version: 66.07.10.p01
glider: 574
mission: 4
dive: 565
start: 2 10 113 23 49 56
data:
$ID,574
$MISSION,4
$DIVE,565
$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,-9993.1025
$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,23
$R_STBD_OVSHOOT,47
$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,544
$GPS1,100213,234223,-4134.977,-330.150,101,1.0,101,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-75.0
$GPS2,100213,234931,-4134.962,-330.117,21,0.9,21,-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,177.4,71641,-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,-107.0,0.0,0.0,0,45,0.00,0.00,-17.20,0.000,2,0.000,0.000,69,1723,1323,0,0,0,0,0,0
$GC,48,-0.65,-107.0,3.1,-1.4,2,139,11.90,1.77,-74.60,0.000,4,0.257,0.058,2689,2825,3265,0,0,0,0,0,0
$GC,196,-0.65,-107.0,11.3,-11.5,15,200,0.08,1.77,0.00,0.000,6,0.163,0.044,2708,1716,3266,0,0,0,0,0,0
$GC,315,-0.65,-107.0,25.3,-12.4,26,319,0.00,2.03,0.00,0.000,4,0.000,0.060,2708,498,3266,0,0,0,0,0,0
$GC,394,-0.65,-107.0,34.8,-10.8,31,398,0.00,1.90,0.00,0.000,6,0.000,0.031,2701,1706,3267,0,0,0,0,0,0
$GC,816,-0.65,-107.0,78.4,-11.0,48,820,0.00,2.33,0.00,0.000,4,0.000,0.057,2701,314,3267,0,0,0,0,0,0
$GC,993,-0.65,-107.0,100.8,-12.2,52,997,0.00,2.17,0.00,0.000,6,0.000,0.031,2701,1723,3267,0,0,0,0,0,0
$GC,1738,-0.65,-107.0,187.4,-10.8,65,1742,0.00,0.98,0.00,0.000,4,0.000,0.044,2701,2363,3267,0,0,0,0,0,0
$GC,1861,-0.65,-107.0,199.3,-9.2,66,1865,0.00,1.02,0.00,0.000,6,0.000,0.043,2701,1717,3268,0,0,0,0,0,0
$GC,2601,-0.65,-107.0,274.8,-11.9,79,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1717,3268,0,0,0,0,0,0
$GC,3328,-0.65,-107.0,368.0,-11.7,91,3332,0.00,1.88,0.00,0.000,4,0.000,0.045,2701,2879,3267,0,0,0,0,0,0
$GC,3396,-0.65,-107.0,375.2,-10.4,92,3400,0.00,1.88,0.00,0.000,6,0.000,0.040,2701,1715,3267,0,0,0,0,0,0
$GC,4132,-0.65,-107.0,448.1,-9.8,104,4135,0.00,2.35,0.00,0.000,4,0.000,0.058,2701,308,3266,0,0,0,0,0,0
$GC,4368,-0.65,-107.0,473.0,-10.6,107,4372,0.00,2.17,0.00,0.000,6,0.000,0.029,2701,1731,3266,0,0,0,0,0,0
$GC,5124,-0.65,-107.0,551.9,-10.5,120,5127,0.00,1.40,0.00,0.000,4,0.000,0.042,2701,2624,3265,0,0,0,0,0,0
$GC,5179,-0.65,-107.0,558.0,-11.1,120,5183,0.00,1.45,0.00,0.000,6,0.000,0.041,2701,1714,3265,0,0,0,0,0,0
$GC,5919,-0.65,-107.0,636.9,-10.6,133,5923,0.00,0.68,0.00,0.000,4,0.000,0.041,2701,2168,3263,0,0,0,0,0,0
$GC,5957,-0.65,-107.0,641.1,-10.5,133,5962,0.00,0.73,0.00,0.000,6,0.000,0.043,2701,1708,3263,0,0,0,0,0,0
$GC,6714,-0.65,-107.0,714.6,-9.2,146,6718,0.00,1.15,0.00,0.000,4,0.000,0.041,2701,2437,3261,0,0,0,0,0,0
$GC,6786,-0.65,-107.0,721.0,-8.6,147,6790,0.00,1.12,0.00,0.000,6,0.000,0.040,2701,1728,3261,0,0,0,0,0,0
$GC,7516,-0.65,-107.0,784.5,-9.0,159,7520,0.00,1.02,0.00,0.000,4,0.000,0.041,2701,2380,3259,0,0,0,0,0,0
$GC,7611,-0.65,-107.0,793.8,-10.1,160,7615,0.00,1.05,0.00,0.000,6,0.000,0.041,2701,1715,3259,0,0,0,0,0,0
$GC,8379,-0.65,-107.0,874.3,-10.9,173,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1714,3257,0,0,0,0,0,0
$STATE,8801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8801,begin apogee
$GC,8807,-0.28,0.0,921.3,10.9,180,8902,0.40,0.00,92.18,1.411,6,0.097,0.000,2830,1909,2827,0,0,0,0,0,0
$STATE,8903,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin loiter
$GC,9591,-0.27,249.6,990.8,-8.3,193,9821,0.00,2.20,223.57,1.451,4,0.000,0.052,2830,749,1808,0,0,0,0,0,0
$GC,10075,-0.27,249.6,1000.6,1.9,200,10079,0.00,1.83,0.00,0.000,6,0.000,0.031,2825,1883,1800,0,0,0,0,0,0
$GC,10832,-0.27,255.2,996.0,-0.2,213,10841,0.00,2.30,4.38,0.896,4,0.000,0.056,2825,499,1785,0,0,0,0,0,0
$GC,11094,-0.27,255.2,995.9,0.3,216,11100,0.00,2.20,0.00,0.000,6,0.000,0.033,2823,1902,1785,0,0,0,0,0,0
$GC,11829,-0.26,256.6,996.2,-0.0,229,11833,0.00,2.25,0.00,0.000,4,0.000,0.047,2814,3308,1785,0,0,0,0,0,0
$GC,11844,-0.26,257.9,996.3,-0.0,229,11854,0.08,2.28,4.32,0.894,6,0.163,0.039,2832,1899,1773,0,0,0,0,0,0
$GC,12617,-0.26,257.9,986.7,1.7,242,12621,0.00,2.28,0.00,0.000,4,0.000,0.056,2832,534,1773,0,0,0,0,0,0
$GC,12874,-0.26,257.9,982.1,1.8,245,12879,0.00,2.17,0.00,0.000,6,0.000,0.032,2824,1903,1773,0,0,0,0,0,0
$GC,13608,-0.26,257.9,971.7,1.1,258,13612,0.00,1.95,0.00,0.000,4,0.000,0.054,2824,736,1773,0,0,0,0,0,0
$GC,13865,-0.26,257.9,969.4,0.8,261,13869,0.00,1.85,0.00,0.000,6,0.000,0.034,2823,1898,1772,0,0,0,0,0,0
$GC,14605,-0.26,257.9,965.5,0.3,274,14609,0.00,2.03,0.00,0.000,4,0.000,0.054,2823,686,1772,0,0,0,0,0,0
$GC,14862,-0.26,257.9,965.4,0.1,277,14866,0.00,1.95,0.00,0.000,6,0.000,0.034,2823,1911,1773,0,0,0,0,0,0
$GC,15602,-0.26,282.7,968.7,-0.8,290,15632,0.00,1.38,24.85,1.397,4,0.000,0.053,2823,1102,1674,0,0,0,0,0,0
$GC,15884,-0.26,282.7,964.1,1.9,294,15888,0.00,1.25,0.00,0.000,6,0.000,0.034,2822,1896,1671,0,0,0,0,0,0
$GC,16603,-0.26,282.7,949.8,2.2,306,16607,0.00,2.28,0.00,0.000,4,0.000,0.046,2814,3304,1670,0,0,0,0,0,0
$GC,16816,-0.26,282.7,944.2,2.5,309,16820,0.08,2.25,0.00,0.000,6,0.163,0.038,2832,1893,1669,0,0,0,0,0,0
$GC,17540,-0.26,282.7,925.9,2.6,321,17544,0.00,2.30,0.00,0.000,4,0.000,0.043,2823,3308,1669,0,0,0,0,0,0
$GC,17672,-0.26,282.7,922.3,3.1,323,17676,0.00,2.25,0.00,0.000,6,0.000,0.037,2823,1901,1669,0,0,0,0,0,0
$GC,18401,-0.26,282.7,903.7,2.8,335,18405,0.00,2.35,0.00,0.000,4,0.000,0.054,2822,496,1669,0,0,0,0,0,0
$GC,18529,-0.26,282.7,899.6,3.4,336,18535,0.00,2.22,0.00,0.000,6,0.000,0.032,2821,1925,1668,0,0,0,0,0,0
$GC,19264,-0.26,282.7,873.4,3.7,349,19268,0.00,2.22,0.00,0.000,4,0.000,0.046,2810,3297,1668,0,0,0,0,0,0
$GC,19363,-0.26,282.7,869.5,3.8,350,19368,0.08,2.22,0.00,0.000,6,0.162,0.040,2828,1903,1668,0,0,0,0,0,0
$STATE,19693,end loiter,LOITER_COMPLETE
$STATE,19693,begin climb
$GC,19696,0.65,107.0,858.9,0.0,356,19701,0.98,2.35,0.00,0.000,4,0.120,0.047,3121,3297,1668,0,0,0,0,0,0
$GC,19954,0.66,179.5,851.1,2.9,359,19959,0.00,2.28,0.00,0.000,6,0.000,0.041,3129,1894,1669,0,0,0,0,0,0
$GC,20688,0.66,267.9,833.3,2.3,372,20692,0.00,2.33,0.00,0.000,4,0.000,0.048,3129,3299,1668,0,0,0,0,0,0
$GC,20946,0.67,338.1,827.1,2.9,375,21006,0.00,2.28,53.47,1.367,6,0.000,0.041,3138,1896,1448,0,0,0,0,0,0
$GC,21740,0.67,338.1,784.5,5.5,389,21744,0.00,2.28,0.00,0.000,4,0.000,0.047,3138,3295,1444,0,0,0,0,0,0
$GC,21992,0.67,341.1,769.9,5.2,392,21996,0.00,2.25,0.00,0.000,6,0.000,0.041,3148,1903,1442,0,0,0,0,0,0
$GC,22732,0.67,341.1,725.0,6.1,405,22733,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1902,1442,0,0,0,0,0,0
$GC,23460,0.67,346.6,684.2,5.1,417,23474,0.00,2.17,8.57,1.071,4,0.000,0.047,3148,3211,1414,0,0,0,0,0,0
$GC,23728,0.67,362.2,671.2,4.8,421,23751,0.10,2.12,16.52,1.183,6,0.201,0.042,3138,1896,1350,0,0,0,0,0,0
$GC,24519,0.67,372.9,634.2,4.9,434,24532,0.00,0.00,11.45,1.105,6,0.000,0.000,3138,1896,1306,0,0,0,0,0,0
$GC,25246,0.67,372.9,589.3,6.4,446,25250,0.00,2.17,0.00,0.000,4,0.000,0.047,3137,3229,1305,0,0,0,0,0,0
$GC,25504,0.67,372.9,571.6,6.1,449,25508,0.00,2.17,0.00,0.000,6,0.000,0.041,3145,1899,1304,0,0,0,0,0,0
$GC,26244,0.67,372.9,523.0,6.3,462,26248,0.00,2.12,0.00,0.000,4,0.000,0.047,3145,3192,1304,0,0,0,0,0,0
$GC,26485,0.67,388.9,509.4,4.8,465,26506,0.05,2.12,15.95,1.084,6,0.181,0.041,3141,1901,1240,0,0,0,0,0,0
$GC,27236,0.67,399.8,471.2,4.9,478,27249,0.00,0.00,11.52,1.011,6,0.000,0.000,3141,1901,1197,0,0,0,0,0,0
$GC,27961,0.67,399.8,421.6,7.3,490,27963,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1901,1196,0,0,0,0,0,0
$GC,28689,0.67,399.8,370.5,6.3,502,28693,0.00,1.05,0.00,0.000,4,0.000,0.054,3144,1255,1196,0,0,0,0,0,0
$GC,28946,0.67,413.5,356.8,4.8,505,28966,0.00,1.00,14.07,0.975,6,0.000,0.037,3144,1897,1140,0,0,0,0,0,0
$GC,29690,0.67,413.5,317.2,5.4,518,29694,0.00,2.38,0.00,0.000,4,0.000,0.056,3144,494,1140,0,0,0,0,0,0
$GC,29948,0.67,424.1,303.0,4.9,521,29964,0.00,2.20,10.77,0.897,6,0.000,0.034,3144,1904,1098,0,0,0,0,0,0
$GC,30682,0.67,424.1,254.1,7.5,534,30686,0.00,1.45,0.00,0.000,4,0.000,0.043,3144,2806,1097,0,0,0,0,0,0
$GC,30940,0.67,424.1,232.7,7.7,537,30944,0.00,1.48,0.00,0.000,6,0.000,0.043,3144,1896,1097,0,0,0,0,0,0
$GC,31680,0.67,424.1,176.8,7.4,550,31684,0.00,1.83,0.00,0.000,4,0.000,0.056,3144,797,1097,0,0,0,0,0,0
$GC,31803,0.67,424.1,167.8,6.7,551,31807,0.00,1.75,0.00,0.000,6,0.000,0.033,3144,1896,1097,0,0,0,0,0,0
$GC,32543,0.67,424.1,112.3,7.5,564,32546,0.00,1.20,0.00,0.000,4,0.000,0.041,3144,2669,1097,0,0,0,0,0,0
$GC,32800,0.67,424.1,91.8,12.3,568,32804,0.00,1.25,0.00,0.000,6,0.000,0.043,3144,1898,1097,0,0,0,0,0,0
$GC,33528,0.67,424.1,42.7,6.5,592,33532,0.00,2.28,0.00,0.000,4,0.000,0.044,3144,3297,1097,0,0,0,0,0,0
$GC,33789,0.67,424.1,26.7,5.5,605,33796,0.00,2.28,0.00,0.000,6,0.000,0.041,3144,1897,1097,0,0,0,0,0,0
$GC,33905,0.67,436.2,20.9,4.9,616,33917,0.00,2.33,7.32,0.653,4,0.000,0.058,3144,494,1047,0,0,0,0,0,0
$STATE,34172,end climb,SURFACE_DEPTH_REACHED
$STATE,34172,begin surface coast
$FINISH,1.8,1.006788
$STATE,34219,end surface coast,CONTROL_FINISHED_OK
$STATE,34220,begin surface
$SM_CCo,34299,0.00,0.000,0,0,1042,437.85
$SM_GC,2.99,8.90,0.00,0.00,0.054,0.000,0.000,79,1734,1042,-8.81,0.40,437.85
$IRIDIUM_FIX,-4117.88,-327.22,100213,141452
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.4,132.007
$10V_AH,9.8,76.999
$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,22.625,128.175,498.975,0.000,0.000,25.105,39.629,221.528,0.000,0.000,23.512,2054.997,28658.943,539.459,3208.287,265.946,0.000,1958.503,0.000,2851.291,0.000,1.015,0.000
$DEVICE_MAMPS,257.040,59.670,1451.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.522,327.692,275.858,52.210,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,37017,643
$CAP_FILE_SIZE,171716,0
$CFSIZE,2097086464,2016772096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110213,092259,-4134.787,-329.625,47,0.9,47,-22.5