version: 66.07.10.p01
glider: 574
mission: 4
dive: 545
start: 2 3 113 7 51 30
data:
$ID,574
$MISSION,4
$DIVE,545
$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,-9940.752
$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,25
$R_STBD_OVSHOOT,47
$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,524
$GPS1,030213,073934,-4125.408,-345.973,40,1.2,43,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-74.8
$GPS2,030213,075105,-4125.441,-346.030,43,0.9,43,-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,91.2,114032,-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,-12.05,0.000,2,0.000,0.000,69,1739,1290,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,135,12.18,2.30,-73.60,0.000,4,0.256,0.061,2756,3126,3265,0,0,0,0,0,0
$GC,214,-0.65,-107.0,14.3,-11.4,16,218,0.00,2.20,0.00,0.000,6,0.000,0.042,2756,1733,3266,0,0,0,0,0,0
$GC,329,-0.65,-107.0,26.9,-11.2,26,333,0.00,2.35,0.00,0.000,4,0.000,0.060,2756,324,3267,0,0,0,0,0,0
$GC,417,-0.65,-107.0,36.7,-11.1,31,421,0.00,2.17,0.00,0.000,6,0.000,0.032,2756,1724,3267,0,0,0,0,0,0
$GC,846,-0.65,-107.0,83.6,-10.8,47,850,0.00,2.20,0.00,0.000,4,0.000,0.051,2756,3085,3267,0,0,0,0,0,0
$GC,1009,-0.65,-107.0,101.4,-10.3,50,1013,0.00,2.17,0.00,0.000,6,0.000,0.044,2756,1735,3267,0,0,0,0,0,0
$GC,1748,-0.65,-107.0,171.1,-9.0,63,1752,0.00,2.33,0.00,0.000,4,0.000,0.057,2756,328,3268,0,0,0,0,0,0
$GC,1883,-0.65,-107.0,183.0,-8.5,65,1887,0.00,2.20,0.00,0.000,6,0.000,0.034,2756,1731,3268,0,0,0,0,0,0
$GC,2612,-0.65,-107.0,248.3,-9.5,77,2616,0.00,2.28,0.00,0.000,4,0.000,0.050,2756,3142,3267,0,0,0,0,0,0
$GC,2774,-0.65,-107.0,263.8,-10.0,79,2779,0.00,2.25,0.00,0.000,6,0.000,0.041,2756,1734,3267,0,0,0,0,0,0
$GC,3531,-0.65,-107.0,340.8,-10.5,92,3535,0.00,2.35,0.00,0.000,4,0.000,0.060,2756,329,3267,0,0,0,0,0,0
$GC,3726,-0.65,-107.0,362.3,-10.6,94,3732,0.00,2.20,0.00,0.000,6,0.000,0.033,2755,1742,3267,0,0,0,0,0,0
$GC,4461,-0.65,-107.0,438.9,-10.6,107,4464,0.00,1.17,0.00,0.000,4,0.000,0.053,2755,1024,3266,0,0,0,0,0,0
$GC,4544,-0.65,-107.0,448.4,-11.5,108,4548,0.00,1.12,0.00,0.000,6,0.000,0.034,2756,1748,3266,0,0,0,0,0,0
$GC,5263,-0.65,-107.0,533.7,-12.4,120,5267,0.00,0.65,0.00,0.000,4,0.000,0.044,2756,2193,3264,0,0,0,0,0,0
$GC,5520,-0.65,-107.0,565.6,-12.4,123,5525,0.00,0.75,0.00,0.000,6,0.000,0.043,2756,1717,3264,0,0,0,0,0,0
$GC,6260,-0.65,-107.0,643.8,-9.6,136,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1717,3262,0,0,0,0,0,0
$GC,6988,-0.65,-107.0,716.7,-10.6,148,6992,0.00,2.28,0.00,0.000,4,0.000,0.045,2756,3134,3260,0,0,0,0,0,0
$GC,7194,-0.65,-107.0,741.4,-13.1,151,7198,0.00,2.22,0.00,0.000,6,0.000,0.037,2756,1744,3259,0,0,0,0,0,0
$GC,7918,-0.65,-107.0,834.8,-13.1,163,7922,0.00,1.00,0.00,0.000,4,0.000,0.040,2756,2393,3257,0,0,0,0,0,0
$GC,8064,-0.65,-107.0,853.0,-12.2,165,8068,0.00,1.05,0.00,0.000,6,0.000,0.041,2756,1720,3257,0,0,0,0,0,0
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8730,-0.28,0.0,923.3,9.5,176,8825,0.43,0.00,92.07,1.421,6,0.087,0.000,2895,1720,2827,0,0,0,0,0,0
$STATE,8826,end apogee,CONTROL_FINISHED_OK
$STATE,8826,begin loiter
$GC,9515,-0.27,202.6,977.0,-6.8,189,9701,0.00,2.62,176.62,1.420,4,0.000,0.056,2895,294,2000,0,0,0,0,0,0
$GC,9949,-0.26,299.1,992.7,-3.2,195,10041,0.00,2.17,85.72,1.396,6,0.000,0.032,2895,1697,1606,0,0,0,0,0,0
$GC,10754,-0.26,299.1,968.3,3.0,209,10758,0.00,2.17,0.00,0.000,4,0.000,0.044,2891,3078,1596,0,0,0,0,0,0
$GC,11012,-0.26,299.1,960.4,3.1,212,11017,0.00,2.22,0.00,0.000,6,0.000,0.041,2891,1696,1594,0,0,0,0,0,0
$GC,11746,-0.26,299.1,931.5,4.5,225,11750,0.00,2.22,0.00,0.000,4,0.000,0.043,2891,3084,1592,0,0,0,0,0,0
$GC,12003,-0.26,299.1,920.2,4.4,228,12008,0.00,2.25,0.00,0.000,6,0.000,0.041,2891,1690,1592,0,0,0,0,0,0
$GC,12737,-0.26,299.1,885.1,4.8,241,12741,0.00,2.22,0.00,0.000,4,0.000,0.044,2892,3072,1591,0,0,0,0,0,0
$GC,12995,-0.26,299.1,873.5,4.1,244,12999,0.00,2.25,0.00,0.000,6,0.000,0.041,2892,1685,1591,0,0,0,0,0,0
$GC,13735,-0.26,299.1,841.9,4.1,257,13739,0.00,2.25,0.00,0.000,4,0.000,0.044,2892,3074,1591,0,0,0,0,0,0
$GC,13851,-0.26,299.1,837.4,3.5,258,13855,0.00,2.25,0.00,0.000,6,0.000,0.041,2892,1688,1590,0,0,0,0,0,0
$GC,14591,-0.26,299.1,811.9,3.7,271,14595,0.00,2.38,0.00,0.000,4,0.000,0.060,2892,276,1590,0,0,0,0,0,0
$GC,14792,-0.26,299.1,803.6,4.0,274,14796,0.00,2.22,0.00,0.000,6,0.000,0.032,2892,1680,1590,0,0,0,0,0,0
$GC,15522,-0.26,299.1,770.7,4.6,286,15526,0.00,2.25,0.00,0.000,4,0.000,0.044,2891,3081,1590,0,0,0,0,0,0
$GC,15588,-0.26,299.1,767.6,5.0,287,15592,0.00,2.28,0.00,0.000,6,0.000,0.042,2891,1682,1590,0,0,0,0,0,0
$GC,16318,-0.26,299.1,740.0,3.5,299,16322,0.00,2.35,0.00,0.000,4,0.000,0.060,2891,279,1590,0,0,0,0,0,0
$GC,16453,-0.26,299.1,735.1,4.3,301,16457,0.00,2.20,0.00,0.000,6,0.000,0.033,2890,1689,1589,0,0,0,0,0,0
$GC,17182,-0.26,299.1,705.8,4.2,313,17186,0.00,2.22,0.00,0.000,4,0.000,0.044,2891,3087,1589,0,0,0,0,0,0
$GC,17439,-0.26,299.1,694.8,3.6,316,17444,0.00,2.28,0.00,0.000,6,0.000,0.042,2891,1675,1590,0,0,0,0,0,0
$GC,18173,-0.26,299.1,670.1,3.1,329,18177,0.00,2.28,0.00,0.000,4,0.000,0.044,2891,3080,1590,0,0,0,0,0,0
$GC,18379,-0.26,299.1,663.6,3.1,332,18383,0.00,2.28,0.00,0.000,6,0.000,0.042,2891,1671,1589,0,0,0,0,0,0
$GC,19104,-0.26,299.1,639.8,3.5,344,19108,0.00,2.30,0.00,0.000,4,0.000,0.044,2891,3082,1589,0,0,0,0,0,0
$GC,19235,-0.26,299.1,635.4,3.5,346,19239,0.00,2.25,0.00,0.000,6,0.000,0.042,2891,1684,1590,0,0,0,0,0,0
$STATE,19598,end loiter,LOITER_COMPLETE
$STATE,19598,begin climb
$GC,19600,0.65,107.0,622.0,0.0,352,19606,0.93,2.30,0.00,0.000,4,0.103,0.041,3181,3078,1590,0,0,0,0,0,0
$GC,19791,0.37,129.5,613.4,4.5,354,19797,0.35,2.28,0.00,0.000,6,0.177,0.044,3105,1679,1590,0,0,0,0,0,0
$GC,20526,0.37,173.4,584.7,3.8,367,20530,0.00,2.35,0.00,0.000,4,0.000,0.060,3114,275,1590,0,0,0,0,0,0
$GC,20783,0.38,227.3,575.1,3.5,370,20789,0.00,2.22,0.00,0.000,6,0.000,0.036,3114,1679,1591,0,0,0,0,0,0
$GC,21518,0.38,245.6,543.8,4.7,383,21522,0.00,2.40,0.00,0.000,4,0.000,0.060,3119,277,1591,0,0,0,0,0,0
$GC,21774,0.38,245.6,530.5,6.1,386,21781,0.03,2.25,0.00,0.000,6,0.129,0.035,3103,1678,1592,0,0,0,0,0,0
$GC,22509,0.38,245.6,489.3,5.7,399,22513,0.00,2.40,0.00,0.000,4,0.000,0.060,3112,273,1592,0,0,0,0,0,0
$GC,22766,0.38,245.6,475.4,5.5,402,22770,0.00,2.28,0.00,0.000,6,0.000,0.035,3112,1694,1593,0,0,0,0,0,0
$GC,23506,0.38,306.1,446.1,3.3,415,23516,0.00,2.38,5.30,0.807,4,0.000,0.059,3119,276,1579,0,0,0,0,0,0
$GC,23770,0.38,379.5,439.7,2.8,419,23846,0.00,2.25,70.05,1.126,6,0.000,0.035,3119,1703,1278,0,0,0,0,0,0
$GC,24560,0.38,379.5,399.7,5.9,432,24564,0.00,0.55,0.00,0.000,4,0.000,0.044,3119,2078,1270,0,0,0,0,0,0
$GC,24632,0.38,379.5,395.0,7.0,433,24636,0.00,0.65,0.00,0.000,6,0.000,0.050,3119,1678,1269,0,0,0,0,0,0
$GC,25362,0.38,379.5,344.8,6.8,445,25366,0.00,2.25,0.00,0.000,4,0.000,0.044,3119,3081,1269,0,0,0,0,0,0
$GC,25602,0.38,379.5,329.2,5.5,448,25606,0.00,2.28,0.00,0.000,6,0.000,0.044,3119,1690,1267,0,0,0,0,0,0
$GC,26354,0.38,382.9,288.7,5.2,461,26358,0.03,2.40,0.00,0.000,4,0.289,0.061,3117,276,1267,0,0,0,0,0,0
$GC,26611,0.38,382.9,275.1,5.4,464,26616,0.00,2.22,0.00,0.000,6,0.000,0.034,3117,1678,1265,0,0,0,0,0,0
$GC,27345,0.38,382.9,232.8,6.5,477,27349,0.00,1.67,0.00,0.000,4,0.000,0.057,3117,693,1266,0,0,0,0,0,0
$GC,27603,0.38,382.9,215.1,7.2,480,27607,0.00,1.58,0.00,0.000,6,0.000,0.033,3117,1695,1266,0,0,0,0,0,0
$GC,28343,0.38,385.8,174.6,5.2,493,28352,0.00,2.15,4.38,0.590,4,0.000,0.060,3117,409,1254,0,0,0,0,0,0
$GC,28604,0.38,385.8,158.2,6.1,496,28610,0.03,2.00,0.00,0.000,6,0.154,0.032,3107,1682,1254,0,0,0,0,0,0
$GC,29339,0.39,411.1,118.9,4.4,509,29369,0.00,2.40,25.25,0.854,4,0.000,0.061,3107,270,1150,0,0,0,0,0,0
$GC,29622,0.39,411.1,99.6,8.4,513,29626,0.00,2.20,0.00,0.000,6,0.000,0.031,3107,1679,1146,0,0,0,0,0,0
$GC,30364,0.39,411.1,54.1,6.0,533,30368,0.00,2.38,0.00,0.000,4,0.000,0.063,3107,279,1146,0,0,0,0,0,0
$GC,30622,0.39,411.1,33.8,7.2,544,30630,0.00,2.20,0.00,0.000,6,0.000,0.031,3106,1687,1145,0,0,0,0,0,0
$GC,31054,0.39,411.1,5.7,5.9,582,31058,0.00,0.55,0.00,0.000,4,0.000,0.043,3107,2081,1145,0,0,0,0,0,0
$STATE,31102,end climb,SURFACE_DEPTH_REACHED
$STATE,31102,begin surface coast
$FINISH,1.8,1.012927
$STATE,31136,end surface coast,CONTROL_FINISHED_OK
$STATE,31136,begin surface
$SM_CCo,31215,0.00,0.000,0,0,1142,413.32
$SM_GC,3.09,8.75,0.00,0.00,0.054,0.000,0.000,88,1730,1142,-8.98,-0.17,413.32
$IRIDIUM_FIX,-4109.28,-349.80,020213,141404
$TT8_MAMPS,0.027713
$HUMID,50.19
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.2,127.924
$10V_AH,9.8,75.085
$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,22.700,138.325,459.400,0.000,0.000,31.326,37.125,420.931,0.000,0.000,46.170,1936.296,25720.389,511.945,3413.555,324.818,0.000,1922.181,0.000,2862.043,0.000,1.015,0.000
$DEVICE_MAMPS,289.170,62.730,1420.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.485,324.382,251.197,50.930,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354764
$DATA_FILE_SIZE,33550,589
$CAP_FILE_SIZE,170399,0
$CFSIZE,2097086464,2019393536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,030213,163329,-4126.919,-345.545,67,1.9,67,-22.6