version: 66.07.10.p01
glider: 574
mission: 4
dive: 236
start: 11 17 112 23 32 43
data:
$ID,574
$MISSION,4
$DIVE,236
$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,278
$T_MISSION,300
$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,-6581.8164
$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,52
$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,1
$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,215
$GPS1,171112,232329,-4201.371,-652.010,38,1.2,38,-22.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-71.9
$GPS2,171112,233148,-4201.398,-651.856,44,3.4,63,-22.0
$SPEED_LIMITS,0.208,0.275
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.146,0.234
$KALMAN_X,-350272.8,151.2,-135.0,510043.6,431.6
$KALMAN_Y,151840.4,-401.5,-219.1,-58210.4,-1913.5
$MHEAD_RNG_PITCHd_Wd,54.0,103647,-21.2,-11.990
$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,-0.79,-145.9,0.0,0.0,0,92,0.00,0.00,-65.97,0.000,2,0.000,0.000,67,1940,2637,0,0,0,0,0,0
$GC,95,-0.79,-145.9,3.1,-1.4,11,139,12.27,1.65,-23.27,0.000,4,0.265,0.076,2752,947,3424,0,0,0,0,0,0
$GC,189,-0.75,-145.9,13.6,-14.4,26,196,0.05,1.50,0.00,0.000,6,0.181,0.039,2762,1888,3425,0,0,0,0,0,0
$GC,269,-0.75,-145.9,24.3,-12.0,39,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1888,3425,0,0,0,0,0,0
$GC,345,-0.75,-145.9,34.4,-12.3,52,353,0.00,1.08,0.00,0.000,4,0.000,0.048,2759,2581,3425,0,0,0,0,0,0
$GC,405,-0.75,-145.9,41.7,-11.9,62,412,0.00,1.08,0.00,0.000,6,0.000,0.047,2760,1906,3425,0,0,0,0,0,0
$GC,641,-0.75,-145.9,69.9,-12.2,103,645,0.00,0.85,0.00,0.000,4,0.000,0.057,2760,1369,3426,0,0,0,0,0,0
$GC,702,-0.75,-145.9,77.8,-12.0,114,710,0.00,0.85,0.00,0.000,6,0.000,0.039,2758,1928,3426,0,0,0,0,0,0
$GC,1050,-0.75,-145.9,118.9,-11.6,157,1053,0.00,1.50,0.00,0.000,4,0.000,0.057,2758,1007,3426,0,0,0,0,0,0
$GC,1104,-0.75,-145.9,126.0,-12.4,160,1110,0.05,1.42,0.00,0.000,6,0.178,0.036,2765,1912,3426,0,0,0,0,0,0
$GC,1433,-0.87,-145.9,156.8,-9.1,181,1437,0.10,0.80,0.00,0.000,4,0.120,0.054,2729,1411,3426,0,0,0,0,0,0
$GC,1454,-0.92,-145.9,159.6,-10.8,182,1458,0.00,0.77,0.00,0.000,6,0.000,0.039,2726,1922,3426,0,0,0,0,0,0
$GC,1781,-0.94,-145.9,194.5,-10.7,203,1785,0.00,2.17,0.00,0.000,4,0.000,0.050,2715,3314,3427,0,0,0,0,0,0
$GC,1852,-0.91,-145.9,202.6,-11.8,207,1856,0.00,2.15,0.00,0.000,6,0.000,0.042,2715,1911,3426,0,0,0,0,0,0
$GC,2177,-0.84,-145.9,243.9,-12.6,228,2182,0.10,2.25,0.00,0.000,4,0.202,0.058,2739,507,3427,0,0,0,0,0,0
$GC,2265,-0.81,-145.9,254.1,-11.8,233,2270,0.08,2.15,0.00,0.000,6,0.205,0.034,2745,1915,3427,0,0,0,0,0,0
$GC,2593,-0.81,-145.9,290.1,-11.3,249,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1915,3427,0,0,0,0,0,0
$GC,2901,-0.83,-145.9,324.5,-10.7,264,2904,0.00,0.50,0.00,0.000,4,0.000,0.053,2745,1577,3427,0,0,0,0,0,0
$GC,2947,-0.89,-145.9,329.2,-10.3,266,2951,0.03,0.50,0.00,0.000,6,0.112,0.041,2727,1929,3427,0,0,0,0,0,0
$GC,3280,-0.91,-145.9,364.5,-10.8,282,3284,0.00,1.75,0.00,0.000,4,0.000,0.054,2726,818,3427,0,0,0,0,0,0
$GC,3326,-0.86,-145.9,370.2,-12.3,284,3330,0.08,1.67,0.00,0.000,6,0.210,0.034,2734,1918,3427,0,0,0,0,0,0
$GC,3650,-0.92,-145.9,404.6,-10.6,299,3653,0.00,1.75,0.00,0.000,4,0.000,0.056,2733,809,3426,0,0,0,0,0,0
$GC,3690,-0.89,-145.9,409.6,-11.6,300,3693,0.00,1.70,0.00,0.000,6,0.000,0.034,2727,1923,3426,0,0,0,0,0,0
$GC,4025,-0.84,-145.9,452.2,-12.9,311,4028,0.00,1.25,0.00,0.000,4,0.000,0.052,2727,1142,3426,0,0,0,0,0,0
$GC,4093,-0.79,-145.9,461.0,-13.2,313,4097,0.08,1.20,0.00,0.000,6,0.165,0.036,2745,1918,3426,0,0,0,0,0,0
$GC,4432,-0.79,-145.9,502.4,-12.2,324,4436,0.00,0.73,0.00,0.000,4,0.000,0.051,2745,1456,3425,0,0,0,0,0,0
$GC,4493,-0.79,-145.9,509.8,-12.0,325,4498,0.00,0.73,0.00,0.000,6,0.000,0.037,2743,1930,3425,0,0,0,0,0,0
$GC,4806,-0.79,-145.9,545.7,-11.3,336,4809,0.00,1.33,0.00,0.000,4,0.000,0.052,2743,1104,3424,0,0,0,0,0,0
$GC,4874,-0.79,-145.9,553.2,-10.5,338,4878,0.03,1.23,0.00,0.000,6,0.198,0.036,2746,1900,3425,0,0,0,0,0,0
$GC,5213,-0.79,-145.9,586.8,-9.7,349,5217,0.00,0.90,0.00,0.000,4,0.000,0.053,2746,1334,3424,0,0,0,0,0,0
$GC,5274,-0.79,-145.9,592.7,-9.5,350,5280,0.00,0.93,0.00,0.000,6,0.000,0.037,2744,1929,3424,0,0,0,0,0,0
$GC,5587,-0.79,-145.9,622.0,-9.4,361,5591,0.00,1.23,0.00,0.000,4,0.000,0.053,2744,1164,3423,0,0,0,0,0,0
$GC,5655,-0.79,-145.9,628.7,-9.5,363,5659,0.03,1.15,0.00,0.000,6,0.199,0.037,2746,1913,3423,0,0,0,0,0,0
$GC,5995,-0.79,-145.9,662.8,-10.3,374,5999,0.00,2.28,0.00,0.000,4,0.000,0.057,2746,499,3422,0,0,0,0,0,0
$GC,6066,-0.79,-145.9,670.7,-11.0,376,6071,0.08,2.20,0.00,0.000,6,0.204,0.035,2753,1934,3422,0,0,0,0,0,0
$GC,6396,-0.82,-145.9,704.6,-10.5,387,6399,0.00,1.62,0.00,0.000,4,0.000,0.052,2753,887,3421,0,0,0,0,0,0
$GC,6468,-0.86,-145.9,712.6,-10.3,389,6472,0.00,1.60,0.00,0.000,6,0.000,0.034,2747,1920,3421,0,0,0,0,0,0
$GC,6804,-0.88,-145.9,748.4,-10.8,400,6807,0.00,1.55,0.00,0.000,4,0.000,0.052,2747,954,3420,0,0,0,0,0,0
$GC,6872,-0.91,-145.9,755.7,-10.1,402,6876,0.03,1.48,0.00,0.000,6,0.120,0.035,2724,1909,3420,0,0,0,0,0,0
$GC,7213,-0.91,-145.9,795.1,-11.5,413,7216,0.00,0.45,0.00,0.000,4,0.000,0.052,2724,1598,3420,0,0,0,0,0,0
$GC,7267,-0.91,-145.9,801.8,-12.0,414,7272,0.00,0.47,0.00,0.000,6,0.000,0.043,2722,1920,3419,0,0,0,0,0,0
$GC,7586,-0.91,-145.9,838.6,-11.4,425,7590,0.00,1.20,0.00,0.000,4,0.000,0.050,2722,1159,3419,0,0,0,0,0,0
$GC,7663,-0.87,-145.9,848.2,-12.6,427,7668,0.00,1.15,0.00,0.000,6,0.000,0.037,2716,1904,3419,0,0,0,0,0,0
$GC,7993,-0.84,-145.9,888.3,-12.0,438,7998,0.10,0.68,0.00,0.000,4,0.203,0.051,2740,1481,3418,0,0,0,0,0,0
$GC,8054,-0.84,-145.9,895.2,-10.9,439,8060,0.00,0.68,0.00,0.000,6,0.000,0.039,2739,1925,3418,0,0,0,0,0,0
$GC,8367,-0.84,-145.9,928.0,-10.5,450,8371,0.00,0.85,0.00,0.000,4,0.000,0.050,2740,1384,3418,0,0,0,0,0,0
$GC,8439,-0.84,-145.9,936.1,-11.9,452,8443,0.00,0.82,0.00,0.000,6,0.000,0.037,2737,1920,3418,0,0,0,0,0,0
$GC,8774,-0.84,-145.9,971.9,-10.9,463,8778,0.00,1.17,0.00,0.000,4,0.000,0.050,2739,1182,3417,0,0,0,0,0,0
$GC,8857,-0.84,-145.9,981.8,-11.4,465,8862,0.00,1.10,0.00,0.000,6,0.000,0.035,2735,1899,3417,0,0,0,0,0,0
$STATE,9028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9028,begin apogee
$GC,9032,-0.19,0.0,1000.9,11.4,471,9162,0.73,0.00,126.22,1.512,6,0.153,0.000,2944,1641,2827,0,0,0,0,0,0
$STATE,9163,end apogee,CONTROL_FINISHED_OK
$STATE,9163,begin climb
$GC,9164,0.79,145.9,1007.7,0.0,475,9304,1.00,0.85,132.75,1.464,4,0.073,0.040,3264,2154,2231,0,0,0,0,0,0
$GC,9421,0.59,208.0,1002.7,8.6,483,9484,0.22,0.82,57.45,1.444,6,0.203,0.051,3213,1663,1979,0,0,0,0,0,0
$GC,9797,0.54,247.5,967.2,9.8,496,9837,0.10,0.77,35.62,1.444,4,0.224,0.057,3195,1171,1817,0,0,0,0,0,0
$GC,9896,0.54,288.3,957.9,9.7,499,9940,0.00,0.75,38.12,1.415,6,0.000,0.041,3195,1648,1651,0,0,0,0,0,0
$GC,10265,0.59,332.5,922.1,9.6,511,10307,0.00,0.00,40.12,1.385,6,0.000,0.000,3195,1648,1470,0,0,0,0,0,0
$GC,10601,0.67,387.1,891.2,9.0,522,10656,0.10,0.85,49.88,1.380,4,0.116,0.040,3230,2186,1248,0,0,0,0,0,0
$GC,10700,0.71,396.0,880.2,11.5,525,10715,0.00,0.88,9.32,1.164,6,0.000,0.051,3233,1654,1212,0,0,0,0,0,0
$GC,11035,0.75,402.1,842.0,11.7,536,11046,0.08,1.65,6.35,1.040,4,0.135,0.061,3264,639,1187,0,0,0,0,0,0
$GC,11107,0.75,402.1,831.9,14.4,538,11111,0.00,1.60,0.00,0.000,6,0.000,0.037,3265,1650,1185,0,0,0,0,0,0
$GC,11436,0.75,402.1,787.5,13.5,549,11440,0.00,0.32,0.00,0.000,4,0.000,0.064,3266,1445,1184,0,0,0,0,0,0
$GC,11558,0.75,402.1,770.7,14.1,552,11562,0.00,0.32,0.00,0.000,6,0.000,0.051,3266,1667,1183,0,0,0,0,0,0
$GC,11876,0.75,402.1,726.5,13.7,563,11880,0.00,1.58,0.00,0.000,4,0.000,0.062,3273,698,1183,0,0,0,0,0,0
$GC,11936,0.75,402.1,717.7,14.1,564,11943,0.03,1.48,0.00,0.000,6,0.204,0.038,3263,1643,1181,0,0,0,0,0,0
$GC,12249,0.75,402.1,676.3,13.1,575,12253,0.00,1.40,0.00,0.000,4,0.000,0.061,3266,790,1182,0,0,0,0,0,0
$GC,12310,0.73,402.1,668.1,13.2,576,12316,0.05,1.35,0.00,0.000,6,0.183,0.039,3253,1656,1181,0,0,0,0,0,0
$GC,12623,0.73,402.1,628.6,12.6,587,12626,0.00,0.68,0.00,0.000,4,0.000,0.061,3255,1239,1181,0,0,0,0,0,0
$GC,12678,0.73,402.1,621.4,12.8,588,12682,0.00,0.62,0.00,0.000,6,0.000,0.041,3255,1661,1181,0,0,0,0,0,0
$GC,12996,0.75,402.1,582.0,12.3,599,13000,0.00,1.52,0.00,0.000,4,0.000,0.062,3261,718,1181,0,0,0,0,0,0
$GC,13064,0.75,402.1,573.5,12.5,601,13068,0.00,1.42,0.00,0.000,6,0.000,0.038,3261,1637,1181,0,0,0,0,0,0
$GC,13404,0.75,402.1,530.9,12.6,612,13408,0.00,1.25,0.00,0.000,4,0.000,0.060,3266,874,1181,0,0,0,0,0,0
$GC,13464,0.75,402.1,523.0,12.5,613,13470,0.00,1.23,0.00,0.000,6,0.000,0.038,3266,1654,1181,0,0,0,0,0,0
$GC,13777,0.75,402.1,484.7,12.1,624,13781,0.00,1.00,0.00,0.000,4,0.000,0.060,3267,1045,1181,0,0,0,0,0,0
$GC,13838,0.75,402.1,477.2,12.5,625,13844,0.00,0.95,0.00,0.000,6,0.000,0.039,3267,1653,1181,0,0,0,0,0,0
$GC,14151,0.75,403.8,439.7,11.9,636,14154,0.00,1.17,0.00,0.000,4,0.000,0.062,3267,938,1181,0,0,0,0,0,0
$GC,14205,0.75,403.8,432.9,12.4,637,14210,0.00,1.12,0.00,0.000,6,0.000,0.039,3267,1652,1180,0,0,0,0,0,0
$GC,14537,0.75,408.1,394.3,11.7,649,14547,0.00,1.58,5.90,0.841,4,0.000,0.061,3267,684,1162,0,0,0,0,0,0
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$GC,17548,0.79,436.2,18.9,12.8,887,17556,0.08,1.58,0.00,0.000,6,0.172,0.035,3272,1665,1046,0,0,0,0,0,0
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$STATE,17673,end climb,SURFACE_DEPTH_REACHED
$STATE,17673,begin surface coast
$FINISH,1.6,1.014560
$STATE,17692,end surface coast,CONTROL_FINISHED_OK
$STATE,17693,begin surface
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$TT8_MAMPS,0.026215
$HUMID,47.44
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.3,55.445
$10V_AH,10.1,40.066
$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
$DEVICE_SECS,24.375,110.950,561.350,0.000,0.000,28.560,40.266,262.465,0.250,0.000,66.857,2354.518,12061.373,610.789,3070.793,168.900,33.369,1840.473,0.000,2637.543,0.000,2.836,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.210,997.940,598.416,69.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,53685,910
$CAP_FILE_SIZE,175474,0
$CFSIZE,2097086464,2061271040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181112,043035,-4200.645,-649.783,70,0.8,70,-22.0