version: 66.07.10.p01
glider: 574
mission: 4
dive: 558
start: 2 8 113 6 13 33
data:
$ID,574
$MISSION,4
$DIVE,558
$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,-9975.6572
$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,44
$R_STBD_OVSHOOT,48
$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,537
$GPS1,080213,060608,-4132.651,-336.933,33,1.8,33,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-75.0
$GPS2,080213,061308,-4132.648,-336.869,18,1.4,18,-22.5
$SPEED_LIMITS,0.092,0.182
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4210.000,-308.000
$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,172.7,79723,-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,25,-0.65,-107.0,0.0,0.0,0,40,0.00,0.00,-12.27,0.000,2,0.000,0.000,71,1702,1348,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,131,12.05,1.48,-66.47,0.000,4,0.261,0.064,2691,2591,3265,0,0,0,0,0,0
$GC,159,-0.65,-107.0,10.1,-11.3,11,163,0.03,1.38,0.00,0.000,6,0.160,0.042,2703,1728,3266,0,0,0,0,0,0
$GC,279,-0.65,-107.0,23.3,-10.9,22,283,0.00,2.35,0.00,0.000,4,0.000,0.060,2703,310,3267,0,0,0,0,0,0
$GC,538,-0.65,-107.0,52.1,-10.9,35,544,0.00,2.22,0.00,0.000,6,0.000,0.035,2703,1704,3267,0,0,0,0,0,0
$GC,953,-0.65,-107.0,92.9,-10.2,48,957,0.00,2.30,0.00,0.000,4,0.000,0.050,2701,3126,3267,0,0,0,0,0,0
$GC,1013,-0.65,-107.0,99.4,-11.1,49,1018,0.00,2.28,0.00,0.000,6,0.000,0.041,2701,1709,3267,0,0,0,0,0,0
$GC,1770,-0.65,-107.0,188.0,-11.0,62,1775,0.00,2.33,0.00,0.000,4,0.000,0.057,2702,304,3269,0,0,0,0,0,0
$GC,2028,-0.65,-107.0,215.1,-11.1,65,2033,0.00,2.22,0.00,0.000,6,0.000,0.029,2701,1724,3269,0,0,0,0,0,0
$GC,2762,-0.65,-107.0,299.7,-11.9,78,2766,0.00,2.38,0.00,0.000,4,0.000,0.056,2701,304,3269,0,0,0,0,0,0
$GC,2958,-0.65,-107.0,321.7,-10.9,80,2964,0.00,2.22,0.00,0.000,6,0.000,0.031,2702,1720,3269,0,0,0,0,0,0
$GC,3692,-0.65,-107.0,394.5,-9.5,93,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1720,3269,0,0,0,0,0,0
$GC,4420,-0.65,-107.0,467.8,-10.6,105,4424,0.00,0.52,0.00,0.000,4,0.000,0.043,2702,2095,3269,0,0,0,0,0,0
$GC,4447,-0.65,-107.0,470.9,-10.8,105,4451,0.00,0.60,0.00,0.000,6,0.000,0.044,2701,1708,3269,0,0,0,0,0,0
$GC,5215,-0.65,-107.0,558.7,-11.8,118,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1708,3268,0,0,0,0,0,0
$GC,5943,-0.65,-107.0,640.2,-10.6,130,5946,0.00,1.77,0.00,0.000,4,0.000,0.044,2702,2809,3267,0,0,0,0,0,0
$GC,5987,-0.65,-107.0,644.8,-9.9,130,5991,0.00,1.75,0.00,0.000,6,0.000,0.039,2702,1720,3267,0,0,0,0,0,0
$GC,6738,-0.65,-107.0,712.4,-8.9,143,6741,0.00,0.82,0.00,0.000,4,0.000,0.052,2702,1199,3266,0,0,0,0,0,0
$GC,6997,-0.65,-107.0,735.9,-9.7,146,7001,0.00,0.82,0.00,0.000,6,0.000,0.037,2702,1734,3266,0,0,0,0,0,0
$GC,7736,-0.65,-107.0,811.2,-10.7,159,7741,0.00,2.40,0.00,0.000,4,0.000,0.056,2701,314,3264,0,0,0,0,0,0
$GC,7894,-0.65,-107.0,828.6,-10.7,161,7898,0.00,2.20,0.00,0.000,6,0.000,0.031,2702,1724,3264,0,0,0,0,0,0
$GC,8655,-0.65,-107.0,918.2,-12.2,174,8659,0.00,2.22,0.00,0.000,4,0.000,0.045,2701,3115,3263,0,0,0,0,0,0
$STATE,8669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8669,begin apogee
$GC,8677,-0.28,0.0,920.2,12.0,174,8773,0.38,0.00,93.30,1.411,6,0.092,0.000,2828,1888,2826,0,0,0,0,0,0
$STATE,8774,end apogee,CONTROL_FINISHED_OK
$STATE,8774,begin loiter
$GC,9451,-0.27,252.4,996.7,-8.4,187,9686,0.00,1.95,227.52,1.444,4,0.000,0.041,2822,2939,1797,0,0,0,0,0,0
$GC,9938,-0.27,252.4,996.7,4.6,194,9942,0.00,1.67,0.00,0.000,6,0.000,0.040,2822,1907,1788,0,0,0,0,0,0
$GC,10689,-0.27,252.4,971.4,2.4,207,10693,0.00,1.40,0.00,0.000,4,0.000,0.041,2821,2783,1783,0,0,0,0,0,0
$GC,10947,-0.27,252.4,968.7,0.2,210,10952,0.03,1.42,0.00,0.000,6,0.157,0.041,2829,1892,1782,0,0,0,0,0,0
$GC,11687,-0.26,309.2,977.1,-1.9,223,11743,0.00,2.33,50.62,1.434,4,0.000,0.044,2821,3304,1566,0,0,0,0,0,0
$GC,11759,-0.26,309.2,977.3,1.0,223,11764,0.00,2.28,0.00,0.000,6,0.000,0.038,2821,1894,1563,0,0,0,0,0,0
$GC,12478,-0.26,309.2,952.7,4.7,235,12482,0.00,2.30,0.00,0.000,4,0.000,0.056,2821,495,1557,0,0,0,0,0,0
$GC,12613,-0.26,309.2,944.8,6.9,237,12618,0.08,2.17,0.00,0.000,6,0.191,0.032,2828,1904,1555,0,0,0,0,0,0
$GC,13343,-0.26,309.2,897.5,6.5,249,13348,0.00,2.35,0.00,0.000,4,0.000,0.056,2828,489,1555,0,0,0,0,0,0
$GC,13473,-0.26,309.2,889.4,5.7,251,13478,0.00,2.20,0.00,0.000,6,0.000,0.033,2823,1906,1554,0,0,0,0,0,0
$GC,14203,-0.26,309.2,857.4,3.3,263,14207,0.00,2.25,0.00,0.000,4,0.000,0.047,2813,3298,1554,0,0,0,0,0,0
$GC,14270,-0.26,309.2,855.2,3.9,264,14275,0.08,2.22,0.00,0.000,6,0.172,0.039,2830,1890,1554,0,0,0,0,0,0
$GC,14995,-0.26,309.2,833.9,3.0,276,14999,0.00,2.33,0.00,0.000,4,0.000,0.056,2830,499,1554,0,0,0,0,0,0
$GC,15089,-0.26,309.2,830.6,4.0,277,15093,0.00,2.22,0.00,0.000,6,0.000,0.032,2822,1931,1554,0,0,0,0,0,0
$GC,15857,-0.26,309.2,795.5,5.2,290,15861,0.00,0.55,0.00,0.000,4,0.000,0.052,2822,1578,1554,0,0,0,0,0,0
$GC,16114,-0.26,309.2,781.6,4.7,293,16119,0.00,0.50,0.00,0.000,6,0.000,0.041,2822,1913,1554,0,0,0,0,0,0
$GC,16854,-0.26,309.2,750.9,3.2,306,16858,0.00,0.88,0.00,0.000,4,0.000,0.051,2822,1376,1554,0,0,0,0,0,0
$GC,17112,-0.26,309.2,743.9,2.0,309,17116,0.00,0.82,0.00,0.000,6,0.000,0.037,2821,1899,1554,0,0,0,0,0,0
$GC,17852,-0.26,309.2,723.2,3.4,322,17856,0.00,2.12,0.00,0.000,4,0.000,0.056,2821,636,1554,0,0,0,0,0,0
$GC,17998,-0.26,309.2,717.4,3.9,324,18002,0.08,1.98,0.00,0.000,6,0.188,0.033,2828,1894,1554,0,0,0,0,0,0
$GC,18717,-0.26,309.2,686.4,4.4,336,18721,0.00,2.25,0.00,0.000,4,0.000,0.046,2818,3297,1554,0,0,0,0,0,0
$GC,18727,-0.26,309.2,685.8,4.5,336,18731,0.00,2.28,0.00,0.000,6,0.000,0.038,2818,1900,1554,0,0,0,0,0,0
$GC,19445,-0.26,309.2,654.4,4.3,348,19450,0.05,1.62,0.00,0.000,4,0.216,0.054,2832,906,1554,0,0,0,0,0,0
$STATE,19521,end loiter,LOITER_COMPLETE
$STATE,19521,begin climb
$GC,19524,0.65,107.0,651.2,0.0,349,19528,1.00,1.58,0.00,0.000,6,0.122,0.032,3126,1906,1554,0,0,0,0,0,0
$GC,20243,0.66,137.6,619.3,4.3,361,20247,0.00,2.40,0.00,0.000,4,0.000,0.059,3133,499,1555,0,0,0,0,0,0
$GC,20395,0.66,174.5,613.3,4.1,363,20399,0.00,2.20,0.00,0.000,6,0.000,0.036,3133,1900,1556,0,0,0,0,0,0
$GC,21168,0.66,216.1,584.0,3.9,376,21172,0.00,1.17,0.00,0.000,4,0.000,0.045,3133,2648,1556,0,0,0,0,0,0
$GC,21426,0.66,229.5,573.4,4.8,379,21430,0.00,1.20,0.00,0.000,6,0.000,0.045,3137,1914,1556,0,0,0,0,0,0
$GC,22166,0.66,242.9,540.6,4.8,392,22170,0.00,1.88,0.00,0.000,4,0.000,0.047,3137,3064,1557,0,0,0,0,0,0
$GC,22424,0.66,260.0,528.9,4.7,395,22428,0.00,1.90,0.00,0.000,6,0.000,0.041,3145,1897,1557,0,0,0,0,0,0
$GC,23164,0.66,298.2,499.9,4.0,408,23168,0.00,1.65,0.00,0.000,4,0.000,0.045,3145,2902,1558,0,0,0,0,0,0
$GC,23422,0.67,332.6,489.4,4.1,411,23451,0.03,1.65,22.58,1.097,6,0.213,0.043,3146,1890,1471,0,0,0,0,0,0
$GC,24164,0.67,361.8,455.7,4.3,424,24199,0.00,1.67,28.38,1.094,4,0.000,0.044,3145,2905,1351,0,0,0,0,0,0
$GC,24452,0.67,382.2,440.6,4.6,428,24477,0.03,1.62,19.92,1.056,6,0.202,0.043,3143,1898,1267,0,0,0,0,0,0
$GC,25223,0.67,382.2,392.8,6.5,441,25224,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1898,1263,0,0,0,0,0,0
$GC,25950,0.67,382.2,348.1,6.2,453,25955,0.00,2.38,0.00,0.000,4,0.000,0.058,3145,491,1262,0,0,0,0,0,0
$GC,26197,0.67,409.9,332.2,4.4,456,26228,0.00,2.22,25.65,1.003,6,0.000,0.034,3146,1915,1155,0,0,0,0,0,0
$GC,26940,0.67,409.9,281.8,6.7,469,26944,0.00,0.45,0.00,0.000,4,0.000,0.044,3146,2233,1151,0,0,0,0,0,0
$GC,27198,0.67,409.9,263.7,6.4,472,27202,0.00,0.55,0.00,0.000,6,0.000,0.048,3146,1883,1151,0,0,0,0,0,0
$GC,27938,0.67,409.9,208.3,7.8,485,27942,0.00,2.30,0.00,0.000,4,0.000,0.045,3146,3297,1151,0,0,0,0,0,0
$GC,28021,0.67,409.9,201.8,5.7,486,28025,0.00,2.22,0.00,0.000,6,0.000,0.040,3146,1894,1151,0,0,0,0,0,0
$GC,28795,0.67,409.9,155.7,5.6,499,28799,0.00,2.38,0.00,0.000,4,0.000,0.058,3146,491,1150,0,0,0,0,0,0
$GC,28986,0.67,409.9,144.3,5.9,501,28991,0.00,2.17,0.00,0.000,6,0.000,0.032,3146,1893,1149,0,0,0,0,0,0
$GC,29700,0.67,409.9,95.2,7.2,514,29703,0.00,0.40,0.00,0.000,4,0.000,0.054,3146,1633,1149,0,0,0,0,0,0
$GC,29738,0.67,409.9,92.2,7.6,514,29746,0.00,0.43,0.00,0.000,6,0.000,0.041,3146,1925,1149,0,0,0,0,0,0
$GC,30463,0.67,409.9,37.2,6.9,539,30467,0.00,0.57,0.00,0.000,4,0.000,0.051,3146,1558,1149,0,0,0,0,0,0
$GC,30486,0.67,409.9,35.6,5.5,540,30490,0.00,0.47,0.00,0.000,6,0.000,0.040,3146,1889,1149,0,0,0,0,0,0
$GC,30924,0.67,409.9,9.1,6.3,576,30928,0.00,2.22,0.00,0.000,4,0.000,0.046,3146,3287,1149,0,0,0,0,0,0
$STATE,31022,end climb,SURFACE_DEPTH_REACHED
$STATE,31022,begin surface coast
$FINISH,1.7,1.025765
$STATE,31071,end surface coast,CONTROL_FINISHED_OK
$STATE,31071,begin surface
$SM_CCo,31151,0.00,0.000,0,0,1147,412.10
$SM_GC,2.93,8.82,0.00,0.00,0.047,0.000,0.000,82,1721,1147,-8.81,0.03,412.10
$IRIDIUM_FIX,-4117.88,-338.71,070213,212120
$TT8_MAMPS,0.026964
$HUMID,51.61
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.5,130.502
$10V_AH,9.8,76.326
$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,22.625,118.600,467.975,0.000,0.000,25.261,45.476,211.499,0.000,0.000,21.081,1876.570,26049.707,528.365,2860.667,256.847,0.000,1782.790,0.000,2523.288,0.000,1.015,0.000
$DEVICE_MAMPS,260.865,64.260,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.170,320.830,254.204,51.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354716
$DATA_FILE_SIZE,33616,588
$CAP_FILE_SIZE,156383,0
$CFSIZE,2097086464,2017722368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080213,145359,-4132.371,-335.450,38,1.6,38,-22.5