version: 66.07.10.p01
glider: 574
mission: 4
dive: 550
start: 2 5 113 3 39 50
data:
$ID,574
$MISSION,4
$DIVE,550
$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,1
$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,-9952.9766
$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,2950
$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,1820
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,50
$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,529
$GPS1,050213,033204,-4129.091,-343.203,60,1.3,63,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.12
$_SM_ANGLEo,-75.9
$GPS2,050213,033925,-4129.090,-343.130,29,1.3,29,-22.5
$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,87.2,112990,-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,-12.27,0.000,2,0.000,0.000,72,1817,1525,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.1,-0.0,1,121,12.15,2.38,-58.33,0.000,4,0.259,0.068,2727,414,3263,0,0,0,0,0,0
$GC,217,-0.65,-107.0,17.4,-11.2,16,222,0.00,2.17,0.00,0.000,6,0.000,0.034,2727,1801,3265,0,0,0,0,0,0
$GC,332,-0.65,-107.0,29.9,-11.2,26,336,0.00,1.60,0.00,0.000,4,0.000,0.048,2724,2796,3265,0,0,0,0,0,0
$GC,501,-0.65,-107.0,50.7,-12.5,34,505,0.00,1.58,0.00,0.000,6,0.000,0.042,2724,1818,3265,0,0,0,0,0,0
$GC,923,-0.65,-107.0,101.2,-12.1,47,927,0.00,2.28,0.00,0.000,4,0.000,0.046,2718,3225,3266,0,0,0,0,0,0
$GC,1113,-0.65,-107.0,123.9,-10.2,49,1119,0.08,2.25,0.00,0.000,6,0.138,0.039,2740,1822,3266,0,0,0,0,0,0
$GC,1847,-0.65,-107.0,184.1,-8.6,62,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1822,3267,0,0,0,0,0,0
$GC,2574,-0.65,-107.0,262.0,-11.8,74,2579,0.00,2.35,0.00,0.000,4,0.000,0.055,2740,400,3268,0,0,0,0,0,0
$GC,2646,-0.65,-107.0,271.4,-12.4,75,2651,0.00,2.22,0.00,0.000,6,0.000,0.028,2740,1833,3268,0,0,0,0,0,0
$GC,3371,-0.65,-107.0,362.9,-11.9,87,3375,0.00,2.20,0.00,0.000,4,0.000,0.045,2740,3218,3268,0,0,0,0,0,0
$GC,3628,-0.65,-107.0,388.6,-9.1,90,3634,0.00,2.22,0.00,0.000,6,0.000,0.035,2740,1813,3268,0,0,0,0,0,0
$GC,4363,-0.65,-107.0,448.1,-8.7,103,4367,0.00,2.28,0.00,0.000,4,0.000,0.053,2740,413,3268,0,0,0,0,0,0
$GC,4457,-0.65,-107.0,457.9,-10.5,104,4461,0.00,2.20,0.00,0.000,6,0.000,0.029,2740,1825,3268,0,0,0,0,0,0
$GC,5219,-0.65,-107.0,557.8,-14.3,117,5223,0.00,2.22,0.00,0.000,4,0.000,0.044,2740,3225,3266,0,0,0,0,0,0
$GC,5443,-0.65,-107.0,590.9,-15.0,120,5447,0.00,2.22,0.00,0.000,6,0.000,0.035,2739,1825,3266,0,0,0,0,0,0
$GC,6211,-0.65,-107.0,680.7,-10.3,133,6215,0.00,2.30,0.00,0.000,4,0.000,0.053,2740,412,3265,0,0,0,0,0,0
$GC,6289,-0.65,-107.0,688.5,-10.4,134,6293,0.00,2.22,0.00,0.000,6,0.000,0.031,2740,1828,3265,0,0,0,0,0,0
$GC,7008,-0.65,-107.0,747.8,-7.9,146,7011,0.00,1.70,0.00,0.000,4,0.000,0.050,2740,782,3265,0,0,0,0,0,0
$GC,7068,-0.65,-107.0,753.0,-8.5,146,7074,0.00,1.62,0.00,0.000,6,0.000,0.031,2740,1821,3265,0,0,0,0,0,0
$GC,7803,-0.65,-107.0,825.1,-11.3,159,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1821,3263,0,0,0,0,0,0
$GC,8530,-0.65,-107.0,915.7,-12.4,171,8534,0.00,1.08,0.00,0.000,4,0.000,0.042,2740,2527,3262,0,0,0,0,0,0
$STATE,8566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8566,begin apogee
$GC,8572,-0.28,0.0,920.5,12.2,171,8669,0.35,0.00,93.45,1.413,6,0.093,0.000,2859,1795,2827,0,0,0,0,0,0
$STATE,8669,end apogee,CONTROL_FINISHED_OK
$STATE,8669,begin loiter
$GC,9388,-0.27,251.5,999.0,-8.4,185,9621,0.00,2.55,224.40,1.443,4,0.000,0.041,2856,3193,1800,0,0,0,0,0,0
$GC,9831,-0.27,251.5,1001.7,4.2,192,9835,0.00,2.25,0.00,0.000,6,0.000,0.039,2856,1796,1793,0,0,0,0,0,0
$GC,10561,-0.27,251.5,975.0,3.3,204,10564,0.00,1.83,0.00,0.000,4,0.000,0.054,2856,680,1791,0,0,0,0,0,0
$GC,10818,-0.27,251.5,968.1,2.1,207,10823,0.00,1.75,0.00,0.000,6,0.000,0.031,2849,1789,1788,0,0,0,0,0,0
$GC,11558,-0.27,251.5,952.5,2.2,220,11563,0.00,2.35,0.00,0.000,4,0.000,0.056,2849,386,1788,0,0,0,0,0,0
$GC,11759,-0.27,251.5,947.2,2.8,223,11764,0.00,2.22,0.00,0.000,6,0.000,0.032,2849,1795,1788,0,0,0,0,0,0
$GC,12490,-0.27,251.5,927.6,2.5,235,12494,0.00,2.35,0.00,0.000,4,0.000,0.057,2849,396,1788,0,0,0,0,0,0
$GC,12656,-0.27,251.5,923.9,1.9,237,12661,0.00,2.22,0.00,0.000,6,0.000,0.032,2849,1799,1788,0,0,0,0,0,0
$GC,13413,-0.27,251.5,912.2,1.2,250,13418,0.00,2.25,0.00,0.000,4,0.000,0.045,2839,3200,1788,0,0,0,0,0,0
$GC,13671,-0.27,251.5,909.5,1.2,253,13677,0.10,2.25,0.00,0.000,6,0.156,0.040,2863,1793,1788,0,0,0,0,0,0
$GC,14405,-0.27,251.5,902.9,1.1,266,14409,0.00,2.30,0.00,0.000,4,0.000,0.044,2863,3208,1788,0,0,0,0,0,0
$GC,14625,-0.27,251.5,899.5,1.2,269,14629,0.00,2.25,0.00,0.000,6,0.000,0.038,2864,1799,1788,0,0,0,0,0,0
$GC,15392,-0.27,251.5,886.2,1.9,282,15396,0.00,2.35,0.00,0.000,4,0.000,0.056,2863,390,1788,0,0,0,0,0,0
$GC,15649,-0.27,251.5,881.3,1.6,285,15653,0.00,2.22,0.00,0.000,6,0.000,0.031,2863,1798,1788,0,0,0,0,0,0
$GC,16389,-0.27,251.5,868.2,1.9,298,16393,0.00,2.38,0.00,0.000,4,0.000,0.057,2863,392,1789,0,0,0,0,0,0
$GC,16647,-0.27,251.5,863.6,1.7,301,16651,0.00,2.22,0.00,0.000,6,0.000,0.031,2863,1796,1790,0,0,0,0,0,0
$GC,17387,-0.27,251.5,853.5,1.2,314,17391,0.00,2.38,0.00,0.000,4,0.000,0.057,2863,394,1791,0,0,0,0,0,0
$GC,17644,-0.27,251.5,851.4,0.9,317,17648,0.00,2.22,0.00,0.000,6,0.000,0.031,2863,1799,1792,0,0,0,0,0,0
$GC,18384,-0.26,265.6,852.4,-0.5,330,18404,0.00,2.30,13.32,1.248,4,0.000,0.044,2858,3201,1743,0,0,0,0,0,0
$GC,18566,-0.26,265.6,851.4,0.2,332,18571,0.00,2.28,0.00,0.000,6,0.000,0.040,2858,1802,1743,0,0,0,0,0,0
$GC,19312,-0.26,265.6,844.2,1.5,345,19316,0.00,2.38,0.00,0.000,4,0.000,0.057,2858,389,1743,0,0,0,0,0,0
$STATE,19456,end loiter,LOITER_COMPLETE
$STATE,19456,begin climb
$GC,19458,0.65,107.0,841.0,0.0,347,19464,1.05,2.22,0.00,0.000,6,0.117,0.032,3156,1811,1743,0,0,0,0,0,0
$GC,20234,0.39,156.5,814.9,3.6,360,20239,0.28,2.30,0.00,0.000,4,0.179,0.044,3082,3197,1743,0,0,0,0,0,0
$GC,20492,0.40,240.2,806.2,2.5,363,20497,0.00,2.28,0.00,0.000,6,0.000,0.041,3091,1792,1743,0,0,0,0,0,0
$GC,21226,0.40,337.6,787.0,2.0,376,21301,0.00,2.38,69.82,1.343,4,0.000,0.045,3091,3197,1450,0,0,0,0,0,0
$GC,21555,0.40,356.7,773.1,4.7,381,21580,0.00,2.22,18.50,1.253,6,0.000,0.041,3091,1791,1372,0,0,0,0,0,0
$GC,22344,0.40,356.7,729.9,5.9,394,22348,0.00,1.10,0.00,0.000,4,0.000,0.041,3091,2494,1368,0,0,0,0,0,0
$GC,22602,0.40,356.7,713.2,6.2,397,22606,0.00,1.12,0.00,0.000,6,0.000,0.044,3091,1793,1367,0,0,0,0,0,0
$GC,23342,0.40,356.7,668.2,5.7,410,23346,0.00,2.30,0.00,0.000,4,0.000,0.046,3091,3201,1367,0,0,0,0,0,0
$GC,23599,0.40,356.7,654.3,5.6,413,23604,0.00,2.25,0.00,0.000,6,0.000,0.038,3091,1798,1365,0,0,0,0,0,0
$GC,24333,0.40,356.7,616.8,5.3,426,24337,0.00,2.28,0.00,0.000,4,0.000,0.042,3091,3200,1365,0,0,0,0,0,0
$GC,24590,0.40,356.7,601.5,6.1,429,24594,0.00,2.25,0.00,0.000,6,0.000,0.038,3091,1800,1365,0,0,0,0,0,0
$GC,25330,0.40,356.7,552.3,6.9,442,25334,0.00,2.28,0.00,0.000,4,0.000,0.041,3091,3205,1365,0,0,0,0,0,0
$GC,25379,0.40,356.7,548.9,7.6,442,25383,0.00,2.28,0.00,0.000,6,0.000,0.037,3091,1789,1365,0,0,0,0,0,0
$GC,26119,0.40,356.7,503.4,5.7,455,26123,0.00,2.33,0.00,0.000,4,0.000,0.057,3091,391,1365,0,0,0,0,0,0
$GC,26376,0.40,370.7,490.5,4.8,458,26396,0.00,2.22,13.25,1.048,6,0.000,0.033,3091,1810,1314,0,0,0,0,0,0
$GC,27115,0.40,370.7,449.2,5.9,471,27119,0.00,0.90,0.00,0.000,4,0.000,0.041,3091,2404,1313,0,0,0,0,0,0
$GC,27373,0.40,370.7,434.3,6.1,474,27377,0.00,0.95,0.00,0.000,6,0.000,0.044,3091,1801,1313,0,0,0,0,0,0
$GC,28113,0.40,370.7,387.6,7.0,487,28116,0.00,1.08,0.00,0.000,4,0.000,0.054,3091,1140,1313,0,0,0,0,0,0
$GC,28372,0.40,370.7,369.0,6.9,490,28375,0.00,1.02,0.00,0.000,6,0.000,0.034,3090,1801,1313,0,0,0,0,0,0
$GC,29111,0.40,370.7,314.4,6.9,503,29115,0.00,2.40,0.00,0.000,4,0.000,0.057,3091,393,1313,0,0,0,0,0,0
$GC,29369,0.40,374.0,297.9,5.2,506,29378,0.00,2.20,4.57,0.679,6,0.000,0.031,3091,1799,1302,0,0,0,0,0,0
$GC,30111,0.40,389.8,260.8,4.8,519,30132,0.00,2.35,16.02,0.923,4,0.000,0.057,3091,387,1237,0,0,0,0,0,0
$GC,30384,0.40,389.8,242.9,6.4,523,30389,0.00,2.22,0.00,0.000,6,0.000,0.032,3091,1793,1235,0,0,0,0,0,0
$GC,31109,0.40,389.8,190.2,6.8,535,31113,0.00,0.43,0.00,0.000,4,0.000,0.054,3091,1520,1235,0,0,0,0,0,0
$GC,31366,0.40,389.8,173.6,6.4,538,31370,0.00,0.45,0.00,0.000,6,0.000,0.041,3091,1820,1235,0,0,0,0,0,0
$GC,32107,0.40,410.5,134.8,4.6,551,32132,0.00,2.40,20.42,0.855,4,0.000,0.059,3091,396,1152,0,0,0,0,0,0
$GC,32384,0.40,410.5,118.3,7.2,555,32389,0.03,2.17,0.00,0.000,6,0.135,0.031,3079,1785,1148,0,0,0,0,0,0
$GC,33128,0.40,410.5,67.3,5.4,571,33132,0.00,2.33,0.00,0.000,4,0.000,0.061,3079,397,1148,0,0,0,0,0,0
$GC,33387,0.40,410.5,52.3,5.4,579,33392,0.00,2.20,0.00,0.000,6,0.000,0.030,3079,1800,1147,0,0,0,0,0,0
$GC,33810,0.40,410.5,25.8,6.4,603,33814,0.00,0.77,0.00,0.000,4,0.000,0.052,3079,1322,1147,0,0,0,0,0,0
$GC,34077,0.40,410.5,9.9,6.2,626,34081,0.00,0.73,0.00,0.000,6,0.000,0.034,3078,1806,1147,0,0,0,0,0,0
$GC,34198,0.41,447.5,3.4,4.1,637,34210,0.00,0.00,10.57,0.628,2,0.000,0.000,3078,1807,1064,0,0,0,0,0,0
$STATE,34211,end climb,SURFACE_DEPTH_REACHED
$STATE,34211,begin surface coast
$FINISH,1.9,1.025506
$STATE,34274,end surface coast,CONTROL_FINISHED_OK
$STATE,34274,begin surface
$SM_CCo,34352,0.00,0.000,0,0,1058,433.68
$SM_GC,3.04,8.62,0.00,0.00,0.057,0.000,0.000,87,1815,1058,-8.89,-0.11,433.68
$IRIDIUM_FIX,-4109.28,-252.32,040213,181809
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.6,128.880
$10V_AH,9.8,75.566
$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,22.650,143.975,484.350,0.000,0.000,22.899,43.888,226.379,0.000,0.000,31.443,2114.982,28391.514,516.620,3498.121,273.156,0.000,2046.073,0.000,3111.375,0.000,1.015,0.000
$DEVICE_MAMPS,259.335,68.085,1442.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.714,340.834,276.378,55.692,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354704
$DATA_FILE_SIZE,36955,644
$CAP_FILE_SIZE,180402,0
$CFSIZE,2097086464,2018738176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050213,131359,-4129.095,-342.453,60,1.4,60,-22.5