version: 66.07.10.p01
glider: 574
mission: 4
dive: 562
start: 2 9 113 20 19 39
data:
$ID,574
$MISSION,4
$DIVE,562
$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,-9985.1777
$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,42
$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,541
$GPS1,090213,201159,-4134.218,-333.452,112,0.9,113,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-73.6
$GPS2,090213,201914,-4134.137,-333.423,18,0.8,18,-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,174.8,75029,-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,-22.38,0.000,2,0.000,0.000,69,1698,1607,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.1,-2.0,2,124,12.18,2.28,-53.05,0.000,4,0.265,0.058,2689,3108,3264,0,0,0,0,0,0
$GC,209,-0.65,-107.0,18.0,-12.9,15,214,0.08,2.20,0.00,0.000,6,0.155,0.041,2709,1734,3265,0,0,0,0,0,0
$GC,324,-0.65,-107.0,30.3,-11.0,25,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1734,3265,0,0,0,0,0,0
$GC,755,-0.65,-107.0,74.0,-10.0,43,758,0.00,1.70,0.00,0.000,4,0.000,0.044,2705,2806,3265,0,0,0,0,0,0
$GC,896,-0.65,-107.0,89.9,-11.1,46,900,0.00,1.73,0.00,0.000,6,0.000,0.043,2705,1719,3266,0,0,0,0,0,0
$GC,1624,-0.65,-107.0,176.2,-12.4,59,1627,0.00,1.55,0.00,0.000,4,0.000,0.056,2705,788,3267,0,0,0,0,0,0
$GC,1752,-0.65,-107.0,192.4,-12.3,60,1757,0.00,1.45,0.00,0.000,6,0.000,0.032,2702,1712,3267,0,0,0,0,0,0
$GC,2486,-0.65,-107.0,279.6,-11.6,73,2490,0.00,2.38,0.00,0.000,4,0.000,0.060,2702,314,3268,0,0,0,0,0,0
$GC,2622,-0.65,-107.0,295.6,-11.5,75,2626,0.00,2.20,0.00,0.000,6,0.000,0.033,2702,1725,3268,0,0,0,0,0,0
$GC,3351,-0.65,-107.0,376.7,-11.5,87,3355,0.00,2.40,0.00,0.000,4,0.000,0.058,2702,309,3268,0,0,0,0,0,0
$GC,3529,-0.65,-107.0,397.5,-11.7,89,3533,0.00,2.22,0.00,0.000,6,0.000,0.031,2702,1723,3268,0,0,0,0,0,0
$GC,4275,-0.65,-107.0,483.1,-11.2,102,4278,0.00,1.08,0.00,0.000,4,0.000,0.043,2702,2421,3268,0,0,0,0,0,0
$GC,4330,-0.65,-107.0,489.0,-9.8,102,4334,0.00,1.12,0.00,0.000,6,0.000,0.040,2702,1710,3268,0,0,0,0,0,0
$GC,5070,-0.65,-107.0,559.4,-9.2,115,5073,0.00,1.95,0.00,0.000,4,0.000,0.044,2702,2925,3267,0,0,0,0,0,0
$GC,5130,-0.65,-107.0,565.1,-9.2,115,5136,0.00,1.92,0.00,0.000,6,0.000,0.037,2702,1722,3267,0,0,0,0,0,0
$GC,5865,-0.65,-107.0,639.8,-11.4,128,5869,0.00,2.38,0.00,0.000,4,0.000,0.057,2702,305,3267,0,0,0,0,0,0
$GC,6000,-0.65,-107.0,657.0,-12.7,130,6005,0.00,2.20,0.00,0.000,6,0.000,0.031,2702,1724,3267,0,0,0,0,0,0
$GC,6730,-0.65,-107.0,751.0,-12.7,142,6734,0.00,2.25,0.00,0.000,4,0.000,0.044,2701,3121,3266,0,0,0,0,0,0
$GC,6807,-0.65,-107.0,760.6,-12.1,143,6811,0.00,2.25,0.00,0.000,6,0.000,0.037,2701,1722,3266,0,0,0,0,0,0
$GC,7526,-0.65,-107.0,835.5,-9.6,155,7529,0.00,1.42,0.00,0.000,4,0.000,0.040,2701,2618,3266,0,0,0,0,0,0
$GC,7586,-0.65,-107.0,841.7,-9.7,155,7592,0.00,1.45,0.00,0.000,6,0.000,0.039,2701,1712,3266,0,0,0,0,0,0
$GC,8321,-0.65,-107.0,913.8,-9.9,168,8325,0.00,1.33,0.00,0.000,4,0.000,0.040,2701,2548,3266,0,0,0,0,0,0
$STATE,8380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8380,begin apogee
$GC,8386,-0.28,0.0,920.3,9.9,168,8483,0.38,0.00,94.40,1.407,6,0.101,0.000,2826,1890,2826,0,0,0,0,0,0
$STATE,8484,end apogee,CONTROL_FINISHED_OK
$STATE,8484,begin loiter
$GC,9180,-0.26,332.9,1004.1,-11.1,182,9496,0.00,2.67,305.80,1.447,4,0.000,0.043,2822,3294,1469,0,0,0,0,0,0
$GC,9560,-0.26,332.9,1019.0,4.3,188,9565,0.00,2.45,0.00,0.000,6,0.000,0.036,2822,1908,1465,0,0,0,0,0,0
$GC,10279,-0.26,332.9,980.3,6.2,200,10283,0.00,2.25,0.00,0.000,4,0.000,0.044,2817,3304,1459,0,0,0,0,0,0
$GC,10379,-0.26,332.9,973.4,7.2,201,10383,0.08,2.22,0.00,0.000,6,0.157,0.038,2835,1888,1457,0,0,0,0,0,0
$GC,11141,-0.26,332.9,927.4,5.7,214,11145,0.00,2.28,0.00,0.000,4,0.000,0.044,2827,3297,1456,0,0,0,0,0,0
$GC,11207,-0.26,332.9,923.5,5.9,215,11211,0.00,2.22,0.00,0.000,6,0.000,0.039,2827,1901,1455,0,0,0,0,0,0
$GC,11937,-0.26,332.9,889.3,4.4,227,11941,0.00,2.35,0.00,0.000,4,0.000,0.056,2827,499,1455,0,0,0,0,0,0
$GC,12059,-0.26,332.9,884.1,4.6,228,12064,0.00,2.17,0.00,0.000,6,0.000,0.033,2822,1896,1452,0,0,0,0,0,0
$GC,12793,-0.26,332.9,852.9,4.6,241,12797,0.00,2.38,0.00,0.000,4,0.000,0.055,2822,493,1453,0,0,0,0,0,0
$GC,12899,-0.26,332.9,848.0,4.9,242,12904,0.08,2.22,0.00,0.000,6,0.186,0.031,2829,1931,1452,0,0,0,0,0,0
$GC,13650,-0.26,332.9,818.1,3.7,255,13653,0.00,1.67,0.00,0.000,4,0.000,0.053,2829,916,1452,0,0,0,0,0,0
$GC,13761,-0.26,332.9,813.9,3.9,256,13765,0.00,1.55,0.00,0.000,6,0.000,0.032,2824,1896,1452,0,0,0,0,0,0
$GC,14512,-0.26,332.9,790.2,3.0,269,14516,0.00,2.38,0.00,0.000,4,0.000,0.055,2824,494,1452,0,0,0,0,0,0
$GC,14618,-0.26,332.9,786.6,3.7,270,14623,0.08,2.20,0.00,0.000,6,0.193,0.031,2833,1914,1451,0,0,0,0,0,0
$GC,15369,-0.26,332.9,754.8,5.3,283,15372,0.00,0.55,0.00,0.000,4,0.000,0.053,2833,1565,1452,0,0,0,0,0,0
$GC,15628,-0.26,332.9,739.8,5.6,286,15631,0.00,0.50,0.00,0.000,6,0.000,0.040,2832,1907,1451,0,0,0,0,0,0
$GC,16367,-0.26,332.9,699.5,4.8,299,16371,0.00,0.47,0.00,0.000,4,0.000,0.046,2830,2243,1451,0,0,0,0,0,0
$GC,16625,-0.26,332.9,688.5,3.7,302,16629,0.00,0.55,0.00,0.000,6,0.000,0.047,2830,1893,1451,0,0,0,0,0,0
$GC,17365,-0.26,332.9,664.1,3.4,315,17369,0.00,2.38,0.00,0.000,4,0.000,0.059,2830,498,1451,0,0,0,0,0,0
$GC,17481,-0.26,332.9,659.8,4.1,316,17485,0.00,2.20,0.00,0.000,6,0.000,0.032,2821,1884,1451,0,0,0,0,0,0
$GC,18221,-0.26,332.9,630.2,4.0,329,18225,0.00,2.28,0.00,0.000,4,0.000,0.047,2810,3298,1451,0,0,0,0,0,0
$GC,18304,-0.26,332.9,627.0,3.4,330,18309,0.10,2.20,0.00,0.000,6,0.157,0.040,2834,1910,1451,0,0,0,0,0,0
$GC,19079,-0.26,332.9,598.6,3.9,343,19083,0.00,1.58,0.00,0.000,4,0.000,0.055,2834,969,1451,0,0,0,0,0,0
$STATE,19250,end loiter,LOITER_COMPLETE
$STATE,19250,begin climb
$GC,19252,0.65,107.0,590.5,0.0,345,19257,0.98,1.48,0.00,0.000,6,0.118,0.034,3123,1900,1451,0,0,0,0,0,0
$GC,20003,0.66,111.5,552.2,5.1,358,20007,0.00,2.40,0.00,0.000,4,0.000,0.060,3132,499,1451,0,0,0,0,0,0
$GC,20207,0.66,118.2,541.7,5.1,361,20211,0.00,2.22,0.00,0.000,6,0.000,0.037,3132,1896,1452,0,0,0,0,0,0
$GC,20938,0.66,142.5,507.5,4.5,373,20941,0.00,0.40,0.00,0.000,4,0.000,0.049,3132,2186,1451,0,0,0,0,0,0
$GC,21197,0.66,172.8,495.7,4.3,376,21201,0.00,0.45,0.00,0.000,6,0.000,0.051,3132,1890,1451,0,0,0,0,0,0
$GC,21937,0.66,180.1,461.0,5.0,389,21940,0.00,0.73,0.00,0.000,4,0.000,0.054,3133,1434,1452,0,0,0,0,0,0
$GC,22065,0.66,186.2,454.5,5.1,390,22070,0.00,0.73,0.00,0.000,6,0.000,0.040,3132,1903,1451,0,0,0,0,0,0
$GC,22799,0.66,186.2,408.5,7.0,403,22800,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1903,1451,0,0,0,0,0,0
$GC,23527,0.66,209.6,366.1,4.5,415,23528,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1903,1452,0,0,0,0,0,0
$GC,24254,0.66,227.6,338.5,4.7,427,24256,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1903,1452,0,0,0,0,0,0
$GC,24982,0.66,234.4,296.5,5.1,439,24983,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1903,1452,0,0,0,0,0,0
$GC,25709,0.66,283.1,271.4,3.7,451,25713,0.00,0.75,0.00,0.000,4,0.000,0.044,3132,2408,1453,0,0,0,0,0,0
$GC,25967,0.66,283.1,258.4,6.1,454,25971,0.00,0.82,0.00,0.000,6,0.000,0.044,3134,1893,1453,0,0,0,0,0,0
$GC,26707,0.66,292.3,216.9,5.0,467,26711,0.00,1.62,0.00,0.000,4,0.000,0.044,3134,2891,1453,0,0,0,0,0,0
$GC,26966,0.67,335.0,205.3,3.9,470,26970,0.00,1.60,0.00,0.000,6,0.000,0.041,3140,1906,1453,0,0,0,0,0,0
$GC,27706,0.67,335.0,166.3,5.3,483,27709,0.00,0.68,0.00,0.000,4,0.000,0.041,3140,2357,1454,0,0,0,0,0,0
$GC,27963,0.67,335.0,150.5,6.8,486,27968,0.00,0.75,0.00,0.000,6,0.000,0.044,3143,1881,1454,0,0,0,0,0,0
$GC,28704,0.67,411.6,117.2,2.7,499,28779,0.00,1.77,69.75,0.881,4,0.000,0.042,3143,2963,1148,0,0,0,0,0,0
$GC,29034,0.67,411.6,100.3,7.1,504,29037,0.00,1.67,0.00,0.000,6,0.000,0.041,3143,1908,1145,0,0,0,0,0,0
$GC,29775,0.67,411.6,43.9,7.2,526,29779,0.00,2.35,0.00,0.000,4,0.000,0.058,3143,497,1142,0,0,0,0,0,0
$GC,30038,0.67,411.6,27.6,6.7,539,30042,0.00,2.20,0.00,0.000,6,0.000,0.032,3143,1910,1137,0,0,0,0,0,0
$GC,30153,0.67,455.9,22.2,3.8,549,30178,0.00,0.00,23.27,0.754,6,0.000,0.000,3143,1920,967,0,0,0,0,0,0
$GC,30283,0.67,455.9,14.9,6.5,561,30287,0.00,0.38,0.00,0.000,4,0.000,0.047,3143,2195,964,0,0,0,0,0,0
$STATE,30423,end climb,SURFACE_DEPTH_REACHED
$STATE,30425,begin surface coast
$FINISH,1.8,1.017885
$STATE,30470,end surface coast,CONTROL_FINISHED_OK
$STATE,30470,begin surface
$SM_CCo,30549,0.00,0.000,0,0,957,458.70
$SM_GC,2.82,8.82,0.00,0.00,0.057,0.000,0.000,86,1719,957,-8.81,-0.03,458.70
$IRIDIUM_FIX,-4120.75,-336.20,090213,111100
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,21.1,131.356
$10V_AH,9.8,76.705
$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,22.750,108.000,493.225,0.000,0.000,24.268,47.914,223.309,0.000,0.000,20.323,1806.044,25703.936,508.404,2727.308,237.543,0.000,1716.222,0.000,2379.519,0.000,1.014,0.000
$DEVICE_MAMPS,264.690,60.435,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.731,307.866,248.503,49.020,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,33654,577
$CAP_FILE_SIZE,149275,0
$CFSIZE,2097086464,2017198080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100213,045052,-4133.911,-332.120,69,1.9,88,-22.5