version: 66.07.10.p01
glider: 574
mission: 4
dive: 165
start: 10 31 112 18 10 26
data:
$ID,574
$MISSION,4
$DIVE,165
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,450
$T_MISSION,520
$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,150
$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,1
$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,250
$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,-5942.6426
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,67
$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,144
$GPS1,311012,180154,-4228.538,-718.818,42,0.9,43,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.4
$GPS2,311012,180931,-4228.530,-718.883,15,0.9,17,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,-0.188
$KALMAN_X,-259571.9,119.8,260.2,382289.5,-5027.3
$KALMAN_Y,217095.7,-220.1,-130.6,-173984.2,6442.6
$MHEAD_RNG_PITCHd_Wd,165.1,78552,-13.9,-7.407
$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,-0.52,-145.9,0.0,0.0,0,81,0.00,0.00,-54.42,0.000,2,0.000,0.000,67,1930,2563,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.2,-1.5,9,127,12.35,1.77,-26.15,0.000,4,0.265,0.075,2834,832,3421,0,0,0,0,0,0
$GC,189,-0.48,-145.9,12.1,-10.1,26,196,0.08,1.65,0.00,0.000,6,0.142,0.035,2852,1876,3423,0,0,0,0,0,0
$GC,269,-0.51,-145.9,19.1,-8.4,39,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1876,3424,0,0,0,0,0,0
$GC,349,-0.57,-145.9,25.8,-8.2,52,356,0.08,0.00,0.00,0.000,6,0.129,0.000,2819,1877,3423,0,0,0,0,0,0
$GC,428,-0.60,-145.9,32.8,-8.7,65,433,0.00,2.25,0.00,0.000,4,0.000,0.047,2809,3317,3423,0,0,0,0,0,0
$GC,498,-0.60,-145.9,39.6,-9.7,77,504,0.00,2.20,0.00,0.000,6,0.000,0.041,2809,1908,3424,0,0,0,0,0,0
$GC,734,-0.63,-145.9,62.9,-10.3,118,739,0.00,2.22,0.00,0.000,4,0.000,0.045,2800,3328,3424,0,0,0,0,0,0
$GC,796,-0.61,-145.9,69.7,-11.4,129,802,0.00,2.22,0.00,0.000,6,0.000,0.041,2800,1914,3424,0,0,0,0,0,0
$GC,1133,-0.54,-145.9,109.2,-11.2,180,1138,0.12,2.28,0.00,0.000,4,0.172,0.059,2833,502,3424,0,0,0,0,0,0
$GC,1255,-0.54,-145.9,121.3,-9.1,187,1261,0.00,2.20,0.00,0.000,6,0.000,0.032,2825,1929,3424,0,0,0,0,0,0
$GC,1575,-0.61,-145.9,146.8,-7.8,208,1578,0.00,0.90,0.00,0.000,4,0.000,0.041,2824,2536,3424,0,0,0,0,0,0
$GC,1643,-0.72,-145.9,152.2,-7.8,212,1647,0.10,0.98,0.00,0.000,6,0.066,0.044,2776,1906,3424,0,0,0,0,0,0
$GC,1974,-0.60,-145.9,189.5,-12.7,233,1979,0.15,2.22,0.00,0.000,4,0.164,0.058,2815,508,3424,0,0,0,0,0,0
$GC,2091,-0.57,-145.9,203.8,-11.9,240,2096,0.08,2.15,0.00,0.000,6,0.194,0.031,2826,1923,3424,0,0,0,0,0,0
$GC,2418,-0.64,-145.9,235.7,-9.5,261,2422,0.08,1.52,0.00,0.000,4,0.132,0.056,2794,984,3425,0,0,0,0,0,0
$GC,2453,-0.60,-145.9,239.5,-11.5,263,2458,0.08,1.42,0.00,0.000,6,0.148,0.032,2813,1917,3424,0,0,0,0,0,0
$GC,2771,-0.65,-145.9,270.8,-9.4,280,2775,0.00,2.15,0.00,0.000,4,0.000,0.044,2803,3311,3425,0,0,0,0,0,0
$GC,2842,-0.68,-145.9,277.8,-9.6,283,2847,0.00,2.17,0.00,0.000,6,0.000,0.037,2804,1910,3424,0,0,0,0,0,0
$GC,3166,-0.73,-145.9,304.8,-7.8,299,3171,0.08,2.20,0.00,0.000,4,0.131,0.044,2766,3318,3424,0,0,0,0,0,0
$GC,3234,-0.65,-145.9,311.4,-10.1,302,3239,0.12,2.15,0.00,0.000,6,0.164,0.037,2797,1912,3424,0,0,0,0,0,0
$GC,3561,-0.59,-145.9,340.4,-8.7,318,3565,0.08,2.25,0.00,0.000,4,0.207,0.057,2815,501,3424,0,0,0,0,0,0
$GC,3633,-0.57,-145.9,346.6,-8.4,321,3638,0.05,2.17,0.00,0.000,6,0.151,0.033,2826,1914,3424,0,0,0,0,0,0
$GC,3957,-0.66,-145.9,368.1,-6.8,337,3962,0.08,1.48,0.00,0.000,4,0.130,0.043,2789,2866,3424,0,0,0,0,0,0
$GC,4018,-0.68,-145.9,373.4,-8.6,339,4023,0.00,1.48,0.00,0.000,6,0.000,0.038,2789,1909,3424,0,0,0,0,0,0
$GC,4336,-0.71,-145.9,401.5,-9.2,355,4340,0.00,2.20,0.00,0.000,4,0.000,0.054,2789,511,3424,0,0,0,0,0,0
$GC,4437,-0.63,-145.9,412.8,-11.0,358,4442,0.10,2.12,0.00,0.000,6,0.182,0.031,2806,1916,3424,0,0,0,0,0,0
$GC,4771,-0.59,-145.9,447.6,-10.5,369,4775,0.05,0.57,0.00,0.000,4,0.242,0.052,2818,1545,3424,0,0,0,0,0,0
$GC,4842,-0.59,-145.9,455.3,-10.2,371,4847,0.00,0.57,0.00,0.000,6,0.000,0.035,2816,1940,3424,0,0,0,0,0,0
$GC,5177,-0.59,-145.9,490.2,-10.5,382,5181,0.00,1.50,0.00,0.000,4,0.000,0.052,2816,1005,3423,0,0,0,0,0,0
$GC,5262,-0.57,-145.9,499.2,-10.4,384,5266,0.03,1.38,0.00,0.000,6,0.179,0.032,2820,1904,3423,0,0,0,0,0,0
$GC,5585,-0.65,-145.9,528.4,-8.7,395,5588,0.00,0.90,0.00,0.000,4,0.000,0.053,2821,1335,3422,0,0,0,0,0,0
$GC,5611,-0.73,-145.9,530.9,-8.9,395,5618,0.12,0.90,0.00,0.000,6,0.102,0.035,2773,1927,3422,0,0,0,0,0,0
$GC,5924,-0.63,-145.9,565.7,-11.7,406,5926,0.12,0.00,0.00,0.000,6,0.181,0.000,2804,1928,3422,0,0,0,0,0,0
$GC,6231,-0.60,-145.9,595.2,-9.4,416,6234,0.00,1.12,0.00,0.000,4,0.000,0.052,2804,1219,3421,0,0,0,0,0,0
$GC,6319,-0.57,-145.9,603.8,-9.3,418,6324,0.08,1.05,0.00,0.000,6,0.141,0.032,2826,1915,3421,0,0,0,0,0,0
$GC,6637,-0.69,-145.9,629.8,-8.1,429,6642,0.12,2.28,0.00,0.000,4,0.100,0.056,2776,508,3421,0,0,0,0,0,0
$GC,6715,-0.60,-145.9,638.3,-11.7,431,6720,0.17,2.12,0.00,0.000,6,0.163,0.034,2816,1911,3420,0,0,0,0,0,0
$GC,7033,-0.60,-145.9,667.1,-8.9,442,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1911,3420,0,0,0,0,0,0
$GC,7339,-0.60,-145.9,696.1,-9.5,452,7342,0.00,1.08,0.00,0.000,4,0.000,0.052,2816,1236,3420,0,0,0,0,0,0
$GC,7427,-0.60,-145.9,704.9,-9.6,454,7432,0.00,1.05,0.00,0.000,6,0.000,0.035,2813,1920,3419,0,0,0,0,0,0
$GC,7745,-0.60,-145.9,736.1,-9.8,465,7749,0.00,1.33,0.00,0.000,4,0.000,0.054,2812,1094,3419,0,0,0,0,0,0
$GC,7839,-0.60,-145.9,745.9,-10.4,467,7845,0.00,1.27,0.00,0.000,6,0.000,0.034,2809,1913,3418,0,0,0,0,0,0
$GC,8152,-0.60,-145.9,776.6,-9.8,478,8156,0.00,0.38,0.00,0.000,4,0.000,0.057,2809,1658,3418,0,0,0,0,0,0
$GC,8229,-0.60,-145.9,784.2,-10.0,480,8233,0.00,0.40,0.00,0.000,6,0.000,0.043,2808,1936,3417,0,0,0,0,0,0
$GC,8558,-0.60,-145.9,814.9,-9.5,491,8562,0.00,1.23,0.00,0.000,4,0.000,0.050,2808,1165,3417,0,0,0,0,0,0
$GC,8652,-0.60,-145.9,823.9,-8.9,493,8658,0.00,1.15,0.00,0.000,6,0.000,0.033,2803,1913,3417,0,0,0,0,0,0
$GC,8965,-0.60,-145.9,853.8,-9.6,504,8968,0.00,0.38,0.00,0.000,4,0.000,0.056,2803,1655,3416,0,0,0,0,0,0
$GC,9042,-0.58,-145.9,861.3,-10.2,506,9047,0.08,0.40,0.00,0.000,6,0.195,0.043,2820,1938,3417,0,0,0,0,0,0
$GC,9372,-0.60,-145.9,890.3,-8.8,517,9375,0.00,1.62,0.00,0.000,4,0.000,0.051,2819,920,3416,0,0,0,0,0,0
$GC,9439,-0.60,-145.9,896.4,-9.6,519,9443,0.00,1.50,0.00,0.000,6,0.000,0.036,2814,1887,3416,0,0,0,0,0,0
$GC,9779,-0.70,-145.9,925.3,-8.2,530,9784,0.10,2.22,0.00,0.000,4,0.119,0.056,2777,510,3416,0,0,0,0,0,0
$GC,9850,-0.64,-145.9,932.7,-11.4,532,9855,0.10,2.17,0.00,0.000,6,0.145,0.035,2800,1913,3416,0,0,0,0,0,0
$GC,10180,-0.64,-145.9,961.2,-8.5,543,10184,0.00,0.62,0.00,0.000,4,0.000,0.044,2798,2349,3415,0,0,0,0,0,0
$GC,10240,-0.64,-145.9,966.3,-8.5,544,10246,0.00,0.68,0.00,0.000,6,0.000,0.045,2799,1911,3416,0,0,0,0,0,0
$GC,10553,-0.64,-145.9,991.5,-8.2,555,10556,0.00,1.33,0.00,0.000,4,0.000,0.054,2799,1073,3415,0,0,0,0,0,0
$GC,10654,-0.64,-145.9,999.8,-7.6,558,10659,0.00,1.30,0.00,0.000,6,0.000,0.036,2797,1920,3415,0,0,0,0,0,0
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10667,-0.19,0.0,1000.8,7.5,558,10794,0.47,0.00,123.82,1.528,6,0.135,0.000,2945,1645,2827,0,0,0,0,0,0
$STATE,10795,end apogee,CONTROL_FINISHED_OK
$STATE,10795,begin climb
$GC,10796,0.52,145.9,1006.2,0.0,562,10934,0.70,1.35,130.62,1.500,4,0.075,0.060,3179,921,2232,0,0,0,0,0,0
$GC,11034,0.34,145.9,999.4,8.4,569,11039,0.17,1.20,0.00,0.000,6,0.168,0.036,3132,1655,2226,0,0,0,0,0,0
$GC,11352,0.26,182.7,979.7,6.2,580,11391,0.12,1.35,32.45,1.450,4,0.190,0.041,3101,2467,2081,0,0,0,0,0,0
$GC,11463,0.27,240.0,972.8,5.4,583,11520,0.00,1.35,51.80,1.460,6,0.000,0.047,3104,1653,1847,0,0,0,0,0,0
$GC,11844,0.39,260.6,947.3,6.7,596,11868,0.10,0.35,18.25,1.368,4,0.111,0.047,3143,1876,1764,0,0,0,0,0,0
$GC,11981,0.47,272.1,937.4,7.0,600,11996,0.03,0.38,11.62,1.293,6,0.109,0.060,3162,1643,1717,0,0,0,0,0,0
$GC,12310,0.42,272.1,911.1,8.2,611,12313,0.00,1.20,0.00,0.000,4,0.000,0.062,3166,910,1713,0,0,0,0,0,0
$GC,12370,0.37,272.1,906.3,7.9,612,12376,0.10,1.15,0.00,0.000,6,0.155,0.036,3136,1660,1713,0,0,0,0,0,0
$GC,12683,0.37,337.0,888.8,5.2,623,12747,0.00,0.52,58.47,1.430,4,0.000,0.044,3136,1993,1453,0,0,0,0,0,0
$GC,12786,0.43,409.1,883.6,4.9,626,12857,0.00,0.57,67.20,1.409,6,0.000,0.054,3136,1651,1158,0,0,0,0,0,0
$GC,13169,0.75,409.1,854.9,8.5,639,13174,0.32,2.20,0.00,0.000,4,0.081,0.041,3251,3035,1147,0,0,0,0,0,0
$GC,13241,0.60,409.1,847.8,11.8,641,13246,0.12,2.25,0.00,0.000,6,0.168,0.047,3217,1657,1146,0,0,0,0,0,0
$GC,13570,0.55,409.1,817.2,9.1,652,13574,0.10,0.68,0.00,0.000,4,0.203,0.063,3196,1227,1144,0,0,0,0,0,0
$GC,13618,0.55,409.1,813.3,7.9,653,13623,0.00,0.65,0.00,0.000,6,0.000,0.039,3196,1652,1143,0,0,0,0,0,0
$GC,13942,0.55,409.1,787.2,8.2,664,13946,0.00,0.43,0.00,0.000,4,0.000,0.062,3198,1382,1143,0,0,0,0,0,0
$GC,13991,0.55,409.1,783.3,7.7,665,13995,0.00,0.40,0.00,0.000,6,0.000,0.045,3198,1654,1143,0,0,0,0,0,0
$GC,14314,0.55,409.1,756.2,8.5,676,14318,0.00,0.45,0.00,0.000,4,0.000,0.064,3199,1366,1143,0,0,0,0,0,0
$GC,14357,0.55,409.1,752.5,8.4,677,14361,0.00,0.43,0.00,0.000,6,0.000,0.044,3199,1655,1142,0,0,0,0,0,0
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$STATE,21953,end climb,SURFACE_DEPTH_REACHED
$STATE,21953,begin surface coast
$FINISH,1.6,1.013787
$STATE,21984,end surface coast,CONTROL_FINISHED_OK
$STATE,21984,begin surface
$SM_CCo,22060,0.00,0.000,0,0,747,510.22
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$TT8_MAMPS,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.00873
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.7,40.084
$10V_AH,10.1,31.061
$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
$DEVICE_SECS,26.600,116.375,578.450,0.000,0.000,23.616,40.799,271.307,0.250,0.000,19.541,2877.395,15275.813,619.215,3563.961,171.632,33.368,2051.623,0.000,3166.842,0.000,2.839,0.000
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$SENSOR_SECS,734.402,1227.436,742.942,85.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,66931,1117
$CAP_FILE_SIZE,206224,0
$CFSIZE,2097086464,2071068672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011112,001905,-4229.505,-719.620,25,1.6,26,-21.8