version: 66.07.10.p01
glider: 574
mission: 4
dive: 563
start: 2 10 113 5 2 54
data:
$ID,574
$MISSION,4
$DIVE,563
$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,-9988.2559
$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,25
$R_STBD_OVSHOOT,46
$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,542
$GPS1,100213,045052,-4133.911,-332.120,69,1.9,88,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-73.1
$GPS2,100213,050231,-4133.914,-331.965,17,1.7,18,-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,176.3,74489,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.65,-107.0,0.0,0.0,0,57,0.00,0.00,-27.20,0.000,2,0.000,0.000,69,1719,1669,0,0,0,0,0,0
$GC,60,-0.65,-107.0,3.1,-1.7,3,127,12.15,2.35,-44.40,0.000,4,0.263,0.063,2689,3111,3267,0,0,0,0,0,0
$GC,189,-0.65,-107.0,18.1,-10.7,14,197,0.03,2.28,0.00,0.000,6,0.151,0.044,2701,1721,3267,0,0,0,0,0,0
$GC,305,-0.65,-107.0,31.0,-12.2,25,309,0.00,2.35,0.00,0.000,4,0.000,0.060,2701,305,3267,0,0,0,0,0,0
$GC,314,-0.65,-107.0,32.8,-12.3,25,320,0.00,2.22,0.00,0.000,6,0.000,0.032,2701,1708,3267,0,0,0,0,0,0
$GC,751,-0.65,-107.0,87.1,-11.9,42,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1708,3268,0,0,0,0,0,0
$GC,1480,-0.65,-107.0,157.5,-9.5,55,1484,0.00,2.30,0.00,0.000,4,0.000,0.048,2700,3125,3269,0,0,0,0,0,0
$GC,1557,-0.65,-107.0,165.1,-9.6,56,1561,0.00,2.22,0.00,0.000,6,0.000,0.040,2700,1717,3269,0,0,0,0,0,0
$GC,2276,-0.65,-107.0,231.6,-9.1,68,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1717,3269,0,0,0,0,0,0
$GC,3003,-0.65,-107.0,316.2,-12.7,80,3007,0.00,2.03,0.00,0.000,4,0.000,0.057,2700,490,3269,0,0,0,0,0,0
$GC,3261,-0.65,-107.0,349.2,-12.5,83,3265,0.00,1.95,0.00,0.000,6,0.000,0.033,2700,1723,3269,0,0,0,0,0,0
$GC,4001,-0.65,-107.0,427.9,-10.3,96,4004,0.00,0.62,0.00,0.000,4,0.000,0.049,2700,1331,3269,0,0,0,0,0,0
$GC,4079,-0.65,-107.0,435.7,-10.6,97,4083,0.00,0.60,0.00,0.000,6,0.000,0.036,2700,1736,3269,0,0,0,0,0,0
$GC,4803,-0.65,-107.0,503.0,-8.9,109,4807,0.00,2.20,0.00,0.000,4,0.000,0.046,2699,3117,3269,0,0,0,0,0,0
$GC,4960,-0.65,-107.0,517.8,-10.1,111,4964,0.00,2.22,0.00,0.000,6,0.000,0.037,2699,1714,3269,0,0,0,0,0,0
$GC,5727,-0.65,-107.0,592.6,-9.8,124,5731,0.00,2.28,0.00,0.000,4,0.000,0.044,2693,3118,3268,0,0,0,0,0,0
$GC,5838,-0.65,-107.0,603.9,-9.9,125,5842,0.00,2.22,0.00,0.000,6,0.000,0.037,2693,1708,3268,0,0,0,0,0,0
$GC,6583,-0.65,-107.0,678.1,-10.2,138,6587,0.00,1.73,0.00,0.000,4,0.000,0.041,2687,2782,3267,0,0,0,0,0,0
$GC,6638,-0.65,-107.0,684.1,-9.9,138,6643,0.05,1.70,0.00,0.000,6,0.106,0.038,2708,1717,3267,0,0,0,0,0,0
$GC,7378,-0.65,-107.0,765.9,-11.1,151,7382,0.00,2.33,0.00,0.000,4,0.000,0.054,2708,317,3267,0,0,0,0,0,0
$GC,7584,-0.65,-107.0,790.1,-11.4,154,7589,0.00,2.20,0.00,0.000,6,0.000,0.031,2707,1711,3267,0,0,0,0,0,0
$GC,8309,-0.65,-107.0,872.0,-11.4,166,8312,0.00,0.62,0.00,0.000,4,0.000,0.048,2708,1315,3266,0,0,0,0,0,0
$GC,8566,-0.65,-107.0,901.8,-11.2,169,8570,0.00,0.62,0.00,0.000,6,0.000,0.037,2708,1727,3266,0,0,0,0,0,0
$STATE,8758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8764,-0.28,0.0,923.1,11.1,173,8862,0.38,0.00,94.47,1.408,6,0.099,0.000,2829,1905,2827,0,0,0,0,0,0
$STATE,8862,end apogee,CONTROL_FINISHED_OK
$STATE,8862,begin loiter
$GC,9548,-0.26,264.3,994.1,-8.8,186,9794,0.00,2.17,239.25,1.450,4,0.000,0.041,2822,3107,1748,0,0,0,0,0,0
$GC,10046,-0.26,264.3,1001.4,3.2,193,10051,0.00,1.98,0.00,0.000,6,0.000,0.038,2823,1896,1739,0,0,0,0,0,0
$GC,10780,-0.26,264.3,988.8,1.3,206,10784,0.00,2.33,0.00,0.000,4,0.000,0.054,2822,489,1736,0,0,0,0,0,0
$GC,11038,-0.26,264.3,985.6,1.3,209,11043,0.00,2.20,0.00,0.000,6,0.000,0.033,2821,1896,1734,0,0,0,0,0,0
$GC,11772,-0.26,264.3,975.0,1.6,222,11776,0.00,0.90,0.00,0.000,4,0.000,0.042,2817,2487,1733,0,0,0,0,0,0
$GC,12030,-0.26,264.3,970.9,1.6,225,12034,0.03,0.93,0.00,0.000,6,0.154,0.042,2826,1892,1733,0,0,0,0,0,0
$GC,12770,-0.26,264.3,953.6,2.2,238,12774,0.00,0.40,0.00,0.000,4,0.000,0.055,2827,1619,1732,0,0,0,0,0,0
$GC,12887,-0.26,264.3,951.3,2.3,239,12891,0.00,0.45,0.00,0.000,6,0.000,0.041,2825,1925,1733,0,0,0,0,0,0
$GC,13632,-0.26,264.3,942.8,0.9,252,13636,0.00,2.20,0.00,0.000,4,0.000,0.046,2817,3287,1732,0,0,0,0,0,0
$GC,13884,-0.26,264.3,940.7,0.6,255,13889,0.05,2.22,0.00,0.000,6,0.187,0.037,2828,1877,1732,0,0,0,0,0,0
$GC,14624,-0.26,264.3,931.2,1.6,268,14628,0.00,2.28,0.00,0.000,4,0.000,0.042,2819,3283,1731,0,0,0,0,0,0
$GC,14881,-0.26,264.3,926.1,1.9,271,14886,0.00,2.22,0.00,0.000,6,0.000,0.037,2819,1905,1732,0,0,0,0,0,0
$GC,15615,-0.26,264.3,920.7,0.3,284,15619,0.00,2.25,0.00,0.000,4,0.000,0.043,2810,3287,1732,0,0,0,0,0,0
$GC,15873,-0.26,277.1,920.7,-0.4,287,15889,0.10,2.22,10.43,1.232,6,0.154,0.037,2834,1891,1697,0,0,0,0,0,0
$GC,16613,-0.26,277.1,911.3,1.7,300,16617,0.00,2.22,0.00,0.000,4,0.000,0.042,2825,3287,1697,0,0,0,0,0,0
$GC,16724,-0.26,277.1,909.1,2.3,301,16729,0.00,2.20,0.00,0.000,6,0.000,0.037,2825,1891,1696,0,0,0,0,0,0
$GC,17470,-0.26,277.1,895.2,1.9,314,17474,0.00,1.35,0.00,0.000,4,0.000,0.039,2822,2745,1696,0,0,0,0,0,0
$GC,17728,-0.26,277.1,891.0,1.7,317,17732,0.00,1.35,0.00,0.000,6,0.000,0.040,2822,1900,1696,0,0,0,0,0,0
$GC,18468,-0.26,277.1,875.4,2.5,330,18472,0.00,2.12,0.00,0.000,4,0.000,0.043,2813,3221,1697,0,0,0,0,0,0
$GC,18725,-0.26,277.1,867.9,3.3,333,18730,0.05,2.12,0.00,0.000,6,0.136,0.037,2829,1906,1698,0,0,0,0,0,0
$GC,19465,-0.26,277.1,848.0,2.2,346,19469,0.00,2.35,0.00,0.000,4,0.000,0.054,2829,494,1699,0,0,0,0,0,0
$GC,19570,-0.26,277.1,846.2,1.3,347,19575,0.00,2.20,0.00,0.000,6,0.000,0.031,2821,1885,1700,0,0,0,0,0,0
$STATE,19653,end loiter,LOITER_COMPLETE
$STATE,19653,begin climb
$GC,19655,0.65,107.0,844.6,0.0,349,19661,1.00,2.33,0.00,0.000,4,0.123,0.044,3110,3304,1700,0,0,0,0,0,0
$GC,19913,0.66,198.2,839.5,2.2,352,19918,0.00,2.28,0.00,0.000,6,0.000,0.039,3119,1896,1701,0,0,0,0,0,0
$GC,20647,0.66,284.9,824.9,2.4,365,20664,0.00,2.30,11.35,1.201,4,0.000,0.044,3119,3304,1664,0,0,0,0,0,0
$GC,20916,0.67,352.7,815.5,3.0,369,20987,0.00,2.25,65.40,1.359,6,0.000,0.039,3129,1894,1389,0,0,0,0,0,0
$GC,21700,0.67,352.7,764.2,6.4,382,21704,0.00,2.30,0.00,0.000,4,0.000,0.057,3138,498,1380,0,0,0,0,0,0
$GC,21935,0.67,360.6,750.7,5.0,385,21948,0.00,2.17,7.03,1.039,6,0.000,0.034,3138,1908,1355,0,0,0,0,0,0
$GC,22690,0.67,398.8,718.0,4.0,398,22735,0.00,2.45,37.35,1.278,4,0.000,0.058,3140,492,1200,0,0,0,0,0,0
$GC,22984,0.67,398.8,701.9,6.2,402,22988,0.00,2.17,0.00,0.000,6,0.000,0.033,3140,1903,1195,0,0,0,0,0,0
$GC,23745,0.67,398.8,652.3,6.7,415,23749,0.00,2.38,0.00,0.000,4,0.000,0.059,3146,498,1194,0,0,0,0,0,0
$GC,23919,0.67,398.8,640.3,5.9,417,23923,0.00,2.20,0.00,0.000,6,0.000,0.034,3146,1905,1192,0,0,0,0,0,0
$GC,24675,0.67,398.8,594.3,5.6,430,24680,0.00,2.38,0.00,0.000,4,0.000,0.059,3146,500,1192,0,0,0,0,0,0
$GC,24860,0.67,398.8,584.1,5.8,432,24864,0.00,2.25,0.00,0.000,6,0.000,0.034,3146,1901,1192,0,0,0,0,0,0
$GC,25600,0.67,398.8,537.0,7.0,445,25604,0.00,2.40,0.00,0.000,4,0.000,0.060,3146,492,1192,0,0,0,0,0,0
$GC,25767,0.67,398.8,524.5,8.1,447,25771,0.00,2.25,0.00,0.000,6,0.000,0.035,3146,1924,1192,0,0,0,0,0,0
$GC,26524,0.67,398.8,469.3,7.0,460,26527,0.00,2.03,0.00,0.000,4,0.000,0.058,3146,722,1192,0,0,0,0,0,0
$GC,26663,0.67,398.8,460.2,7.3,462,26667,0.00,1.88,0.00,0.000,6,0.000,0.035,3146,1889,1192,0,0,0,0,0,0
$GC,27393,0.67,402.8,421.2,5.2,474,27398,0.00,2.38,0.00,0.000,4,0.000,0.060,3146,498,1192,0,0,0,0,0,0
$GC,27578,0.67,402.8,411.9,5.4,476,27582,0.00,2.28,0.00,0.000,6,0.000,0.035,3146,1911,1192,0,0,0,0,0,0
$GC,28318,0.67,402.8,368.5,6.5,489,28319,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1921,1192,0,0,0,0,0,0
$GC,29045,0.67,402.8,315.4,7.4,501,29054,0.00,1.00,4.20,0.643,4,0.000,0.052,3146,1313,1184,0,0,0,0,0,0
$GC,29247,0.67,402.8,300.8,7.1,504,29251,0.00,0.93,0.00,0.000,6,0.000,0.037,3146,1907,1184,0,0,0,0,0,0
$GC,29983,0.67,402.8,250.0,6.5,516,29986,0.00,1.00,0.00,0.000,4,0.000,0.042,3146,2553,1185,0,0,0,0,0,0
$GC,30240,0.67,402.8,235.4,5.9,519,30244,0.00,1.05,0.00,0.000,6,0.000,0.044,3146,1895,1185,0,0,0,0,0,0
$GC,30980,0.67,427.1,201.6,4.5,532,31010,0.00,2.30,24.85,0.912,4,0.000,0.046,3146,3305,1085,0,0,0,0,0,0
$GC,31263,0.67,427.1,183.1,6.7,536,31267,0.00,2.25,0.00,0.000,6,0.000,0.040,3146,1895,1084,0,0,0,0,0,0
$GC,32036,0.67,427.1,117.8,7.2,549,32040,0.00,2.35,0.00,0.000,4,0.000,0.060,3146,496,1083,0,0,0,0,0,0
$GC,32182,0.67,454.3,110.6,4.4,551,32212,0.00,2.20,25.10,0.850,6,0.000,0.033,3146,1918,973,0,0,0,0,0,0
$GC,32935,0.67,454.3,60.7,8.2,568,32938,0.00,1.45,0.00,0.000,4,0.000,0.041,3146,2828,970,0,0,0,0,0,0
$GC,33194,0.68,514.5,48.6,3.3,578,33250,0.00,1.50,51.45,0.834,6,0.000,0.043,3146,1902,728,0,0,0,0,0,0
$GC,33680,0.68,514.5,10.5,8.6,611,33684,0.00,2.35,0.00,0.000,4,0.000,0.060,3146,496,723,0,0,0,0,0,0
$STATE,33756,end climb,SURFACE_DEPTH_REACHED
$STATE,33756,begin surface coast
$FINISH,1.7,1.012598
$STATE,33791,end surface coast,CONTROL_FINISHED_OK
$STATE,33792,begin surface
$SM_CCo,33872,0.00,0.000,0,0,718,517.33
$SM_GC,2.95,8.73,0.00,0.00,0.053,0.000,0.000,88,1714,718,-8.79,-0.17,517.33
$IRIDIUM_FIX,-4120.75,-330.27,100213,040444
$TT8_MAMPS,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,21.3,131.590
$10V_AH,9.8,76.805
$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,22.550,138.875,570.875,0.000,0.000,55.925,92.150,330.209,0.000,0.000,20.788,2034.375,28182.424,618.679,3446.958,289.044,0.000,2072.362,0.000,2895.594,0.000,1.016,0.000
$DEVICE_MAMPS,263.160,62.730,1449.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.947,267.955,264.299,40.760,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,37048,620
$CAP_FILE_SIZE,179295,0
$CFSIZE,2097086464,2017034240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,100213,142852,-4134.831,-330.353,34,1.5,50,-22.5