67,0.00,0.000,4,0.000,0.057,2891,681,1691,0,0,0,0,0,0
$GC,18028,-0.26,275.9,713.0,4.5,324,18032,0.00,1.58,0.00,0.000,6,0.000,0.034,2891,1682,1691,0,0,0,0,0,0
$GC,18768,-0.26,275.9,690.2,2.0,337,18772,0.00,2.40,0.00,0.000,4,0.000,0.060,2891,275,1691,0,0,0,0,0,0
$GC,18925,-0.26,275.9,688.7,0.3,339,18929,0.00,2.22,0.00,0.000,6,0.000,0.033,2891,1691,1692,0,0,0,0,0,0
$STATE,19563,end loiter,LOITER_COMPLETE
$STATE,19563,begin climb
$GC,19565,0.65,107.0,686.7,0.0,350,19570,0.90,2.05,0.00,0.000,4,0.105,0.041,3175,2944,1693,0,0,0,0,0,0
$GC,19778,0.37,191.3,682.4,2.5,353,19783,0.32,2.05,0.00,0.000,6,0.181,0.045,3105,1681,1694,0,0,0,0,0,0
$GC,20553,0.37,196.7,651.3,5.1,366,20557,0.00,1.80,0.00,0.000,4,0.000,0.044,3104,2797,1695,0,0,0,0,0,0
$GC,20810,0.37,196.7,638.2,5.5,369,20815,0.00,1.83,0.00,0.000,6,0.000,0.045,3111,1686,1696,0,0,0,0,0,0
$GC,21550,0.37,265.3,610.5,3.0,382,21554,0.00,0.52,0.00,0.000,4,0.000,0.044,3111,2036,1697,0,0,0,0,0,0
$GC,21797,0.38,371.0,605.6,1.8,385,21893,0.00,0.60,90.10,1.238,6,0.000,0.051,3113,1669,1314,0,0,0,0,0,0
$GC,22612,0.38,375.3,566.3,5.1,399,22616,0.00,2.28,0.00,0.000,4,0.000,0.044,3113,3092,1305,0,0,0,0,0,0
$GC,22869,0.38,375.3,551.9,6.1,402,22875,0.08,2.28,0.00,0.000,6,0.188,0.044,3103,1683,1304,0,0,0,0,0,0
$GC,23603,0.38,375.3,510.0,5.9,415,23607,0.00,2.08,0.00,0.000,4,0.000,0.044,3103,2987,1304,0,0,0,0,0,0
$GC,23861,0.38,381.1,493.1,5.1,418,23876,0.00,2.10,9.15,0.987,6,0.000,0.044,3105,1679,1272,0,0,0,0,0,0
$GC,24602,0.38,381.1,441.0,7.2,431,24606,0.00,2.33,0.00,0.000,4,0.000,0.061,3105,279,1272,0,0,0,0,0,0
$GC,24860,0.38,381.1,421.6,6.6,434,24865,0.00,2.17,0.00,0.000,6,0.000,0.034,3105,1683,1269,0,0,0,0,0,0
$GC,25594,0.38,381.1,375.5,5.6,447,25598,0.00,1.60,0.00,0.000,4,0.000,0.042,3105,2694,1269,0,0,0,0,0,0
$GC,25852,0.38,397.7,361.6,4.7,450,25873,0.00,1.65,16.62,0.998,6,0.000,0.045,3105,1688,1205,0,0,0,0,0,0
$GC,26591,0.38,397.7,310.8,8.1,463,26595,0.00,1.83,0.00,0.000,4,0.000,0.059,3105,584,1203,0,0,0,0,0,0
$GC,26849,0.38,397.7,288.9,9.8,466,26853,0.00,1.73,0.00,0.000,6,0.000,0.032,3105,1683,1202,0,0,0,0,0,0
$GC,27589,0.38,397.7,229.4,7.6,479,27593,0.00,1.73,0.00,0.000,4,0.000,0.057,3105,646,1202,0,0,0,0,0,0
$GC,27848,0.38,397.7,212.0,7.4,482,27852,0.00,1.62,0.00,0.000,6,0.000,0.031,3105,1692,1202,0,0,0,0,0,0
$GC,28587,0.38,397.7,170.4,5.5,495,28591,0.00,2.22,0.00,0.000,4,0.000,0.043,3105,3086,1202,0,0,0,0,0,0
$GC,28845,0.38,397.7,154.5,7.4,498,28851,0.00,2.30,0.00,0.000,6,0.000,0.042,3105,1666,1202,0,0,0,0,0,0
$GC,29579,0.38,397.7,104.0,6.4,511,29583,0.00,2.00,0.00,0.000,4,0.000,0.059,3105,452,1202,0,0,0,0,0,0
$GC,29838,0.38,427.8,89.5,4.3,516,29870,0.00,1.92,27.75,0.842,6,0.000,0.030,3105,1691,1083,0,0,0,0,0,0
$GC,30605,0.38,427.8,38.9,7.0,542,30609,0.00,2.20,0.00,0.000,4,0.000,0.041,3105,3085,1078,0,0,0,0,0,0
$GC,30865,0.38,427.8,21.9,7.2,558,30873,0.00,2.28,0.00,0.000,6,0.000,0.041,3105,1681,1078,0,0,0,0,0,0
$GC,30981,0.38,427.8,14.4,6.8,569,30985,0.00,1.17,0.00,0.000,4,0.000,0.036,3105,2450,1077,0,0,0,0,0,0
$STATE,31166,end climb,SURFACE_DEPTH_REACHED
$STATE,31166,begin surface coast
$FINISH,1.9,1.014455
$STATE,31191,end surface coast,CONTROL_FINISHED_OK
$STATE,31191,begin surface
$SM_CCo,31270,0.00,0.000,0,0,1074,430.00
$SM_GC,3.21,8.82,0.00,0.00,0.057,0.000,0.000,82,1728,1074,-8.99,-0.20,430.00
$IRIDIUM_FIX,-4106.41,-349.61,010213,202046
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,21.6,127.535
$10V_AH,9.8,74.896
$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,22.650,137.650,489.350,0.000,0.000,22.657,40.629,450.835,0.000,0.000,44.449,1942.859,25720.539,521.075,3477.051,322.544,0.000,1953.034,0.000,2891.964,0.000,1.015,0.000
$DEVICE_MAMPS,253.980,65.025,1427.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.631,317.579,248.544,48.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354732
$DATA_FILE_SIZE,33693,587
$CAP_FILE_SIZE,170756,0
$CFSIZE,2097086464,2019655680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,020213,230323,-4124.563,-347.224,42,1.0,42,-22.6