version: 66.07.10.p01
glider: 574
mission: 4
dive: 551
start: 2 5 113 13 21 27
data:
$ID,574
$MISSION,4
$DIVE,551
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,90
$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,-9956.6309
$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,2920
$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,1720
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,53
$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,530
$GPS1,050213,131359,-4129.095,-342.453,60,1.4,60,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-74.4
$GPS2,050213,132102,-4129.094,-342.376,19,1.9,19,-22.5
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,HEADING
$TGT_LATLONG,-4129.094,-327.961
$TGT_RADIUS,1852.000
$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,112.5,20000,-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,-12.07,0.000,2,0.000,0.000,68,1815,1365,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,132,12.00,2.58,-67.15,0.000,4,0.259,0.074,2699,319,3266,0,0,0,0,0,0
$GC,240,-0.65,-107.0,18.7,-11.7,18,244,0.00,2.17,0.00,0.000,6,0.000,0.034,2699,1704,3267,0,0,0,0,0,0
$GC,354,-0.65,-107.0,31.1,-10.7,28,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1704,3267,0,0,0,0,0,0
$GC,765,-0.65,-107.0,73.0,-10.4,45,769,0.00,2.30,0.00,0.000,4,0.000,0.049,2690,3124,3268,0,0,0,0,0,0
$GC,836,-0.65,-107.0,81.9,-12.0,46,841,0.08,2.28,0.00,0.000,6,0.152,0.042,2710,1708,3267,0,0,0,0,0,0
$GC,1556,-0.65,-107.0,153.7,-7.4,60,1560,0.00,2.33,0.00,0.000,4,0.000,0.060,2710,313,3269,0,0,0,0,0,0
$GC,1651,-0.65,-107.0,160.8,-7.1,61,1655,0.00,2.22,0.00,0.000,6,0.000,0.032,2710,1722,3269,0,0,0,0,0,0
$GC,2413,-0.65,-107.0,234.1,-10.4,74,2417,0.00,1.88,0.00,0.000,4,0.000,0.057,2710,597,3269,0,0,0,0,0,0
$GC,2502,-0.65,-107.0,243.1,-10.1,75,2506,0.00,1.77,0.00,0.000,6,0.000,0.032,2710,1724,3269,0,0,0,0,0,0
$GC,3276,-0.65,-107.0,314.5,-9.8,88,3280,0.00,0.95,0.00,0.000,4,0.000,0.042,2709,2356,3269,0,0,0,0,0,0
$GC,3321,-0.65,-107.0,319.0,-9.9,88,3325,0.00,1.02,0.00,0.000,6,0.000,0.043,2709,1708,3269,0,0,0,0,0,0
$GC,4072,-0.65,-107.0,393.2,-10.4,101,4076,0.00,0.75,0.00,0.000,4,0.000,0.041,2709,2206,3269,0,0,0,0,0,0
$GC,4122,-0.65,-107.0,398.7,-10.2,101,4126,0.00,0.80,0.00,0.000,6,0.000,0.044,2709,1706,3269,0,0,0,0,0,0
$GC,4867,-0.65,-107.0,482.7,-11.6,114,4871,0.00,0.82,0.00,0.000,4,0.000,0.040,2708,2248,3268,0,0,0,0,0,0
$GC,4913,-0.65,-107.0,488.3,-11.9,114,4916,0.00,0.82,0.00,0.000,6,0.000,0.044,2708,1720,3268,0,0,0,0,0,0
$GC,5663,-0.65,-107.0,574.7,-10.8,127,5667,0.00,0.70,0.00,0.000,4,0.000,0.038,2708,2193,3267,0,0,0,0,0,0
$GC,5713,-0.65,-107.0,579.9,-9.5,127,5717,0.00,0.75,0.00,0.000,6,0.000,0.044,2708,1716,3267,0,0,0,0,0,0
$GC,6459,-0.65,-107.0,647.9,-8.8,140,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1716,3266,0,0,0,0,0,0
$GC,7186,-0.65,-107.0,713.5,-9.6,152,7190,0.00,0.45,0.00,0.000,4,0.000,0.053,2708,1410,3266,0,0,0,0,0,0
$GC,7443,-0.65,-107.0,740.8,-11.4,155,7448,0.00,0.50,0.00,0.000,6,0.000,0.039,2708,1744,3265,0,0,0,0,0,0
$GC,8184,-0.65,-107.0,827.1,-11.9,168,8188,0.00,2.40,0.00,0.000,4,0.000,0.058,2708,318,3264,0,0,0,0,0,0
$GC,8278,-0.65,-107.0,838.6,-12.8,169,8282,0.00,2.17,0.00,0.000,6,0.000,0.030,2708,1703,3264,0,0,0,0,0,0
$STATE,9039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9039,begin apogee
$GC,9044,-0.28,0.0,922.6,10.8,182,9141,0.38,0.00,93.75,1.416,6,0.095,0.000,2830,1922,2827,0,0,0,0,0,0
$STATE,9142,end apogee,CONTROL_FINISHED_OK
$STATE,9142,begin loiter
$GC,9828,-0.26,258.5,995.0,-8.6,195,10071,0.00,2.55,230.85,1.436,4,0.000,0.044,2824,3291,1770,0,0,0,0,0,0
$GC,10172,-0.26,258.5,1003.4,2.5,200,10176,0.00,2.35,0.00,0.000,6,0.000,0.037,2823,1902,1767,0,0,0,0,0,0
$GC,10934,-0.26,258.5,977.1,3.4,213,10937,0.00,0.88,0.00,0.000,4,0.000,0.041,2821,2468,1761,0,0,0,0,0,0
$GC,11191,-0.26,258.5,968.6,3.4,216,11195,0.00,0.90,0.00,0.000,6,0.000,0.041,2821,1895,1760,0,0,0,0,0,0
$GC,11931,-0.26,258.5,949.5,2.4,229,11935,0.00,2.28,0.00,0.000,4,0.000,0.047,2812,3298,1760,0,0,0,0,0,0
$GC,12042,-0.26,258.5,946.9,2.3,230,12047,0.08,2.22,0.00,0.000,6,0.168,0.038,2829,1901,1759,0,0,0,0,0,0
$GC,12787,-0.26,258.5,930.2,2.4,243,12792,0.00,2.25,0.00,0.000,4,0.000,0.055,2829,537,1759,0,0,0,0,0,0
$GC,13045,-0.26,258.5,922.7,3.1,246,13051,0.00,2.12,0.00,0.000,6,0.000,0.032,2821,1892,1757,0,0,0,0,0,0
$GC,13779,-0.26,258.5,901.9,2.9,259,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1896,1757,0,0,0,0,0,0
$GC,14507,-0.26,258.5,880.0,2.8,271,14510,0.00,0.90,0.00,0.000,4,0.000,0.042,2817,2482,1757,0,0,0,0,0,0
$GC,14764,-0.26,258.5,873.0,2.7,274,14768,0.00,0.93,0.00,0.000,6,0.000,0.043,2817,1894,1757,0,0,0,0,0,0
$GC,15504,-0.26,258.5,858.9,1.4,287,15508,0.05,1.98,0.00,0.000,4,0.213,0.044,2820,3119,1757,0,0,0,0,0,0
$GC,15745,-0.26,258.5,855.7,1.4,290,15749,0.00,1.95,0.00,0.000,6,0.000,0.038,2820,1909,1757,0,0,0,0,0,0
$GC,16502,-0.26,258.5,846.1,1.4,303,16506,0.00,2.25,0.00,0.000,4,0.000,0.042,2810,3304,1757,0,0,0,0,0,0
$GC,16714,-0.26,258.5,842.3,2.2,306,16719,0.08,2.28,0.00,0.000,6,0.170,0.038,2827,1889,1757,0,0,0,0,0,0
$GC,17439,-0.26,258.5,827.3,2.1,318,17444,0.00,2.33,0.00,0.000,4,0.000,0.056,2827,492,1757,0,0,0,0,0,0
$GC,17697,-0.26,258.5,821.5,2.5,321,17702,0.00,2.22,0.00,0.000,6,0.000,0.031,2819,1910,1757,0,0,0,0,0,0
$GC,18431,-0.26,258.5,803.7,2.6,334,18435,0.00,2.22,0.00,0.000,4,0.000,0.044,2809,3307,1757,0,0,0,0,0,0
$GC,18689,-0.26,258.5,796.6,2.8,337,18695,0.10,2.25,0.00,0.000,6,0.161,0.039,2832,1899,1757,0,0,0,0,0,0
$GC,19423,-0.26,258.5,782.6,1.6,350,19427,0.00,2.35,0.00,0.000,4,0.000,0.055,2832,498,1757,0,0,0,0,0,0
$GC,19635,-0.26,258.5,779.6,0.6,353,19639,0.00,2.22,0.00,0.000,6,0.000,0.031,2824,1907,1756,0,0,0,0,0,0
$STATE,19927,end loiter,LOITER_COMPLETE
$STATE,19927,begin climb
$GC,19929,0.65,107.0,776.5,0.0,358,19935,1.00,2.42,0.00,0.000,4,0.125,0.054,3121,499,1757,0,0,0,0,0,0
$GC,20188,0.66,230.3,774.0,1.2,361,20193,0.00,2.20,0.00,0.000,6,0.000,0.033,3121,1895,1758,0,0,0,0,0,0
$GC,20922,0.67,342.7,764.7,1.5,374,21007,0.00,2.35,78.80,1.340,4,0.000,0.057,3131,548,1429,0,0,0,0,0,0
$GC,21260,0.67,342.7,747.0,7.0,379,21265,0.00,2.15,0.00,0.000,6,0.000,0.035,3131,1895,1421,0,0,0,0,0,0
$GC,21985,0.67,342.7,700.8,6.4,391,21989,0.00,2.35,0.00,0.000,4,0.000,0.059,3131,499,1419,0,0,0,0,0,0
$GC,22242,0.67,342.7,684.5,6.6,394,22246,0.00,2.25,0.00,0.000,6,0.000,0.034,3131,1909,1417,0,0,0,0,0,0
$GC,22982,0.67,342.7,637.9,6.3,407,22986,0.00,2.40,0.00,0.000,4,0.000,0.058,3131,491,1418,0,0,0,0,0,0
$GC,23240,0.67,344.0,622.6,5.2,410,23244,0.00,2.22,0.00,0.000,6,0.000,0.035,3131,1899,1417,0,0,0,0,0,0
$GC,23980,0.67,351.6,583.1,5.0,423,23993,0.00,1.55,7.53,0.987,4,0.000,0.045,3131,2848,1392,0,0,0,0,0,0
$GC,24207,0.67,355.7,571.2,5.1,426,24217,0.00,1.52,5.25,0.857,6,0.000,0.042,3131,1903,1377,0,0,0,0,0,0
$GC,24976,0.67,359.9,532.2,5.1,439,24986,0.00,2.25,5.85,0.885,4,0.000,0.044,3131,3301,1358,0,0,0,0,0,0
$GC,25240,0.67,363.7,517.4,5.2,443,25250,0.00,2.25,5.20,0.825,6,0.000,0.039,3139,1890,1344,0,0,0,0,0,0
$GC,25970,0.67,363.7,474.1,6.1,455,25974,0.00,2.33,0.00,0.000,4,0.000,0.056,3145,500,1343,0,0,0,0,0,0
$GC,26228,0.67,368.2,459.4,5.1,458,26239,0.00,2.20,5.88,0.843,6,0.000,0.034,3145,1916,1326,0,0,0,0,0,0
$GC,26963,0.67,368.2,420.1,5.7,471,26967,0.00,2.25,0.00,0.000,4,0.000,0.047,3146,3297,1326,0,0,0,0,0,0
$GC,27221,0.67,368.2,402.4,6.4,474,27226,0.00,2.25,0.00,0.000,6,0.000,0.040,3145,1896,1326,0,0,0,0,0,0
$GC,27955,0.67,368.2,349.5,6.7,487,27959,0.00,2.38,0.00,0.000,4,0.000,0.057,3145,491,1326,0,0,0,0,0,0
$GC,28212,0.67,368.2,334.0,5.8,490,28218,0.00,2.22,0.00,0.000,6,0.000,0.033,3145,1909,1326,0,0,0,0,0,0
$GC,28946,0.67,368.2,290.0,6.2,503,28950,0.00,2.40,0.00,0.000,4,0.000,0.057,3145,497,1326,0,0,0,0,0,0
$GC,29204,0.67,368.2,273.4,6.5,506,29209,0.00,2.22,0.00,0.000,6,0.000,0.033,3146,1890,1326,0,0,0,0,0,0
$GC,29938,0.67,368.2,220.5,6.6,519,29942,0.00,2.38,0.00,0.000,4,0.000,0.057,3146,495,1326,0,0,0,0,0,0
$GC,30195,0.67,381.1,207.0,4.9,522,30215,0.00,2.22,14.12,0.869,6,0.000,0.033,3146,1911,1273,0,0,0,0,0,0
$GC,30940,0.67,382.8,172.9,5.2,535,30944,0.00,2.22,0.00,0.000,4,0.000,0.046,3145,3298,1273,0,0,0,0,0,0
$GC,31197,0.67,382.8,154.2,6.2,538,31202,0.00,2.25,0.00,0.000,6,0.000,0.040,3146,1894,1273,0,0,0,0,0,0
$GC,31931,0.67,393.1,108.9,4.9,551,31946,0.00,0.00,12.88,0.801,6,0.000,0.000,3146,1894,1223,0,0,0,0,0,0
$GC,32645,0.67,443.7,55.6,3.6,569,32695,0.00,0.70,45.83,0.845,4,0.000,0.035,3146,2349,1017,0,0,0,0,0,0
$GC,32949,0.67,443.7,43.2,8.6,582,32957,0.00,0.70,0.00,0.000,6,0.000,0.045,3146,1899,1014,0,0,0,0,0,0
$GC,33378,0.67,443.7,7.0,9.0,615,33382,0.00,2.33,0.00,0.000,4,0.000,0.058,3146,502,1011,0,0,0,0,0,0
$STATE,33431,end climb,SURFACE_DEPTH_REACHED
$STATE,33432,begin surface coast
$FINISH,1.9,1.023106
$STATE,33491,end surface coast,CONTROL_FINISHED_OK
$STATE,33491,begin surface
$SM_CCo,33571,0.00,0.000,0,0,1003,447.17
$SM_GC,2.95,8.88,0.00,0.00,0.061,0.000,0.000,81,1705,1003,-8.81,-0.42,447.17
$IRIDIUM_FIX,-4115.01,-341.39,050213,030352
$TT8_MAMPS,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,21.5,129.081
$10V_AH,9.8,75.663
$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,22.625,128.300,505.925,0.000,0.000,28.601,35.401,220.469,0.000,0.000,22.758,2007.731,27966.422,546.879,3218.537,252.435,0.000,1970.664,0.000,2857.498,0.000,1.014,0.000
$DEVICE_MAMPS,258.570,74.205,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.803,304.355,258.577,48.066,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,36957,624
$CAP_FILE_SIZE,170792,0
$CFSIZE,2097086464,2018607104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050213,224205,-4129.751,-341.246,30,1.0,30,-22.5