version: 66.07.10.p01
glider: 574
mission: 4
dive: 561
start: 2 9 113 11 20 0
data:
$ID,574
$MISSION,4
$DIVE,561
$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,-9982.7129
$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,37
$R_STBD_OVSHOOT,52
$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,540
$GPS1,090213,110805,-4134.162,-333.770,41,1.3,41,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.8
$GPS2,090213,111935,-4134.235,-333.542,38,1.6,38,-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,174.6,74944,-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,-107.0,0.0,0.0,0,60,0.00,0.00,-32.12,0.000,2,0.000,0.000,68,1695,1267,0,0,0,0,0,0
$GC,63,-0.65,-107.0,3.1,-1.9,3,144,11.88,2.35,-63.40,0.000,4,0.256,0.065,2687,3109,3266,0,0,0,0,0,0
$GC,206,-0.65,-107.0,15.1,-12.4,15,211,0.08,2.22,0.00,0.000,6,0.164,0.041,2705,1722,3267,0,0,0,0,0,0
$GC,321,-0.65,-107.0,28.7,-10.5,25,325,0.00,2.35,0.00,0.000,4,0.000,0.060,2706,306,3267,0,0,0,0,0,0
$GC,331,-0.65,-107.0,30.1,-10.6,25,339,0.00,2.20,0.00,0.000,6,0.000,0.031,2702,1707,3267,0,0,0,0,0,0
$GC,443,-0.65,-107.0,42.1,-11.6,31,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1706,3267,0,0,0,0,0,0
$GC,870,-0.65,-107.0,84.0,-9.4,46,874,0.00,2.28,0.00,0.000,4,0.000,0.048,2701,3124,3267,0,0,0,0,0,0
$GC,914,-0.65,-107.0,88.4,-10.0,47,918,0.00,2.25,0.00,0.000,6,0.000,0.038,2701,1695,3267,0,0,0,0,0,0
$GC,1682,-0.65,-107.0,175.5,-12.7,61,1686,0.00,1.55,0.00,0.000,4,0.000,0.042,2701,2669,3268,0,0,0,0,0,0
$GC,1732,-0.65,-107.0,181.8,-12.6,61,1737,0.00,1.52,0.00,0.000,6,0.000,0.040,2701,1716,3268,0,0,0,0,0,0
$GC,2478,-0.65,-107.0,261.5,-10.7,74,2482,0.00,2.28,0.00,0.000,4,0.000,0.046,2701,3118,3268,0,0,0,0,0,0
$GC,2577,-0.65,-107.0,272.9,-11.4,75,2581,0.00,2.22,0.00,0.000,6,0.000,0.039,2701,1710,3268,0,0,0,0,0,0
$GC,3334,-0.65,-107.0,351.9,-10.7,88,3338,0.00,2.28,0.00,0.000,4,0.000,0.045,2701,3120,3268,0,0,0,0,0,0
$GC,3402,-0.65,-107.0,359.4,-10.9,89,3406,0.00,2.20,0.00,0.000,6,0.000,0.037,2701,1715,3268,0,0,0,0,0,0
$GC,4130,-0.65,-107.0,439.5,-11.1,101,4135,0.00,2.33,0.00,0.000,4,0.000,0.055,2701,318,3267,0,0,0,0,0,0
$GC,4388,-0.65,-107.0,467.9,-10.7,104,4393,0.00,2.20,0.00,0.000,6,0.000,0.029,2701,1726,3266,0,0,0,0,0,0
$GC,5122,-0.65,-107.0,544.5,-10.6,117,5126,0.00,2.22,0.00,0.000,4,0.000,0.044,2701,3120,3264,0,0,0,0,0,0
$GC,5217,-0.65,-107.0,555.0,-11.0,118,5221,0.00,2.20,0.00,0.000,6,0.000,0.035,2701,1711,3264,0,0,0,0,0,0
$GC,5985,-0.65,-107.0,630.9,-9.3,131,5989,0.00,2.33,0.00,0.000,4,0.000,0.054,2701,308,3262,0,0,0,0,0,0
$GC,6242,-0.65,-107.0,656.7,-10.3,134,6248,0.00,2.20,0.00,0.000,6,0.000,0.030,2701,1730,3262,0,0,0,0,0,0
$GC,6976,-0.65,-107.0,731.4,-10.7,147,6980,0.00,1.60,0.00,0.000,4,0.000,0.051,2701,769,3260,0,0,0,0,0,0
$GC,7234,-0.65,-107.0,761.1,-11.3,150,7238,0.00,1.48,0.00,0.000,6,0.000,0.031,2701,1719,3259,0,0,0,0,0,0
$GC,7974,-0.65,-107.0,837.2,-9.6,163,7978,0.00,2.25,0.00,0.000,4,0.000,0.044,2701,3123,3257,0,0,0,0,0,0
$GC,8096,-0.65,-107.0,848.2,-8.9,164,8101,0.00,2.22,0.00,0.000,6,0.000,0.037,2701,1710,3257,0,0,0,0,0,0
$GC,8830,-0.65,-107.0,901.3,-7.0,177,8834,0.00,2.30,0.00,0.000,4,0.000,0.055,2701,315,3255,0,0,0,0,0,0
$STATE,9069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9069,begin apogee
$GC,9077,-0.28,0.0,920.3,8.2,180,9172,0.38,0.00,92.07,1.389,6,0.095,0.000,2827,1903,2825,0,0,0,0,0,0
$STATE,9173,end apogee,CONTROL_FINISHED_OK
$STATE,9173,begin loiter
$GC,9887,-0.26,303.9,993.0,-10.2,194,10173,0.00,2.12,276.40,1.440,4,0.000,0.050,2827,810,1588,0,0,0,0,0,0
$GC,10313,-0.26,303.9,1007.2,3.2,200,10317,0.00,1.83,0.00,0.000,6,0.000,0.030,2822,1891,1580,0,0,0,0,0,0
$GC,11053,-0.26,303.9,975.1,5.0,213,11057,0.00,1.05,0.00,0.000,4,0.000,0.051,2822,1256,1577,0,0,0,0,0,0
$GC,11131,-0.26,303.9,970.5,5.6,214,11135,0.00,1.00,0.00,0.000,6,0.000,0.035,2822,1901,1576,0,0,0,0,0,0
$GC,11855,-0.26,303.9,933.9,4.5,226,11859,0.00,2.35,0.00,0.000,4,0.000,0.055,2822,498,1576,0,0,0,0,0,0
$GC,11939,-0.26,303.9,930.4,4.5,227,11944,0.08,2.22,0.00,0.000,6,0.188,0.031,2832,1902,1575,0,0,0,0,0,0
$GC,12657,-0.26,303.9,902.5,4.0,239,12661,0.00,2.25,0.00,0.000,4,0.000,0.046,2823,3297,1575,0,0,0,0,0,0
$GC,12713,-0.26,303.9,899.9,4.3,239,12718,0.00,2.22,0.00,0.000,6,0.000,0.038,2823,1899,1575,0,0,0,0,0,0
$GC,13447,-0.26,303.9,863.7,5.7,252,13451,0.00,1.52,0.00,0.000,4,0.000,0.042,2820,2848,1575,0,0,0,0,0,0
$GC,13704,-0.26,303.9,847.6,6.5,255,13708,0.00,1.52,0.00,0.000,6,0.000,0.041,2820,1902,1574,0,0,0,0,0,0
$GC,14444,-0.26,303.9,806.8,4.8,268,14448,0.00,0.62,0.00,0.000,4,0.000,0.054,2821,1501,1575,0,0,0,0,0,0
$GC,14702,-0.26,303.9,797.4,3.4,271,14706,0.00,0.60,0.00,0.000,6,0.000,0.037,2820,1904,1575,0,0,0,0,0,0
$GC,15442,-0.26,303.9,784.5,1.0,284,15445,0.00,1.75,0.00,0.000,4,0.000,0.054,2819,857,1575,0,0,0,0,0,0
$GC,15632,-0.26,303.9,783.2,0.8,286,15636,0.05,1.62,0.00,0.000,6,0.153,0.032,2829,1886,1575,0,0,0,0,0,0
$GC,16372,-0.26,303.9,768.6,3.1,299,16376,0.00,2.28,0.00,0.000,4,0.000,0.045,2819,3297,1576,0,0,0,0,0,0
$GC,16512,-0.26,303.9,762.9,4.6,301,16516,0.00,2.22,0.00,0.000,6,0.000,0.039,2820,1895,1576,0,0,0,0,0,0
$GC,17229,-0.26,303.9,731.0,4.5,313,17234,0.00,2.33,0.00,0.000,4,0.000,0.054,2820,496,1577,0,0,0,0,0,0
$GC,17346,-0.26,303.9,725.9,4.5,314,17351,0.10,2.22,0.00,0.000,6,0.174,0.031,2833,1903,1577,0,0,0,0,0,0
$GC,18086,-0.26,303.9,701.2,3.2,327,18090,0.00,0.93,0.00,0.000,4,0.000,0.041,2830,2517,1577,0,0,0,0,0,0
$GC,18343,-0.26,303.9,692.8,3.5,330,18347,0.00,0.98,0.00,0.000,6,0.000,0.042,2830,1898,1577,0,0,0,0,0,0
$GC,19083,-0.26,303.9,668.9,3.2,343,19086,0.00,1.70,0.00,0.000,4,0.000,0.042,2824,2962,1578,0,0,0,0,0,0
$GC,19342,-0.26,303.9,659.7,3.8,346,19346,0.00,1.67,0.00,0.000,6,0.000,0.041,2823,1901,1578,0,0,0,0,0,0
$STATE,19958,end loiter,LOITER_COMPLETE
$STATE,19958,begin climb
$GC,19960,0.65,107.0,639.7,0.0,357,19966,1.00,2.35,0.00,0.000,4,0.125,0.043,3110,3301,1580,0,0,0,0,0,0
$GC,20218,0.66,176.0,632.3,3.0,360,20224,0.00,2.28,0.00,0.000,6,0.000,0.041,3119,1896,1581,0,0,0,0,0,0
$GC,20953,0.66,246.8,612.6,2.9,373,20957,0.00,1.05,0.00,0.000,4,0.000,0.043,3119,2553,1582,0,0,0,0,0,0
$GC,21128,0.67,309.4,607.1,3.2,375,21138,0.00,1.05,6.65,0.947,6,0.000,0.044,3123,1901,1564,0,0,0,0,0,0
$GC,21878,0.67,345.3,577.8,4.1,388,21918,0.00,0.93,35.75,1.184,4,0.000,0.039,3123,2498,1419,0,0,0,0,0,0
$GC,22171,0.67,357.4,562.1,4.9,392,22187,0.00,0.95,12.52,1.066,6,0.000,0.044,3128,1904,1368,0,0,0,0,0,0
$GC,22934,0.67,357.4,518.2,5.7,405,22938,0.00,2.28,0.00,0.000,4,0.000,0.047,3128,3297,1366,0,0,0,0,0,0
$GC,23102,0.67,359.5,508.1,5.2,407,23106,0.00,2.22,0.00,0.000,6,0.000,0.039,3137,1898,1365,0,0,0,0,0,0
$GC,23859,0.67,359.5,463.3,5.8,420,23863,0.00,1.95,0.00,0.000,4,0.000,0.044,3137,3086,1364,0,0,0,0,0,0
$GC,24105,0.67,359.5,447.8,6.6,423,24109,0.00,1.92,0.00,0.000,6,0.000,0.039,3145,1904,1365,0,0,0,0,0,0
$GC,24856,0.67,359.5,401.3,6.1,436,24860,0.00,2.28,0.00,0.000,4,0.000,0.046,3145,3296,1365,0,0,0,0,0,0
$GC,25103,0.67,360.3,387.3,5.3,439,25108,0.08,2.28,0.00,0.000,6,0.210,0.039,3141,1873,1365,0,0,0,0,0,0
$GC,25848,0.67,364.2,350.2,5.2,452,25862,0.00,2.38,7.05,0.841,4,0.000,0.044,3140,3308,1342,0,0,0,0,0,0
$GC,26116,0.67,376.9,335.3,4.9,456,26135,0.00,2.25,13.10,0.965,6,0.000,0.038,3149,1901,1291,0,0,0,0,0,0
$GC,26851,0.67,376.9,289.5,6.9,468,26854,0.00,0.77,0.00,0.000,4,0.000,0.050,3153,1403,1290,0,0,0,0,0,0
$GC,26900,0.67,376.9,286.1,5.5,468,26905,0.05,0.80,0.00,0.000,6,0.164,0.035,3138,1937,1290,0,0,0,0,0,0
$GC,27645,0.67,376.9,244.4,5.3,481,27649,0.00,1.98,0.00,0.000,4,0.000,0.053,3144,771,1290,0,0,0,0,0,0
$GC,27751,0.67,376.9,238.3,5.8,482,27755,0.00,1.77,0.00,0.000,6,0.000,0.032,3145,1894,1290,0,0,0,0,0,0
$GC,28508,0.67,376.9,195.9,5.3,495,28512,0.00,2.35,0.00,0.000,4,0.000,0.055,3145,501,1290,0,0,0,0,0,0
$GC,28732,0.67,376.9,182.0,5.5,498,28736,0.00,2.22,0.00,0.000,6,0.000,0.031,3144,1900,1290,0,0,0,0,0,0
$GC,29500,0.67,376.9,128.7,6.8,511,29504,0.00,2.40,0.00,0.000,4,0.000,0.055,3145,491,1291,0,0,0,0,0,0
$GC,29679,0.67,376.9,116.8,6.3,513,29683,0.00,2.22,0.00,0.000,6,0.000,0.032,3144,1894,1291,0,0,0,0,0,0
$GC,30409,0.67,387.1,74.9,4.9,529,30425,0.00,2.33,11.43,0.756,4,0.000,0.054,3145,499,1249,0,0,0,0,0,0
$GC,30616,0.67,427.7,65.6,3.9,533,30660,0.00,2.17,37.38,0.836,6,0.000,0.031,3145,1917,1083,0,0,0,0,0,0
$GC,31395,0.67,427.7,18.3,5.6,576,31399,0.00,2.20,0.00,0.000,4,0.000,0.045,3144,3298,1074,0,0,0,0,0,0
$GC,31414,0.67,427.7,17.2,6.2,577,31418,0.00,2.20,0.00,0.000,6,0.000,0.038,3145,1898,1074,0,0,0,0,0,0
$GC,31529,0.67,440.9,10.7,4.8,587,31542,0.00,1.88,5.85,0.579,4,0.000,0.056,3144,772,1029,0,0,0,0,0,0
$GC,31625,0.67,440.9,4.5,7.0,595,31629,0.00,1.73,0.00,0.000,6,0.000,0.030,3145,1900,1027,0,0,0,0,0,0
$STATE,31648,end climb,SURFACE_DEPTH_REACHED
$STATE,31648,begin surface coast
$FINISH,1.6,1.013974
$STATE,31692,end surface coast,CONTROL_FINISHED_OK
$STATE,31692,begin surface
$SM_CCo,31770,0.00,0.000,0,0,1024,442.51
$SM_GC,2.85,8.73,0.00,0.00,0.053,0.000,0.000,84,1700,1024,-8.79,-0.57,442.51
$IRIDIUM_FIX,-4117.88,-333.14,080213,232355
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.2,131.155
$10V_AH,9.8,76.617
$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,22.400,142.050,498.200,0.000,0.000,31.010,37.418,407.080,0.000,0.000,40.757,1941.318,26386.852,540.483,3270.261,298.743,0.000,1915.894,0.000,2712.268,0.000,1.014,0.000
$DEVICE_MAMPS,256.275,65.025,1439.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.719,331.023,257.193,50.299,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,36932,601
$CAP_FILE_SIZE,172345,0
$CFSIZE,2097086464,2017296384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,090213,201159,-4134.218,-333.452,112,0.9,113,-22.5