version: 66.07.10.p01
glider: 574
mission: 4
dive: 371
start: 12 16 112 6 47 20
data:
$ID,574
$MISSION,4
$DIVE,371
$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,-7035.3052
$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,19
$R_STBD_OVSHOOT,43
$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,350
$GPS1,161212,063823,-4138.990,-528.238,62,1.1,62,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.8
$GPS2,161212,064659,-4138.894,-528.244,48,1.2,48,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4144.293,-515.710
$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,-145.9,0.0,0.0,0,71,0.00,0.00,-42.53,0.000,2,0.000,0.000,66,1947,2009,0,0,0,0,0,0
$GC,74,-0.84,-145.9,3.0,-1.7,7,159,12.23,2.30,-61.78,0.000,4,0.263,0.068,2727,3340,3422,0,0,0,0,0,0
$GC,222,-0.88,-145.9,12.0,-9.7,31,229,0.00,2.25,0.00,0.000,6,0.000,0.050,2727,1949,3424,0,0,0,0,0,0
$GC,302,-0.93,-145.9,19.4,-9.2,44,309,0.00,2.05,0.00,0.000,4,0.000,0.067,2727,717,3424,0,0,0,0,0,0
$GC,364,-0.95,-145.9,25.9,-10.5,54,372,0.00,1.92,0.00,0.000,6,0.000,0.040,2718,1934,3424,0,0,0,0,0,0
$GC,444,-0.99,-145.9,34.4,-11.2,67,449,0.08,0.93,0.00,0.000,4,0.127,0.049,2682,2535,3424,0,0,0,0,0,0
$GC,481,-0.95,-145.9,38.6,-12.1,73,487,0.05,0.93,0.00,0.000,6,0.169,0.048,2698,1945,3424,0,0,0,0,0,0
$GC,714,-0.98,-145.9,65.8,-11.5,114,721,0.00,2.28,0.00,0.000,4,0.000,0.063,2699,557,3424,0,0,0,0,0,0
$GC,791,-0.98,-145.9,74.4,-11.4,127,796,0.00,2.17,0.00,0.000,6,0.000,0.038,2690,1960,3425,0,0,0,0,0,0
$GC,1134,-0.98,-145.9,113.5,-11.6,175,1138,0.00,0.62,0.00,0.000,4,0.000,0.045,2686,2392,3426,0,0,0,0,0,0
$GC,1173,-1.00,-145.9,118.3,-11.7,177,1177,0.00,0.70,0.00,0.000,6,0.000,0.049,2686,1948,3426,0,0,0,0,0,0
$GC,1497,-1.00,-145.9,155.7,-11.8,198,1501,0.00,2.22,0.00,0.000,4,0.000,0.060,2686,549,3426,0,0,0,0,0,0
$GC,1580,-0.95,-145.9,165.5,-12.1,203,1585,0.12,2.15,0.00,0.000,6,0.177,0.036,2708,1959,3426,0,0,0,0,0,0
$GC,1905,-1.02,-145.9,202.5,-11.7,224,1910,0.08,2.17,0.00,0.000,4,0.128,0.057,2675,622,3426,0,0,0,0,0,0
$GC,1968,-0.96,-145.9,210.8,-13.1,228,1972,0.12,2.03,0.00,0.000,6,0.178,0.036,2697,1955,3426,0,0,0,0,0,0
$GC,2295,-1.01,-145.9,249.4,-11.7,249,2299,0.00,2.28,0.00,0.000,4,0.000,0.057,2697,548,3427,0,0,0,0,0,0
$GC,2372,-1.01,-145.9,259.3,-11.7,253,2377,0.00,2.17,0.00,0.000,6,0.000,0.034,2688,1948,3427,0,0,0,0,0,0
$GC,2697,-1.04,-145.9,296.5,-11.8,269,2700,0.00,0.90,0.00,0.000,4,0.000,0.050,2687,1377,3427,0,0,0,0,0,0
$GC,2774,-1.04,-145.9,306.4,-12.2,272,2779,0.00,0.90,0.00,0.000,6,0.000,0.039,2684,1959,3427,0,0,0,0,0,0
$GC,3097,-1.06,-145.9,345.1,-11.8,288,3101,0.00,2.30,0.00,0.000,4,0.000,0.056,2684,536,3427,0,0,0,0,0,0
$GC,3162,-1.03,-145.9,353.0,-12.4,291,3166,0.00,2.17,0.00,0.000,6,0.000,0.035,2674,1952,3427,0,0,0,0,0,0
$GC,3490,-1.03,-145.9,392.3,-11.5,307,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1952,3427,0,0,0,0,0,0
$GC,3816,-1.03,-145.9,427.4,-10.2,319,3820,0.00,2.20,0.00,0.000,4,0.000,0.047,2663,3363,3426,0,0,0,0,0,0
$GC,3893,-1.03,-145.9,435.6,-9.8,321,3898,0.08,2.20,0.00,0.000,6,0.190,0.039,2679,1936,3426,0,0,0,0,0,0
$GC,4217,-1.05,-145.9,467.4,-10.0,332,4221,0.00,1.20,0.00,0.000,4,0.000,0.041,2675,2710,3426,0,0,0,0,0,0
$GC,4256,-1.05,-145.9,471.6,-10.0,333,4260,0.00,1.17,0.00,0.000,6,0.000,0.042,2675,1948,3426,0,0,0,0,0,0
$GC,4591,-1.05,-145.9,506.9,-10.8,344,4595,0.00,2.20,0.00,0.000,4,0.000,0.046,2665,3355,3425,0,0,0,0,0,0
$GC,4635,-1.05,-145.9,512.1,-11.2,345,4639,0.00,2.17,0.00,0.000,6,0.000,0.037,2665,1955,3425,0,0,0,0,0,0
$GC,4959,-1.05,-145.9,548.6,-11.4,356,4963,0.00,1.70,0.00,0.000,4,0.000,0.045,2657,3060,3424,0,0,0,0,0,0
$GC,4997,-1.03,-145.9,553.3,-12.0,357,5002,0.05,1.73,0.00,0.000,6,0.166,0.039,2672,1946,3425,0,0,0,0,0,0
$GC,5332,-1.03,-145.9,591.4,-11.3,368,5336,0.00,0.55,0.00,0.000,4,0.000,0.053,2673,1573,3423,0,0,0,0,0,0
$GC,5471,-1.03,-145.9,607.0,-11.7,372,5475,0.00,0.60,0.00,0.000,6,0.000,0.042,2671,1968,3423,0,0,0,0,0,0
$GC,5807,-1.05,-145.9,643.2,-10.6,383,5812,0.00,2.28,0.00,0.000,4,0.000,0.054,2670,545,3423,0,0,0,0,0,0
$GC,5887,-0.99,-145.9,652.4,-11.2,385,5891,0.12,2.15,0.00,0.000,6,0.177,0.034,2692,1945,3422,0,0,0,0,0,0
$GC,6205,-1.06,-145.9,683.2,-9.6,396,6207,0.05,0.00,0.00,0.000,6,0.168,0.000,2669,1946,3421,0,0,0,0,0,0
$GC,6511,-1.06,-145.9,714.0,-10.0,406,6515,0.00,2.25,0.00,0.000,4,0.000,0.054,2669,551,3421,0,0,0,0,0,0
$GC,6583,-0.99,-145.9,722.0,-11.3,408,6587,0.12,2.12,0.00,0.000,6,0.184,0.034,2688,1949,3420,0,0,0,0,0,0
$GC,6912,-1.06,-145.9,752.7,-9.6,419,6916,0.00,0.65,0.00,0.000,4,0.000,0.045,2686,2400,3420,0,0,0,0,0,0
$GC,6968,-1.13,-145.9,758.6,-10.7,420,6972,0.08,0.68,0.00,0.000,6,0.070,0.045,2647,1951,3420,0,0,0,0,0,0
$GC,7286,-1.10,-145.9,794.7,-11.8,431,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1951,3419,0,0,0,0,0,0
$GC,7592,-1.07,-145.9,831.4,-12.1,441,7594,0.08,0.00,0.00,0.000,6,0.204,0.000,2662,1948,3419,0,0,0,0,0,0
$GC,7898,-1.07,-145.9,870.5,-13.2,451,7901,0.00,1.00,0.00,0.000,4,0.000,0.052,2662,1311,3418,0,0,0,0,0,0
$GC,7947,-1.07,-145.9,877.5,-14.0,452,7951,0.00,1.00,0.00,0.000,6,0.000,0.038,2659,1949,3418,0,0,0,0,0,0
$GC,8271,-1.07,-145.9,923.3,-14.5,463,8275,0.00,2.20,0.00,0.000,4,0.000,0.047,2649,3352,3417,0,0,0,0,0,0
$GC,8321,-1.03,-145.9,930.8,-14.9,464,8326,0.12,2.17,0.00,0.000,6,0.176,0.040,2679,1946,3416,0,0,0,0,0,0
$GC,8640,-1.10,-145.9,972.2,-12.6,475,8644,0.08,2.28,0.00,0.000,4,0.141,0.054,2653,536,3417,0,0,0,0,0,0
$GC,8707,-1.03,-145.9,981.4,-13.6,477,8712,0.12,2.20,0.00,0.000,6,0.191,0.037,2673,1956,3416,0,0,0,0,0,0
$STATE,8889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8889,begin apogee
$GC,8895,-0.21,0.0,1002.8,11.6,483,9027,0.90,0.00,129.00,1.492,6,0.139,0.000,2940,1502,2827,0,0,0,0,0,0
$STATE,9028,end apogee,CONTROL_FINISHED_OK
$STATE,9028,begin climb
$GC,9030,0.84,145.9,1013.0,0.0,487,9175,1.02,2.50,135.25,1.458,4,0.073,0.064,3284,174,2231,0,0,0,0,0,0
$GC,9355,0.53,248.8,1012.0,5.9,497,9456,0.40,2.12,93.03,1.429,6,0.213,0.038,3191,1509,1811,0,0,0,0,0,0
$GC,9780,0.54,298.4,978.6,8.6,511,9830,0.00,2.30,44.17,1.399,4,0.000,0.065,3199,177,1609,0,0,0,0,0,0
$GC,9910,0.60,315.3,966.5,10.2,515,9931,0.00,2.08,16.15,1.278,6,0.000,0.037,3199,1500,1541,0,0,0,0,0,0
$GC,10246,0.68,332.4,932.5,10.2,526,10267,0.10,2.20,16.05,1.278,4,0.115,0.044,3236,2897,1471,0,0,0,0,0,0
$GC,10350,0.68,332.4,920.2,11.5,529,10356,0.03,2.28,0.00,0.000,6,0.195,0.049,3238,1503,1469,0,0,0,0,0,0
$GC,10681,0.68,350.7,885.3,10.2,540,10701,0.00,0.00,18.23,1.283,6,0.000,0.000,3238,1502,1397,0,0,0,0,0,0
$GC,11014,0.71,391.9,854.0,9.0,551,11059,0.00,2.33,38.78,1.330,4,0.000,0.045,3238,2900,1229,0,0,0,0,0,0
$GC,11126,0.80,431.9,843.4,9.1,554,11173,0.10,2.25,38.40,1.303,6,0.110,0.049,3275,1498,1065,0,0,0,0,0,0
$GC,11480,0.86,444.2,806.7,10.5,566,11494,0.00,0.90,11.35,1.161,4,0.000,0.060,3278,921,1015,0,0,0,0,0,0
$GC,11517,0.90,455.8,802.6,10.5,567,11534,0.05,0.90,12.77,1.181,6,0.083,0.040,3304,1509,967,0,0,0,0,0,0
$GC,11840,0.93,455.8,763.9,12.2,577,11844,0.00,2.22,0.00,0.000,4,0.000,0.070,3306,170,964,0,0,0,0,0,0
$GC,11896,0.90,455.8,756.7,12.6,578,11900,0.00,2.05,0.00,0.000,6,0.000,0.038,3306,1490,962,0,0,0,0,0,0
$GC,12214,0.93,455.8,716.7,12.5,589,12218,0.00,2.20,0.00,0.000,4,0.000,0.070,3315,171,961,0,0,0,0,0,0
$GC,12277,0.90,455.8,708.7,13.4,591,12281,0.00,2.08,0.00,0.000,6,0.000,0.040,3314,1506,959,0,0,0,0,0,0
$GC,12611,0.90,455.8,667.6,12.0,602,12615,0.00,2.22,0.00,0.000,4,0.000,0.070,3320,171,960,0,0,0,0,0,0
$GC,12674,0.85,455.8,659.6,13.0,604,12678,0.12,2.08,0.00,0.000,6,0.190,0.041,3291,1507,958,0,0,0,0,0,0
$GC,13009,0.91,459.1,622.6,10.9,615,13012,0.00,2.03,0.00,0.000,4,0.000,0.069,3294,282,959,0,0,0,0,0,0
$GC,13047,0.91,459.1,618.2,12.0,616,13051,0.00,1.90,0.00,0.000,6,0.000,0.040,3294,1494,958,0,0,0,0,0,0
$GC,13383,0.95,464.2,581.7,10.9,627,13395,0.08,0.88,7.82,0.991,4,0.130,0.064,3330,990,934,0,0,0,0,0,0
$GC,13417,0.91,464.2,577.4,11.8,628,13422,0.08,0.80,0.00,0.000,6,0.169,0.042,3308,1512,934,0,0,0,0,0,0
$GC,13752,0.94,464.2,535.6,13.0,639,13756,0.00,2.17,0.00,0.000,4,0.000,0.046,3308,2889,933,0,0,0,0,0,0
$GC,13813,0.96,464.2,527.1,12.9,640,13819,0.00,2.22,0.00,0.000,6,0.000,0.050,3317,1490,932,0,0,0,0,0,0
$GC,14126,0.96,464.2,484.1,13.7,651,14130,0.00,2.08,0.00,0.000,4,0.000,0.046,3317,2804,932,0,0,0,0,0,0
$GC,14181,0.96,464.2,476.0,13.9,652,14185,0.00,2.10,0.00,0.000,6,0.000,0.051,3326,1505,933,0,0,0,0,0,0
$GC,14500,0.96,464.2,431.3,14.1,663,14503,0.00,1.65,0.00,0.000,4,0.000,0.067,3333,502,933,0,0,0,0,0,0
$GC,14538,0.90,464.2,425.5,14.6,664,14543,0.08,1.55,0.00,0.000,6,0.160,0.041,3310,1501,932,0,0,0,0,0,0
$GC,14854,0.92,464.2,382.3,13.5,676,14858,0.00,2.17,0.00,0.000,4,0.000,0.046,3310,2890,931,0,0,0,0,0,0
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$GC,17919,0.99,524.5,17.9,8.9,929,17950,0.00,0.82,23.12,0.758,4,0.000,0.041,3331,2024,687,0,0,0,0,0,0
$GC,17989,1.05,565.3,10.8,9.0,940,18014,0.00,0.85,20.15,0.747,6,0.000,0.053,3333,1497,521,0,0,0,0,0,0
$STATE,18050,end climb,SURFACE_DEPTH_REACHED
$STATE,18050,begin surface coast
$FINISH,1.7,1.016515
$STATE,18076,end surface coast,CONTROL_FINISHED_OK
$STATE,18077,begin surface
$SM_CCo,18154,0.00,0.000,0,0,513,567.37
$SM_GC,2.71,9.02,0.00,0.00,0.049,0.000,0.000,82,1945,513,-9.11,-0.06,567.37
$IRIDIUM_FIX,-4123.62,-526.01,161212,010126
$TT8_MAMPS,0.026964
$HUMID,49.33
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,21.8,88.858
$10V_AH,9.9,54.705
$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
$DEVICE_SECS,25.800,148.100,621.400,0.000,0.000,25.539,46.652,277.514,0.250,0.000,49.886,2440.238,12186.906,642.535,3170.263,223.772,0.000,1928.962,0.000,2742.100,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.198,1082.999,628.465,80.058,0.000,0.000,0.000,0.000,0.000,0.000
$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,56881,954
$CAP_FILE_SIZE,183924,0
$CFSIZE,2097086464,2043314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161212,115105,-4138.420,-527.881,37,1.3,37,-22.3