version: 66.07.10.p01
glider: 574
mission: 4
dive: 22
start: 9 23 112 3 53 47
data:
$ID,574
$MISSION,4
$DIVE,22
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,333
$T_MISSION,348
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,185
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,70
$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,596.31458
$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,-5475.3901
$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,3011
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,1938
$C_ROLL_CLIMB,1688
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,1
$GPS1,230912,034205,-4327.922,-940.265,45,1.2,45,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.0
$GPS2,230912,035326,-4327.953,-940.322,15,1.2,16,-21.1
$SPEED_LIMITS,0.173,0.286
$TGT_NAME,HEADING
$TGT_LATLONG,-4324.260,-926.354
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,91.1,20000,-16.4,-10.010
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.59,-180.0,0.0,0.0,0,134,0.00,0.00,-107.00,0.000,2,0.000,0.000,65,1931,3073,0,0,0,0,0,0
$GC,136,-0.59,-180.0,3.6,-5.9,18,168,12.85,2.35,-9.95,0.000,4,0.288,0.077,2805,529,3563,0,0,0,0,0,0
$GC,299,-0.54,-180.0,32.6,-12.3,45,305,0.15,2.20,0.00,0.000,6,0.172,0.041,2836,1923,3564,0,0,0,0,0,0
$GC,445,-0.51,-180.0,48.9,-12.5,70,451,0.00,0.52,0.00,0.000,4,0.000,0.050,2834,2284,3565,0,0,0,0,0,0
$GC,514,-0.51,-180.0,58.1,-13.2,82,521,0.00,0.55,0.00,0.000,6,0.000,0.053,2834,1929,3565,0,0,0,0,0,0
$GC,661,-0.49,-180.0,76.4,-11.9,107,666,0.08,0.00,0.00,0.000,6,0.200,0.000,2851,1929,3564,0,0,0,0,0,0
$GC,1010,-0.51,-180.0,114.2,-12.0,168,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1929,3564,0,0,0,0,0,0
$GC,1361,-0.54,-180.0,157.0,-13.2,229,1366,0.00,0.35,0.00,0.000,4,0.000,0.064,2851,1686,3564,0,0,0,0,0,0
$GC,1432,-0.57,-180.0,166.3,-13.3,241,1437,0.05,0.38,0.00,0.000,6,0.075,0.050,2818,1947,3564,0,0,0,0,0,0
$GC,1780,-0.52,-180.0,221.5,-14.7,302,1787,0.10,0.00,0.00,0.000,6,0.184,0.000,2842,1948,3565,0,0,0,0,0,0
$GC,2132,-0.52,-180.0,266.2,-12.8,363,2137,0.00,0.55,0.00,0.000,4,0.000,0.057,2842,1579,3565,0,0,0,0,0,0
$GC,2194,-0.52,-180.0,274.1,-11.8,374,2201,0.00,0.52,0.00,0.000,6,0.000,0.044,2841,1941,3565,0,0,0,0,0,0
$GC,2546,-0.54,-180.0,317.2,-12.1,435,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1942,3565,0,0,0,0,0,0
$GC,2895,-0.56,-180.0,356.9,-10.9,496,2902,0.00,0.32,0.00,0.000,4,0.000,0.059,2841,1714,3565,0,0,0,0,0,0
$GC,2962,-0.58,-180.0,364.0,-10.9,507,2967,0.00,0.30,0.00,0.000,6,0.000,0.052,2840,1939,3565,0,0,0,0,0,0
$GC,3311,-0.61,-180.0,401.9,-10.6,568,3318,0.08,0.28,0.00,0.000,4,0.129,0.059,2806,2154,3565,0,0,0,0,0,0
$GC,3355,-0.57,-180.0,406.9,-13.0,575,3361,0.05,0.32,0.00,0.000,6,0.161,0.057,2823,1915,3565,0,0,0,0,0,0
$GC,3703,-0.57,-180.0,448.2,-11.6,636,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3566,0,0,0,0,0,0
$GC,4054,-0.57,-180.0,489.3,-10.9,697,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3566,0,0,0,0,0,0
$GC,4403,-0.57,-180.0,528.7,-11.4,758,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3565,0,0,0,0,0,0
$GC,4754,-0.57,-180.0,568.0,-10.4,819,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1916,3565,0,0,0,0,0,0
$GC,5103,-0.57,-180.0,604.9,-10.8,880,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3565,0,0,0,0,0,0
$GC,5454,-0.57,-180.0,638.8,-9.1,941,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3564,0,0,0,0,0,0
$GC,5802,-0.57,-180.0,671.9,-9.3,1002,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3563,0,0,0,0,0,0
$GC,6155,-0.57,-180.0,705.3,-9.7,1063,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3563,0,0,0,0,0,0
$GC,6502,-0.57,-180.0,738.9,-10.6,1124,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3562,0,0,0,0,0,0
$GC,6854,-0.57,-180.0,772.7,-10.0,1185,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3561,0,0,0,0,0,0
$GC,7201,-0.57,-180.0,804.0,-8.5,1246,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1915,3561,0,0,0,0,0,0
$GC,7554,-0.59,-180.0,836.5,-9.3,1307,7558,0.00,0.45,0.00,0.000,4,0.000,0.050,2822,2238,3560,0,0,0,0,0,0
$GC,7636,-0.62,-180.0,843.5,-8.7,1321,7641,0.00,0.43,0.00,0.000,6,0.000,0.055,2822,1947,3560,0,0,0,0,0,0
$GC,7985,-0.65,-180.0,875.5,-9.1,1382,7992,0.05,0.47,0.00,0.000,4,0.175,0.060,2801,1630,3559,0,0,0,0,0,0
$GC,8067,-0.61,-180.0,884.5,-10.6,1396,8074,0.00,0.43,0.00,0.000,6,0.000,0.048,2799,1927,3559,0,0,0,0,0,0
$GC,8419,-0.59,-180.0,925.4,-12.1,1457,8424,0.08,0.00,0.00,0.000,6,0.210,0.000,2815,1929,3559,0,0,0,0,0,0
$GC,8766,-0.59,-180.0,961.6,-10.6,1518,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1929,3558,0,0,0,0,0,0
$GC,9119,-0.59,-180.0,997.7,-9.9,1579,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1929,3558,0,0,0,0,0,0
$STATE,9143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9143,begin apogee
$GC,9146,-0.18,0.0,1000.4,10.2,1583,9300,0.40,0.00,149.12,1.380,6,0.149,0.000,2942,1685,2828,0,0,0,0,0,0
$STATE,9301,end apogee,CONTROL_FINISHED_OK
$STATE,9301,begin climb
$GC,9302,0.59,180.0,1007.8,0.0,1611,9468,0.82,0.95,156.38,1.365,4,0.104,0.057,3198,1139,2095,0,0,0,0,0,0
$GC,9596,0.49,180.0,993.6,10.6,1663,9602,0.08,0.88,0.00,0.000,6,0.167,0.039,3177,1693,2091,0,0,0,0,0,0
$GC,9945,0.43,242.5,961.5,7.7,1724,10007,0.10,0.88,54.78,1.318,4,0.219,0.039,3156,2233,1837,0,0,0,0,0,0
$GC,10078,0.43,281.6,949.8,8.6,1747,10117,0.00,0.88,35.15,1.282,6,0.000,0.051,3156,1700,1679,0,0,0,0,0,0
$GC,10461,0.49,337.5,918.5,7.9,1814,10515,0.00,0.73,50.17,1.297,4,0.000,0.057,3157,1254,1449,0,0,0,0,0,0
$GC,10573,0.59,405.4,910.0,7.5,1834,10640,0.10,0.68,61.58,1.318,6,0.072,0.041,3200,1691,1174,0,0,0,0,0,0
$GC,10983,0.65,405.4,869.7,10.3,1906,10990,0.05,1.80,0.00,0.000,4,0.167,0.066,3223,613,1165,0,0,0,0,0,0
$GC,11072,0.65,405.4,859.1,13.0,1921,11077,0.00,1.65,0.00,0.000,6,0.000,0.037,3223,1687,1163,0,0,0,0,0,0
$GC,11420,0.65,405.4,817.1,11.2,1982,11427,0.00,2.00,0.00,0.000,4,0.000,0.067,3225,495,1162,0,0,0,0,0,0
$GC,11508,0.65,405.4,806.3,12.0,1997,11513,0.00,1.85,0.00,0.000,6,0.000,0.037,3225,1691,1161,0,0,0,0,0,0
$GC,11856,0.65,405.4,764.4,11.4,2058,11863,0.00,2.10,0.00,0.000,4,0.000,0.069,3226,431,1161,0,0,0,0,0,0
$GC,11934,0.65,405.4,755.3,11.7,2071,11939,0.00,1.95,0.00,0.000,6,0.000,0.037,3226,1697,1160,0,0,0,0,0,0
$GC,12282,0.65,405.4,712.6,13.0,2132,12289,0.00,1.62,0.00,0.000,4,0.000,0.067,3226,713,1160,0,0,0,0,0,0
$GC,12370,0.65,405.4,702.0,12.6,2147,12375,0.00,1.50,0.00,0.000,6,0.000,0.038,3226,1686,1160,0,0,0,0,0,0
$GC,12717,0.65,405.4,658.8,12.2,2208,12725,0.00,2.10,0.00,0.000,4,0.000,0.070,3227,417,1160,0,0,0,0,0,0
$GC,12806,0.65,405.4,647.9,12.7,2223,12811,0.00,1.92,0.00,0.000,6,0.000,0.039,3227,1687,1159,0,0,0,0,0,0
$GC,13154,0.65,405.4,605.0,12.5,2284,13161,0.00,1.98,0.00,0.000,4,0.000,0.070,3227,489,1159,0,0,0,0,0,0
$GC,13243,0.65,405.4,594.1,11.9,2299,13248,0.00,1.85,0.00,0.000,6,0.000,0.039,3227,1701,1159,0,0,0,0,0,0
$GC,13591,0.65,405.4,549.2,13.3,2360,13598,0.00,2.05,0.00,0.000,4,0.000,0.070,3227,457,1159,0,0,0,0,0,0
$GC,13679,0.65,405.4,537.8,12.3,2375,13684,0.00,1.88,0.00,0.000,6,0.000,0.038,3227,1688,1159,0,0,0,0,0,0
$GC,14027,0.65,405.4,493.2,12.1,2436,14034,0.00,1.70,0.00,0.000,4,0.000,0.068,3227,650,1159,0,0,0,0,0,0
$GC,14116,0.65,405.4,483.1,11.6,2451,14121,0.00,1.60,0.00,0.000,6,0.000,0.037,3227,1695,1159,0,0,0,0,0,0
$GC,14463,0.65,405.4,442.7,11.7,2512,14470,0.00,1.98,0.00,0.000,4,0.000,0.070,3227,492,1160,0,0,0,0,0,0
$GC,14544,0.65,405.4,433.5,10.6,2526,14552,0.00,1.83,0.00,0.000,6,0.000,0.037,3227,1684,1159,0,0,0,0,0,0
$GC,14896,0.65,405.4,394.3,11.4,2587,14901,0.00,2.15,0.00,0.000,4,0.000,0.070,3228,349,1159,0,0,0,0,0,0
$GC,14978,0.68,405.4,385.3,10.3,2601,14983,0.00,2.03,0.00,0.000,6,0.000,0.037,3228,1686,1159,0,0,0,0,0,0
$GC,15326,0.68,405.4,347.2,10.4,2662,15333,0.00,2.30,0.00,0.000,4,0.000,0.071,3233,291,1159,0,0,0,0,0,0
$GC,15404,0.70,405.4,338.9,10.5,2675,15409,0.00,2.12,0.00,0.000,6,0.000,0.036,3232,1689,1159,0,0,0,0,0,0
$GC,15751,0.70,405.4,300.2,10.8,2736,15758,0.00,2.30,0.00,0.000,4,0.000,0.070,3237,291,1159,0,0,0,0,0,0
$GC,15851,0.70,405.4,289.6,10.2,2753,15856,0.00,2.12,0.00,0.000,6,0.000,0.035,3237,1691,1160,0,0,0,0,0,0
$GC,16199,0.70,405.4,248.6,11.4,2814,16206,0.00,2.05,0.00,0.000,4,0.000,0.067,3239,436,1160,0,0,0,0,0,0
$GC,16288,0.70,405.4,238.3,11.3,2829,16293,0.00,1.90,0.00,0.000,6,0.000,0.035,3240,1700,1160,0,0,0,0,0,0
$GC,16635,0.70,405.4,194.8,13.0,2890,16642,0.00,2.33,0.00,0.000,4,0.000,0.070,3241,285,1161,0,0,0,0,0,0
$GC,16735,0.70,405.4,182.3,13.1,2907,16740,0.00,2.12,0.00,0.000,6,0.000,0.035,3241,1690,1161,0,0,0,0,0,0
$GC,17083,0.68,405.4,135.7,14.0,2968,17090,0.00,2.25,0.00,0.000,4,0.000,0.070,3240,317,1161,0,0,0,0,0,0
$GC,17172,0.68,405.4,123.7,14.3,2983,17178,0.00,2.08,0.00,0.000,6,0.000,0.034,3241,1696,1161,0,0,0,0,0,0
$GC,17520,0.68,405.4,76.9,10.9,3044,17527,0.00,2.05,0.00,0.000,4,0.000,0.070,3245,438,1162,0,0,0,0,0,0
$GC,17608,0.68,405.4,64.9,14.7,3059,17614,0.03,1.88,0.00,0.000,6,0.271,0.034,3235,1697,1162,0,0,0,0,0,0
$GC,17961,0.68,405.4,20.8,12.9,3120,17968,0.00,2.33,0.00,0.000,4,0.000,0.070,3238,281,1162,0,0,0,0,0,0
$GC,18052,0.73,405.4,10.1,11.5,3135,18059,0.00,2.12,0.00,0.000,6,0.000,0.034,3239,1679,1163,0,0,0,0,0,0
$STATE,18118,end climb,SURFACE_DEPTH_REACHED
$STATE,18118,begin surface coast
$FINISH,1.1,1.026671
$STATE,18144,end surface coast,CONTROL_FINISHED_OK
$STATE,18144,begin surface
$SM_CCo,18159,87.43,0.677,0,0,395,596.31
$SM_GC,1.75,0.00,0.00,87.43,0.000,0.000,0.677,84,1967,395,-9.13,0.79,596.31
$IRIDIUM_FIX,-4314.46,-944.32,220912,222200
$TT8_MAMPS,0.026964
$HUMID,43.10
$INTERNAL_PRESSURE,8.99896
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,9.429
$10V_AH,10.3,6.743
$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,23.625,83.625,507.175,87.425,0.000,30.294,52.348,465.432,0.250,0.000,18.637,6881.420,2813.747,578.003,8404.489,221.569,0.000,2996.647,0.000,7866.234,0.000,2.833,0.000
$DEVICE_MAMPS,287.640,77.265,1380.060,677.025,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2179.953,5327.928,797.032,686.867,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354880
$DATA_FILE_SIZE,183483,3150
$CAP_FILE_SIZE,247429,0
$CFSIZE,2097086464,2091646976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,230912,085905,-4327.860,-938.517,38,0.9,38,-21.1