version: 66.07.10.p01
glider: 574
mission: 4
dive: 548
start: 2 4 113 10 28 36
data:
$ID,574
$MISSION,4
$DIVE,548
$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,-9948.3027
$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,42
$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,527
$GPS1,040213,102653,-4127.482,-344.376,38,1.5,38,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-76.5
$GPS2,040213,102813,-4127.477,-344.360,19,1.5,19,-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,89.0,113318,-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,-107.0,0.0,0.0,0,35,0.00,0.00,-6.93,0.000,2,0.000,0.000,82,1722,1245,0,0,0,0,0,0
$GC,38,-0.65,-107.0,3.1,-0.0,1,131,11.85,2.35,-75.10,0.000,4,0.249,0.070,2754,325,3263,0,0,0,0,0,0
$GC,183,-0.65,-107.0,11.8,-11.1,13,191,0.00,2.20,0.00,0.000,6,0.000,0.034,2754,1716,3264,0,0,0,0,0,0
$GC,299,-0.65,-107.0,24.0,-11.4,24,303,0.00,2.30,0.00,0.000,4,0.000,0.048,2755,3145,3264,0,0,0,0,0,0
$GC,558,-0.65,-107.0,55.0,-12.0,37,564,0.00,2.28,0.00,0.000,6,0.000,0.041,2754,1741,3265,0,0,0,0,0,0
$GC,974,-0.65,-107.0,98.4,-10.1,49,978,0.00,2.35,0.00,0.000,4,0.000,0.057,2755,326,3266,0,0,0,0,0,0
$GC,1231,-0.65,-107.0,125.8,-9.3,53,1235,0.00,2.22,0.00,0.000,6,0.000,0.030,2754,1749,3266,0,0,0,0,0,0
$GC,1971,-0.65,-107.0,200.8,-10.8,66,1975,0.00,2.38,0.00,0.000,4,0.000,0.056,2754,326,3267,0,0,0,0,0,0
$GC,2229,-0.65,-107.0,228.5,-10.9,69,2233,0.00,2.20,0.00,0.000,6,0.000,0.030,2754,1734,3267,0,0,0,0,0,0
$GC,2969,-0.65,-107.0,306.1,-10.5,82,2973,0.00,2.15,0.00,0.000,4,0.000,0.055,2754,439,3267,0,0,0,0,0,0
$GC,3108,-0.65,-107.0,320.7,-10.2,84,3112,0.00,2.03,0.00,0.000,6,0.000,0.029,2754,1741,3266,0,0,0,0,0,0
$GC,3838,-0.65,-107.0,389.7,-9.4,96,3842,0.00,0.70,0.00,0.000,4,0.000,0.041,2755,2222,3267,0,0,0,0,0,0
$GC,4096,-0.65,-107.0,414.1,-9.7,99,4100,0.00,0.80,0.00,0.000,6,0.000,0.043,2755,1716,3267,0,0,0,0,0,0
$GC,4836,-0.65,-107.0,489.4,-10.6,112,4839,0.00,1.30,0.00,0.000,4,0.000,0.040,2754,2548,3266,0,0,0,0,0,0
$GC,5093,-0.65,-107.0,519.0,-11.4,115,5097,0.00,1.27,0.00,0.000,6,0.000,0.041,2754,1741,3266,0,0,0,0,0,0
$GC,5833,-0.65,-107.0,604.4,-11.3,128,5837,0.00,2.25,0.00,0.000,4,0.000,0.044,2754,3134,3265,0,0,0,0,0,0
$GC,6091,-0.65,-107.0,633.4,-11.0,131,6095,0.00,2.22,0.00,0.000,6,0.000,0.037,2754,1717,3265,0,0,0,0,0,0
$GC,6831,-0.65,-107.0,710.6,-10.6,144,6834,0.00,2.08,0.00,0.000,4,0.000,0.054,2754,445,3265,0,0,0,0,0,0
$GC,7088,-0.65,-107.0,738.4,-10.9,147,7093,0.00,2.03,0.00,0.000,6,0.000,0.031,2754,1733,3263,0,0,0,0,0,0
$GC,7828,-0.65,-107.0,814.3,-10.3,160,7832,0.00,2.22,0.00,0.000,4,0.000,0.044,2754,3136,3262,0,0,0,0,0,0
$GC,8018,-0.65,-107.0,835.1,-11.2,162,8024,0.00,2.25,0.00,0.000,6,0.000,0.037,2755,1739,3262,0,0,0,0,0,0
$GC,8753,-0.65,-107.0,919.4,-11.6,175,8757,0.00,2.10,0.00,0.000,3,0.000,0.044,2755,3048,3260,0,0,0,0,0,0
$STATE,8757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8765,-0.28,0.0,920.1,11.5,175,8861,0.38,0.00,92.12,1.414,6,0.090,0.000,2884,1678,2827,0,0,0,0,0,0
$STATE,8861,end apogee,CONTROL_FINISHED_OK
$STATE,8862,begin loiter
$GC,9550,-0.26,277.4,997.8,-9.3,188,9808,0.00,2.58,248.73,1.438,4,0.000,0.041,2884,3088,1696,0,0,0,0,0,0
$GC,10060,-0.26,277.4,998.3,5.3,196,10064,0.00,2.28,0.00,0.000,6,0.000,0.041,2884,1694,1689,0,0,0,0,0,0
$GC,10790,-0.26,277.4,958.9,5.5,208,10794,0.00,2.22,0.00,0.000,4,0.000,0.043,2884,3086,1684,0,0,0,0,0,0
$GC,11002,-0.26,277.4,946.8,6.5,211,11006,0.00,2.28,0.00,0.000,6,0.000,0.041,2884,1678,1684,0,0,0,0,0,0
$GC,11721,-0.26,277.4,909.5,4.7,223,11725,0.00,2.33,0.00,0.000,4,0.000,0.058,2884,280,1684,0,0,0,0,0,0
$GC,11978,-0.26,277.4,899.3,4.3,226,11983,0.00,2.20,0.00,0.000,6,0.000,0.032,2884,1692,1681,0,0,0,0,0,0
$GC,12712,-0.26,277.4,881.1,2.3,239,12716,0.00,2.22,0.00,0.000,4,0.000,0.044,2881,3082,1682,0,0,0,0,0,0
$GC,12845,-0.26,277.4,877.5,2.7,241,12849,0.00,2.25,0.00,0.000,6,0.000,0.041,2881,1682,1681,0,0,0,0,0,0
$GC,13575,-0.26,277.4,851.1,4.4,253,13579,0.00,2.35,0.00,0.000,4,0.000,0.058,2881,282,1681,0,0,0,0,0,0
$GC,13829,-0.26,277.4,838.0,5.4,256,13833,0.00,2.20,0.00,0.000,6,0.000,0.032,2878,1689,1681,0,0,0,0,0,0
$GC,14562,-0.26,277.4,801.2,4.9,268,14567,0.00,2.40,0.00,0.000,4,0.000,0.059,2879,276,1680,0,0,0,0,0,0
$GC,14647,-0.26,277.4,797.7,3.4,269,14651,0.00,2.20,0.00,0.000,6,0.000,0.032,2879,1688,1680,0,0,0,0,0,0
$GC,15414,-0.26,277.4,775.6,2.0,282,15418,0.00,2.40,0.00,0.000,4,0.000,0.059,2879,276,1680,0,0,0,0,0,0
$GC,15582,-0.26,277.4,772.6,1.9,284,15586,0.00,2.20,0.00,0.000,6,0.000,0.032,2879,1684,1680,0,0,0,0,0,0
$GC,16344,-0.26,277.4,753.7,2.9,297,16348,0.00,2.38,0.00,0.000,4,0.000,0.058,2879,282,1680,0,0,0,0,0,0
$GC,16590,-0.26,277.4,745.6,3.2,300,16594,0.00,2.22,0.00,0.000,6,0.000,0.032,2879,1686,1680,0,0,0,0,0,0
$GC,17335,-0.26,277.4,724.3,2.5,313,17340,0.00,2.40,0.00,0.000,4,0.000,0.059,2879,277,1680,0,0,0,0,0,0
$GC,17363,-0.26,277.4,723.7,2.5,313,17367,0.00,2.20,0.00,0.000,6,0.000,0.031,2879,1687,1680,0,0,0,0,0,0
$GC,18125,-0.26,277.4,704.8,2.5,326,18129,0.00,2.22,0.00,0.000,4,0.000,0.044,2877,3082,1680,0,0,0,0,0,0
$GC,18219,-0.26,277.4,702.0,2.7,327,18223,0.05,2.28,0.00,0.000,6,0.188,0.041,2889,1671,1681,0,0,0,0,0,0
$GC,18987,-0.26,277.4,677.5,3.4,340,18991,0.00,2.33,0.00,0.000,4,0.000,0.059,2890,282,1681,0,0,0,0,0,0
$GC,19244,-0.26,277.4,668.5,3.7,343,19249,0.00,2.20,0.00,0.000,6,0.000,0.032,2890,1686,1680,0,0,0,0,0,0
$STATE,19673,end loiter,LOITER_COMPLETE
$STATE,19673,begin climb
$GC,19675,0.65,107.0,655.0,0.0,351,19681,0.90,2.47,0.00,0.000,4,0.100,0.058,3182,280,1681,0,0,0,0,0,0
$GC,19934,0.34,149.3,645.7,3.9,354,19940,0.38,2.22,0.00,0.000,6,0.183,0.037,3093,1675,1682,0,0,0,0,0,0
$GC,20668,0.34,251.5,629.7,1.9,367,20672,0.00,2.38,0.00,0.000,4,0.000,0.061,3101,281,1682,0,0,0,0,0,0
$GC,20925,0.35,369.9,624.9,1.3,370,21018,0.00,2.25,85.97,1.255,6,0.000,0.036,3101,1702,1317,0,0,0,0,0,0
$GC,21786,0.35,369.9,572.2,7.3,385,21790,0.00,0.47,0.00,0.000,4,0.000,0.047,3101,2028,1308,0,0,0,0,0,0
$GC,21869,0.35,369.9,565.7,7.5,386,21874,0.00,0.57,0.00,0.000,6,0.000,0.052,3103,1675,1307,0,0,0,0,0,0
$GC,22588,0.35,369.9,514.9,6.4,398,22592,0.00,2.33,0.00,0.000,4,0.000,0.062,3103,285,1307,0,0,0,0,0,0
$GC,22845,0.35,393.4,500.9,4.5,401,22871,0.00,2.20,20.42,1.099,6,0.000,0.035,3102,1686,1223,0,0,0,0,0,0
$GC,23584,0.35,405.1,466.1,4.9,414,23599,0.00,1.33,11.85,1.014,4,0.000,0.057,3103,910,1175,0,0,0,0,0,0
$GC,23852,0.35,405.1,450.3,5.8,418,23856,0.00,1.20,0.00,0.000,6,0.000,0.036,3102,1678,1172,0,0,0,0,0,0
$GC,24582,0.35,405.1,392.8,8.4,430,24586,0.00,2.38,0.00,0.000,4,0.000,0.060,3103,286,1172,0,0,0,0,0,0
$GC,24838,0.35,405.1,370.1,8.9,433,24844,0.00,2.22,0.00,0.000,6,0.000,0.033,3102,1689,1170,0,0,0,0,0,0
$GC,25573,0.35,405.1,310.9,7.8,446,25577,0.00,2.40,0.00,0.000,4,0.000,0.062,3103,287,1170,0,0,0,0,0,0
$GC,25831,0.35,405.1,292.1,7.6,449,25835,0.00,2.22,0.00,0.000,6,0.000,0.032,3103,1689,1170,0,0,0,0,0,0
$GC,26571,0.35,405.1,250.7,5.5,462,26575,0.00,2.08,0.00,0.000,4,0.000,0.059,3103,454,1169,0,0,0,0,0,0
$GC,26828,0.35,405.1,232.8,7.4,465,26832,0.00,1.95,0.00,0.000,6,0.000,0.032,3103,1688,1170,0,0,0,0,0,0
$GC,27568,0.35,405.1,177.9,6.6,478,27569,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1689,1170,0,0,0,0,0,0
$GC,28296,0.35,405.1,130.1,7.5,490,28300,0.00,2.40,0.00,0.000,4,0.000,0.060,3102,287,1170,0,0,0,0,0,0
$GC,28553,0.35,405.1,107.5,8.2,493,28558,0.00,2.20,0.00,0.000,6,0.000,0.031,3102,1685,1170,0,0,0,0,0,0
$GC,29292,0.35,405.1,58.4,5.7,511,29296,0.00,1.00,0.00,0.000,4,0.000,0.040,3102,2351,1170,0,0,0,0,0,0
$GC,29341,0.35,405.1,55.7,6.2,513,29345,0.00,1.05,0.00,0.000,6,0.000,0.047,3102,1690,1170,0,0,0,0,0,0
$GC,29779,0.35,412.8,32.3,5.0,534,29790,0.00,2.35,6.40,0.667,4,0.000,0.061,3103,282,1144,0,0,0,0,0,0
$GC,30052,0.35,412.8,17.1,5.6,555,30057,0.00,2.17,0.00,0.000,6,0.000,0.030,3103,1691,1144,0,0,0,0,0,0
$GC,30167,0.35,412.8,10.1,5.7,565,30171,0.00,2.40,0.00,0.000,4,0.000,0.063,3103,281,1144,0,0,0,0,0,0
$STATE,30276,end climb,SURFACE_DEPTH_REACHED
$STATE,30276,begin surface coast
$FINISH,1.8,1.002779
$STATE,30324,end surface coast,CONTROL_FINISHED_OK
$STATE,30324,begin surface
$SM_CCo,30404,0.00,0.000,0,0,1140,413.81
$SM_GC,3.09,8.77,0.00,0.00,0.053,0.000,0.000,90,1755,1140,-8.98,0.54,413.81
$IRIDIUM_FIX,-4112.14,-346.94,030213,070711
$TT8_MAMPS,0.026964
$HUMID,50.90
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.5,128.483
$10V_AH,9.8,75.369
$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,22.325,140.800,465.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,21.628,1906.719,24952.504,495.546,2936.241,190.044,0.000,1909.504,0.000,2859.599,0.000,1.014,0.000
$DEVICE_MAMPS,248.625,69.615,1438.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.618,334.359,247.889,52.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354700
$DATA_FILE_SIZE,33627,578
$CAP_FILE_SIZE,159190,0
$CFSIZE,2097086464,2019033088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040213,185635,-4128.565,-343.475,38,1.4,38,-22.5