version: 66.07.10.p01
glider: 574
mission: 4
dive: 553
start: 2 6 113 7 50 49
data:
$ID,574
$MISSION,4
$DIVE,553
$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,-9961.2969
$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,33
$R_STBD_OVSHOOT,49
$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,532
$GPS1,060213,074329,-4130.464,-340.510,41,1.8,41,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-75.2
$GPS2,060213,075024,-4130.480,-340.413,16,1.8,16,-22.5
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,HEADING
$TGT_LATLONG,-4130.480,-325.992
$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,-107.0,0.0,0.0,0,50,0.00,0.00,-22.38,0.000,2,0.000,0.000,70,1703,1636,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.3,-3.4,2,124,12.15,2.33,-52.72,0.000,4,0.264,0.072,2694,321,3264,0,0,0,0,0,0
$GC,210,-0.65,-107.0,18.2,-11.7,15,218,0.00,2.20,0.00,0.000,6,0.000,0.034,2694,1706,3266,0,0,0,0,0,0
$GC,333,-0.65,-107.0,32.6,-11.8,26,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1706,3266,0,0,0,0,0,0
$GC,763,-0.65,-107.0,83.1,-11.3,42,767,0.00,2.35,0.00,0.000,4,0.000,0.058,2694,316,3267,0,0,0,0,0,0
$GC,875,-0.65,-107.0,96.3,-12.0,44,880,0.08,2.22,0.00,0.000,6,0.161,0.033,2708,1718,3267,0,0,0,0,0,0
$GC,1606,-0.65,-107.0,165.2,-8.5,57,1609,0.00,1.60,0.00,0.000,4,0.000,0.046,2705,2722,3268,0,0,0,0,0,0
$GC,1655,-0.65,-107.0,170.1,-9.8,57,1659,0.00,1.60,0.00,0.000,6,0.000,0.041,2705,1726,3267,0,0,0,0,0,0
$GC,2401,-0.65,-107.0,254.7,-11.7,70,2404,0.00,2.05,0.00,0.000,4,0.000,0.059,2705,494,3268,0,0,0,0,0,0
$GC,2495,-0.65,-107.0,265.7,-11.3,71,2499,0.00,1.92,0.00,0.000,6,0.000,0.031,2701,1719,3268,0,0,0,0,0,0
$GC,3263,-0.65,-107.0,332.8,-7.8,84,3267,0.00,0.50,0.00,0.000,4,0.000,0.050,2701,1400,3268,0,0,0,0,0,0
$GC,3521,-0.65,-107.0,353.6,-7.9,87,3525,0.00,0.52,0.00,0.000,6,0.000,0.036,2701,1751,3268,0,0,0,0,0,0
$GC,4261,-0.65,-107.0,429.5,-11.8,100,4265,0.00,2.15,0.00,0.000,4,0.000,0.046,2701,3102,3267,0,0,0,0,0,0
$GC,4344,-0.65,-107.0,439.9,-12.5,101,4348,0.00,2.22,0.00,0.000,6,0.000,0.037,2701,1712,3267,0,0,0,0,0,0
$GC,5063,-0.65,-107.0,521.6,-10.6,113,5067,0.00,2.33,0.00,0.000,4,0.000,0.055,2701,317,3266,0,0,0,0,0,0
$GC,5179,-0.65,-107.0,533.6,-10.1,114,5183,0.00,2.17,0.00,0.000,6,0.000,0.030,2701,1710,3267,0,0,0,0,0,0
$GC,5919,-0.65,-107.0,597.7,-8.5,127,5923,0.00,2.33,0.00,0.000,4,0.000,0.055,2701,310,3265,0,0,0,0,0,0
$GC,6035,-0.65,-107.0,608.6,-9.4,128,6040,0.00,2.20,0.00,0.000,6,0.000,0.030,2701,1715,3265,0,0,0,0,0,0
$GC,6775,-0.65,-107.0,679.1,-10.2,141,6779,0.00,2.25,0.00,0.000,4,0.000,0.044,2701,3117,3263,0,0,0,0,0,0
$GC,6887,-0.65,-107.0,691.4,-11.0,142,6891,0.00,2.22,0.00,0.000,6,0.000,0.036,2701,1709,3263,0,0,0,0,0,0
$GC,7632,-0.65,-107.0,772.5,-10.9,155,7636,0.00,1.80,0.00,0.000,4,0.000,0.042,2701,2851,3261,0,0,0,0,0,0
$GC,7682,-0.65,-107.0,778.2,-11.6,155,7686,0.00,1.80,0.00,0.000,6,0.000,0.037,2701,1724,3261,0,0,0,0,0,0
$GC,8427,-0.65,-107.0,857.0,-10.4,168,8431,0.00,1.73,0.00,0.000,4,0.000,0.041,2701,2823,3260,0,0,0,0,0,0
$GC,8477,-0.65,-107.0,862.2,-10.1,168,8481,0.00,1.77,0.00,0.000,6,0.000,0.037,2701,1713,3259,0,0,0,0,0,0
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9105,-0.28,0.0,924.3,10.2,179,9201,0.40,0.00,92.95,1.427,6,0.101,0.000,2829,1931,2826,0,0,0,0,0,0
$STATE,9202,end apogee,CONTROL_FINISHED_OK
$STATE,9202,begin loiter
$GC,9889,-0.26,257.5,992.9,-8.6,192,10132,0.00,2.50,230.55,1.448,4,0.000,0.042,2821,3275,1775,0,0,0,0,0,0
$GC,10314,-0.26,257.5,1000.9,3.0,198,10318,0.00,2.25,0.00,0.000,6,0.000,0.037,2820,1895,1769,0,0,0,0,0,0
$GC,11058,-0.26,257.5,984.0,1.9,211,11062,0.00,1.70,0.00,0.000,4,0.000,0.053,2821,852,1768,0,0,0,0,0,0
$GC,11316,-0.26,257.5,979.3,1.4,214,11321,0.03,1.62,0.00,0.000,6,0.166,0.032,2824,1879,1768,0,0,0,0,0,0
$GC,12056,-0.26,257.5,972.2,0.8,227,12060,0.00,2.33,0.00,0.000,4,0.000,0.056,2824,496,1767,0,0,0,0,0,0
$GC,12262,-0.26,257.5,970.1,1.2,230,12266,0.00,2.22,0.00,0.000,6,0.000,0.033,2821,1900,1767,0,0,0,0,0,0
$GC,12987,-0.26,257.5,960.5,1.7,242,12990,0.00,1.40,0.00,0.000,4,0.000,0.053,2820,1065,1768,0,0,0,0,0,0
$GC,13244,-0.26,257.5,955.3,1.9,245,13249,0.03,1.33,0.00,0.000,6,0.177,0.034,2825,1905,1769,0,0,0,0,0,0
$GC,13984,-0.26,257.5,940.2,1.9,258,13987,0.00,2.38,0.00,0.000,4,0.000,0.054,2825,492,1771,0,0,0,0,0,0
$GC,14241,-0.26,257.5,935.0,2.1,261,14245,0.00,2.22,0.00,0.000,6,0.000,0.031,2819,1896,1772,0,0,0,0,0,0
$GC,14981,-0.26,257.5,918.5,2.3,274,14985,0.00,2.35,0.00,0.000,4,0.000,0.054,2819,499,1774,0,0,0,0,0,0
$GC,15238,-0.26,257.5,912.9,2.0,277,15244,0.10,2.22,0.00,0.000,6,0.172,0.031,2834,1909,1774,0,0,0,0,0,0
$GC,15972,-0.26,257.5,900.6,1.4,290,15976,0.00,2.22,0.00,0.000,4,0.000,0.046,2825,3298,1777,0,0,0,0,0,0
$GC,16230,-0.26,257.5,897.0,1.2,293,16235,0.00,2.25,0.00,0.000,6,0.000,0.037,2825,1899,1778,0,0,0,0,0,0
$GC,16964,-0.26,257.5,886.2,1.4,306,16968,0.00,2.35,0.00,0.000,4,0.000,0.054,2825,491,1780,0,0,0,0,0,0
$GC,17222,-0.26,257.5,883.6,0.1,309,17227,0.00,2.22,0.00,0.000,6,0.000,0.032,2822,1896,1781,0,0,0,0,0,0
$GC,17956,-0.26,257.5,879.8,0.3,322,17960,0.00,1.27,0.00,0.000,4,0.000,0.052,2821,1130,1782,0,0,0,0,0,0
$GC,18213,-0.26,257.5,879.4,0.3,325,18218,0.03,1.20,0.00,0.000,6,0.181,0.033,2825,1902,1783,0,0,0,0,0,0
$GC,18953,-0.26,257.5,876.9,0.5,338,18957,0.00,2.38,0.00,0.000,4,0.000,0.057,2825,491,1785,0,0,0,0,0,0
$GC,19210,-0.26,257.5,875.9,0.0,341,19220,0.00,2.25,4.65,1.050,6,0.000,0.033,2821,1927,1776,0,0,0,0,0,0
$GC,19951,-0.26,257.7,872.9,-0.0,354,19954,0.00,0.90,0.00,0.000,4,0.000,0.050,2821,1367,1777,0,0,0,0,0,0
$STATE,19960,end loiter,LOITER_COMPLETE
$STATE,19960,begin climb
$GC,19963,0.65,107.0,872.9,0.0,354,19967,1.00,0.82,0.00,0.000,6,0.128,0.036,3123,1902,1776,0,0,0,0,0,0
$GC,20688,0.66,264.5,873.5,0.0,366,20702,0.00,1.67,9.45,1.262,4,0.000,0.055,3129,923,1748,0,0,0,0,0,0
$GC,20932,0.67,370.3,870.6,1.8,369,21044,0.00,1.55,103.05,1.392,6,0.000,0.035,3130,1892,1316,0,0,0,0,0,0
$GC,21806,0.67,370.3,816.2,6.8,384,21810,0.00,2.25,0.00,0.000,4,0.000,0.047,3130,3298,1305,0,0,0,0,0,0
$GC,22063,0.67,370.3,797.1,7.3,387,22068,0.00,2.25,0.00,0.000,6,0.000,0.041,3130,1886,1304,0,0,0,0,0,0
$GC,22797,0.67,370.3,738.2,8.0,400,22801,0.00,2.33,0.00,0.000,4,0.000,0.057,3130,499,1302,0,0,0,0,0,0
$GC,22949,0.67,370.3,726.7,6.5,402,22953,0.00,2.20,0.00,0.000,6,0.000,0.033,3130,1900,1299,0,0,0,0,0,0
$GC,23722,0.67,370.3,672.4,6.6,415,23726,0.00,2.38,0.00,0.000,4,0.000,0.060,3130,502,1299,0,0,0,0,0,0
$GC,23980,0.67,370.3,654.8,6.7,418,23984,0.00,2.25,0.00,0.000,6,0.000,0.034,3130,1908,1298,0,0,0,0,0,0
$GC,24720,0.67,370.3,601.4,7.3,431,24724,0.00,1.27,0.00,0.000,4,0.000,0.044,3130,2717,1298,0,0,0,0,0,0
$GC,24977,0.67,370.3,583.0,7.2,434,24982,0.00,1.33,0.00,0.000,6,0.000,0.044,3130,1896,1298,0,0,0,0,0,0
$GC,25717,0.67,370.3,535.9,5.9,447,25722,0.00,2.38,0.00,0.000,4,0.000,0.060,3130,499,1298,0,0,0,0,0,0
$GC,25958,0.67,370.3,521.9,7.3,450,25962,0.00,2.25,0.00,0.000,6,0.000,0.034,3130,1896,1297,0,0,0,0,0,0
$GC,26709,0.67,370.3,477.9,5.8,463,26713,0.00,2.28,0.00,0.000,4,0.000,0.047,3130,3308,1297,0,0,0,0,0,0
$GC,26967,0.67,370.3,462.5,5.5,466,26972,0.00,2.28,0.00,0.000,6,0.000,0.041,3130,1897,1297,0,0,0,0,0,0
$GC,27701,0.67,370.3,413.3,7.3,479,27705,0.00,0.65,0.00,0.000,4,0.000,0.054,3131,1483,1297,0,0,0,0,0,0
$GC,27755,0.67,370.3,409.3,7.4,479,27760,0.00,0.68,0.00,0.000,6,0.000,0.038,3131,1918,1297,0,0,0,0,0,0
$GC,28495,0.67,370.3,362.3,5.6,492,28499,0.00,2.42,0.00,0.000,4,0.000,0.058,3130,498,1297,0,0,0,0,0,0
$GC,28752,0.67,397.0,350.2,4.4,495,28781,0.00,2.20,22.35,1.008,6,0.000,0.034,3130,1893,1208,0,0,0,0,0,0
$GC,29550,0.67,397.0,309.8,5.6,509,29554,0.00,2.28,0.00,0.000,4,0.000,0.045,3130,3297,1205,0,0,0,0,0,0
$GC,29655,0.67,397.0,303.2,5.8,510,29659,0.00,2.25,0.00,0.000,6,0.000,0.039,3130,1889,1205,0,0,0,0,0,0
$GC,30407,0.67,397.0,248.3,7.4,523,30410,0.00,1.02,0.00,0.000,4,0.000,0.038,3131,2550,1205,0,0,0,0,0,0
$GC,30664,0.67,397.0,229.9,6.5,526,30668,0.00,1.02,0.00,0.000,6,0.000,0.042,3131,1904,1204,0,0,0,0,0,0
$GC,31404,0.67,398.6,188.8,5.2,539,31406,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1904,1205,0,0,0,0,0,0
$GC,32132,0.67,398.6,132.8,8.4,551,32136,0.00,2.25,0.00,0.000,4,0.000,0.043,3130,3301,1205,0,0,0,0,0,0
$GC,32289,0.67,398.6,122.0,5.4,553,32293,0.00,2.25,0.00,0.000,6,0.000,0.038,3131,1896,1205,0,0,0,0,0,0
$GC,33037,0.67,398.6,75.0,7.5,568,33041,0.00,2.25,0.00,0.000,4,0.000,0.041,3131,3297,1205,0,0,0,0,0,0
$GC,33227,0.67,398.6,61.5,6.6,572,33232,0.00,2.25,0.00,0.000,6,0.000,0.037,3130,1901,1205,0,0,0,0,0,0
$GC,33967,0.67,398.6,19.2,5.7,617,33971,0.00,2.17,0.00,0.000,4,0.000,0.041,3130,3262,1205,0,0,0,0,0,0
$GC,34229,0.67,404.3,4.7,5.1,639,34239,0.00,2.17,3.83,0.444,6,0.000,0.037,3131,1906,1177,0,0,0,0,0,0
$STATE,34267,end climb,SURFACE_DEPTH_REACHED
$STATE,34268,begin surface coast
$FINISH,1.9,1.019891
$STATE,34322,end surface coast,CONTROL_FINISHED_OK
$STATE,34322,begin surface
$SM_CCo,34401,0.00,0.000,0,0,1174,405.47
$SM_GC,3.25,8.85,0.00,0.00,0.056,0.000,0.000,87,1682,1174,-8.80,-1.05,405.47
$IRIDIUM_FIX,-4115.01,-341.58,050213,222200
$TT8_MAMPS,0.026964
$HUMID,50.59
$INTERNAL_PRESSURE,9.15522
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.5,129.485
$10V_AH,9.8,75.855
$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,22.650,139.800,466.825,0.000,0.000,22.408,41.183,214.810,0.000,0.000,18.917,2076.043,28702.199,513.694,3270.280,254.803,0.000,1954.459,0.000,2917.532,0.000,1.013,0.000
$DEVICE_MAMPS,263.925,71.910,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.970,344.187,278.776,56.645,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,36970,648
$CAP_FILE_SIZE,172980,0
$CFSIZE,2097086464,2018344960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,060213,172659,-4131.090,-340.102,132,1.0,132,-22.5