version: 66.07.10.p01
glider: 574
mission: 4
dive: 287
start: 11 28 112 23 54 48
data:
$ID,574
$MISSION,4
$DIVE,287
$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,480
$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,0
$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,-6756.064
$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,24
$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,57
$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,4
$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,266
$GPS1,281112,234434,-4143.088,-623.084,38,1.5,42,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-75.1
$GPS2,281112,235353,-4143.153,-623.137,44,1.3,45,-22.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP1s
$TGT_LATLONG,-4200.000,-500.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.178,0.153
$KALMAN_X,-393912.2,259.2,2754.2,589657.5,-17869.1
$KALMAN_Y,27892.5,-310.6,1430.1,97790.9,-519.4
$MHEAD_RNG_PITCHd_Wd,127.5,118600,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.59,-145.9,0.0,0.0,0,57,0.00,0.00,-30.40,0.000,2,0.000,0.000,70,1925,2040,0,0,0,0,0,0
$GC,60,-0.59,-145.9,3.0,-1.1,5,140,12.38,2.25,-57.58,0.000,4,0.259,0.063,2802,3294,3422,0,0,0,0,0,0
$GC,202,-0.65,-145.9,10.1,-9.4,28,209,0.00,2.22,0.00,0.000,6,0.000,0.047,2802,1914,3423,0,0,0,0,0,0
$GC,283,-0.72,-145.9,17.1,-8.9,41,290,0.08,2.35,0.00,0.000,4,0.124,0.066,2769,508,3423,0,0,0,0,0,0
$GC,369,-0.65,-145.9,26.4,-10.5,55,377,0.12,2.17,0.00,0.000,6,0.138,0.036,2798,1888,3423,0,0,0,0,0,0
$GC,448,-0.73,-145.9,33.8,-9.0,68,456,0.08,2.30,0.00,0.000,4,0.126,0.051,2757,3317,3423,0,0,0,0,0,0
$GC,515,-0.73,-145.9,40.5,-10.6,79,521,0.08,2.22,0.00,0.000,6,0.175,0.043,2775,1901,3423,0,0,0,0,0,0
$GC,748,-0.76,-145.9,62.8,-9.3,120,755,0.00,2.05,0.00,0.000,4,0.000,0.047,2769,3179,3424,0,0,0,0,0,0
$GC,807,-0.82,-145.9,68.2,-9.7,130,813,0.05,2.00,0.00,0.000,6,0.164,0.044,2741,1903,3424,0,0,0,0,0,0
$GC,1155,-0.76,-145.9,103.7,-10.6,188,1160,0.10,2.12,0.00,0.000,4,0.174,0.057,2765,580,3424,0,0,0,0,0,0
$GC,1203,-0.69,-145.9,108.6,-10.9,191,1208,0.12,2.08,0.00,0.000,6,0.161,0.033,2789,1934,3424,0,0,0,0,0,0
$GC,1528,-0.79,-145.9,139.9,-9.7,212,1532,0.10,2.30,0.00,0.000,4,0.108,0.057,2746,505,3425,0,0,0,0,0,0
$GC,1590,-0.68,-145.9,147.4,-12.0,216,1595,0.20,2.17,0.00,0.000,6,0.153,0.034,2791,1925,3425,0,0,0,0,0,0
$GC,1918,-0.78,-145.9,179.9,-10.1,237,1922,0.10,2.30,0.00,0.000,4,0.106,0.057,2747,505,3425,0,0,0,0,0,0
$GC,1995,-0.70,-145.9,189.9,-12.3,241,2001,0.12,2.17,0.00,0.000,6,0.141,0.034,2788,1910,3425,0,0,0,0,0,0
$GC,2315,-0.79,-145.9,223.1,-10.6,262,2320,0.10,2.25,0.00,0.000,4,0.108,0.057,2743,505,3425,0,0,0,0,0,0
$GC,2397,-0.70,-145.9,233.0,-12.4,267,2402,0.20,2.15,0.00,0.000,6,0.151,0.034,2787,1920,3425,0,0,0,0,0,0
$GC,2731,-0.78,-145.9,266.1,-9.3,286,2735,0.08,2.30,0.00,0.000,4,0.125,0.055,2751,495,3425,0,0,0,0,0,0
$GC,2791,-0.72,-145.9,273.0,-11.7,288,2800,0.10,2.17,0.00,0.000,6,0.135,0.033,2775,1902,3425,0,0,0,0,0,0
$GC,3108,-0.78,-145.9,301.0,-8.7,304,3111,0.00,1.75,0.00,0.000,4,0.000,0.054,2776,803,3425,0,0,0,0,0,0
$GC,3153,-0.78,-145.9,305.1,-8.9,306,3156,0.00,1.70,0.00,0.000,6,0.000,0.034,2770,1915,3425,0,0,0,0,0,0
$GC,3485,-0.83,-145.9,335.0,-9.3,322,3490,0.08,0.75,0.00,0.000,4,0.126,0.052,2730,1443,3425,0,0,0,0,0,0
$GC,3513,-0.78,-145.9,338.0,-10.6,323,3517,0.08,0.73,0.00,0.000,6,0.149,0.038,2752,1923,3425,0,0,0,0,0,0
$GC,3841,-0.78,-145.9,370.3,-9.8,339,3845,0.00,1.00,0.00,0.000,4,0.000,0.050,2752,1296,3425,0,0,0,0,0,0
$GC,3873,-0.76,-145.9,373.9,-9.6,340,3878,0.05,0.95,0.00,0.000,6,0.152,0.035,2766,1917,3425,0,0,0,0,0,0
$GC,4205,-0.81,-145.9,404.0,-9.1,356,4209,0.00,2.28,0.00,0.000,4,0.000,0.056,2766,505,3425,0,0,0,0,0,0
$GC,4275,-0.81,-145.9,411.2,-10.1,358,4280,0.00,2.17,0.00,0.000,6,0.000,0.032,2758,1914,3425,0,0,0,0,0,0
$GC,4606,-0.85,-145.9,440.1,-8.8,369,4608,0.08,0.00,0.00,0.000,6,0.129,0.000,2722,1914,3425,0,0,0,0,0,0
$GC,4912,-0.78,-145.9,471.7,-10.4,379,4917,0.15,2.17,0.00,0.000,4,0.161,0.043,2753,3315,3424,0,0,0,0,0,0
$GC,4995,-0.82,-145.9,480.2,-10.1,381,4999,0.00,2.17,0.00,0.000,6,0.000,0.037,2753,1910,3424,0,0,0,0,0,0
$GC,5314,-0.84,-145.9,509.9,-9.4,392,5318,0.00,2.20,0.00,0.000,4,0.000,0.044,2744,3311,3424,0,0,0,0,0,0
$GC,5397,-0.88,-145.9,518.2,-9.7,394,5401,0.00,2.17,0.00,0.000,6,0.000,0.037,2744,1913,3424,0,0,0,0,0,0
$GC,5715,-0.88,-145.9,549.7,-10.1,405,5719,0.00,2.22,0.00,0.000,4,0.000,0.053,2744,506,3424,0,0,0,0,0,0
$GC,5769,-0.81,-145.9,555.8,-10.8,406,5775,0.00,2.17,0.00,0.000,6,0.000,0.033,2740,1907,3424,0,0,0,0,0,0
$GC,6082,-0.81,-145.9,587.2,-10.0,417,6086,0.00,1.90,0.00,0.000,4,0.000,0.044,2731,3140,3423,0,0,0,0,0,0
$GC,6149,-0.81,-145.9,594.2,-10.6,419,6154,0.05,1.92,0.00,0.000,6,0.134,0.037,2762,1902,3422,0,0,0,0,0,0
$GC,6489,-0.83,-145.9,624.2,-8.7,430,6493,0.00,0.57,0.00,0.000,4,0.000,0.041,2762,2298,3421,0,0,0,0,0,0
$GC,6505,-0.85,-145.9,625.7,-8.9,430,6510,0.08,0.60,0.00,0.000,6,0.125,0.045,2727,1902,3421,0,0,0,0,0,0
$GC,6829,-0.81,-145.9,655.9,-9.3,441,6833,0.10,2.25,0.00,0.000,4,0.168,0.044,2744,3327,3421,0,0,0,0,0,0
$GC,6883,-0.81,-145.9,661.0,-9.3,442,6889,0.00,2.17,0.00,0.000,6,0.000,0.036,2744,1924,3421,0,0,0,0,0,0
$GC,7196,-0.81,-145.9,689.9,-9.5,453,7200,0.00,2.20,0.00,0.000,4,0.000,0.045,2737,3326,3421,0,0,0,0,0,0
$GC,7263,-0.81,-145.9,696.6,-9.7,455,7267,0.00,2.17,0.00,0.000,6,0.000,0.036,2737,1910,3420,0,0,0,0,0,0
$GC,7597,-0.77,-145.9,729.2,-9.6,466,7602,0.10,1.58,0.00,0.000,4,0.181,0.043,2756,2900,3420,0,0,0,0,0,0
$GC,7634,-0.77,-145.9,732.8,-9.3,467,7639,0.00,1.55,0.00,0.000,6,0.000,0.037,2756,1904,3419,0,0,0,0,0,0
$GC,7970,-0.77,-145.9,761.5,-8.5,478,7974,0.00,0.82,0.00,0.000,4,0.000,0.043,2755,2449,3419,0,0,0,0,0,0
$GC,7991,-0.77,-145.9,763.5,-9.2,478,7995,0.00,0.85,0.00,0.000,6,0.000,0.041,2755,1902,3419,0,0,0,0,0,0
$GC,8309,-0.77,-145.9,790.3,-8.6,489,8313,0.00,1.52,0.00,0.000,4,0.000,0.043,2751,2866,3418,0,0,0,0,0,0
$GC,8343,-0.77,-145.9,793.3,-8.9,490,8347,0.00,1.48,0.00,0.000,6,0.000,0.038,2751,1917,3418,0,0,0,0,0,0
$GC,8683,-0.77,-145.9,822.6,-8.8,501,8687,0.00,0.82,0.00,0.000,4,0.000,0.042,2748,2459,3418,0,0,0,0,0,0
$GC,8706,-0.77,-145.9,824.8,-9.7,501,8709,0.00,0.85,0.00,0.000,6,0.000,0.043,2747,1903,3418,0,0,0,0,0,0
$GC,9023,-0.77,-145.9,855.3,-9.8,512,9028,0.03,2.25,0.00,0.000,4,0.270,0.047,2749,3317,3417,0,0,0,0,0,0
$GC,9072,-0.80,-145.9,860.6,-10.7,513,9076,0.00,2.17,0.00,0.000,6,0.000,0.037,2749,1925,3417,0,0,0,0,0,0
$GC,9391,-0.80,-145.9,891.8,-9.8,524,9394,0.00,1.85,0.00,0.000,4,0.000,0.046,2743,3085,3416,0,0,0,0,0,0
$GC,9428,-0.80,-145.9,895.8,-9.1,525,9433,0.00,1.83,0.00,0.000,6,0.000,0.037,2743,1914,3416,0,0,0,0,0,0
$GC,9764,-0.80,-145.9,928.1,-9.6,536,9767,0.00,1.40,0.00,0.000,4,0.000,0.044,2741,2800,3416,0,0,0,0,0,0
$GC,9798,-0.80,-145.9,931.5,-10.0,537,9801,0.00,1.38,0.00,0.000,6,0.000,0.039,2741,1914,3415,0,0,0,0,0,0
$GC,10138,-0.80,-145.9,961.0,-8.2,548,10142,0.00,0.93,0.00,0.000,4,0.000,0.043,2737,2516,3415,0,0,0,0,0,0
$GC,10158,-0.78,-145.9,963.0,-9.2,548,10163,0.05,0.93,0.00,0.000,6,0.148,0.041,2754,1913,3414,0,0,0,0,0,0
$GC,10478,-0.80,-145.9,986.3,-7.4,559,10482,0.00,2.22,0.00,0.000,4,0.000,0.048,2746,3314,3414,0,0,0,0,0,0
$GC,10521,-0.80,-145.9,990.0,-8.8,560,10526,0.00,2.17,0.00,0.000,6,0.000,0.036,2745,1915,3414,0,0,0,0,0,0
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10668,-0.21,0.0,1000.6,7.7,565,10799,0.65,0.00,128.27,1.497,6,0.127,0.000,2943,1642,2827,0,0,0,0,0,0
$STATE,10800,end apogee,CONTROL_FINISHED_OK
$STATE,10800,begin climb
$GC,10802,0.59,145.9,1007.6,0.0,569,10942,0.77,0.00,135.12,1.482,6,0.071,0.000,3197,1641,2232,0,0,0,0,0,0
$GC,11230,0.37,206.3,996.3,5.3,583,11292,0.25,0.35,54.53,1.451,4,0.184,0.064,3135,1422,1986,0,0,0,0,0,0
$GC,11319,0.37,268.8,992.0,5.3,585,11380,0.00,0.38,57.92,1.412,6,0.000,0.044,3135,1671,1731,0,0,0,0,0,0
$GC,11688,0.44,339.0,972.2,5.0,597,11758,0.05,2.47,64.32,1.417,4,0.168,0.066,3160,252,1444,0,0,0,0,0,0
$GC,11832,0.54,388.5,963.5,5.7,601,11887,0.08,2.22,47.35,1.375,6,0.135,0.034,3186,1655,1243,0,0,0,0,0,0
$GC,12211,0.65,388.5,936.4,7.5,614,12216,0.10,2.17,0.00,0.000,4,0.111,0.045,3227,3040,1234,0,0,0,0,0,0
$GC,12288,0.65,388.5,928.8,10.4,616,12293,0.00,2.22,0.00,0.000,6,0.000,0.045,3234,1660,1232,0,0,0,0,0,0
$GC,12612,0.65,388.5,896.6,10.2,627,12616,0.00,2.20,0.00,0.000,4,0.000,0.045,3234,3048,1232,0,0,0,0,0,0
$GC,12655,0.54,388.5,891.4,11.4,628,12660,0.12,2.25,0.00,0.000,6,0.161,0.045,3195,1647,1231,0,0,0,0,0,0
$GC,12979,0.66,388.5,860.5,9.8,639,12981,0.10,0.00,0.00,0.000,6,0.109,0.000,3239,1647,1230,0,0,0,0,0,0
$GC,13285,0.66,388.5,826.4,11.2,649,13290,0.05,2.20,0.00,0.000,4,0.208,0.045,3228,3040,1230,0,0,0,0,0,0
$GC,13347,0.63,388.5,819.3,12.3,651,13352,0.08,2.20,0.00,0.000,6,0.198,0.046,3218,1643,1229,0,0,0,0,0,0
$GC,13687,0.67,388.5,784.0,10.0,662,13691,0.00,1.45,0.00,0.000,4,0.000,0.064,3220,747,1230,0,0,0,0,0,0
$GC,13742,0.67,388.5,778.4,10.5,663,13746,0.00,1.40,0.00,0.000,6,0.000,0.037,3220,1651,1229,0,0,0,0,0,0
$GC,14060,0.67,388.5,749.1,8.9,674,14064,0.00,2.10,0.00,0.000,4,0.000,0.046,3220,2998,1229,0,0,0,0,0,0
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$STATE,21628,end climb,SURFACE_DEPTH_REACHED
$STATE,21628,begin surface coast
$FINISH,1.7,1.000927
$STATE,21665,end surface coast,CONTROL_FINISHED_OK
$STATE,21665,begin surface
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$IRIDIUM_FIX,-4126.50,-624.23,281112,171713
$TT8_MAMPS,0.026964
$HUMID,47.32
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.1,67.572
$10V_AH,10.1,45.854
$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
$DEVICE_SECS,27.450,185.800,487.525,0.000,0.000,30.724,40.350,319.029,0.250,0.000,47.997,2928.268,14886.629,591.779,3646.848,233.922,33.357,2018.094,0.000,3178.458,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
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$MEM,354560
$DATA_FILE_SIZE,80539,1127
$CAP_FILE_SIZE,214736,0
$CFSIZE,2097086464,2054291456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291112,055823,-4143.287,-624.122,40,1.3,40,-22.2