version: 66.07.10.p01
glider: 574
mission: 4
dive: 358
start: 12 13 112 10 58 27
data:
$ID,574
$MISSION,4
$DIVE,358
$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,-6992.4746
$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,25
$R_STBD_OVSHOOT,63
$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,337
$GPS1,131212,104605,-4145.732,-531.272,32,1.4,32,-22.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-67.3
$GPS2,131212,105805,-4145.670,-531.086,28,1.3,29,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4151.069,-518.531
$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,142.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.84,-145.9,0.0,0.0,0,82,0.00,0.00,-54.10,0.000,2,0.000,0.000,65,1959,2172,0,0,0,0,0,0
$GC,84,-0.84,-145.9,3.0,-1.1,9,152,12.48,2.38,-43.90,0.000,4,0.265,0.076,2734,540,3423,0,0,0,0,0,0
$GC,225,-0.84,-145.9,14.9,-12.3,32,232,0.00,2.20,0.00,0.000,6,0.000,0.041,2728,1920,3423,0,0,0,0,0,0
$GC,306,-0.93,-145.9,23.5,-10.3,45,313,0.00,1.55,0.00,0.000,4,0.000,0.050,2721,2892,3423,0,0,0,0,0,0
$GC,369,-0.97,-145.9,30.0,-11.5,55,375,0.03,1.52,0.00,0.000,6,0.103,0.050,2700,1944,3423,0,0,0,0,0,0
$GC,604,-0.97,-145.9,58.6,-12.3,96,611,0.00,2.30,0.00,0.000,4,0.000,0.062,2701,542,3423,0,0,0,0,0,0
$GC,715,-0.93,-145.9,72.6,-12.6,115,720,0.08,2.17,0.00,0.000,6,0.203,0.039,2706,1956,3423,0,0,0,0,0,0
$GC,1060,-0.98,-145.9,112.7,-11.1,164,1063,0.00,0.52,0.00,0.000,4,0.000,0.049,2704,2332,3424,0,0,0,0,0,0
$GC,1098,-1.04,-145.9,117.4,-11.5,166,1103,0.08,0.62,0.00,0.000,6,0.129,0.050,2664,1930,3424,0,0,0,0,0,0
$GC,1426,-1.00,-145.9,156.0,-11.7,187,1430,0.10,2.28,0.00,0.000,4,0.185,0.050,2679,3359,3425,0,0,0,0,0,0
$GC,1511,-1.00,-145.9,166.0,-11.4,192,1515,0.00,2.20,0.00,0.000,6,0.000,0.045,2679,1956,3425,0,0,0,0,0,0
$GC,1838,-1.00,-145.9,201.9,-10.9,213,1842,0.00,1.30,0.00,0.000,4,0.000,0.047,2674,2781,3425,0,0,0,0,0,0
$GC,1881,-1.00,-145.9,207.4,-11.1,215,1888,0.03,1.30,0.00,0.000,6,0.189,0.044,2682,1952,3425,0,0,0,0,0,0
$GC,2202,-1.00,-145.9,243.5,-12.0,236,2206,0.00,2.28,0.00,0.000,4,0.000,0.060,2682,543,3426,0,0,0,0,0,0
$GC,2297,-0.94,-145.9,256.1,-13.1,241,2302,0.12,2.17,0.00,0.000,6,0.178,0.037,2704,1966,3426,0,0,0,0,0,0
$GC,2621,-1.00,-145.9,293.1,-12.0,257,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1967,3426,0,0,0,0,0,0
$GC,2928,-1.07,-145.9,330.0,-11.5,272,2932,0.10,1.98,0.00,0.000,4,0.110,0.057,2663,744,3426,0,0,0,0,0,0
$GC,2982,-1.00,-145.9,337.3,-13.3,274,2987,0.10,1.88,0.00,0.000,6,0.158,0.037,2685,1948,3426,0,0,0,0,0,0
$GC,3305,-1.03,-145.9,373.4,-11.1,290,3309,0.00,1.90,0.00,0.000,4,0.000,0.056,2685,759,3426,0,0,0,0,0,0
$GC,3367,-1.03,-145.9,380.7,-10.9,292,3374,0.00,1.85,0.00,0.000,6,0.000,0.037,2678,1949,3426,0,0,0,0,0,0
$GC,3682,-1.03,-145.9,413.1,-10.0,306,3685,0.00,1.48,0.00,0.000,4,0.000,0.047,2670,2896,3426,0,0,0,0,0,0
$GC,3731,-1.03,-145.9,418.5,-10.6,307,3735,0.00,1.48,0.00,0.000,6,0.000,0.043,2670,1951,3426,0,0,0,0,0,0
$GC,4055,-1.03,-145.9,451.7,-10.6,318,4059,0.00,2.22,0.00,0.000,4,0.000,0.047,2660,3365,3426,0,0,0,0,0,0
$GC,4110,-1.01,-145.9,458.0,-11.1,319,4117,0.10,2.20,0.00,0.000,6,0.180,0.040,2684,1950,3426,0,0,0,0,0,0
$GC,4424,-1.04,-145.9,489.9,-10.4,330,4428,0.00,2.22,0.00,0.000,4,0.000,0.048,2675,3362,3426,0,0,0,0,0,0
$GC,4495,-1.04,-145.9,498.0,-11.2,332,4500,0.00,2.20,0.00,0.000,6,0.000,0.039,2675,1946,3426,0,0,0,0,0,0
$GC,4825,-1.04,-145.9,532.5,-10.6,343,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1946,3426,0,0,0,0,0,0
$GC,5132,-1.04,-145.9,564.7,-10.5,353,5136,0.00,2.22,0.00,0.000,4,0.000,0.055,2675,548,3425,0,0,0,0,0,0
$GC,5209,-1.00,-145.9,573.6,-11.5,355,5214,0.10,2.17,0.00,0.000,6,0.187,0.036,2688,1948,3425,0,0,0,0,0,0
$GC,5533,-1.05,-145.9,607.6,-10.8,366,5537,0.00,1.90,0.00,0.000,4,0.000,0.054,2688,760,3424,0,0,0,0,0,0
$GC,5588,-1.05,-145.9,614.1,-11.6,367,5592,0.00,1.85,0.00,0.000,6,0.000,0.035,2681,1957,3424,0,0,0,0,0,0
$GC,5908,-1.09,-145.9,649.2,-10.9,378,5912,0.05,2.10,0.00,0.000,4,0.172,0.053,2658,653,3423,0,0,0,0,0,0
$GC,5962,-1.01,-145.9,655.9,-12.0,379,5968,0.10,2.00,0.00,0.000,6,0.167,0.034,2678,1947,3423,0,0,0,0,0,0
$GC,6276,-1.06,-145.9,689.9,-11.0,390,6279,0.00,1.38,0.00,0.000,4,0.000,0.052,2678,1083,3422,0,0,0,0,0,0
$GC,6330,-1.06,-145.9,696.4,-12.1,391,6335,0.00,1.35,0.00,0.000,6,0.000,0.036,2674,1951,3422,0,0,0,0,0,0
$GC,6650,-1.08,-145.9,731.6,-11.3,402,6654,0.00,2.28,0.00,0.000,4,0.000,0.054,2674,538,3422,0,0,0,0,0,0
$GC,6716,-1.05,-145.9,739.8,-11.8,404,6720,0.00,2.17,0.00,0.000,6,0.000,0.036,2664,1962,3422,0,0,0,0,0,0
$GC,7051,-1.05,-145.9,779.3,-12.2,415,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1962,3422,0,0,0,0,0,0
$GC,7357,-1.05,-145.9,817.0,-12.4,425,7361,0.00,2.17,0.00,0.000,4,0.000,0.048,2653,3358,3420,0,0,0,0,0,0
$GC,7435,-1.05,-145.9,827.4,-13.2,427,7440,0.05,2.20,0.00,0.000,6,0.165,0.039,2668,1949,3420,0,0,0,0,0,0
$GC,7760,-1.07,-145.9,865.8,-11.9,438,7763,0.00,1.48,0.00,0.000,4,0.000,0.053,2668,1015,3420,0,0,0,0,0,0
$GC,7814,-1.07,-145.9,872.7,-12.7,439,7819,0.00,1.45,0.00,0.000,6,0.000,0.036,2663,1946,3420,0,0,0,0,0,0
$GC,8133,-1.07,-145.9,909.6,-11.7,450,8137,0.00,1.08,0.00,0.000,4,0.000,0.050,2663,1277,3420,0,0,0,0,0,0
$GC,8168,-1.03,-145.9,913.7,-12.6,451,8172,0.05,1.05,0.00,0.000,6,0.175,0.038,2675,1956,3420,0,0,0,0,0,0
$GC,8509,-1.07,-145.9,952.2,-11.1,462,8513,0.00,2.17,0.00,0.000,4,0.000,0.048,2666,3353,3420,0,0,0,0,0,0
$GC,8586,-1.10,-145.9,961.4,-11.6,464,8591,0.00,2.20,0.00,0.000,6,0.000,0.039,2666,1950,3419,0,0,0,0,0,0
$GC,8917,-1.13,-145.9,996.4,-10.3,475,8921,0.00,2.25,0.00,0.000,4,0.000,0.054,2666,544,3419,0,0,0,0,0,0
$STATE,8950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8950,begin apogee
$GC,8956,-0.21,0.0,1000.4,11.2,476,9091,0.98,0.00,130.73,1.493,6,0.163,0.000,2936,1516,2827,0,0,0,0,0,0
$STATE,9091,end apogee,CONTROL_FINISHED_OK
$STATE,9091,begin climb
$GC,9093,0.84,145.9,1009.4,0.0,480,9238,1.08,2.12,136.68,1.470,4,0.067,0.063,3292,362,2232,0,0,0,0,0,0
$GC,9333,0.53,236.0,1011.3,6.5,488,9425,0.45,1.88,83.70,1.420,6,0.213,0.038,3192,1499,1863,0,0,0,0,0,0
$GC,9749,0.53,311.4,982.5,7.3,502,9824,0.00,2.35,67.82,1.417,4,0.000,0.067,3199,177,1556,0,0,0,0,0,0
$GC,9882,0.60,365.9,971.6,8.3,506,9938,0.00,2.12,50.85,1.383,6,0.000,0.037,3199,1516,1335,0,0,0,0,0,0
$GC,10245,0.75,425.4,941.3,8.1,518,10306,0.17,1.27,54.92,1.390,4,0.084,0.064,3267,785,1092,0,0,0,0,0,0
$GC,10322,0.75,448.3,932.8,9.9,520,10350,0.03,1.12,22.77,1.268,6,0.186,0.037,3260,1500,999,0,0,0,0,0,0
$GC,10674,0.84,451.8,894.5,10.9,532,10679,0.08,2.08,0.00,0.000,4,0.131,0.070,3288,235,990,0,0,0,0,0,0
$GC,10706,0.84,451.8,890.5,12.5,533,10711,0.00,1.98,0.00,0.000,6,0.000,0.038,3288,1493,988,0,0,0,0,0,0
$GC,11042,0.84,451.8,851.8,11.4,544,11046,0.00,2.17,0.00,0.000,4,0.000,0.070,3293,177,987,0,0,0,0,0,0
$GC,11080,0.81,451.8,847.0,12.4,545,11085,0.05,2.08,0.00,0.000,6,0.177,0.040,3279,1505,985,0,0,0,0,0,0
$GC,11415,0.86,455.6,810.4,10.9,556,11426,0.00,2.20,5.88,0.996,4,0.000,0.068,3281,176,968,0,0,0,0,0,0
$GC,11464,0.86,455.6,804.5,11.2,557,11469,0.00,2.08,0.00,0.000,6,0.000,0.040,3281,1492,967,0,0,0,0,0,0
$GC,11784,0.89,455.6,767.7,11.8,568,11787,0.00,2.20,0.00,0.000,4,0.000,0.071,3282,175,967,0,0,0,0,0,0
$GC,11838,0.89,455.6,760.7,12.9,569,11844,0.00,2.08,0.00,0.000,6,0.000,0.040,3281,1498,966,0,0,0,0,0,0
$GC,12152,0.94,455.6,722.2,12.4,580,12156,0.10,2.20,0.00,0.000,4,0.110,0.047,3320,2906,966,0,0,0,0,0,0
$GC,12229,0.89,455.6,710.9,14.6,582,12234,0.12,2.22,0.00,0.000,6,0.197,0.050,3302,1502,966,0,0,0,0,0,0
$GC,12552,0.89,455.6,668.0,13.4,593,12556,0.00,2.12,0.00,0.000,4,0.000,0.069,3310,206,965,0,0,0,0,0,0
$GC,12585,0.85,455.6,663.4,15.0,594,12590,0.05,2.03,0.00,0.000,6,0.184,0.040,3295,1499,964,0,0,0,0,0,0
$GC,12920,0.85,455.6,618.8,13.5,605,12924,0.00,2.22,0.00,0.000,4,0.000,0.071,3301,164,964,0,0,0,0,0,0
$GC,12986,0.85,455.6,609.4,14.5,607,12991,0.03,2.10,0.00,0.000,6,0.197,0.041,3294,1497,964,0,0,0,0,0,0
$GC,13321,0.85,455.6,564.7,13.4,618,13325,0.00,2.20,0.00,0.000,4,0.000,0.047,3294,2900,963,0,0,0,0,0,0
$GC,13409,0.90,455.6,552.8,13.1,620,13415,0.00,2.25,0.00,0.000,6,0.000,0.051,3302,1493,963,0,0,0,0,0,0
$GC,13722,0.90,455.6,512.5,12.9,631,13726,0.00,2.17,0.00,0.000,4,0.000,0.070,3307,170,963,0,0,0,0,0,0
$GC,13777,0.87,455.6,505.2,13.1,632,13783,0.00,2.10,0.00,0.000,6,0.000,0.042,3307,1503,963,0,0,0,0,0,0
$GC,14090,0.87,455.6,466.7,12.2,643,14094,0.00,1.75,0.00,0.000,4,0.000,0.068,3313,439,963,0,0,0,0,0,0
$GC,14128,0.83,455.6,461.9,12.4,644,14133,0.10,1.65,0.00,0.000,6,0.159,0.041,3285,1508,963,0,0,0,0,0,0
$GC,14464,0.90,464.3,424.8,10.7,655,14478,0.05,1.52,8.88,0.958,4,0.170,0.066,3315,595,934,0,0,0,0,0,0
$GC,14506,0.88,464.3,419.8,11.9,656,14511,0.05,1.40,0.00,0.000,6,0.177,0.041,3300,1505,933,0,0,0,0,0,0
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$GC,17758,0.95,493.2,14.6,10.5,911,17772,0.00,2.25,5.65,0.618,4,0.000,0.044,3319,2897,816,0,0,0,0,0,0
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$STATE,17858,end climb,SURFACE_DEPTH_REACHED
$STATE,17858,begin surface coast
$FINISH,1.7,1.003284
$STATE,17883,end surface coast,CONTROL_FINISHED_OK
$STATE,17883,begin surface
$SM_CCo,17961,0.00,0.000,0,0,812,494.27
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$IRIDIUM_FIX,-4132.26,-532.58,131212,050533
$TT8_MAMPS,0.026964
$HUMID,49.09
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.8,85.553
$10V_AH,9.9,53.242
$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
$DEVICE_SECS,26.025,163.450,587.900,0.000,0.000,30.598,43.525,498.846,0.250,0.000,31.817,2381.137,12164.672,639.466,3271.287,220.122,0.000,1863.470,0.000,2645.428,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.074,1030.241,616.005,75.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,56926,931
$CAP_FILE_SIZE,180815,0
$CFSIZE,2097086464,2045018112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,131212,160122,-4145.317,-530.512,181,1.1,181,-22.3