version: 66.07.10.p01
glider: 574
mission: 4
dive: 567
start: 2 11 113 18 16 19
data:
$ID,574
$MISSION,4
$DIVE,567
$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,-9999.2617
$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,32
$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,546
$GPS1,110213,180835,-4134.281,-327.955,34,1.2,34,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-71.4
$GPS2,110213,181554,-4134.279,-327.834,22,1.2,22,-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,180.1,71538,-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,-32.22,0.000,2,0.000,0.000,69,1728,1726,0,0,0,0,0,0
$GC,63,-0.65,-107.0,3.3,-2.0,3,122,11.98,2.30,-41.85,0.000,4,0.259,0.064,2688,3124,3265,0,0,0,0,0,0
$GC,183,-0.65,-107.0,16.1,-11.0,13,188,0.08,2.30,0.00,0.000,6,0.180,0.046,2705,1708,3267,0,0,0,0,0,0
$GC,297,-0.65,-107.0,28.4,-10.9,23,301,0.00,2.35,0.00,0.000,4,0.000,0.063,2705,303,3267,0,0,0,0,0,0
$GC,307,-0.65,-107.0,30.1,-11.2,23,315,0.00,2.25,0.00,0.000,6,0.000,0.034,2702,1717,3267,0,0,0,0,0,0
$GC,419,-0.65,-107.0,42.6,-10.8,29,423,0.00,0.40,0.00,0.000,4,0.000,0.048,2702,2004,3267,0,0,0,0,0,0
$GC,457,-0.65,-107.0,46.6,-8.9,30,465,0.00,0.47,0.00,0.000,6,0.000,0.049,2702,1701,3267,0,0,0,0,0,0
$GC,895,-0.65,-107.0,88.4,-9.5,45,899,0.00,2.33,0.00,0.000,4,0.000,0.048,2702,3124,3268,0,0,0,0,0,0
$GC,956,-0.65,-107.0,94.4,-9.5,46,960,0.00,2.28,0.00,0.000,6,0.000,0.041,2701,1726,3267,0,0,0,0,0,0
$GC,1687,-0.65,-107.0,168.8,-10.9,59,1691,0.00,2.28,0.00,0.000,4,0.000,0.047,2701,3124,3269,0,0,0,0,0,0
$GC,1765,-0.65,-107.0,178.1,-12.1,60,1769,0.00,2.22,0.00,0.000,6,0.000,0.039,2701,1720,3269,0,0,0,0,0,0
$GC,2489,-0.65,-107.0,256.0,-9.7,72,2493,0.00,2.00,0.00,0.000,4,0.000,0.057,2701,517,3269,0,0,0,0,0,0
$GC,2747,-0.65,-107.0,279.1,-8.2,75,2751,0.00,1.92,0.00,0.000,6,0.000,0.034,2702,1730,3269,0,0,0,0,0,0
$GC,3487,-0.65,-107.0,355.3,-11.5,88,3490,0.00,1.58,0.00,0.000,4,0.000,0.054,2701,793,3269,0,0,0,0,0,0
$GC,3744,-0.65,-107.0,387.3,-13.3,91,3748,0.00,1.48,0.00,0.000,6,0.000,0.034,2701,1727,3269,0,0,0,0,0,0
$GC,4484,-0.65,-107.0,470.2,-10.4,104,4488,0.00,1.98,0.00,0.000,4,0.000,0.055,2701,550,3268,0,0,0,0,0,0
$GC,4742,-0.65,-107.0,494.9,-9.2,107,4746,0.00,1.85,0.00,0.000,6,0.000,0.033,2701,1717,3267,0,0,0,0,0,0
$GC,5482,-0.65,-107.0,559.0,-8.6,120,5485,0.00,0.45,0.00,0.000,4,0.000,0.047,2701,2041,3266,0,0,0,0,0,0
$GC,5503,-0.65,-107.0,561.1,-8.5,120,5508,0.00,0.52,0.00,0.000,6,0.000,0.047,2701,1709,3266,0,0,0,0,0,0
$GC,6277,-0.65,-107.0,638.1,-10.8,133,6281,0.00,1.90,0.00,0.000,4,0.000,0.058,2701,571,3265,0,0,0,0,0,0
$GC,6535,-0.65,-107.0,668.7,-12.5,136,6539,0.00,1.83,0.00,0.000,6,0.000,0.032,2701,1729,3264,0,0,0,0,0,0
$GC,7275,-0.65,-107.0,758.8,-12.3,149,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1728,3263,0,0,0,0,0,0
$GC,8002,-0.65,-107.0,840.7,-10.6,161,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1729,3262,0,0,0,0,0,0
$GC,8730,-0.65,-107.0,909.1,-9.2,173,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1729,3260,0,0,0,0,0,0
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8849,begin apogee
$GC,8855,-0.28,0.0,920.6,9.5,175,8951,0.40,0.00,93.07,1.411,6,0.090,0.000,2834,1914,2827,0,0,0,0,0,0
$STATE,8951,end apogee,CONTROL_FINISHED_OK
$STATE,8951,begin loiter
$GC,9639,-0.26,292.2,994.2,-9.8,188,9914,0.00,1.27,266.67,1.434,4,0.000,0.050,2834,1268,1635,0,0,0,0,0,0
$GC,10167,-0.26,292.2,1005.1,2.9,196,10171,0.00,1.02,0.00,0.000,6,0.000,0.037,2834,1892,1627,0,0,0,0,0,0
$GC,10940,-0.26,292.2,984.7,2.6,209,10944,0.00,0.82,0.00,0.000,4,0.000,0.051,2834,1387,1626,0,0,0,0,0,0
$GC,11057,-0.26,292.2,981.5,2.9,210,11062,0.00,0.80,0.00,0.000,6,0.000,0.038,2834,1901,1625,0,0,0,0,0,0
$GC,11803,-0.26,292.2,961.0,2.8,223,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1902,1625,0,0,0,0,0,0
$GC,12531,-0.26,292.2,941.3,2.8,235,12534,0.00,0.62,0.00,0.000,4,0.000,0.052,2834,1506,1626,0,0,0,0,0,0
$GC,12563,-0.26,292.2,940.5,2.5,235,12568,0.00,0.62,0.00,0.000,6,0.000,0.040,2834,1904,1625,0,0,0,0,0,0
$GC,13326,-0.26,292.2,921.6,2.4,248,13330,0.00,1.17,0.00,0.000,4,0.000,0.045,2829,2649,1626,0,0,0,0,0,0
$GC,13583,-0.26,292.2,916.7,1.9,251,13588,0.00,1.20,0.00,0.000,6,0.000,0.042,2829,1904,1626,0,0,0,0,0,0
$GC,14323,-0.26,292.2,908.7,1.1,264,14327,0.00,2.38,0.00,0.000,4,0.000,0.057,2829,493,1626,0,0,0,0,0,0
$GC,14436,-0.26,292.2,906.9,2.4,265,14440,0.00,2.22,0.00,0.000,6,0.000,0.033,2823,1899,1627,0,0,0,0,0,0
$GC,15181,-0.26,292.2,884.5,3.8,278,15185,0.00,1.23,0.00,0.000,4,0.000,0.054,2823,1171,1627,0,0,0,0,0,0
$GC,15433,-0.26,292.2,873.8,3.9,281,15438,0.00,1.15,0.00,0.000,6,0.000,0.037,2823,1899,1628,0,0,0,0,0,0
$GC,16178,-0.26,292.2,852.9,1.9,294,16182,0.00,0.85,0.00,0.000,4,0.000,0.047,2823,2457,1628,0,0,0,0,0,0
$GC,16247,-0.26,292.2,852.2,1.3,295,16250,0.00,0.88,0.00,0.000,6,0.000,0.044,2823,1908,1629,0,0,0,0,0,0
$GC,16982,-0.26,292.2,848.7,0.2,307,16985,0.00,0.45,0.00,0.000,4,0.000,0.046,2823,2216,1630,0,0,0,0,0,0
$GC,17166,-0.26,292.2,848.0,0.6,309,17170,0.00,0.52,0.00,0.000,6,0.000,0.049,2823,1882,1631,0,0,0,0,0,0
$GC,17912,-0.26,292.2,836.0,2.1,322,17916,0.00,2.33,0.00,0.000,4,0.000,0.057,2823,508,1632,0,0,0,0,0,0
$GC,18146,-0.26,292.2,829.7,2.6,325,18150,0.00,2.22,0.00,0.000,6,0.000,0.034,2822,1896,1633,0,0,0,0,0,0
$GC,18903,-0.26,292.2,807.8,3.1,338,18907,0.00,1.10,0.00,0.000,4,0.000,0.044,2818,2604,1635,0,0,0,0,0,0
$GC,19161,-0.26,292.2,800.0,2.6,341,19165,0.00,1.12,0.00,0.000,6,0.000,0.043,2819,1901,1635,0,0,0,0,0,0
$STATE,19717,end loiter,LOITER_COMPLETE
$STATE,19717,begin climb
$GC,19719,0.65,107.0,786.9,0.0,351,19725,1.02,2.15,0.00,0.000,4,0.124,0.043,3113,3175,1636,0,0,0,0,0,0
$GC,19949,0.66,210.9,782.0,1.8,354,19953,0.00,2.05,0.00,0.000,6,0.000,0.041,3121,1906,1638,0,0,0,0,0,0
$GC,20712,0.67,308.8,767.2,2.0,367,20733,0.00,0.00,19.85,1.253,6,0.000,0.000,3121,1906,1567,0,0,0,0,0,0
$GC,21439,0.67,362.3,742.5,3.5,379,21495,0.00,0.73,52.35,1.310,4,0.000,0.054,3124,1481,1349,0,0,0,0,0,0
$GC,21564,0.67,362.3,736.2,5.7,380,21567,0.00,0.68,0.00,0.000,6,0.000,0.041,3124,1913,1347,0,0,0,0,0,0
$GC,22299,0.67,362.3,691.7,6.2,392,22303,0.00,2.25,0.00,0.000,4,0.000,0.048,3124,3300,1344,0,0,0,0,0,0
$GC,22522,0.67,362.3,677.1,6.5,395,22527,0.00,2.28,0.00,0.000,6,0.000,0.041,3132,1890,1343,0,0,0,0,0,0
$GC,23290,0.67,362.3,627.8,6.4,408,23294,0.00,2.12,0.00,0.000,4,0.000,0.046,3132,3195,1343,0,0,0,0,0,0
$GC,23426,0.67,362.3,619.3,5.8,410,23430,0.00,2.10,0.00,0.000,6,0.000,0.041,3139,1897,1343,0,0,0,0,0,0
$GC,24155,0.67,373.4,581.2,4.9,422,24171,0.00,1.10,11.73,1.084,4,0.000,0.044,3140,2560,1303,0,0,0,0,0,0
$GC,24423,0.67,373.4,566.6,5.7,426,24427,0.00,1.08,0.00,0.000,6,0.000,0.045,3144,1888,1303,0,0,0,0,0,0
$GC,25153,0.67,373.4,520.3,6.9,438,25157,0.00,2.17,0.00,0.000,4,0.000,0.047,3144,3208,1304,0,0,0,0,0,0
$GC,25275,0.67,373.4,511.4,7.1,439,25281,0.05,2.12,0.00,0.000,6,0.174,0.041,3139,1911,1303,0,0,0,0,0,0
$GC,26009,0.67,373.4,461.7,6.1,452,26013,0.00,1.20,0.00,0.000,4,0.000,0.044,3140,2662,1303,0,0,0,0,0,0
$GC,26256,0.67,401.9,449.3,4.3,455,26290,0.00,1.25,28.30,1.094,6,0.000,0.044,3144,1888,1187,0,0,0,0,0,0
$GC,27009,0.67,462.7,421.1,3.3,468,27073,0.00,2.40,56.42,1.094,4,0.000,0.046,3144,3299,938,0,0,0,0,0,0
$GC,27327,0.67,462.7,403.5,5.9,472,27331,0.00,2.22,0.00,0.000,6,0.000,0.041,3144,1909,935,0,0,0,0,0,0
$GC,28061,0.67,462.7,342.8,9.3,484,28065,0.00,0.60,0.00,0.000,4,0.000,0.043,3143,2309,933,0,0,0,0,0,0
$GC,28318,0.67,462.7,318.8,8.9,487,28323,0.00,0.68,0.00,0.000,6,0.000,0.047,3144,1885,933,0,0,0,0,0,0
$GC,29059,0.67,462.7,260.7,7.7,500,29062,0.00,0.73,0.00,0.000,4,0.000,0.041,3143,2365,933,0,0,0,0,0,0
$GC,29316,0.67,462.7,241.3,6.5,503,29320,0.00,0.75,0.00,0.000,6,0.000,0.044,3143,1898,933,0,0,0,0,0,0
$GC,30056,0.67,462.7,184.1,7.1,516,30060,0.00,2.28,0.00,0.000,4,0.000,0.045,3143,3295,933,0,0,0,0,0,0
$GC,30313,0.67,462.7,167.0,6.2,519,30317,0.00,2.28,0.00,0.000,6,0.000,0.040,3143,1889,933,0,0,0,0,0,0
$GC,31053,0.67,462.7,123.5,5.8,532,31057,0.00,2.30,0.00,0.000,4,0.000,0.045,3144,3294,933,0,0,0,0,0,0
$GC,31310,0.67,462.7,102.3,8.4,535,31315,0.00,2.25,0.00,0.000,6,0.000,0.039,3144,1898,933,0,0,0,0,0,0
$GC,32032,0.67,462.7,46.5,8.3,557,32036,0.00,2.25,0.00,0.000,4,0.000,0.044,3143,3294,933,0,0,0,0,0,0
$GC,32079,0.67,462.7,42.7,6.7,559,32083,0.00,2.22,0.00,0.000,6,0.000,0.041,3143,1901,933,0,0,0,0,0,0
$GC,32508,0.67,493.4,18.0,4.3,590,32531,0.00,2.15,15.75,0.719,4,0.000,0.058,3143,615,814,0,0,0,0,0,0
$STATE,32705,end climb,SURFACE_DEPTH_REACHED
$STATE,32705,begin surface coast
$FINISH,1.7,1.002793
$STATE,32741,end surface coast,CONTROL_FINISHED_OK
$STATE,32741,begin surface
$SM_CCo,32821,0.00,0.000,0,0,805,495.99
$SM_GC,2.84,8.88,0.00,0.00,0.057,0.000,0.000,91,1727,805,-8.80,0.20,495.99
$IRIDIUM_FIX,-4120.75,-330.27,110213,090902
$TT8_MAMPS,0.026964
$HUMID,50.98
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.2,132.441
$10V_AH,9.8,77.183
$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,22.400,107.075,544.150,0.000,0.000,30.895,44.756,219.626,0.000,0.000,24.238,1958.149,27393.434,558.076,3093.171,258.456,0.000,1933.658,0.000,2725.153,0.000,1.015,0.000
$DEVICE_MAMPS,259.335,64.260,1433.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.308,307.995,257.926,48.388,0.000,0.000,0.000,0.000,0.000,0.000
$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,36940,610
$CAP_FILE_SIZE,164928,0
$CFSIZE,2097086464,2016509952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,120213,032523,-4134.954,-326.428,86,1.0,86,-22.5