version: 66.07.10.p01
glider: 574
mission: 4
dive: 385
start: 12 19 112 7 42 50
data:
$ID,574
$MISSION,4
$DIVE,385
$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,-7081.4824
$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,31
$R_STBD_OVSHOOT,40
$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,364
$GPS1,191212,073405,-4133.793,-528.524,31,1.4,31,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.7
$GPS2,191212,074229,-4133.795,-528.651,43,0.9,43,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4139.195,-516.134
$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,-145.9,0.0,0.0,0,82,0.00,0.00,-53.47,0.000,2,0.000,0.000,68,1938,2192,0,0,0,0,0,0
$GC,84,-0.84,-145.9,3.1,-2.1,9,146,12.05,2.30,-43.33,0.000,4,0.259,0.073,2735,540,3422,0,0,0,0,0,0
$GC,224,-0.84,-145.9,15.1,-11.5,32,231,0.00,2.22,0.00,0.000,6,0.000,0.039,2727,1939,3423,0,0,0,0,0,0
$GC,304,-0.91,-145.9,24.2,-11.8,45,311,0.00,0.52,0.00,0.000,4,0.000,0.050,2724,2311,3423,0,0,0,0,0,0
$GC,338,-0.99,-145.9,27.9,-11.1,50,346,0.08,0.55,0.00,0.000,6,0.071,0.050,2685,1946,3423,0,0,0,0,0,0
$GC,417,-0.99,-145.9,37.7,-12.5,63,422,0.00,1.67,0.00,0.000,4,0.000,0.060,2684,903,3423,0,0,0,0,0,0
$GC,469,-0.94,-145.9,44.4,-12.3,72,477,0.08,1.65,0.00,0.000,6,0.169,0.037,2700,1957,3423,0,0,0,0,0,0
$GC,704,-0.94,-145.9,71.7,-11.4,113,708,0.00,0.88,0.00,0.000,4,0.000,0.053,2700,1409,3423,0,0,0,0,0,0
$GC,751,-0.94,-145.9,76.7,-10.7,121,755,0.00,0.82,0.00,0.000,6,0.000,0.038,2697,1952,3423,0,0,0,0,0,0
$GC,1088,-0.97,-145.9,111.1,-9.9,168,1092,0.00,2.28,0.00,0.000,4,0.000,0.057,2697,552,3424,0,0,0,0,0,0
$GC,1184,-0.97,-145.9,121.4,-9.9,174,1188,0.00,2.15,0.00,0.000,6,0.000,0.037,2687,1942,3424,0,0,0,0,0,0
$GC,1511,-1.00,-145.9,156.1,-11.2,195,1515,0.00,1.10,0.00,0.000,4,0.000,0.053,2687,1258,3424,0,0,0,0,0,0
$GC,1582,-1.00,-145.9,164.3,-11.6,199,1585,0.00,1.08,0.00,0.000,6,0.000,0.038,2682,1958,3424,0,0,0,0,0,0
$GC,1912,-1.00,-145.9,204.3,-12.6,220,1916,0.00,2.28,0.00,0.000,4,0.000,0.057,2682,552,3425,0,0,0,0,0,0
$GC,1978,-1.00,-145.9,213.3,-13.1,224,1983,0.05,2.17,0.00,0.000,6,0.168,0.036,2688,1945,3425,0,0,0,0,0,0
$GC,2312,-1.03,-145.9,254.1,-12.1,245,2316,0.00,1.42,0.00,0.000,4,0.000,0.053,2688,1064,3425,0,0,0,0,0,0
$GC,2366,-1.03,-145.9,261.4,-11.9,247,2371,0.00,1.38,0.00,0.000,6,0.000,0.036,2683,1948,3425,0,0,0,0,0,0
$GC,2691,-1.05,-145.9,297.1,-10.5,263,2695,0.00,1.08,0.00,0.000,4,0.000,0.050,2683,1277,3426,0,0,0,0,0,0
$GC,2760,-1.05,-145.9,304.5,-10.0,266,2764,0.00,1.05,0.00,0.000,6,0.000,0.038,2678,1960,3425,0,0,0,0,0,0
$GC,3093,-1.08,-145.9,337.8,-9.8,282,3097,0.00,2.25,0.00,0.000,4,0.000,0.056,2678,568,3425,0,0,0,0,0,0
$GC,3158,-1.08,-145.9,344.2,-10.1,285,3162,0.00,2.12,0.00,0.000,6,0.000,0.034,2668,1951,3425,0,0,0,0,0,0
$GC,3487,-1.08,-145.9,377.7,-10.6,301,3491,0.00,1.27,0.00,0.000,4,0.000,0.044,2662,2789,3425,0,0,0,0,0,0
$GC,3535,-1.08,-145.9,382.9,-11.2,303,3539,0.00,1.30,0.00,0.000,6,0.000,0.042,2662,1952,3425,0,0,0,0,0,0
$GC,3856,-1.08,-145.9,417.8,-11.1,316,3860,0.00,2.25,0.00,0.000,4,0.000,0.054,2662,538,3425,0,0,0,0,0,0
$GC,3922,-1.01,-145.9,425.8,-11.5,318,3926,0.12,2.15,0.00,0.000,6,0.179,0.033,2682,1962,3425,0,0,0,0,0,0
$GC,4257,-1.05,-145.9,460.9,-10.2,329,4261,0.00,2.22,0.00,0.000,4,0.000,0.053,2682,569,3424,0,0,0,0,0,0
$GC,4319,-1.05,-145.9,467.4,-10.9,331,4323,0.00,2.12,0.00,0.000,6,0.000,0.032,2673,1961,3424,0,0,0,0,0,0
$GC,4654,-1.05,-145.9,503.2,-11.1,342,4657,0.00,1.12,0.00,0.000,4,0.000,0.048,2673,1253,3424,0,0,0,0,0,0
$GC,4708,-1.05,-145.9,509.7,-11.2,343,4713,0.00,1.10,0.00,0.000,6,0.000,0.035,2668,1964,3423,0,0,0,0,0,0
$GC,5028,-1.05,-145.9,543.9,-10.6,354,5032,0.00,2.28,0.00,0.000,4,0.000,0.052,2668,551,3423,0,0,0,0,0,0
$GC,5094,-1.01,-145.9,551.2,-10.2,356,5099,0.10,2.12,0.00,0.000,6,0.193,0.031,2682,1948,3423,0,0,0,0,0,0
$GC,5429,-1.05,-145.9,583.2,-9.4,367,5433,0.00,1.65,0.00,0.000,4,0.000,0.050,2681,925,3422,0,0,0,0,0,0
$GC,5484,-1.05,-145.9,588.8,-9.9,368,5489,0.00,1.58,0.00,0.000,6,0.000,0.032,2676,1944,3423,0,0,0,0,0,0
$GC,5805,-1.07,-145.9,618.9,-9.4,379,5809,0.00,1.77,0.00,0.000,4,0.000,0.050,2676,833,3422,0,0,0,0,0,0
$GC,5866,-1.07,-145.9,625.2,-10.0,380,5871,0.00,1.73,0.00,0.000,6,0.000,0.034,2668,1953,3421,0,0,0,0,0,0
$GC,6179,-1.07,-145.9,656.0,-10.0,391,6183,0.00,1.17,0.00,0.000,4,0.000,0.048,2668,1207,3421,0,0,0,0,0,0
$GC,6240,-1.07,-145.9,662.4,-10.5,392,6245,0.00,1.15,0.00,0.000,6,0.000,0.036,2662,1956,3420,0,0,0,0,0,0
$GC,6553,-1.07,-145.9,695.0,-10.7,403,6557,0.00,1.83,0.00,0.000,4,0.000,0.050,2662,830,3420,0,0,0,0,0,0
$GC,6609,-1.03,-145.9,701.5,-12.2,404,6613,0.05,1.75,0.00,0.000,6,0.171,0.034,2678,1953,3420,0,0,0,0,0,0
$GC,6927,-1.07,-145.9,733.9,-10.3,415,6931,0.00,1.38,0.00,0.000,4,0.000,0.050,2678,1098,3419,0,0,0,0,0,0
$GC,6982,-1.10,-145.9,739.9,-10.8,416,6986,0.00,1.33,0.00,0.000,6,0.000,0.035,2673,1956,3419,0,0,0,0,0,0
$GC,7301,-1.12,-145.9,774.2,-10.9,427,7303,0.05,0.00,0.00,0.000,6,0.172,0.000,2650,1956,3418,0,0,0,0,0,0
$GC,7607,-1.12,-145.9,810.1,-11.6,437,7611,0.00,2.25,0.00,0.000,4,0.000,0.051,2650,548,3417,0,0,0,0,0,0
$GC,7679,-1.04,-145.9,819.2,-12.1,439,7684,0.15,2.17,0.00,0.000,6,0.179,0.034,2677,1958,3417,0,0,0,0,0,0
$GC,8015,-1.08,-145.9,855.5,-11.1,450,8018,0.00,0.65,0.00,0.000,4,0.000,0.050,2677,1534,3417,0,0,0,0,0,0
$GC,8117,-1.12,-145.9,867.0,-11.3,453,8121,0.03,0.62,0.00,0.000,6,0.111,0.041,2654,1953,3416,0,0,0,0,0,0
$GC,8457,-1.12,-145.9,906.8,-11.6,464,8460,0.00,0.40,0.00,0.000,4,0.000,0.052,2655,1672,3415,0,0,0,0,0,0
$GC,8558,-1.12,-145.9,919.0,-12.1,467,8562,0.00,0.40,0.00,0.000,6,0.000,0.047,2652,1952,3415,0,0,0,0,0,0
$GC,8899,-1.12,-145.9,960.7,-12.1,478,8902,0.00,1.67,0.00,0.000,4,0.000,0.051,2653,904,3414,0,0,0,0,0,0
$GC,8948,-1.05,-145.9,966.9,-12.8,479,8953,0.08,1.62,0.00,0.000,6,0.166,0.034,2667,1946,3414,0,0,0,0,0,0
$STATE,9273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9273,begin apogee
$GC,9279,-0.21,0.0,1002.0,10.6,490,9411,0.93,0.00,129.43,1.506,6,0.137,0.000,2943,1502,2826,0,0,0,0,0,0
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9414,0.84,145.9,1011.1,0.0,494,9559,1.02,2.55,135.50,1.452,4,0.068,0.041,3281,2907,2231,0,0,0,0,0,0
$GC,9790,0.55,232.9,1004.1,6.7,505,9877,0.40,2.28,78.18,1.430,6,0.215,0.045,3198,1495,1876,0,0,0,0,0,0
$GC,10201,0.54,296.1,971.5,7.9,519,10265,0.00,2.38,56.50,1.413,4,0.000,0.042,3198,2901,1619,0,0,0,0,0,0
$GC,10349,0.58,341.4,958.7,8.8,523,10398,0.00,2.28,41.97,1.386,6,0.000,0.046,3207,1497,1434,0,0,0,0,0,0
$GC,10729,0.67,409.9,928.3,7.6,536,10799,0.08,2.38,63.45,1.398,4,0.130,0.044,3235,2904,1155,0,0,0,0,0,0
$GC,10884,0.72,454.7,915.2,8.8,540,10934,0.00,2.28,42.33,1.359,6,0.000,0.047,3241,1491,973,0,0,0,0,0,0
$GC,11259,0.91,513.7,884.6,8.1,553,11321,0.20,2.28,54.45,1.369,4,0.077,0.068,3319,172,730,0,0,0,0,0,0
$GC,11356,0.87,513.7,874.2,12.4,556,11361,0.10,2.12,0.00,0.000,6,0.187,0.035,3298,1514,727,0,0,0,0,0,0
$GC,11692,1.00,529.3,838.8,10.3,567,11712,0.10,2.30,13.80,1.232,4,0.106,0.070,3341,176,669,0,0,0,0,0,0
$GC,11780,0.95,529.3,827.8,13.3,569,11784,0.08,2.08,0.00,0.000,6,0.213,0.037,3325,1506,666,0,0,0,0,0,0
$GC,12092,1.03,529.3,790.6,12.1,579,12096,0.00,2.17,0.00,0.000,4,0.000,0.045,3325,2897,665,0,0,0,0,0,0
$GC,12147,1.03,529.3,783.5,13.3,580,12153,0.00,2.25,0.00,0.000,6,0.000,0.049,3334,1503,665,0,0,0,0,0,0
$GC,12461,1.08,529.3,744.6,12.3,591,12465,0.08,1.25,0.00,0.000,4,0.134,0.067,3366,748,665,0,0,0,0,0,0
$GC,12494,1.02,529.3,740.0,13.2,592,12499,0.08,1.15,0.00,0.000,6,0.183,0.040,3345,1503,665,0,0,0,0,0,0
$GC,12835,1.04,529.3,697.4,12.5,603,12839,0.00,2.17,0.00,0.000,4,0.000,0.045,3345,2891,664,0,0,0,0,0,0
$GC,12902,1.00,529.3,688.7,13.0,605,12906,0.08,2.20,0.00,0.000,6,0.217,0.050,3340,1499,664,0,0,0,0,0,0
$GC,13237,1.04,529.3,649.1,11.5,616,13241,0.00,1.00,0.00,0.000,4,0.000,0.066,3343,880,664,0,0,0,0,0,0
$GC,13264,1.04,529.3,645.6,12.5,616,13270,0.00,0.98,0.00,0.000,6,0.000,0.040,3343,1510,664,0,0,0,0,0,0
$GC,13578,1.06,529.3,607.7,12.3,627,13581,0.00,0.75,0.00,0.000,4,0.000,0.044,3343,2011,664,0,0,0,0,0,0
$GC,13612,1.09,529.3,603.1,12.9,628,13616,0.00,0.82,0.00,0.000,6,0.000,0.058,3346,1500,664,0,0,0,0,0,0
$GC,13952,1.11,529.3,558.6,13.3,639,13956,0.08,0.47,0.00,0.000,4,0.132,0.069,3377,1201,664,0,0,0,0,0,0
$GC,13979,1.07,529.3,554.5,14.6,639,13985,0.08,0.45,0.00,0.000,6,0.220,0.048,3364,1498,665,0,0,0,0,0,0
$GC,14292,1.05,529.3,509.2,14.5,650,14296,0.00,2.17,0.00,0.000,4,0.000,0.046,3363,2888,664,0,0,0,0,0,0
$GC,14359,1.00,529.3,498.7,14.6,652,14364,0.15,2.20,0.00,0.000,6,0.194,0.050,3337,1501,664,0,0,0,0,0,0
$GC,14695,1.04,529.3,451.9,13.8,663,14698,0.00,1.05,0.00,0.000,4,0.000,0.043,3337,2179,664,0,0,0,0,0,0
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$STATE,17995,end climb,SURFACE_DEPTH_REACHED
$STATE,17995,begin surface coast
$FINISH,1.6,1.026266
$STATE,18021,end surface coast,CONTROL_FINISHED_OK
$STATE,18021,begin surface
$SM_CCo,18099,0.00,0.000,0,0,585,550.20
$SM_GC,2.57,9.20,0.00,0.00,0.060,0.000,0.000,89,1971,585,-9.09,0.59,550.20
$IRIDIUM_FIX,-4117.88,-531.47,191212,020217
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,21.8,92.429
$10V_AH,9.9,56.278
$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
$DEVICE_SECS,25.850,143.150,625.575,0.000,0.000,25.072,38.817,275.311,0.250,0.000,45.886,2392.539,12163.350,649.727,3162.189,229.088,0.000,1930.279,0.000,2744.558,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.952,1027.120,613.044,76.216,0.000,0.000,0.000,0.000,0.000,0.000
$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,56799,927
$CAP_FILE_SIZE,181812,0
$CFSIZE,2097086464,2041479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191212,124536,-4134.041,-528.180,32,1.5,32,-22.3