version: 66.07.10.p01
glider: 574
mission: 4
dive: 569
start: 2 12 113 12 57 22
data:
$ID,574
$MISSION,4
$DIVE,569
$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,-10005.044
$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,48
$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,548
$GPS1,120213,124301,-4135.026,-326.256,102,1.7,102,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-71.0
$GPS2,120213,125657,-4135.057,-326.171,57,2.0,58,-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,181.4,69356,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.65,-107.0,0.0,0.0,0,50,0.00,0.00,-21.85,0.000,2,0.000,0.000,67,1716,1652,0,0,0,0,0,0
$GC,53,-0.65,-107.0,3.2,-2.7,2,121,11.80,1.83,-47.00,0.000,4,0.255,0.063,2695,2809,3266,0,0,0,0,0,0
$GC,148,-0.65,-107.0,10.6,-9.7,10,152,0.00,1.73,0.00,0.000,6,0.000,0.041,2695,1708,3266,0,0,0,0,0,0
$GC,269,-0.65,-107.0,23.2,-10.0,21,273,0.00,2.30,0.00,0.000,4,0.000,0.049,2692,3112,3267,0,0,0,0,0,0
$GC,313,-0.65,-107.0,28.5,-10.1,24,321,0.00,2.25,0.00,0.000,6,0.000,0.041,2692,1723,3267,0,0,0,0,0,0
$GC,436,-0.65,-107.0,41.5,-11.1,31,441,0.05,2.30,0.00,0.000,4,0.207,0.048,2703,3116,3267,0,0,0,0,0,0
$GC,491,-0.65,-107.0,47.9,-11.5,33,496,0.00,2.22,0.00,0.000,6,0.000,0.041,2702,1716,3267,0,0,0,0,0,0
$GC,928,-0.65,-107.0,99.4,-11.9,47,932,0.00,2.28,0.00,0.000,4,0.000,0.045,2702,3116,3268,0,0,0,0,0,0
$GC,994,-0.65,-107.0,107.1,-10.4,49,998,0.00,2.25,0.00,0.000,6,0.000,0.039,2702,1717,3267,0,0,0,0,0,0
$GC,1723,-0.65,-107.0,184.7,-10.9,61,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1717,3268,0,0,0,0,0,0
$GC,2451,-0.65,-107.0,260.8,-10.7,73,2454,0.00,2.25,0.00,0.000,4,0.000,0.046,2702,3111,3268,0,0,0,0,0,0
$GC,2528,-0.65,-107.0,269.3,-10.8,74,2532,0.00,2.17,0.00,0.000,6,0.000,0.035,2702,1718,3268,0,0,0,0,0,0
$GC,3252,-0.65,-107.0,341.7,-9.6,86,3257,0.00,2.35,0.00,0.000,4,0.000,0.057,2702,314,3268,0,0,0,0,0,0
$GC,3510,-0.65,-107.0,367.7,-10.3,89,3516,0.00,2.20,0.00,0.000,6,0.000,0.029,2702,1718,3268,0,0,0,0,0,0
$GC,4244,-0.65,-107.0,450.5,-12.2,102,4249,0.00,2.35,0.00,0.000,4,0.000,0.054,2703,315,3267,0,0,0,0,0,0
$GC,4502,-0.65,-107.0,484.1,-13.0,105,4508,0.00,2.20,0.00,0.000,6,0.000,0.029,2702,1733,3267,0,0,0,0,0,0
$GC,5236,-0.65,-107.0,584.4,-13.3,118,5240,0.00,1.25,0.00,0.000,4,0.000,0.040,2703,2538,3266,0,0,0,0,0,0
$GC,5286,-0.65,-107.0,591.0,-13.0,118,5290,0.00,1.30,0.00,0.000,6,0.000,0.038,2702,1710,3266,0,0,0,0,0,0
$GC,6032,-0.65,-107.0,674.1,-10.5,131,6035,0.00,1.48,0.00,0.000,4,0.000,0.051,2702,808,3265,0,0,0,0,0,0
$GC,6289,-0.65,-107.0,701.4,-10.3,134,6294,0.00,1.42,0.00,0.000,6,0.000,0.030,2702,1727,3264,0,0,0,0,0,0
$GC,7029,-0.65,-107.0,784.3,-11.7,147,7033,0.00,0.62,0.00,0.000,4,0.000,0.047,2702,1329,3263,0,0,0,0,0,0
$GC,7287,-0.65,-107.0,814.3,-11.6,150,7291,0.00,0.62,0.00,0.000,6,0.000,0.037,2702,1731,3262,0,0,0,0,0,0
$GC,8027,-0.65,-107.0,893.9,-10.3,163,8031,0.00,2.38,0.00,0.000,4,0.000,0.055,2703,324,3261,0,0,0,0,0,0
$GC,8042,-0.65,-107.0,895.7,-10.3,163,8046,0.00,2.20,0.00,0.000,6,0.000,0.031,2702,1708,3261,0,0,0,0,0,0
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8340,-0.28,0.0,924.8,10.0,168,8437,0.40,0.00,93.53,1.409,6,0.094,0.000,2832,1918,2827,0,0,0,0,0,0
$STATE,8437,end apogee,CONTROL_FINISHED_OK
$STATE,8438,begin loiter
$GC,9124,-0.26,293.0,1000.8,-9.8,181,9399,0.00,1.12,267.45,1.423,4,0.000,0.040,2831,2525,1631,0,0,0,0,0,0
$GC,9635,-0.26,293.0,1011.7,3.6,189,9639,0.00,1.02,0.00,0.000,6,0.000,0.041,2831,1906,1625,0,0,0,0,0,0
$GC,10365,-0.26,293.0,987.8,4.0,201,10369,0.00,2.22,0.00,0.000,4,0.000,0.045,2823,3290,1623,0,0,0,0,0,0
$GC,10442,-0.26,293.0,984.5,4.6,202,10446,0.00,2.20,0.00,0.000,6,0.000,0.037,2823,1895,1621,0,0,0,0,0,0
$GC,11167,-0.26,293.0,948.6,5.2,214,11171,0.00,2.28,0.00,0.000,4,0.000,0.047,2820,3285,1621,0,0,0,0,0,0
$GC,11418,-0.26,293.0,935.1,5.2,217,11422,0.00,2.25,0.00,0.000,6,0.000,0.038,2820,1883,1620,0,0,0,0,0,0
$GC,12158,-0.26,293.0,907.2,3.0,230,12162,0.00,2.33,0.00,0.000,4,0.000,0.055,2820,498,1620,0,0,0,0,0,0
$GC,12291,-0.26,293.0,903.5,3.4,232,12296,0.08,2.17,0.00,0.000,6,0.181,0.033,2828,1894,1620,0,0,0,0,0,0
$GC,13022,-0.26,293.0,890.2,1.7,244,13026,0.00,2.38,0.00,0.000,4,0.000,0.057,2827,499,1620,0,0,0,0,0,0
$GC,13145,-0.26,293.0,888.1,2.0,245,13150,0.00,2.20,0.00,0.000,6,0.000,0.033,2824,1906,1620,0,0,0,0,0,0
$GC,13879,-0.26,293.0,872.9,2.2,258,13883,0.00,2.28,0.00,0.000,4,0.000,0.047,2820,3302,1620,0,0,0,0,0,0
$GC,14131,-0.26,293.0,866.8,2.0,261,14135,0.00,2.22,0.00,0.000,6,0.000,0.039,2820,1900,1620,0,0,0,0,0,0
$GC,14871,-0.26,293.0,849.1,2.4,274,14875,0.00,2.35,0.00,0.000,4,0.000,0.055,2820,498,1620,0,0,0,0,0,0
$GC,14886,-0.26,293.0,848.8,2.1,274,14891,0.08,2.25,0.00,0.000,6,0.184,0.034,2826,1899,1621,0,0,0,0,0,0
$GC,15605,-0.26,293.0,830.8,2.5,286,15606,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1908,1621,0,0,0,0,0,0
$GC,16332,-0.26,293.0,816.8,1.8,298,16336,0.00,0.73,0.00,0.000,4,0.000,0.054,2827,1452,1622,0,0,0,0,0,0
$GC,16589,-0.26,293.0,811.3,1.9,301,16594,0.00,0.73,0.00,0.000,6,0.000,0.039,2824,1913,1623,0,0,0,0,0,0
$GC,17329,-0.26,293.0,789.1,3.6,314,17333,0.00,0.52,0.00,0.000,4,0.000,0.048,2824,2276,1623,0,0,0,0,0,0
$GC,17392,-0.26,293.0,786.6,4.7,314,17397,0.00,0.60,0.00,0.000,6,0.000,0.048,2824,1890,1623,0,0,0,0,0,0
$GC,18126,-0.26,293.0,755.6,4.0,327,18129,0.00,0.43,0.00,0.000,4,0.000,0.058,2824,1607,1624,0,0,0,0,0,0
$GC,18383,-0.26,293.0,746.6,2.9,330,18387,0.00,0.45,0.00,0.000,6,0.000,0.043,2824,1903,1625,0,0,0,0,0,0
$GC,19123,-0.26,293.0,729.5,1.9,343,19127,0.00,2.40,0.00,0.000,4,0.000,0.057,2824,502,1626,0,0,0,0,0,0
$STATE,19193,end loiter,LOITER_COMPLETE
$STATE,19193,begin climb
$GC,19195,0.65,107.0,728.3,0.0,344,19201,1.08,2.20,0.00,0.000,6,0.129,0.034,3124,1888,1626,0,0,0,0,0,0
$GC,19916,0.66,211.6,715.4,1.8,356,19920,0.00,2.38,0.00,0.000,4,0.000,0.059,3132,506,1628,0,0,0,0,0,0
$GC,20173,0.66,273.1,710.3,3.2,359,20179,0.00,2.22,0.00,0.000,6,0.000,0.037,3132,1896,1629,0,0,0,0,0,0
$GC,20908,0.67,364.9,694.0,2.2,372,20981,0.00,0.00,71.20,1.286,6,0.000,0.000,3132,1908,1339,0,0,0,0,0,0
$GC,21695,0.67,364.9,651.9,5.5,385,21699,0.00,0.82,0.00,0.000,4,0.000,0.045,3133,2439,1331,0,0,0,0,0,0
$GC,21952,0.67,364.9,638.6,5.3,388,21957,0.00,0.85,0.00,0.000,6,0.000,0.047,3132,1908,1330,0,0,0,0,0,0
$GC,22693,0.67,368.6,602.8,5.2,401,22697,0.00,2.22,0.00,0.000,4,0.000,0.048,3132,3264,1329,0,0,0,0,0,0
$GC,22900,0.67,368.6,591.1,6.4,404,22904,0.00,2.22,0.00,0.000,6,0.000,0.041,3139,1909,1328,0,0,0,0,0,0
$GC,23623,0.67,368.6,545.1,6.7,416,23627,0.00,0.60,0.00,0.000,4,0.000,0.044,3139,2309,1328,0,0,0,0,0,0
$GC,23763,0.67,368.6,535.5,8.3,418,23767,0.00,0.68,0.00,0.000,6,0.000,0.048,3142,1885,1328,0,0,0,0,0,0
$GC,24493,0.67,387.7,494.2,4.6,430,24517,0.00,1.30,20.67,1.103,4,0.000,0.041,3142,2698,1246,0,0,0,0,0,0
$GC,24700,0.67,431.1,485.5,3.8,433,24745,0.00,1.27,41.38,1.135,6,0.000,0.044,3146,1910,1068,0,0,0,0,0,0
$GC,25480,0.67,431.1,445.9,5.7,446,25484,0.00,2.28,0.00,0.000,4,0.000,0.047,3146,3306,1062,0,0,0,0,0,0
$GC,25737,0.67,431.1,426.8,9.5,449,25743,0.00,2.28,0.00,0.000,6,0.000,0.042,3146,1903,1061,0,0,0,0,0,0
$GC,26471,0.67,431.1,354.6,10.3,462,26475,0.00,2.40,0.00,0.000,4,0.000,0.060,3146,487,1061,0,0,0,0,0,0
$GC,26600,0.67,431.1,342.3,9.2,463,26605,0.00,2.25,0.00,0.000,6,0.000,0.034,3146,1901,1058,0,0,0,0,0,0
$GC,27334,0.67,431.1,288.6,6.7,476,27338,0.00,2.42,0.00,0.000,4,0.000,0.060,3145,492,1058,0,0,0,0,0,0
$GC,27512,0.67,431.1,276.5,8.3,478,27517,0.00,2.22,0.00,0.000,6,0.000,0.034,3145,1914,1057,0,0,0,0,0,0
$GC,28258,0.67,431.1,220.4,8.0,491,28262,0.00,0.95,0.00,0.000,4,0.000,0.053,3146,1341,1057,0,0,0,0,0,0
$GC,28313,0.67,431.1,216.3,6.8,491,28317,0.00,0.88,0.00,0.000,6,0.000,0.037,3146,1908,1057,0,0,0,0,0,0
$GC,29053,0.67,431.1,166.4,6.2,504,29057,0.00,0.75,0.00,0.000,4,0.000,0.044,3146,2408,1057,0,0,0,0,0,0
$GC,29311,0.67,431.1,150.7,5.3,507,29315,0.00,0.82,0.00,0.000,6,0.000,0.046,3146,1888,1057,0,0,0,0,0,0
$GC,30051,0.67,431.1,102.0,7.4,520,30055,0.00,2.28,0.00,0.000,4,0.000,0.045,3146,3293,1057,0,0,0,0,0,0
$GC,30105,0.67,431.1,97.8,6.3,520,30111,0.00,2.22,0.00,0.000,6,0.000,0.038,3146,1887,1057,0,0,0,0,0,0
$GC,30828,0.67,431.1,42.4,6.9,544,30832,0.00,2.33,0.00,0.000,4,0.000,0.059,3146,503,1057,0,0,0,0,0,0
$GC,30913,0.67,431.1,36.7,5.7,548,30918,0.00,2.15,0.00,0.000,6,0.000,0.031,3146,1892,1057,0,0,0,0,0,0
$GC,31344,0.67,441.4,11.6,4.9,582,31357,0.00,0.73,4.35,0.513,4,0.000,0.050,3146,1459,1027,0,0,0,0,0,0
$GC,31419,0.68,525.8,8.8,2.5,588,31471,0.00,0.68,42.95,0.721,6,0.000,0.037,3146,1905,682,0,0,0,0,0,0
$STATE,31543,end climb,SURFACE_DEPTH_REACHED
$STATE,31545,begin surface coast
$FINISH,1.7,1.005520
$STATE,31587,end surface coast,CONTROL_FINISHED_OK
$STATE,31587,begin surface
$SM_CCo,31666,0.00,0.000,0,0,671,528.86
$SM_GC,2.89,8.75,0.00,0.00,0.057,0.000,0.000,91,1721,671,-8.79,0.03,528.86
$IRIDIUM_FIX,-4120.75,-324.52,120213,121209
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,21.2,132.876
$10V_AH,9.8,77.375
$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,22.225,122.050,541.525,0.000,0.000,58.530,93.063,431.846,0.000,0.000,59.786,1897.401,26507.117,610.440,3191.087,295.538,0.000,1874.882,0.000,2534.628,0.000,2.465,0.000
$DEVICE_MAMPS,254.745,65.025,1422.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.035,340.921,259.131,54.439,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354704
$DATA_FILE_SIZE,36893,604
$CAP_FILE_SIZE,161712,0
$CFSIZE,2097086464,2016280576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,120213,214623,-4134.688,-324.883,39,1.4,39,-22.5