version: 66.07.10.p01
glider: 574
mission: 4
dive: 330
start: 12 7 112 9 16 14
data:
$ID,574
$MISSION,4
$DIVE,330
$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,300
$T_MISSION,325
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6899.1772
$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,1950
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,33
$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,309
$GPS1,071212,090729,-4158.159,-557.083,42,1.0,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-70.0
$GPS2,071212,091553,-4158.116,-557.085,44,1.0,44,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4203.516,-544.488
$TGT_RADIUS,1852.000
$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,142.1,20000,-19.9,-11.111
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.84,-145.9,0.0,0.0,0,77,0.00,0.00,-48.35,0.000,2,0.000,0.000,66,1959,2034,0,0,0,0,0,0
$GC,79,-0.84,-145.9,3.0,-1.3,8,153,11.90,1.45,-54.92,0.000,4,0.252,0.067,2730,2876,3422,0,0,0,0,0,0
$GC,191,-0.84,-145.9,9.8,-10.7,26,198,0.00,1.50,0.00,0.000,6,0.000,0.047,2730,1939,3422,0,0,0,0,0,0
$GC,272,-0.88,-145.9,19.0,-12.0,39,279,0.00,2.28,0.00,0.000,4,0.000,0.062,2730,548,3423,0,0,0,0,0,0
$GC,323,-0.82,-145.9,26.5,-14.7,47,331,0.08,2.22,0.00,0.000,6,0.162,0.041,2745,1950,3423,0,0,0,0,0,0
$GC,401,-0.90,-145.9,35.1,-9.5,60,409,0.08,2.17,0.00,0.000,4,0.130,0.052,2704,3307,3422,0,0,0,0,0,0
$GC,461,-0.83,-145.9,42.2,-12.8,70,469,0.10,2.15,0.00,0.000,6,0.142,0.043,2736,1944,3423,0,0,0,0,0,0
$GC,699,-0.94,-145.9,64.7,-8.5,111,705,0.08,0.00,0.00,0.000,6,0.131,0.000,2705,1944,3423,0,0,0,0,0,0
$GC,1049,-0.94,-145.9,102.4,-11.7,171,1053,0.00,1.58,0.00,0.000,4,0.000,0.045,2697,2944,3423,0,0,0,0,0,0
$GC,1104,-0.94,-145.9,109.9,-13.5,174,1109,0.00,1.55,0.00,0.000,6,0.000,0.043,2697,1953,3423,0,0,0,0,0,0
$GC,1431,-0.94,-145.9,150.3,-12.1,195,1435,0.00,2.25,0.00,0.000,4,0.000,0.059,2697,543,3424,0,0,0,0,0,0
$GC,1503,-0.87,-145.9,160.0,-12.3,199,1508,0.10,2.20,0.00,0.000,6,0.155,0.036,2727,1957,3424,0,0,0,0,0,0
$GC,1829,-0.95,-145.9,191.9,-9.6,220,1834,0.05,2.30,0.00,0.000,4,0.166,0.058,2703,542,3425,0,0,0,0,0,0
$GC,1895,-0.95,-145.9,199.6,-11.1,224,1900,0.00,2.20,0.00,0.000,6,0.000,0.035,2693,1959,3425,0,0,0,0,0,0
$GC,2222,-0.95,-145.9,233.7,-10.7,245,2227,0.03,2.17,0.00,0.000,4,0.290,0.047,2692,3355,3425,0,0,0,0,0,0
$GC,2293,-0.95,-145.9,241.2,-10.5,249,2297,0.00,2.17,0.00,0.000,6,0.000,0.039,2692,1941,3425,0,0,0,0,0,0
$GC,2609,-0.95,-145.9,277.7,-12.1,266,2614,0.03,2.22,0.00,0.000,4,0.282,0.054,2704,543,3425,0,0,0,0,0,0
$GC,2698,-0.91,-145.9,289.2,-12.4,270,2703,0.10,2.17,0.00,0.000,6,0.185,0.033,2718,1957,3425,0,0,0,0,0,0
$GC,3026,-0.98,-145.9,326.7,-11.3,286,3031,0.08,2.28,0.00,0.000,4,0.128,0.054,2686,543,3425,0,0,0,0,0,0
$GC,3081,-0.91,-145.9,334.4,-14.0,288,3089,0.10,2.17,0.00,0.000,6,0.155,0.033,2707,1952,3425,0,0,0,0,0,0
$GC,3398,-0.94,-145.9,371.2,-11.4,304,3401,0.00,0.65,0.00,0.000,4,0.000,0.044,2705,2407,3426,0,0,0,0,0,0
$GC,3469,-1.00,-145.9,378.9,-10.9,307,3472,0.00,0.70,0.00,0.000,6,0.000,0.045,2707,1942,3426,0,0,0,0,0,0
$GC,3810,-1.05,-145.9,415.6,-10.1,321,3814,0.10,1.58,0.00,0.000,4,0.112,0.044,2658,2942,3426,0,0,0,0,0,0
$GC,3865,-0.99,-145.9,422.2,-12.0,322,3870,0.10,1.52,0.00,0.000,6,0.153,0.040,2689,1955,3426,0,0,0,0,0,0
$GC,4183,-0.99,-145.9,454.6,-10.1,333,4187,0.00,1.98,0.00,0.000,4,0.000,0.046,2681,3201,3426,0,0,0,0,0,0
$GC,4244,-0.99,-145.9,461.4,-10.7,334,4250,0.00,1.95,0.00,0.000,6,0.000,0.038,2681,1949,3426,0,0,0,0,0,0
$GC,4557,-0.95,-145.9,496.0,-11.4,345,4562,0.10,1.30,0.00,0.000,4,0.200,0.042,2698,2782,3426,0,0,0,0,0,0
$GC,4612,-1.00,-145.9,502.5,-12.4,346,4617,0.00,1.30,0.00,0.000,6,0.000,0.039,2699,1939,3426,0,0,0,0,0,0
$GC,4932,-1.02,-145.9,537.0,-11.0,357,4935,0.00,2.20,0.00,0.000,4,0.000,0.045,2688,3350,3426,0,0,0,0,0,0
$GC,5009,-1.02,-145.9,546.2,-11.4,359,5013,0.00,2.15,0.00,0.000,6,0.000,0.037,2688,1960,3425,0,0,0,0,0,0
$GC,5339,-1.02,-145.9,584.3,-11.6,370,5343,0.00,2.17,0.00,0.000,4,0.000,0.046,2678,3357,3425,0,0,0,0,0,0
$GC,5404,-1.02,-145.9,592.7,-12.4,372,5409,0.00,2.17,0.00,0.000,6,0.000,0.037,2678,1953,3425,0,0,0,0,0,0
$GC,5741,-0.99,-145.9,632.0,-11.7,383,5745,0.05,2.20,0.00,0.000,4,0.239,0.045,2679,3351,3424,0,0,0,0,0,0
$GC,5823,-0.99,-145.9,642.0,-12.1,385,5827,0.00,2.17,0.00,0.000,6,0.000,0.037,2679,1946,3424,0,0,0,0,0,0
$GC,6142,-0.96,-145.9,679.1,-11.7,396,6147,0.10,2.20,0.00,0.000,4,0.200,0.053,2706,547,3424,0,0,0,0,0,0
$GC,6219,-0.96,-145.9,688.3,-11.2,398,6223,0.00,2.17,0.00,0.000,6,0.000,0.035,2697,1946,3424,0,0,0,0,0,0
$GC,6544,-1.00,-145.9,723.0,-10.8,409,6547,0.00,0.80,0.00,0.000,4,0.000,0.044,2693,2497,3423,0,0,0,0,0,0
$GC,6622,-1.06,-145.9,731.7,-11.1,411,6626,0.05,0.82,0.00,0.000,6,0.083,0.044,2663,1949,3423,0,0,0,0,0,0
$GC,6951,-0.99,-145.9,772.3,-12.7,422,6955,0.12,2.03,0.00,0.000,4,0.186,0.052,2698,681,3422,0,0,0,0,0,0
$GC,6994,-0.95,-145.9,778.1,-12.6,423,6999,0.03,1.98,0.00,0.000,6,0.200,0.036,2698,1952,3422,0,0,0,0,0,0
$GC,7318,-0.98,-145.9,815.6,-11.4,434,7322,0.00,2.17,0.00,0.000,4,0.000,0.047,2688,3356,3422,0,0,0,0,0,0
$GC,7401,-0.98,-145.9,826.0,-12.7,436,7406,0.00,2.17,0.00,0.000,6,0.000,0.037,2688,1957,3422,0,0,0,0,0,0
$GC,7720,-0.98,-145.9,863.3,-11.7,447,7724,0.00,2.25,0.00,0.000,4,0.000,0.054,2688,540,3421,0,0,0,0,0,0
$GC,7782,-0.91,-145.9,871.2,-12.7,449,7787,0.15,2.17,0.00,0.000,6,0.172,0.035,2717,1953,3421,0,0,0,0,0,0
$GC,8118,-1.00,-145.9,906.2,-10.4,460,8122,0.10,1.23,0.00,0.000,4,0.111,0.046,2674,2746,3421,0,0,0,0,0,0
$GC,8172,-1.00,-145.9,912.7,-11.9,461,8176,0.00,1.25,0.00,0.000,6,0.000,0.041,2674,1945,3421,0,0,0,0,0,0
$GC,8491,-0.97,-145.9,949.2,-11.2,472,8496,0.10,2.25,0.00,0.000,4,0.196,0.053,2698,541,3421,0,0,0,0,0,0
$GC,8558,-0.97,-145.9,957.0,-11.1,474,8562,0.00,2.15,0.00,0.000,6,0.000,0.035,2689,1952,3421,0,0,0,0,0,0
$GC,8892,-0.97,-145.9,991.3,-10.1,485,8896,0.00,2.25,0.00,0.000,4,0.000,0.054,2689,541,3420,0,0,0,0,0,0
$GC,8943,-0.90,-145.9,997.2,-12.1,486,8948,0.15,2.15,0.00,0.000,6,0.181,0.034,2716,1953,3420,0,0,0,0,0,0
$STATE,8984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8985,begin apogee
$GC,8990,-0.21,0.0,1001.3,10.2,488,9123,0.75,0.00,129.73,1.498,6,0.138,0.000,2941,1499,2827,0,0,0,0,0,0
$STATE,9124,end apogee,CONTROL_FINISHED_OK
$STATE,9124,begin climb
$GC,9126,0.84,145.9,1010.0,0.0,492,9267,1.00,1.02,135.15,1.489,4,0.073,0.060,3272,945,2232,0,0,0,0,0,0
$GC,9325,0.58,235.1,1014.2,6.6,498,9416,0.28,0.93,84.40,1.457,6,0.197,0.037,3205,1513,1867,0,0,0,0,0,0
$GC,9741,0.54,295.7,981.7,8.0,512,9802,0.08,2.28,54.80,1.424,4,0.228,0.045,3191,2884,1620,0,0,0,0,0,0
$GC,9892,0.60,356.2,968.6,8.0,516,9953,0.00,2.22,55.75,1.393,6,0.000,0.046,3199,1508,1373,0,0,0,0,0,0
$GC,10266,0.72,404.7,936.1,8.6,529,10317,0.12,2.30,44.50,1.386,4,0.098,0.068,3252,165,1176,0,0,0,0,0,0
$GC,10372,0.68,404.7,923.4,13.6,532,10377,0.08,2.10,0.00,0.000,6,0.200,0.037,3239,1492,1172,0,0,0,0,0,0
$GC,10696,0.75,405.1,886.9,11.1,543,10700,0.00,2.20,0.00,0.000,4,0.000,0.069,3240,170,1169,0,0,0,0,0,0
$GC,10751,0.78,405.1,880.1,12.1,544,10758,0.03,2.08,0.00,0.000,6,0.109,0.037,3258,1496,1167,0,0,0,0,0,0
$GC,11064,0.78,405.1,842.7,11.9,555,11068,0.00,2.17,0.00,0.000,4,0.000,0.045,3258,2905,1167,0,0,0,0,0,0
$GC,11090,0.78,405.1,839.4,12.7,555,11096,0.00,2.25,0.00,0.000,6,0.000,0.048,3266,1502,1166,0,0,0,0,0,0
$GC,11403,0.78,405.1,802.3,12.0,566,11407,0.00,2.20,0.00,0.000,4,0.000,0.072,3267,158,1166,0,0,0,0,0,0
$GC,11471,0.76,405.1,794.0,12.3,568,11476,0.00,2.10,0.00,0.000,6,0.000,0.039,3266,1511,1165,0,0,0,0,0,0
$GC,11806,0.76,405.1,756.0,11.1,579,11810,0.00,2.22,0.00,0.000,4,0.000,0.071,3267,168,1165,0,0,0,0,0,0
$GC,11878,0.69,405.1,747.1,12.4,581,11883,0.08,2.10,0.00,0.000,6,0.173,0.040,3246,1503,1165,0,0,0,0,0,0
$GC,12213,0.75,422.7,712.6,10.2,592,12237,0.00,2.08,16.85,1.222,4,0.000,0.070,3253,295,1103,0,0,0,0,0,0
$GC,12270,0.75,426.3,706.5,10.9,593,12280,0.00,1.90,4.55,0.853,6,0.000,0.040,3253,1506,1089,0,0,0,0,0,0
$GC,12617,0.81,435.0,669.7,10.7,605,12632,0.08,1.02,9.93,1.107,4,0.133,0.064,3288,892,1053,0,0,0,0,0,0
$GC,12650,0.77,435.0,665.6,12.8,606,12654,0.08,0.95,0.00,0.000,6,0.170,0.041,3267,1508,1053,0,0,0,0,0,0
$GC,12990,0.82,435.0,625.4,12.0,617,12994,0.00,2.08,0.00,0.000,4,0.000,0.070,3275,245,1051,0,0,0,0,0,0
$GC,13028,0.82,435.0,620.3,13.6,618,13033,0.00,1.95,0.00,0.000,6,0.000,0.040,3275,1483,1050,0,0,0,0,0,0
$GC,13364,0.85,435.0,578.2,12.5,629,13368,0.00,1.88,0.00,0.000,4,0.000,0.069,3279,347,1050,0,0,0,0,0,0
$GC,13398,0.83,435.0,573.5,13.5,630,13402,0.00,1.80,0.00,0.000,6,0.000,0.041,3279,1513,1049,0,0,0,0,0,0
$GC,13739,0.85,435.0,529.6,12.8,641,13743,0.00,2.25,0.00,0.000,4,0.000,0.071,3279,168,1049,0,0,0,0,0,0
$GC,13794,0.85,435.0,522.1,12.5,642,13798,0.00,2.10,0.00,0.000,6,0.000,0.041,3279,1495,1048,0,0,0,0,0,0
$GC,14113,0.85,435.0,482.2,12.4,653,14117,0.00,2.22,0.00,0.000,4,0.000,0.071,3280,163,1048,0,0,0,0,0,0
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$STATE,17986,end climb,SURFACE_DEPTH_REACHED
$STATE,17986,begin surface coast
$FINISH,1.7,1.003407
$STATE,18017,end surface coast,CONTROL_FINISHED_OK
$STATE,18017,begin surface
$SM_CCo,18094,0.00,0.000,0,0,925,466.31
$SM_GC,2.64,8.95,0.00,0.00,0.058,0.000,0.000,88,1964,925,-9.09,0.40,466.31
$IRIDIUM_FIX,-4143.80,-559.63,071212,040421
$TT8_MAMPS,0.026964
$HUMID,48.66
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.9,78.411
$10V_AH,10.0,50.109
$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
$DEVICE_SECS,26.225,185.200,564.025,0.000,0.000,24.466,38.757,285.280,0.250,0.000,45.974,2459.135,12098.482,621.892,3198.858,214.201,0.000,1918.837,0.000,2775.812,0.000,2.831,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.853,1056.366,618.475,79.412,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,56885,946
$CAP_FILE_SIZE,189717,0
$CFSIZE,2097086464,2048688128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071212,141859,-4158.101,-555.786,37,1.2,37,-22.1