version: 66.07.10.p01
glider: 574
mission: 4
dive: 552
start: 2 5 113 22 49 25
data:
$ID,574
$MISSION,4
$DIVE,552
$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,-9958.9658
$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,34
$R_STBD_OVSHOOT,23
$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,531
$GPS1,050213,224205,-4129.751,-341.246,30,1.0,30,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-73.1
$GPS2,050213,224900,-4129.733,-341.185,19,1.0,19,-22.5
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,HEADING
$TGT_LATLONG,-4129.733,-326.768
$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,-107.0,0.0,0.0,0,35,0.00,0.00,-7.35,0.000,2,0.000,0.000,68,1708,1188,0,0,0,0,0,0
$GC,38,-0.65,-107.0,3.1,-0.0,1,138,11.55,2.35,-82.00,0.000,4,0.247,0.072,2695,314,3264,0,0,0,0,0,0
$GC,235,-0.65,-107.0,16.2,-12.1,18,240,0.08,2.22,0.00,0.000,6,0.181,0.034,2705,1726,3265,0,0,0,0,0,0
$GC,349,-0.65,-107.0,28.1,-10.1,28,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1726,3265,0,0,0,0,0,0
$GC,452,-0.65,-107.0,39.1,-10.7,34,456,0.00,0.65,0.00,0.000,4,0.000,0.051,2705,1320,3265,0,0,0,0,0,0
$GC,553,-0.65,-107.0,52.0,-12.7,38,557,0.00,0.65,0.00,0.000,6,0.000,0.036,2703,1746,3266,0,0,0,0,0,0
$GC,1013,-0.65,-107.0,112.4,-12.9,51,1016,0.00,2.05,0.00,0.000,4,0.000,0.056,2703,516,3266,0,0,0,0,0,0
$GC,1107,-0.65,-107.0,124.4,-11.9,52,1111,0.00,1.88,0.00,0.000,6,0.000,0.033,2702,1703,3266,0,0,0,0,0,0
$GC,1875,-0.65,-107.0,198.3,-9.3,65,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1703,3267,0,0,0,0,0,0
$GC,2603,-0.65,-107.0,274.0,-11.0,77,2607,0.00,2.30,0.00,0.000,4,0.000,0.047,2700,3125,3267,0,0,0,0,0,0
$GC,2725,-0.65,-107.0,288.0,-11.4,78,2730,0.00,2.22,0.00,0.000,6,0.000,0.037,2700,1713,3267,0,0,0,0,0,0
$GC,3459,-0.65,-107.0,365.1,-10.2,91,3463,0.00,1.10,0.00,0.000,4,0.000,0.041,2700,2420,3266,0,0,0,0,0,0
$GC,3533,-0.65,-107.0,372.4,-9.9,92,3536,0.00,1.10,0.00,0.000,6,0.000,0.041,2701,1728,3266,0,0,0,0,0,0
$GC,4262,-0.65,-107.0,445.4,-9.9,104,4266,0.00,2.25,0.00,0.000,4,0.000,0.044,2697,3131,3266,0,0,0,0,0,0
$GC,4441,-0.65,-107.0,463.0,-9.9,106,4445,0.00,2.22,0.00,0.000,6,0.000,0.035,2697,1712,3265,0,0,0,0,0,0
$GC,5192,-0.65,-107.0,538.6,-10.8,119,5196,0.00,1.10,0.00,0.000,4,0.000,0.038,2697,2425,3264,0,0,0,0,0,0
$GC,5247,-0.65,-107.0,544.9,-11.1,119,5252,0.00,1.10,0.00,0.000,6,0.000,0.040,2697,1717,3264,0,0,0,0,0,0
$GC,5987,-0.65,-107.0,631.5,-11.7,132,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1717,3262,0,0,0,0,0,0
$GC,6715,-0.65,-107.0,707.5,-9.6,144,6719,0.00,2.17,0.00,0.000,4,0.000,0.054,2697,399,3260,0,0,0,0,0,0
$GC,6820,-0.65,-107.0,717.7,-9.9,145,6824,0.00,2.08,0.00,0.000,6,0.000,0.031,2697,1735,3260,0,0,0,0,0,0
$GC,7571,-0.65,-107.0,790.9,-10.3,158,7575,0.00,0.80,0.00,0.000,4,0.000,0.048,2697,1241,3258,0,0,0,0,0,0
$GC,7829,-0.65,-107.0,819.1,-11.4,161,7833,0.00,0.73,0.00,0.000,6,0.000,0.036,2697,1720,3257,0,0,0,0,0,0
$GC,8569,-0.65,-107.0,905.4,-11.8,174,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1720,3255,0,0,0,0,0,0
$STATE,8749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8749,begin apogee
$GC,8754,-0.28,0.0,926.4,11.7,177,8849,0.43,0.00,92.10,1.430,6,0.101,0.000,2833,1909,2827,0,0,0,0,0,0
$STATE,8850,end apogee,CONTROL_FINISHED_OK
$STATE,8850,begin loiter
$GC,9539,-0.26,262.1,1004.3,-8.8,190,9782,0.00,2.20,233.93,1.436,4,0.000,0.050,2833,724,1757,0,0,0,0,0,0
$GC,10034,-0.26,262.1,1003.1,5.2,197,10039,0.00,1.85,0.00,0.000,6,0.000,0.032,2829,1886,1748,0,0,0,0,0,0
$GC,10780,-0.26,262.1,969.7,3.9,210,10784,0.00,2.10,0.00,0.000,4,0.000,0.054,2828,604,1745,0,0,0,0,0,0
$GC,11014,-0.26,262.1,961.7,3.4,213,11019,0.00,2.05,0.00,0.000,6,0.000,0.031,2821,1906,1743,0,0,0,0,0,0
$GC,11771,-0.26,262.1,949.8,1.1,226,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1911,1742,0,0,0,0,0,0
$GC,12499,-0.26,262.1,939.3,2.2,238,12502,0.00,0.88,0.00,0.000,4,0.000,0.042,2817,2482,1742,0,0,0,0,0,0
$GC,12756,-0.26,262.1,932.8,3.0,241,12761,0.03,0.90,0.00,0.000,6,0.162,0.041,2826,1909,1741,0,0,0,0,0,0
$GC,13496,-0.26,262.1,907.6,3.6,254,13500,0.00,0.73,0.00,0.000,4,0.000,0.041,2824,2384,1741,0,0,0,0,0,0
$GC,13754,-0.26,262.1,899.6,3.2,257,13758,0.00,0.77,0.00,0.000,6,0.000,0.043,2824,1898,1740,0,0,0,0,0,0
$GC,14494,-0.26,262.1,885.3,1.3,270,14497,0.00,0.90,0.00,0.000,4,0.000,0.042,2821,2472,1740,0,0,0,0,0,0
$GC,14751,-0.26,262.1,883.3,0.3,273,14755,0.00,0.90,0.00,0.000,6,0.000,0.043,2821,1895,1740,0,0,0,0,0,0
$GC,15491,-0.26,262.1,875.4,1.3,286,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1895,1740,0,0,0,0,0,0
$GC,16219,-0.26,262.1,860.1,2.4,298,16222,0.00,0.62,0.00,0.000,4,0.000,0.044,2819,2312,1740,0,0,0,0,0,0
$GC,16476,-0.26,262.1,853.2,2.7,301,16480,0.00,0.65,0.00,0.000,6,0.000,0.044,2819,1899,1739,0,0,0,0,0,0
$GC,17216,-0.26,262.1,829.3,3.6,314,17220,0.00,2.30,0.00,0.000,4,0.000,0.047,2810,3302,1739,0,0,0,0,0,0
$GC,17395,-0.26,262.1,823.0,4.2,316,17400,0.10,2.25,0.00,0.000,6,0.159,0.038,2833,1902,1739,0,0,0,0,0,0
$GC,18140,-0.26,262.1,800.9,2.8,329,18144,0.00,2.35,0.00,0.000,4,0.000,0.056,2833,496,1739,0,0,0,0,0,0
$GC,18397,-0.26,262.1,795.9,1.8,332,18401,0.00,2.22,0.00,0.000,6,0.000,0.031,2825,1898,1738,0,0,0,0,0,0
$GC,19137,-0.26,273.0,793.8,-0.4,345,19152,0.00,2.40,7.68,1.087,4,0.000,0.056,2825,498,1714,0,0,0,0,0,0
$GC,19365,-0.26,275.3,793.6,-0.1,348,19375,0.00,2.20,4.03,0.859,6,0.000,0.033,2820,1906,1704,0,0,0,0,0,0
$STATE,19645,end loiter,LOITER_COMPLETE
$STATE,19645,begin climb
$GC,19647,0.65,107.0,792.8,0.0,353,19653,1.00,2.28,0.00,0.000,4,0.126,0.045,3110,3289,1704,0,0,0,0,0,0
$GC,19664,0.66,125.6,792.5,4.7,353,19668,0.00,2.22,0.00,0.000,6,0.000,0.040,3120,1902,1704,0,0,0,0,0,0
$GC,20431,0.66,184.9,774.1,3.3,366,20435,0.00,2.28,0.00,0.000,4,0.000,0.047,3119,3294,1704,0,0,0,0,0,0
$GC,20689,0.66,222.7,763.3,4.0,369,20693,0.00,2.25,0.00,0.000,6,0.000,0.041,3128,1898,1705,0,0,0,0,0,0
$GC,21429,0.66,299.0,737.3,2.7,382,21458,0.00,0.65,25.48,1.276,4,0.000,0.049,3131,1494,1606,0,0,0,0,0,0
$GC,21545,0.67,346.2,733.8,3.7,383,21595,0.00,0.62,45.30,1.314,6,0.000,0.040,3131,1902,1415,0,0,0,0,0,0
$GC,22352,0.67,405.6,704.1,3.3,397,22413,0.00,2.30,55.85,1.287,4,0.000,0.046,3131,3291,1173,0,0,0,0,0,0
$GC,22665,0.67,405.6,686.5,5.9,401,22669,0.00,2.22,0.00,0.000,6,0.000,0.041,3139,1890,1168,0,0,0,0,0,0
$GC,23411,0.67,405.6,629.2,8.8,414,23414,0.00,1.02,0.00,0.000,4,0.000,0.054,3143,1260,1164,0,0,0,0,0,0
$GC,23668,0.67,405.6,605.6,8.9,417,23672,0.00,1.00,0.00,0.000,6,0.000,0.037,3143,1901,1162,0,0,0,0,0,0
$GC,24408,0.67,405.6,550.0,6.1,430,24412,0.00,2.40,0.00,0.000,4,0.000,0.060,3143,492,1162,0,0,0,0,0,0
$GC,24666,0.67,428.5,537.4,4.5,433,24691,0.00,2.22,20.30,1.130,6,0.000,0.036,3143,1905,1080,0,0,0,0,0,0
$GC,25459,0.67,428.5,496.7,5.3,447,25463,0.00,1.77,0.00,0.000,4,0.000,0.056,3143,811,1076,0,0,0,0,0,0
$GC,25717,0.67,435.8,480.8,5.0,450,25731,0.00,1.70,7.45,0.930,6,0.000,0.033,3143,1886,1050,0,0,0,0,0,0
$GC,26462,0.67,435.8,424.0,8.4,463,26466,0.00,2.28,0.00,0.000,4,0.000,0.047,3143,3297,1050,0,0,0,0,0,0
$GC,26708,0.67,435.8,401.3,8.8,466,26712,0.00,2.28,0.00,0.000,6,0.000,0.040,3146,1901,1050,0,0,0,0,0,0
$GC,27454,0.67,435.8,331.6,9.1,479,27457,0.00,1.20,0.00,0.000,4,0.000,0.038,3146,2659,1050,0,0,0,0,0,0
$GC,27711,0.67,435.8,310.5,8.8,482,27715,0.00,1.23,0.00,0.000,6,0.000,0.043,3147,1897,1050,0,0,0,0,0,0
$GC,28451,0.67,435.8,264.8,5.8,495,28455,0.00,2.38,0.00,0.000,4,0.000,0.058,3147,496,1050,0,0,0,0,0,0
$GC,28708,0.67,435.8,247.2,6.6,498,28713,0.00,2.22,0.00,0.000,6,0.000,0.032,3146,1900,1048,0,0,0,0,0,0
$GC,29442,0.67,435.8,176.7,10.2,511,29443,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1907,1048,0,0,0,0,0,0
$GC,30170,0.67,435.8,122.1,6.2,523,30174,0.00,2.38,0.00,0.000,4,0.000,0.057,3146,502,1048,0,0,0,0,0,0
$GC,30427,0.67,435.8,106.7,6.3,526,30431,0.00,2.20,0.00,0.000,6,0.000,0.031,3146,1890,1048,0,0,0,0,0,0
$GC,31170,0.67,435.8,59.9,5.5,544,31174,0.00,1.27,0.00,0.000,4,0.000,0.054,3146,1130,1048,0,0,0,0,0,0
$GC,31430,0.67,435.8,36.1,9.9,555,31434,0.00,1.20,0.00,0.000,6,0.000,0.032,3146,1910,1048,0,0,0,0,0,0
$STATE,31844,end climb,SURFACE_DEPTH_REACHED
$STATE,31844,begin surface coast
$FINISH,1.8,1.025319
$STATE,31888,end surface coast,CONTROL_FINISHED_OK
$STATE,31888,begin surface
$SM_CCo,31966,0.00,0.000,0,0,1048,436.38
$SM_GC,3.07,9.02,0.00,0.00,0.055,0.000,0.000,82,1709,1048,-8.81,-0.31,436.38
$IRIDIUM_FIX,-4112.14,-341.39,050213,131356
$TT8_MAMPS,0.026964
$HUMID,51.49
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,21.5,129.286
$10V_AH,9.8,75.755
$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,22.200,101.400,492.100,0.000,0.000,27.908,38.212,206.769,0.000,0.000,21.748,1906.595,26701.268,512.739,3005.883,253.994,0.000,1844.308,0.000,2665.153,0.000,1.014,0.000
$DEVICE_MAMPS,247.095,71.910,1435.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.205,301.193,255.358,47.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354744
$DATA_FILE_SIZE,33669,595
$CAP_FILE_SIZE,158531,0
$CFSIZE,2097086464,2018508800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060213,074329,-4130.464,-340.510,41,1.8,41,-22.5