version: 66.07.10.p01
glider: 574
mission: 4
dive: 559
start: 2 8 113 15 1 25
data:
$ID,574
$MISSION,4
$DIVE,559
$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,-9977.9834
$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,27
$R_STBD_OVSHOOT,57
$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,538
$GPS1,080213,145359,-4132.371,-335.450,38,1.6,38,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-76.6
$GPS2,080213,150100,-4132.373,-335.404,22,1.7,22,-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,174.1,79191,-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,-12.27,0.000,2,0.000,0.000,70,1717,1460,0,0,0,0,0,0
$GC,43,-0.65,-107.0,3.0,-0.0,1,124,11.88,1.85,-62.72,0.000,4,0.256,0.064,2688,2830,3266,0,0,0,0,0,0
$GC,159,-0.65,-107.0,10.6,-11.4,11,167,0.05,1.80,0.00,0.000,6,0.132,0.043,2706,1720,3267,0,0,0,0,0,0
$GC,274,-0.65,-107.0,22.5,-10.3,22,278,0.00,2.35,0.00,0.000,4,0.000,0.060,2706,311,3268,0,0,0,0,0,0
$GC,455,-0.65,-107.0,44.0,-11.4,33,459,0.00,2.20,0.00,0.000,6,0.000,0.035,2701,1691,3268,0,0,0,0,0,0
$GC,902,-0.65,-107.0,92.2,-10.3,48,906,0.00,2.35,0.00,0.000,4,0.000,0.048,2701,3142,3268,0,0,0,0,0,0
$GC,957,-0.65,-107.0,97.9,-9.8,49,961,0.00,2.25,0.00,0.000,6,0.000,0.039,2701,1712,3268,0,0,0,0,0,0
$GC,1714,-0.65,-107.0,178.8,-11.1,62,1718,0.00,2.30,0.00,0.000,4,0.000,0.046,2701,3140,3269,0,0,0,0,0,0
$GC,1774,-0.65,-107.0,185.8,-11.2,62,1779,0.00,2.25,0.00,0.000,6,0.000,0.038,2701,1710,3269,0,0,0,0,0,0
$GC,2508,-0.65,-107.0,264.1,-10.3,75,2512,0.00,2.30,0.00,0.000,4,0.000,0.046,2701,3140,3270,0,0,0,0,0,0
$GC,2631,-0.65,-107.0,277.8,-10.8,76,2636,0.00,2.25,0.00,0.000,6,0.000,0.037,2701,1717,3270,0,0,0,0,0,0
$GC,3365,-0.65,-107.0,355.5,-10.2,89,3369,0.00,2.28,0.00,0.000,4,0.000,0.045,2701,3132,3269,0,0,0,0,0,0
$GC,3448,-0.65,-107.0,364.4,-10.5,90,3453,0.00,2.22,0.00,0.000,6,0.000,0.036,2701,1717,3270,0,0,0,0,0,0
$GC,4167,-0.65,-107.0,443.4,-11.8,102,4171,0.00,2.30,0.00,0.000,4,0.000,0.054,2701,312,3270,0,0,0,0,0,0
$GC,4290,-0.65,-107.0,458.1,-12.2,103,4296,0.00,2.22,0.00,0.000,6,0.000,0.029,2700,1736,3269,0,0,0,0,0,0
$GC,5024,-0.65,-107.0,538.0,-10.6,116,5028,0.00,0.77,0.00,0.000,4,0.000,0.048,2701,1251,3268,0,0,0,0,0,0
$GC,5282,-0.65,-107.0,564.0,-10.1,119,5286,0.00,0.75,0.00,0.000,6,0.000,0.034,2701,1741,3268,0,0,0,0,0,0
$GC,6022,-0.65,-107.0,636.9,-10.0,132,6026,0.00,2.38,0.00,0.000,4,0.000,0.055,2701,321,3268,0,0,0,0,0,0
$GC,6185,-0.65,-107.0,654.1,-10.8,134,6189,0.00,2.15,0.00,0.000,6,0.000,0.031,2701,1707,3267,0,0,0,0,0,0
$GC,6941,-0.65,-107.0,729.7,-9.7,147,6945,0.00,0.60,0.00,0.000,4,0.000,0.042,2701,2126,3266,0,0,0,0,0,0
$GC,6973,-0.65,-107.0,733.1,-9.7,147,6978,0.00,0.65,0.00,0.000,6,0.000,0.044,2701,1712,3266,0,0,0,0,0,0
$GC,7736,-0.65,-107.0,803.5,-8.8,160,7740,0.00,0.98,0.00,0.000,4,0.000,0.052,2701,1100,3265,0,0,0,0,0,0
$GC,7915,-0.65,-107.0,819.9,-9.2,162,7919,0.00,0.98,0.00,0.000,6,0.000,0.034,2701,1730,3265,0,0,0,0,0,0
$GC,8667,-0.65,-107.0,893.2,-10.5,175,8671,0.00,2.15,0.00,0.000,4,0.000,0.054,2701,443,3264,0,0,0,0,0,0
$GC,8797,-0.65,-107.0,908.0,-11.8,177,8801,0.00,1.95,0.00,0.000,6,0.000,0.031,2700,1715,3264,0,0,0,0,0,0
$STATE,8923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8924,begin apogee
$GC,8929,-0.28,0.0,922.9,11.8,179,9026,0.40,0.00,93.62,1.416,6,0.094,0.000,2831,1927,2827,0,0,0,0,0,0
$STATE,9027,end apogee,CONTROL_FINISHED_OK
$STATE,9027,begin loiter
$GC,9713,-0.26,327.4,1011.6,-10.9,192,10024,0.00,2.47,300.77,1.444,4,0.000,0.051,2831,670,1492,0,0,0,0,0,0
$GC,10159,-0.26,327.4,1024.0,4.2,199,10163,0.00,2.08,0.00,0.000,6,0.000,0.031,2826,1876,1485,0,0,0,0,0,0
$GC,10883,-0.26,327.4,987.6,5.6,211,10887,0.00,1.55,0.00,0.000,4,0.000,0.044,2822,2851,1482,0,0,0,0,0,0
$GC,11042,-0.26,327.4,978.4,5.1,213,11046,0.00,1.52,0.00,0.000,6,0.000,0.041,2822,1902,1481,0,0,0,0,0,0
$GC,11816,-0.26,327.4,938.0,4.9,226,11819,0.00,2.08,0.00,0.000,4,0.000,0.055,2822,640,1480,0,0,0,0,0,0
$GC,11955,-0.26,327.4,931.5,4.8,228,11960,0.05,2.00,0.00,0.000,6,0.156,0.032,2832,1910,1479,0,0,0,0,0,0
$GC,12686,-0.26,327.4,901.1,4.2,240,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1910,1479,0,0,0,0,0,0
$GC,13412,-0.26,327.4,866.1,5.1,252,13416,0.00,0.82,0.00,0.000,4,0.000,0.041,2830,2460,1480,0,0,0,0,0,0
$GC,13670,-0.26,327.4,851.3,6.2,255,13674,0.00,0.90,0.00,0.000,6,0.000,0.043,2830,1892,1479,0,0,0,0,0,0
$GC,14410,-0.26,327.4,808.0,6.0,268,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1892,1479,0,0,0,0,0,0
$GC,15137,-0.26,327.4,769.6,5.2,280,15142,0.00,2.33,0.00,0.000,4,0.000,0.056,2830,500,1480,0,0,0,0,0,0
$GC,15204,-0.26,327.4,766.1,4.9,281,15208,0.00,2.22,0.00,0.000,6,0.000,0.033,2823,1895,1479,0,0,0,0,0,0
$GC,15934,-0.26,327.4,742.1,3.5,293,15937,0.00,0.88,0.00,0.000,4,0.000,0.053,2823,1364,1479,0,0,0,0,0,0
$GC,16062,-0.26,327.4,737.0,4.1,294,16067,0.00,0.85,0.00,0.000,6,0.000,0.039,2823,1904,1480,0,0,0,0,0,0
$GC,16797,-0.26,327.4,710.2,3.9,307,16800,0.00,2.28,0.00,0.000,4,0.000,0.047,2813,3307,1479,0,0,0,0,0,0
$GC,16846,-0.26,327.4,708.2,4.3,307,16851,0.03,2.28,0.00,0.000,6,0.151,0.040,2824,1905,1480,0,0,0,0,0,0
$GC,17591,-0.26,327.4,674.8,4.8,320,17595,0.00,2.38,0.00,0.000,4,0.000,0.057,2824,486,1481,0,0,0,0,0,0
$GC,17691,-0.26,327.4,669.8,4.5,321,17696,0.00,2.22,0.00,0.000,6,0.000,0.034,2822,1910,1481,0,0,0,0,0,0
$GC,18448,-0.26,327.4,636.4,4.1,334,18452,0.00,2.20,0.00,0.000,4,0.000,0.041,2815,3302,1482,0,0,0,0,0,0
$GC,18706,-0.26,327.4,628.6,4.1,337,18711,0.08,2.28,0.00,0.000,6,0.167,0.040,2832,1871,1481,0,0,0,0,0,0
$GC,19446,-0.26,327.4,598.9,4.1,350,19447,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1870,1482,0,0,0,0,0,0
$STATE,19807,end loiter,LOITER_COMPLETE
$STATE,19807,begin climb
$GC,19810,0.65,107.0,581.7,0.0,356,19812,1.00,0.00,0.00,0.000,6,0.121,0.000,3126,1869,1482,0,0,0,0,0,0
$GC,20537,0.65,107.0,538.2,6.3,368,20541,0.00,2.33,0.00,0.000,4,0.000,0.048,3126,3295,1484,0,0,0,0,0,0
$GC,20794,0.65,107.0,523.3,5.8,371,20799,0.00,2.28,0.00,0.000,6,0.000,0.041,3137,1888,1484,0,0,0,0,0,0
$GC,21529,0.66,180.8,495.9,2.8,384,21533,0.00,2.35,0.00,0.000,4,0.000,0.057,3145,499,1485,0,0,0,0,0,0
$GC,21696,0.66,261.1,491.6,2.6,386,21700,0.00,2.22,0.00,0.000,6,0.000,0.037,3144,1901,1486,0,0,0,0,0,0
$GC,22453,0.67,320.4,469.4,3.3,399,22457,0.00,2.28,0.00,0.000,4,0.000,0.048,3145,3304,1486,0,0,0,0,0,0
$GC,22711,0.67,320.4,458.4,5.3,402,22717,0.08,2.28,0.00,0.000,6,0.215,0.040,3140,1891,1486,0,0,0,0,0,0
$GC,23446,0.67,335.2,420.8,4.8,415,23460,0.00,2.33,8.80,0.924,4,0.000,0.048,3140,3298,1460,0,0,0,0,0,0
$GC,23714,0.67,378.7,409.9,3.8,419,23763,0.00,2.25,43.03,1.079,6,0.000,0.040,3149,1897,1281,0,0,0,0,0,0
$GC,24504,0.67,378.7,365.1,6.3,432,24508,0.00,0.77,0.00,0.000,4,0.000,0.041,3149,2403,1275,0,0,0,0,0,0
$GC,24762,0.67,378.7,347.1,7.4,435,24767,0.03,0.82,0.00,0.000,6,0.194,0.044,3145,1885,1274,0,0,0,0,0,0
$GC,25502,0.67,378.7,297.7,5.9,448,25503,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1885,1274,0,0,0,0,0,0
$GC,26230,0.67,402.6,262.7,4.5,460,26255,0.00,1.08,21.75,0.939,4,0.000,0.053,3146,1245,1184,0,0,0,0,0,0
$GC,26389,0.67,402.6,254.6,5.5,462,26394,0.03,1.02,0.00,0.000,6,0.179,0.035,3139,1915,1182,0,0,0,0,0,0
$GC,27151,0.67,402.6,210.4,6.7,475,27152,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1925,1182,0,0,0,0,0,0
$GC,27879,0.67,402.6,154.5,7.3,487,27883,0.00,0.62,0.00,0.000,4,0.000,0.044,3139,2344,1181,0,0,0,0,0,0
$GC,28136,0.67,402.6,137.6,7.4,490,28140,0.00,0.70,0.00,0.000,6,0.000,0.045,3140,1904,1181,0,0,0,0,0,0
$GC,28877,0.67,402.6,88.8,6.5,504,28880,0.00,0.52,0.00,0.000,4,0.000,0.055,3140,1562,1181,0,0,0,0,0,0
$GC,28898,0.67,410.3,87.5,5.0,504,28909,0.00,0.52,7.95,0.708,6,0.000,0.041,3140,1905,1154,0,0,0,0,0,0
$GC,29633,0.67,410.3,39.5,6.2,529,29637,0.00,1.00,0.00,0.000,4,0.000,0.044,3140,2550,1153,0,0,0,0,0,0
$GC,29876,0.67,448.1,26.6,4.0,542,29906,0.00,1.02,21.55,0.762,6,0.000,0.044,3140,1904,1001,0,0,0,0,0,0
$GC,30013,0.67,448.1,19.0,5.4,555,30017,0.00,1.73,0.00,0.000,4,0.000,0.057,3140,851,997,0,0,0,0,0,0
$GC,30280,0.67,466.6,4.8,4.7,578,30293,0.00,1.62,8.65,0.604,6,0.000,0.031,3140,1895,923,0,0,0,0,0,0
$STATE,30312,end climb,SURFACE_DEPTH_REACHED
$STATE,30313,begin surface coast
$FINISH,1.8,1.018911
$STATE,30367,end surface coast,CONTROL_FINISHED_OK
$STATE,30367,begin surface
$SM_CCo,30445,0.00,0.000,0,0,917,468.27
$SM_GC,2.90,8.57,0.00,0.00,0.050,0.000,0.000,83,1685,917,-8.79,-0.99,468.27
$IRIDIUM_FIX,-4115.01,-338.71,080213,060659
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,21.1,130.706
$10V_AH,9.8,76.414
$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,22.175,107.900,506.125,0.000,0.000,24.734,37.739,216.219,0.000,0.000,24.417,1816.918,25539.068,522.527,2748.572,239.928,0.000,1741.390,0.000,2410.011,0.000,1.016,0.000
$DEVICE_MAMPS,255.510,64.260,1444.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.347,350.712,254.415,56.340,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,33637,586
$CAP_FILE_SIZE,150114,0
$CFSIZE,2097086464,2017591296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,080213,233005,-4133.137,-334.579,38,0.9,39,-22.5