version: 66.07.10.p01
glider: 574
mission: 4
dive: 361
start: 12 14 112 2 29 26
data:
$ID,574
$MISSION,4
$DIVE,361
$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,-7002.2886
$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,53
$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,340
$GPS1,141212,022023,-4143.921,-529.927,40,1.6,40,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.5
$GPS2,141212,022905,-4143.914,-529.865,30,1.0,30,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4149.313,-517.315
$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,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,-54.58,0.000,2,0.000,0.000,66,1965,2105,0,0,0,0,0,0
$GC,86,-0.84,-145.9,3.1,-1.2,9,153,12.43,2.35,-49.08,0.000,4,0.264,0.074,2736,546,3422,0,0,0,0,0,0
$GC,245,-0.87,-145.9,14.8,-10.2,35,253,0.00,2.17,0.00,0.000,6,0.000,0.037,2728,1924,3423,0,0,0,0,0,0
$GC,327,-0.92,-145.9,22.8,-10.1,48,334,0.00,1.48,0.00,0.000,4,0.000,0.048,2721,2860,3423,0,0,0,0,0,0
$GC,372,-0.99,-145.9,27.8,-11.5,55,380,0.05,1.45,0.00,0.000,6,0.074,0.047,2690,1952,3423,0,0,0,0,0,0
$GC,449,-0.99,-145.9,37.6,-12.9,68,456,0.00,2.33,0.00,0.000,4,0.000,0.063,2690,543,3423,0,0,0,0,0,0
$GC,517,-0.90,-145.9,46.6,-14.1,79,523,0.15,2.20,0.00,0.000,6,0.182,0.038,2717,1957,3423,0,0,0,0,0,0
$GC,748,-0.97,-145.9,72.6,-9.3,120,755,0.00,0.57,0.00,0.000,4,0.000,0.047,2715,2361,3423,0,0,0,0,0,0
$GC,796,-1.05,-145.9,77.3,-10.2,128,801,0.08,0.65,0.00,0.000,6,0.068,0.049,2674,1936,3423,0,0,0,0,0,0
$GC,1135,-1.05,-145.9,113.1,-10.4,174,1138,0.00,1.45,0.00,0.000,4,0.000,0.058,2674,1037,3424,0,0,0,0,0,0
$GC,1179,-0.98,-145.9,117.8,-10.5,176,1187,0.08,1.42,0.00,0.000,6,0.164,0.037,2690,1950,3424,0,0,0,0,0,0
$GC,1500,-0.98,-145.9,150.6,-11.2,197,1503,0.00,1.17,0.00,0.000,4,0.000,0.047,2685,2719,3424,0,0,0,0,0,0
$GC,1538,-0.98,-145.9,155.4,-11.6,199,1543,0.00,1.23,0.00,0.000,6,0.000,0.044,2685,1942,3424,0,0,0,0,0,0
$GC,1864,-0.98,-145.9,192.5,-11.6,220,1868,0.00,2.22,0.00,0.000,4,0.000,0.048,2675,3356,3425,0,0,0,0,0,0
$GC,1947,-0.96,-145.9,202.3,-12.3,225,1951,0.10,2.20,0.00,0.000,6,0.178,0.043,2700,1946,3424,0,0,0,0,0,0
$GC,2272,-1.00,-145.9,240.4,-11.8,246,2276,0.00,2.22,0.00,0.000,4,0.000,0.048,2690,3358,3425,0,0,0,0,0,0
$GC,2338,-1.00,-145.9,249.2,-12.5,250,2343,0.00,2.20,0.00,0.000,6,0.000,0.041,2690,1956,3425,0,0,0,0,0,0
$GC,2661,-1.03,-145.9,288.4,-12.4,266,2665,0.00,2.20,0.00,0.000,4,0.000,0.048,2680,3356,3425,0,0,0,0,0,0
$GC,2726,-1.03,-145.9,296.4,-12.1,269,2730,0.00,2.17,0.00,0.000,6,0.000,0.041,2680,1948,3425,0,0,0,0,0,0
$GC,3054,-1.03,-145.9,333.3,-10.3,285,3058,0.00,2.22,0.00,0.000,4,0.000,0.055,2680,542,3425,0,0,0,0,0,0
$GC,3138,-0.99,-145.9,342.6,-10.5,288,3146,0.05,2.20,0.00,0.000,6,0.171,0.034,2685,1964,3425,0,0,0,0,0,0
$GC,3456,-1.02,-145.9,371.4,-9.0,304,3460,0.00,0.65,0.00,0.000,4,0.000,0.045,2683,2421,3425,0,0,0,0,0,0
$GC,3502,-1.05,-145.9,375.6,-8.9,306,3506,0.00,0.73,0.00,0.000,6,0.000,0.046,2683,1942,3425,0,0,0,0,0,0
$GC,3845,-1.07,-145.9,410.2,-11.1,321,3849,0.00,2.22,0.00,0.000,4,0.000,0.055,2683,547,3425,0,0,0,0,0,0
$GC,3924,-1.05,-145.9,419.7,-11.2,323,3928,0.00,2.15,0.00,0.000,6,0.000,0.034,2673,1949,3425,0,0,0,0,0,0
$GC,4242,-1.05,-145.9,457.0,-11.7,334,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1949,3425,0,0,0,0,0,0
$GC,4548,-1.05,-145.9,492.6,-11.6,344,4551,0.00,1.80,0.00,0.000,4,0.000,0.052,2673,802,3425,0,0,0,0,0,0
$GC,4603,-1.01,-145.9,499.4,-12.3,345,4607,0.05,1.77,0.00,0.000,6,0.168,0.036,2681,1949,3425,0,0,0,0,0,0
$GC,4922,-1.04,-145.9,533.4,-10.7,356,4926,0.00,0.43,0.00,0.000,4,0.000,0.054,2681,1662,3425,0,0,0,0,0,0
$GC,5062,-1.06,-145.9,547.9,-9.6,360,5066,0.00,0.43,0.00,0.000,6,0.000,0.047,2680,1956,3424,0,0,0,0,0,0
$GC,5398,-1.10,-145.9,579.8,-9.2,371,5403,0.05,2.28,0.00,0.000,4,0.171,0.054,2656,552,3423,0,0,0,0,0,0
$GC,5460,-1.02,-145.9,586.3,-10.3,373,5465,0.15,2.15,0.00,0.000,6,0.177,0.034,2683,1955,3423,0,0,0,0,0,0
$GC,5797,-1.06,-145.9,617.0,-9.6,384,5800,0.00,1.08,0.00,0.000,4,0.000,0.050,2683,1281,3423,0,0,0,0,0,0
$GC,5868,-1.06,-145.9,624.8,-10.5,386,5873,0.00,1.02,0.00,0.000,6,0.000,0.038,2680,1952,3423,0,0,0,0,0,0
$GC,6204,-1.10,-145.9,661.4,-11.2,397,6209,0.05,2.28,0.00,0.000,4,0.169,0.054,2658,551,3422,0,0,0,0,0,0
$GC,6276,-1.03,-145.9,670.9,-13.6,399,6280,0.12,2.15,0.00,0.000,6,0.182,0.035,2679,1963,3422,0,0,0,0,0,0
$GC,6606,-1.07,-145.9,709.5,-11.8,410,6609,0.00,0.52,0.00,0.000,4,0.000,0.052,2679,1615,3422,0,0,0,0,0,0
$GC,6712,-1.10,-145.9,721.7,-10.8,413,6716,0.03,0.50,0.00,0.000,6,0.106,0.044,2658,1959,3422,0,0,0,0,0,0
$GC,7046,-1.10,-145.9,760.3,-11.7,424,7050,0.00,2.25,0.00,0.000,4,0.000,0.054,2658,545,3421,0,0,0,0,0,0
$GC,7143,-1.03,-145.9,771.9,-11.9,427,7148,0.12,2.12,0.00,0.000,6,0.182,0.035,2678,1941,3421,0,0,0,0,0,0
$GC,7479,-1.06,-145.9,806.8,-10.3,438,7482,0.00,0.55,0.00,0.000,4,0.000,0.047,2676,2329,3420,0,0,0,0,0,0
$GC,7523,-1.10,-145.9,811.9,-10.7,439,7527,0.00,0.57,0.00,0.000,6,0.000,0.047,2676,1941,3420,0,0,0,0,0,0
$GC,7853,-1.14,-145.9,847.5,-11.0,450,7857,0.10,0.62,0.00,0.000,4,0.117,0.052,2638,1534,3419,0,0,0,0,0,0
$GC,7887,-1.07,-145.9,851.5,-12.1,451,7891,0.10,0.62,0.00,0.000,6,0.166,0.041,2664,1955,3419,0,0,0,0,0,0
$GC,8227,-1.07,-145.9,890.8,-11.7,462,8231,0.00,2.25,0.00,0.000,4,0.000,0.054,2664,545,3419,0,0,0,0,0,0
$GC,8304,-1.03,-145.9,900.7,-13.3,464,8309,0.10,2.15,0.00,0.000,6,0.191,0.035,2678,1942,3419,0,0,0,0,0,0
$GC,8628,-1.07,-145.9,938.2,-11.7,475,8632,0.00,2.22,0.00,0.000,4,0.000,0.054,2678,552,3418,0,0,0,0,0,0
$GC,8717,-1.07,-145.9,949.7,-12.4,477,8723,0.00,2.17,0.00,0.000,6,0.000,0.036,2670,1942,3418,0,0,0,0,0,0
$GC,9030,-1.07,-145.9,986.4,-11.7,488,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1942,3417,0,0,0,0,0,0
$STATE,9153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9154,begin apogee
$GC,9159,-0.21,0.0,1000.3,11.4,492,9293,0.93,0.00,129.82,1.493,6,0.142,0.000,2942,1507,2827,0,0,0,0,0,0
$STATE,9293,end apogee,CONTROL_FINISHED_OK
$STATE,9293,begin climb
$GC,9295,0.84,145.9,1009.9,0.0,496,9440,1.02,2.55,134.77,1.443,4,0.071,0.044,3278,2905,2230,0,0,0,0,0,0
$GC,9615,0.57,234.2,1008.2,6.6,506,9702,0.38,2.30,79.38,1.439,6,0.214,0.047,3202,1501,1871,0,0,0,0,0,0
$GC,10009,0.55,283.1,975.4,8.6,518,10058,0.00,2.35,43.80,1.407,4,0.000,0.045,3202,2902,1672,0,0,0,0,0,0
$GC,10139,0.60,299.1,962.9,10.3,522,10159,0.00,2.28,15.60,1.324,6,0.000,0.047,3211,1500,1606,0,0,0,0,0,0
$GC,10474,0.63,334.2,931.2,9.3,533,10508,0.00,0.00,32.35,1.370,6,0.000,0.000,3211,1500,1464,0,0,0,0,0,0
$GC,10813,0.71,379.0,900.9,8.8,544,10862,0.10,2.33,41.65,1.373,4,0.114,0.045,3247,2883,1280,0,0,0,0,0,0
$GC,10920,0.80,411.3,890.0,9.5,547,10956,0.00,2.25,30.85,1.346,6,0.000,0.049,3254,1502,1150,0,0,0,0,0,0
$GC,11276,0.86,431.4,853.7,10.1,559,11301,0.10,2.28,19.42,1.281,4,0.114,0.045,3289,2912,1067,0,0,0,0,0,0
$GC,11359,0.91,431.4,843.8,11.8,561,11363,0.00,2.28,0.00,0.000,6,0.000,0.050,3298,1498,1065,0,0,0,0,0,0
$GC,11676,0.91,431.4,803.7,12.9,572,11680,0.00,0.40,0.00,0.000,4,0.000,0.047,3298,1780,1063,0,0,0,0,0,0
$GC,11782,0.94,431.4,789.9,13.0,575,11786,0.00,0.47,0.00,0.000,6,0.000,0.061,3299,1492,1063,0,0,0,0,0,0
$GC,12117,0.94,431.4,747.1,12.7,586,12121,0.00,2.17,0.00,0.000,4,0.000,0.069,3307,172,1063,0,0,0,0,0,0
$GC,12173,0.86,431.4,739.5,13.8,587,12179,0.03,2.10,0.00,0.000,6,0.210,0.040,3300,1507,1060,0,0,0,0,0,0
$GC,12485,0.86,431.4,701.0,12.1,598,12489,0.00,1.40,0.00,0.000,4,0.000,0.044,3300,2416,1060,0,0,0,0,0,0
$GC,12546,0.86,431.4,693.3,12.5,599,12552,0.05,1.48,0.00,0.000,6,0.174,0.053,3290,1504,1061,0,0,0,0,0,0
$GC,12859,0.86,431.4,656.8,11.5,610,12862,0.00,0.68,0.00,0.000,4,0.000,0.044,3290,1953,1060,0,0,0,0,0,0
$GC,12961,0.91,445.0,645.4,10.4,613,12980,0.00,0.73,13.20,1.141,6,0.000,0.058,3292,1502,1012,0,0,0,0,0,0
$GC,13299,0.91,452.7,608.8,10.7,624,13313,0.00,2.28,8.65,1.030,4,0.000,0.047,3292,2901,981,0,0,0,0,0,0
$GC,13386,0.97,467.6,599.4,10.3,626,13408,0.08,2.25,15.98,1.135,6,0.126,0.050,3331,1493,920,0,0,0,0,0,0
$GC,13733,0.92,467.6,557.5,12.6,638,13737,0.08,0.98,0.00,0.000,4,0.213,0.044,3317,2110,917,0,0,0,0,0,0
$GC,13801,0.95,467.6,548.7,12.7,640,13805,0.00,1.00,0.00,0.000,6,0.000,0.056,3320,1494,916,0,0,0,0,0,0
$GC,14142,0.95,467.6,503.4,13.6,651,14146,0.00,2.17,0.00,0.000,4,0.000,0.070,3329,171,915,0,0,0,0,0,0
$GC,14208,0.87,467.6,493.5,14.7,653,14213,0.12,2.10,0.00,0.000,6,0.189,0.041,3299,1497,913,0,0,0,0,0,0
$GC,14543,0.89,467.6,448.2,13.4,664,14547,0.00,1.88,0.00,0.000,4,0.000,0.047,3299,2716,913,0,0,0,0,0,0
$GC,14598,0.96,467.6,440.5,13.2,665,14603,0.00,1.98,0.00,0.000,6,0.000,0.052,3306,1501,913,0,0,0,0,0,0
$GC,14917,0.99,467.6,397.6,13.6,676,14919,0.08,0.00,0.00,0.000,6,0.129,0.000,3337,1502,913,0,0,0,0,0,0
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$GC,17841,1.03,488.9,34.5,13.4,899,17846,0.00,1.40,0.00,0.000,4,0.000,0.066,3333,661,831,0,0,0,0,0,0
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$STATE,18095,end climb,SURFACE_DEPTH_REACHED
$STATE,18095,begin surface coast
$FINISH,1.7,1.026180
$STATE,18126,end surface coast,CONTROL_FINISHED_OK
$STATE,18126,begin surface
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$TT8_MAMPS,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.8,86.324
$10V_AH,9.9,53.583
$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
$DEVICE_SECS,26.525,146.100,588.375,0.000,0.000,32.744,65.270,273.929,0.250,0.000,32.538,2457.660,12170.542,629.052,3229.269,233.450,0.000,1910.257,0.000,2791.229,0.000,2.834,0.000
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$SENSOR_SECS,610.955,1076.148,625.797,79.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,56974,947
$CAP_FILE_SIZE,185877,0
$CFSIZE,2097086464,2044624896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,141212,073405,-4143.727,-529.397,41,1.1,41,-22.3