version: 66.07.10.p01
glider: 574
mission: 4
dive: 544
start: 2 2 113 23 5 5
data:
$ID,574
$MISSION,4
$DIVE,544
$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,-9938.3467
$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,49
$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,523
$GPS1,020213,230323,-4124.563,-347.224,42,1.0,42,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-76.5
$GPS2,020213,230442,-4124.566,-347.225,19,1.0,19,-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,92.3,115015,-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,-11.45,0.000,2,0.000,0.000,70,1727,1367,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,132,12.50,2.33,-66.25,0.000,4,0.262,0.063,2757,3115,3265,0,0,0,0,0,0
$GC,392,-0.65,-107.0,37.0,-10.4,29,396,0.00,2.22,0.00,0.000,6,0.000,0.041,2757,1729,3267,0,0,0,0,0,0
$GC,834,-0.65,-107.0,82.1,-10.9,46,837,0.00,1.88,0.00,0.000,4,0.000,0.044,2757,2907,3267,0,0,0,0,0,0
$GC,1091,-0.65,-107.0,111.9,-11.6,51,1095,0.00,1.90,0.00,0.000,6,0.000,0.041,2758,1736,3267,0,0,0,0,0,0
$GC,1831,-0.65,-107.0,186.8,-10.4,64,1836,0.00,2.35,0.00,0.000,4,0.000,0.058,2757,327,3268,0,0,0,0,0,0
$GC,1978,-0.65,-107.0,204.0,-12.4,66,1982,0.00,2.17,0.00,0.000,6,0.000,0.030,2758,1733,3269,0,0,0,0,0,0
$GC,2751,-0.65,-107.0,286.9,-9.6,79,2755,0.00,2.25,0.00,0.000,4,0.000,0.045,2758,3139,3269,0,0,0,0,0,0
$GC,3008,-0.65,-107.0,311.2,-9.3,82,3013,0.00,2.22,0.00,0.000,6,0.000,0.036,2757,1734,3269,0,0,0,0,0,0
$GC,3742,-0.65,-107.0,377.4,-9.4,95,3746,0.00,2.33,0.00,0.000,4,0.000,0.054,2757,324,3269,0,0,0,0,0,0
$GC,3905,-0.65,-107.0,395.0,-10.8,97,3909,0.00,2.17,0.00,0.000,6,0.000,0.029,2757,1742,3269,0,0,0,0,0,0
$GC,4672,-0.65,-107.0,485.3,-12.0,110,4676,0.00,0.55,0.00,0.000,4,0.000,0.041,2758,2135,3267,0,0,0,0,0,0
$GC,4930,-0.65,-107.0,514.7,-10.9,113,4934,0.00,0.62,0.00,0.000,6,0.000,0.044,2758,1722,3267,0,0,0,0,0,0
$GC,5670,-0.65,-107.0,593.6,-10.8,126,5674,0.00,2.15,0.00,0.000,4,0.000,0.043,2757,3074,3266,0,0,0,0,0,0
$GC,5927,-0.65,-107.0,623.2,-12.0,129,5933,0.00,2.12,0.00,0.000,6,0.000,0.037,2757,1740,3266,0,0,0,0,0,0
$GC,6662,-0.65,-107.0,711.5,-12.0,142,6665,0.00,0.85,0.00,0.000,4,0.000,0.039,2757,2301,3265,0,0,0,0,0,0
$GC,6730,-0.65,-107.0,719.4,-11.9,143,6733,0.00,0.88,0.00,0.000,6,0.000,0.042,2757,1733,3264,0,0,0,0,0,0
$GC,7465,-0.65,-107.0,798.5,-10.4,155,7469,0.00,2.33,0.00,0.000,4,0.000,0.054,2758,332,3263,0,0,0,0,0,0
$GC,7661,-0.65,-107.0,818.6,-9.6,158,7665,0.00,2.17,0.00,0.000,6,0.000,0.031,2757,1734,3262,0,0,0,0,0,0
$GC,8396,-0.65,-107.0,891.1,-10.0,170,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1734,3261,0,0,0,0,0,0
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8698,begin apogee
$GC,8703,-0.28,0.0,923.0,10.5,175,8798,0.40,0.00,92.43,1.418,6,0.091,0.000,2888,1686,2827,0,0,0,0,0,0
$STATE,8799,end apogee,CONTROL_FINISHED_OK
$STATE,8799,begin loiter
$GC,9487,-0.26,297.1,1001.7,-9.9,188,9763,0.00,0.90,268.73,1.440,4,0.000,0.034,2888,2189,1614,0,0,0,0,0,0
$GC,10016,-0.26,297.1,1003.4,4.9,196,10020,0.00,0.82,0.00,0.000,6,0.000,0.046,2888,1682,1607,0,0,0,0,0,0
$GC,10789,-0.26,297.1,959.0,5.6,209,10793,0.00,2.25,0.00,0.000,4,0.000,0.044,2888,3082,1604,0,0,0,0,0,0
$GC,10936,-0.26,297.1,951.1,5.0,211,10940,0.00,2.22,0.00,0.000,6,0.000,0.041,2888,1685,1602,0,0,0,0,0,0
$GC,11709,-0.26,297.1,919.0,3.5,224,11713,0.00,2.33,0.00,0.000,4,0.000,0.058,2888,281,1603,0,0,0,0,0,0
$GC,11926,-0.26,297.1,912.6,2.6,227,11930,0.00,2.20,0.00,0.000,6,0.000,0.032,2888,1682,1601,0,0,0,0,0,0
$GC,12700,-0.26,297.1,891.0,3.3,240,12703,0.00,2.05,0.00,0.000,4,0.000,0.043,2888,2988,1601,0,0,0,0,0,0
$GC,12957,-0.26,297.1,880.5,4.3,243,12962,0.00,2.10,0.00,0.000,6,0.000,0.041,2888,1689,1601,0,0,0,0,0,0
$GC,13697,-0.26,297.1,850.5,4.2,256,13702,0.00,2.38,0.00,0.000,4,0.000,0.058,2888,272,1601,0,0,0,0,0,0
$GC,13921,-0.26,297.1,840.5,4.8,259,13925,0.00,2.22,0.00,0.000,6,0.000,0.032,2888,1681,1601,0,0,0,0,0,0
$GC,14689,-0.26,297.1,803.8,4.9,272,14693,0.00,2.25,0.00,0.000,4,0.000,0.044,2880,3087,1601,0,0,0,0,0,0
$GC,14761,-0.26,297.1,800.2,5.0,273,14765,0.00,2.28,0.00,0.000,6,0.000,0.042,2880,1670,1601,0,0,0,0,0,0
$GC,15486,-0.26,297.1,767.2,4.4,285,15490,0.00,2.30,0.00,0.000,4,0.000,0.059,2880,280,1602,0,0,0,0,0,0
$GC,15743,-0.26,297.1,756.0,4.0,288,15748,0.00,2.22,0.00,0.000,6,0.000,0.032,2878,1686,1602,0,0,0,0,0,0
$GC,16477,-0.26,297.1,729.9,3.2,301,16481,0.00,2.40,0.00,0.000,4,0.000,0.060,2878,274,1602,0,0,0,0,0,0
$GC,16555,-0.26,297.1,727.4,3.6,302,16559,0.00,2.22,0.00,0.000,6,0.000,0.032,2878,1682,1602,0,0,0,0,0,0
$GC,17274,-0.26,297.1,708.6,2.5,314,17278,0.00,2.25,0.00,0.000,4,0.000,0.045,2876,3081,1603,0,0,0,0,0,0
$GC,17476,-0.26,297.1,703.9,2.7,317,17481,0.08,2.22,0.00,0.000,6,0.159,0.041,2893,1683,1603,0,0,0,0,0,0
$GC,18201,-0.26,297.1,683.7,3.2,329,18205,0.00,2.08,0.00,0.000,4,0.000,0.057,2893,430,1604,0,0,0,0,0,0
$GC,18458,-0.26,297.1,673.6,4.1,332,18462,0.00,1.98,0.00,0.000,6,0.000,0.032,2891,1681,1604,0,0,0,0,0,0
$GC,19198,-0.26,297.1,644.6,3.9,345,19202,0.00,2.38,0.00,0.000,4,0.000,0.059,2892,283,1605,0,0,0,0,0,0
$GC,19455,-0.26,297.1,634.8,3.5,348,19461,0.00,2.20,0.00,0.000,6,0.000,0.032,2891,1691,1605,0,0,0,0,0,0
$STATE,19581,end loiter,LOITER_COMPLETE
$STATE,19581,begin climb
$GC,19583,0.65,107.0,630.4,0.0,351,19589,0.93,2.47,0.00,0.000,4,0.104,0.059,3185,278,1605,0,0,0,0,0,0
$GC,19842,0.38,116.7,618.7,5.0,354,19848,0.32,2.22,0.00,0.000,6,0.174,0.036,3105,1680,1608,0,0,0,0,0,0
$GC,20576,0.38,132.4,586.9,4.8,367,20580,0.00,1.92,0.00,0.000,4,0.000,0.058,3113,552,1608,0,0,0,0,0,0
$GC,20834,0.38,136.4,573.4,5.2,370,20838,0.03,1.80,0.00,0.000,6,0.178,0.035,3105,1689,1608,0,0,0,0,0,0
$GC,21574,0.38,142.6,535.2,5.1,383,21578,0.00,1.80,0.00,0.000,4,0.000,0.057,3112,622,1608,0,0,0,0,0,0
$GC,21781,0.38,156.0,525.0,4.8,386,21785,0.00,1.67,0.00,0.000,6,0.000,0.035,3112,1677,1609,0,0,0,0,0,0
$GC,22511,0.38,215.8,497.2,3.3,398,22515,0.00,0.55,0.00,0.000,4,0.000,0.057,3115,1340,1610,0,0,0,0,0,0
$GC,22769,0.38,285.7,488.8,3.0,401,22773,0.00,0.55,0.00,0.000,6,0.000,0.040,3115,1710,1610,0,0,0,0,0,0
$GC,23509,0.39,323.5,460.6,4.0,414,23540,0.00,2.45,25.80,1.100,4,0.000,0.060,3119,272,1508,0,0,0,0,0,0
$GC,23793,0.39,360.7,447.4,4.0,418,23834,0.00,2.22,35.80,1.112,6,0.000,0.034,3119,1691,1356,0,0,0,0,0,0
$GC,24564,0.39,393.7,412.3,4.2,431,24598,0.00,1.35,30.55,1.081,4,0.000,0.040,3119,2561,1221,0,0,0,0,0,0
$GC,24727,0.39,400.3,404.3,5.1,433,24738,0.00,1.42,7.07,0.862,6,0.000,0.046,3120,1680,1195,0,0,0,0,0,0
$GC,25484,0.39,400.3,359.5,6.5,446,25488,0.00,2.25,0.00,0.000,4,0.000,0.043,3120,3081,1191,0,0,0,0,0,0
$GC,25741,0.39,400.3,340.5,8.2,449,25747,0.00,2.28,0.00,0.000,6,0.000,0.044,3119,1677,1191,0,0,0,0,0,0
$GC,26475,0.39,400.3,288.3,6.7,462,26479,0.00,2.28,0.00,0.000,4,0.000,0.043,3119,3084,1190,0,0,0,0,0,0
$GC,26733,0.39,400.3,271.8,7.1,465,26737,0.00,2.30,0.00,0.000,6,0.000,0.042,3120,1667,1190,0,0,0,0,0,0
$GC,27473,0.39,400.3,223.0,7.1,478,27476,0.00,0.52,0.00,0.000,4,0.000,0.056,3119,1324,1190,0,0,0,0,0,0
$GC,27730,0.39,400.3,204.8,7.6,481,27734,0.00,0.55,0.00,0.000,6,0.000,0.037,3119,1703,1190,0,0,0,0,0,0
$GC,28471,0.39,418.4,165.4,4.7,494,28492,0.00,1.67,17.17,0.863,4,0.000,0.057,3119,722,1120,0,0,0,0,0,0
$GC,28745,0.39,450.8,152.0,4.2,498,28779,0.00,1.48,30.02,0.881,6,0.000,0.031,3119,1678,989,0,0,0,0,0,0
$GC,29507,0.39,450.8,93.0,8.2,511,29508,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1678,983,0,0,0,0,0,0
$GC,30222,0.39,450.8,36.1,8.1,535,30224,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1679,982,0,0,0,0,0,0
$GC,30644,0.39,450.8,4.1,7.5,571,30649,0.00,2.40,0.00,0.000,4,0.000,0.062,3119,279,982,0,0,0,0,0,0
$STATE,30662,end climb,SURFACE_DEPTH_REACHED
$STATE,30662,begin surface coast
$FINISH,2.0,1.012660
$STATE,30710,end surface coast,CONTROL_FINISHED_OK
$STATE,30710,begin surface
$SM_CCo,30790,0.00,0.000,0,0,977,453.80
$SM_GC,3.07,8.68,0.00,0.00,0.052,0.000,0.000,83,1742,977,-8.99,0.20,453.80
$IRIDIUM_FIX,-4106.41,-349.61,010213,202046
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.4,127.723
$10V_AH,9.8,74.986
$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,22.925,118.300,507.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.094,1897.715,25364.760,526.876,2884.142,193.493,0.000,1915.331,0.000,2810.259,0.000,1.011,0.000
$DEVICE_MAMPS,262.395,105.570,1440.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.332,298.031,245.020,48.058,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,33524,576
$CAP_FILE_SIZE,156813,0
$CFSIZE,2097086464,2019557376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030213,073934,-4125.408,-345.973,40,1.2,43,-22.6