version: 66.07.10.p01
glider: 574
mission: 4
dive: 332
start: 12 7 112 19 45 26
data:
$ID,574
$MISSION,4
$DIVE,332
$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,-6905.5518
$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,32
$R_STBD_OVSHOOT,45
$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,311
$GPS1,071212,193653,-4157.778,-554.562,40,0.9,40,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-74.7
$GPS2,071212,194505,-4157.734,-554.511,27,1.1,28,-22.1
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4203.134,-541.916
$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,-145.9,0.0,0.0,0,83,0.00,0.00,-54.58,0.000,2,0.000,0.000,66,1959,2255,0,0,0,0,0,0
$GC,86,-0.84,-145.9,3.1,-0.9,9,147,12.18,2.28,-40.10,0.000,4,0.259,0.070,2725,3339,3423,0,0,0,0,0,0
$GC,202,-0.81,-145.9,12.8,-11.9,28,210,0.05,2.22,0.00,0.000,6,0.160,0.049,2741,1958,3424,0,0,0,0,0,0
$GC,284,-0.89,-145.9,21.8,-10.7,41,291,0.00,1.38,0.00,0.000,4,0.000,0.061,2741,1115,3425,0,0,0,0,0,0
$GC,329,-0.93,-145.9,26.8,-12.0,48,336,0.05,1.30,0.00,0.000,6,0.080,0.040,2706,1939,3425,0,0,0,0,0,0
$GC,408,-0.93,-145.9,36.3,-12.0,61,413,0.00,2.22,0.00,0.000,4,0.000,0.052,2696,3358,3425,0,0,0,0,0,0
$GC,479,-0.90,-145.9,45.1,-13.1,73,485,0.10,2.22,0.00,0.000,6,0.174,0.045,2720,1942,3424,0,0,0,0,0,0
$GC,712,-0.94,-145.9,73.1,-11.6,114,719,0.00,1.23,0.00,0.000,4,0.000,0.058,2721,1176,3425,0,0,0,0,0,0
$GC,746,-0.94,-145.9,77.4,-12.0,120,754,0.00,1.20,0.00,0.000,6,0.000,0.035,2716,1959,3425,0,0,0,0,0,0
$GC,1087,-0.99,-145.9,116.9,-11.8,164,1091,0.08,1.77,0.00,0.000,4,0.126,0.058,2683,864,3426,0,0,0,0,0,0
$GC,1140,-0.90,-145.9,123.6,-13.5,167,1144,0.17,1.67,0.00,0.000,6,0.164,0.038,2722,1950,3425,0,0,0,0,0,0
$GC,1470,-0.99,-145.9,161.7,-11.4,188,1475,0.10,2.22,0.00,0.000,4,0.108,0.050,2671,3366,3426,0,0,0,0,0,0
$GC,1538,-0.92,-145.9,170.4,-12.9,192,1542,0.15,2.22,0.00,0.000,6,0.165,0.044,2710,1938,3426,0,0,0,0,0,0
$GC,1859,-0.97,-145.9,205.3,-10.7,212,1863,0.00,0.80,0.00,0.000,4,0.000,0.044,2708,2464,3427,0,0,0,0,0,0
$GC,1921,-1.04,-145.9,212.2,-10.2,215,1927,0.05,0.80,0.00,0.000,6,0.076,0.045,2676,1944,3427,0,0,0,0,0,0
$GC,2243,-0.99,-145.9,247.6,-11.0,236,2247,0.08,2.25,0.00,0.000,4,0.200,0.058,2693,540,3426,0,0,0,0,0,0
$GC,2292,-0.93,-145.9,253.9,-12.1,239,2297,0.10,2.17,0.00,0.000,6,0.189,0.036,2707,1958,3427,0,0,0,0,0,0
$GC,2617,-0.95,-145.9,286.1,-10.3,255,2621,0.00,0.77,0.00,0.000,4,0.000,0.052,2707,1461,3427,0,0,0,0,0,0
$GC,2644,-0.95,-145.9,289.6,-10.3,256,2648,0.00,0.77,0.00,0.000,6,0.000,0.038,2705,1966,3427,0,0,0,0,0,0
$GC,2972,-0.98,-145.9,324.2,-11.0,272,2976,0.00,1.70,0.00,0.000,4,0.000,0.055,2705,901,3427,0,0,0,0,0,0
$GC,3018,-0.98,-145.9,329.6,-11.6,274,3022,0.00,1.62,0.00,0.000,6,0.000,0.037,2697,1946,3427,0,0,0,0,0,0
$GC,3350,-0.98,-145.9,367.2,-11.6,290,3354,0.00,0.95,0.00,0.000,4,0.000,0.052,2697,1346,3428,0,0,0,0,0,0
$GC,3377,-0.98,-145.9,370.7,-11.9,291,3382,0.00,0.95,0.00,0.000,6,0.000,0.037,2693,1959,3427,0,0,0,0,0,0
$GC,3704,-0.98,-145.9,408.4,-11.7,306,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1959,3427,0,0,0,0,0,0
$GC,4010,-0.98,-145.9,443.5,-11.3,316,4014,0.00,0.40,0.00,0.000,4,0.000,0.048,2690,2256,3427,0,0,0,0,0,0
$GC,4251,-1.03,-145.9,469.7,-10.6,323,4255,0.00,0.45,0.00,0.000,6,0.000,0.050,2691,1945,3427,0,0,0,0,0,0
$GC,4586,-1.03,-145.9,502.5,-9.3,334,4590,0.00,2.22,0.00,0.000,4,0.000,0.057,2691,550,3427,0,0,0,0,0,0
$GC,4653,-1.01,-145.9,509.4,-10.5,336,4657,0.00,2.15,0.00,0.000,6,0.000,0.034,2681,1958,3427,0,0,0,0,0,0
$GC,4988,-1.01,-145.9,540.8,-9.7,347,4992,0.00,1.02,0.00,0.000,4,0.000,0.044,2675,2636,3427,0,0,0,0,0,0
$GC,5049,-1.01,-145.9,547.2,-10.5,348,5054,0.00,1.05,0.00,0.000,6,0.000,0.044,2676,1956,3427,0,0,0,0,0,0
$GC,5362,-1.01,-145.9,581.4,-11.2,359,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1956,3427,0,0,0,0,0,0
$GC,5668,-0.97,-145.9,616.8,-11.7,369,5673,0.10,1.88,0.00,0.000,4,0.193,0.044,2691,3154,3426,0,0,0,0,0,0
$GC,5723,-1.00,-145.9,623.3,-11.5,370,5728,0.00,1.88,0.00,0.000,6,0.000,0.038,2692,1945,3426,0,0,0,0,0,0
$GC,6043,-1.05,-145.9,658.4,-10.9,381,6047,0.00,2.20,0.00,0.000,4,0.000,0.047,2683,3350,3426,0,0,0,0,0,0
$GC,6108,-1.05,-145.9,666.4,-11.8,383,6113,0.00,2.17,0.00,0.000,6,0.000,0.037,2683,1950,3425,0,0,0,0,0,0
$GC,6444,-1.05,-145.9,703.6,-10.9,394,6448,0.00,0.98,0.00,0.000,4,0.000,0.043,2679,2586,3424,0,0,0,0,0,0
$GC,6513,-1.10,-145.9,710.9,-11.2,396,6517,0.03,0.98,0.00,0.000,6,0.101,0.043,2656,1953,3425,0,0,0,0,0,0
$GC,6853,-1.04,-145.9,748.1,-11.0,407,6857,0.08,1.27,0.00,0.000,4,0.207,0.043,2666,2766,3424,0,0,0,0,0,0
$GC,6908,-1.01,-145.9,754.2,-10.8,408,6912,0.05,1.27,0.00,0.000,6,0.164,0.042,2681,1947,3424,0,0,0,0,0,0
$GC,7226,-0.99,-145.9,786.1,-10.3,419,7230,0.00,1.38,0.00,0.000,4,0.000,0.052,2681,1076,3423,0,0,0,0,0,0
$GC,7261,-0.95,-145.9,789.7,-10.6,420,7265,0.08,1.35,0.00,0.000,6,0.163,0.037,2700,1948,3423,0,0,0,0,0,0
$GC,7601,-0.99,-145.9,822.5,-9.6,431,7605,0.00,2.25,0.00,0.000,4,0.000,0.054,2700,542,3423,0,0,0,0,0,0
$GC,7684,-0.99,-145.9,831.7,-11.5,433,7689,0.00,2.20,0.00,0.000,6,0.000,0.035,2691,1949,3422,0,0,0,0,0,0
$GC,8009,-0.99,-145.9,866.4,-10.9,444,8013,0.00,2.25,0.00,0.000,4,0.000,0.054,2691,550,3422,0,0,0,0,0,0
$GC,8063,-0.93,-145.9,873.2,-12.3,445,8070,0.12,2.20,0.00,0.000,6,0.182,0.036,2711,1958,3422,0,0,0,0,0,0
$GC,8377,-1.02,-145.9,905.0,-10.0,456,8381,0.08,0.38,0.00,0.000,4,0.132,0.051,2680,2234,3421,0,0,0,0,0,0
$GC,8499,-1.02,-145.9,918.2,-11.4,459,8503,0.00,0.45,0.00,0.000,6,0.000,0.049,2680,1938,3420,0,0,0,0,0,0
$GC,8817,-1.02,-145.9,952.1,-10.9,470,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1938,3420,0,0,0,0,0,0
$GC,9124,-0.99,-145.9,986.3,-11.4,480,9128,0.00,2.20,0.00,0.000,4,0.000,0.054,2679,555,3420,0,0,0,0,0,0
$GC,9196,-0.94,-145.9,995.5,-13.0,482,9201,0.15,2.17,0.00,0.000,6,0.178,0.036,2708,1943,3420,0,0,0,0,0,0
$STATE,9249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9249,begin apogee
$GC,9255,-0.21,0.0,1001.2,10.6,484,9388,0.77,0.00,130.07,1.502,6,0.140,0.000,2938,1507,2827,0,0,0,0,0,0
$STATE,9389,end apogee,CONTROL_FINISHED_OK
$STATE,9389,begin climb
$GC,9391,0.84,145.9,1010.3,0.0,488,9532,1.02,1.58,134.27,1.447,4,0.070,0.060,3280,619,2232,0,0,0,0,0,0
$GC,9617,0.56,243.1,1013.2,6.2,495,9715,0.28,1.48,90.85,1.424,6,0.200,0.038,3201,1519,1836,0,0,0,0,0,0
$GC,10033,0.54,317.9,982.4,7.3,509,10108,0.00,2.38,67.47,1.412,4,0.000,0.066,3210,177,1530,0,0,0,0,0,0
$GC,10194,0.54,360.3,969.0,8.9,514,10239,0.08,2.10,39.67,1.369,6,0.208,0.035,3194,1503,1358,0,0,0,0,0,0
$GC,10558,0.69,415.4,939.2,8.3,526,10613,0.12,0.43,50.88,1.386,4,0.096,0.060,3241,1231,1132,0,0,0,0,0,0
$GC,10625,0.73,431.0,932.7,10.3,528,10644,0.00,0.40,16.10,1.252,6,0.000,0.045,3241,1499,1068,0,0,0,0,0,0
$GC,10959,0.83,457.0,899.3,9.8,539,10990,0.12,1.40,24.40,1.327,4,0.104,0.067,3291,672,962,0,0,0,0,0,0
$GC,11017,0.74,457.0,891.7,13.8,540,11024,0.12,1.30,0.00,0.000,6,0.174,0.038,3257,1509,960,0,0,0,0,0,0
$GC,11331,0.83,463.2,857.5,10.8,551,11342,0.08,2.17,6.10,1.014,4,0.126,0.042,3284,2893,938,0,0,0,0,0,0
$GC,11405,0.87,463.2,848.2,13.2,553,11409,0.00,2.22,0.00,0.000,6,0.000,0.049,3293,1504,937,0,0,0,0,0,0
$GC,11728,0.87,463.2,806.2,13.2,564,11732,0.00,2.20,0.00,0.000,4,0.000,0.070,3292,160,936,0,0,0,0,0,0
$GC,11782,0.78,463.2,798.1,16.1,565,11789,0.08,2.08,0.00,0.000,6,0.177,0.039,3273,1480,934,0,0,0,0,0,0
$GC,12096,0.84,463.2,758.8,12.3,576,12100,0.00,2.20,0.00,0.000,4,0.000,0.045,3273,2910,934,0,0,0,0,0,0
$GC,12173,0.97,463.2,748.8,12.1,578,12178,0.15,2.25,0.00,0.000,6,0.089,0.050,3331,1493,933,0,0,0,0,0,0
$GC,12503,0.91,463.2,702.1,14.2,589,12507,0.10,2.22,0.00,0.000,4,0.213,0.046,3308,2905,934,0,0,0,0,0,0
$GC,12580,0.81,463.2,690.8,14.5,591,12585,0.17,2.25,0.00,0.000,6,0.198,0.051,3277,1500,934,0,0,0,0,0,0
$GC,12904,0.87,467.7,655.3,10.9,602,12914,0.00,1.42,5.07,0.877,4,0.000,0.065,3280,604,920,0,0,0,0,0,0
$GC,12938,0.87,467.7,651.4,11.6,603,12941,0.00,1.40,0.00,0.000,6,0.000,0.040,3279,1507,920,0,0,0,0,0,0
$GC,13279,0.90,481.3,614.7,10.4,614,13299,0.08,2.22,15.07,1.144,4,0.132,0.068,3319,168,863,0,0,0,0,0,0
$GC,13350,0.79,481.3,604.8,14.6,616,13355,0.20,2.08,0.00,0.000,6,0.185,0.041,3271,1492,862,0,0,0,0,0,0
$GC,13679,0.86,485.1,568.9,10.9,627,13689,0.00,2.25,4.28,0.760,4,0.000,0.072,3274,174,848,0,0,0,0,0,0
$GC,13746,0.90,485.1,560.4,12.9,629,13751,0.10,2.08,0.00,0.000,6,0.114,0.041,3312,1507,848,0,0,0,0,0,0
$GC,14086,0.90,485.1,513.6,14.1,640,14090,0.00,2.22,0.00,0.000,4,0.000,0.071,3319,170,849,0,0,0,0,0,0
$GC,14153,0.79,485.1,503.0,17.0,642,14158,0.20,2.08,0.00,0.000,6,0.184,0.041,3270,1494,848,0,0,0,0,0,0
$GC,14488,0.88,485.1,461.0,12.1,653,14493,0.08,2.25,0.00,0.000,4,0.135,0.072,3305,160,848,0,0,0,0,0,0
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$GC,14856,0.90,491.0,417.4,10.8,665,14870,0.00,2.30,6.97,0.888,4,0.000,0.070,3298,163,825,0,0,0,0,0,0
$GC,14922,0.93,491.6,409.9,11.1,667,14926,0.00,2.08,0.00,0.000,6,0.000,0.041,3298,1502,825,0,0,0,0,0,0
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$STATE,18052,end climb,SURFACE_DEPTH_REACHED
$STATE,18052,begin surface coast
$FINISH,1.8,1.015390
$STATE,18077,end surface coast,CONTROL_FINISHED_OK
$STATE,18077,begin surface
$SM_CCo,18155,0.00,0.000,0,0,760,507.03
$SM_GC,2.71,8.95,0.00,0.00,0.054,0.000,0.000,88,1939,760,-9.09,-0.31,507.03
$IRIDIUM_FIX,-4146.69,-354.82,071212,141454
$TT8_MAMPS,0.026964
$HUMID,48.46
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.0,78.913
$10V_AH,10.0,50.334
$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
$DEVICE_SECS,27.300,158.475,606.425,0.000,0.000,29.879,42.355,278.005,0.250,0.000,30.030,2425.502,12240.407,641.216,3121.570,211.637,0.000,1916.912,0.000,2706.978,0.000,2.831,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.534,1011.738,610.247,73.061,0.000,0.000,0.000,0.000,0.000,0.000
$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,56973,921
$CAP_FILE_SIZE,190657,0
$CFSIZE,2097086464,2048425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081212,004905,-4157.727,-553.528,30,1.7,30,-22.1