version: 66.07.10.p01
glider: 574
mission: 4
dive: 388
start: 12 19 112 23 22 10
data:
$ID,574
$MISSION,4
$DIVE,388
$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,-7091.7993
$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,26
$R_STBD_OVSHOOT,57
$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,367
$GPS1,191212,231335,-4133.528,-527.152,102,1.2,102,-22.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-65.2
$GPS2,191212,232149,-4133.423,-527.088,18,1.2,18,-22.3
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4138.822,-514.572
$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,27,-0.84,-145.9,0.0,0.0,0,100,0.00,0.00,-71.22,0.000,2,0.000,0.000,64,1969,2519,0,0,0,0,0,0
$GC,103,-0.84,-145.9,3.1,-1.2,12,153,12.38,2.40,-27.83,0.000,4,0.268,0.074,2732,540,3422,0,0,0,0,0,0
$GC,256,-0.84,-145.9,16.0,-10.4,37,264,0.03,2.20,0.00,0.000,6,0.200,0.041,2733,1923,3423,0,0,0,0,0,0
$GC,338,-0.88,-145.9,23.1,-9.0,50,344,0.00,0.93,0.00,0.000,4,0.000,0.049,2730,2533,3424,0,0,0,0,0,0
$GC,371,-0.94,-145.9,25.8,-7.8,55,379,0.03,0.93,0.00,0.000,6,0.106,0.046,2708,1943,3424,0,0,0,0,0,0
$GC,450,-0.94,-145.9,34.2,-9.8,68,457,0.00,2.28,0.00,0.000,4,0.000,0.057,2708,545,3424,0,0,0,0,0,0
$GC,517,-0.89,-145.9,42.6,-14.0,79,523,0.10,2.17,0.00,0.000,6,0.190,0.038,2722,1955,3424,0,0,0,0,0,0
$GC,750,-0.96,-145.9,67.5,-10.4,120,758,0.05,1.23,0.00,0.000,4,0.167,0.045,2693,2740,3424,0,0,0,0,0,0
$GC,795,-0.99,-145.9,72.1,-11.6,127,799,0.00,1.25,0.00,0.000,6,0.000,0.044,2693,1943,3424,0,0,0,0,0,0
$GC,1146,-1.01,-145.9,107.3,-9.2,180,1150,0.00,2.22,0.00,0.000,4,0.000,0.048,2683,3356,3425,0,0,0,0,0,0
$GC,1201,-1.01,-145.9,113.0,-9.8,183,1207,0.00,2.20,0.00,0.000,6,0.000,0.041,2683,1957,3425,0,0,0,0,0,0
$GC,1522,-1.01,-145.9,145.7,-11.0,204,1525,0.00,1.55,0.00,0.000,4,0.000,0.044,2676,2945,3426,0,0,0,0,0,0
$GC,1560,-1.01,-145.9,150.5,-11.4,206,1564,0.00,1.55,0.00,0.000,6,0.000,0.041,2676,1953,3426,0,0,0,0,0,0
$GC,1887,-1.01,-145.9,187.8,-11.7,227,1891,0.00,1.25,0.00,0.000,4,0.000,0.043,2670,2758,3426,0,0,0,0,0,0
$GC,1925,-0.99,-145.9,192.0,-11.2,229,1929,0.05,1.25,0.00,0.000,6,0.162,0.041,2686,1948,3425,0,0,0,0,0,0
$GC,2255,-1.02,-145.9,230.3,-11.5,250,2259,0.00,2.17,0.00,0.000,4,0.000,0.047,2677,3334,3427,0,0,0,0,0,0
$GC,2303,-1.02,-145.9,235.9,-11.8,253,2307,0.00,2.12,0.00,0.000,6,0.000,0.038,2677,1952,3427,0,0,0,0,0,0
$GC,2628,-1.02,-145.9,272.5,-11.1,271,2632,0.00,1.15,0.00,0.000,4,0.000,0.042,2672,2696,3427,0,0,0,0,0,0
$GC,2660,-1.02,-145.9,276.7,-11.7,272,2665,0.00,1.15,0.00,0.000,6,0.000,0.040,2672,1953,3427,0,0,0,0,0,0
$GC,2983,-1.02,-145.9,311.7,-10.9,288,2986,0.00,2.05,0.00,0.000,4,0.000,0.046,2663,3259,3427,0,0,0,0,0,0
$GC,3029,-1.02,-145.9,316.7,-10.5,290,3033,0.10,2.03,0.00,0.000,6,0.175,0.039,2686,1944,3427,0,0,0,0,0,0
$GC,3357,-1.06,-145.9,349.4,-9.7,306,3361,0.00,2.22,0.00,0.000,4,0.000,0.047,2677,3361,3427,0,0,0,0,0,0
$GC,3429,-1.09,-145.9,357.1,-10.2,309,3433,0.00,2.17,0.00,0.000,6,0.000,0.037,2677,1942,3427,0,0,0,0,0,0
$GC,3745,-1.09,-145.9,388.8,-10.1,324,3749,0.00,2.22,0.00,0.000,4,0.000,0.046,2667,3359,3427,0,0,0,0,0,0
$GC,3795,-1.09,-145.9,394.2,-10.6,326,3799,0.00,2.17,0.00,0.000,6,0.000,0.036,2667,1951,3427,0,0,0,0,0,0
$GC,4114,-1.09,-145.9,428.4,-11.1,338,4118,0.00,2.15,0.00,0.000,4,0.000,0.045,2658,3325,3427,0,0,0,0,0,0
$GC,4158,-1.09,-145.9,433.7,-11.6,339,4163,0.00,2.12,0.00,0.000,6,0.000,0.035,2658,1945,3427,0,0,0,0,0,0
$GC,4488,-1.07,-145.9,473.9,-12.6,350,4492,0.00,1.45,0.00,0.000,4,0.000,0.043,2651,2870,3427,0,0,0,0,0,0
$GC,4527,-1.03,-145.9,479.2,-13.1,351,4531,0.08,1.42,0.00,0.000,6,0.151,0.037,2674,1943,3427,0,0,0,0,0,0
$GC,4861,-1.03,-145.9,520.7,-12.5,362,4865,0.00,2.22,0.00,0.000,4,0.000,0.047,2665,3362,3427,0,0,0,0,0,0
$GC,4916,-1.03,-145.9,528.0,-13.2,363,4921,0.00,2.17,0.00,0.000,6,0.000,0.035,2665,1955,3426,0,0,0,0,0,0
$GC,5235,-1.03,-145.9,567.2,-12.2,374,5239,0.05,2.22,0.00,0.000,4,0.234,0.045,2666,3363,3426,0,0,0,0,0,0
$GC,5289,-1.05,-145.9,574.1,-12.1,375,5295,0.00,2.17,0.00,0.000,6,0.000,0.035,2666,1942,3426,0,0,0,0,0,0
$GC,5602,-1.05,-145.9,611.5,-12.0,386,5606,0.00,1.83,0.00,0.000,4,0.000,0.044,2657,3101,3425,0,0,0,0,0,0
$GC,5646,-1.05,-145.9,617.2,-12.0,387,5650,0.00,1.77,0.00,0.000,6,0.000,0.035,2658,1950,3425,0,0,0,0,0,0
$GC,5976,-1.05,-145.9,656.3,-11.9,398,5980,0.05,2.22,0.00,0.000,4,0.233,0.044,2659,3359,3425,0,0,0,0,0,0
$GC,6037,-1.05,-145.9,663.5,-11.6,400,6041,0.00,2.15,0.00,0.000,6,0.000,0.035,2659,1951,3424,0,0,0,0,0,0
$GC,6372,-1.05,-145.9,701.7,-11.4,411,6376,0.00,0.88,0.00,0.000,4,0.000,0.041,2655,2530,3424,0,0,0,0,0,0
$GC,6407,-1.05,-145.9,705.6,-10.7,412,6411,0.05,0.88,0.00,0.000,6,0.161,0.041,2671,1951,3424,0,0,0,0,0,0
$GC,6748,-1.08,-145.9,742.5,-10.7,423,6752,0.00,2.22,0.00,0.000,4,0.000,0.053,2671,552,3423,0,0,0,0,0,0
$GC,6842,-1.06,-145.9,753.8,-11.7,425,6848,0.00,2.15,0.00,0.000,6,0.000,0.033,2662,1960,3423,0,0,0,0,0,0
$GC,7155,-1.06,-145.9,788.8,-11.5,436,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1960,3422,0,0,0,0,0,0
$GC,7461,-1.06,-145.9,825.1,-12.0,446,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1960,3422,0,0,0,0,0,0
$GC,7768,-1.06,-145.9,863.8,-12.9,456,7771,0.00,2.25,0.00,0.000,4,0.000,0.052,2662,566,3421,0,0,0,0,0,0
$GC,7823,-0.98,-145.9,871.7,-14.3,457,7828,0.17,2.15,0.00,0.000,6,0.170,0.034,2697,1960,3421,0,0,0,0,0,0
$GC,8136,-1.08,-145.9,910.0,-12.4,467,8138,0.10,0.00,0.00,0.000,6,0.114,0.000,2659,1963,3421,0,0,0,0,0,0
$GC,8442,-1.08,-145.9,951.1,-13.3,477,8445,0.00,1.25,0.00,0.000,4,0.000,0.050,2659,1181,3421,0,0,0,0,0,0
$GC,8491,-1.04,-145.9,958.0,-13.1,478,8496,0.05,1.17,0.00,0.000,6,0.167,0.035,2669,1946,3420,0,0,0,0,0,0
$GC,8816,-1.06,-145.9,998.4,-12.6,489,8820,0.00,2.25,0.00,0.000,4,0.000,0.054,2669,550,3420,0,0,0,0,0,0
$STATE,8830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8830,begin apogee
$GC,8837,-0.21,0.0,1000.7,12.9,489,8972,0.95,0.00,130.20,1.493,6,0.157,0.000,2937,1516,2827,0,0,0,0,0,0
$STATE,8973,end apogee,CONTROL_FINISHED_OK
$STATE,8973,begin climb
$GC,8975,0.84,145.9,1013.7,0.0,494,9117,1.02,2.17,134.15,1.416,4,0.070,0.040,3276,2769,2231,0,0,0,0,0,0
$GC,9240,0.56,256.3,1018.2,5.5,502,9348,0.38,2.08,100.47,1.418,6,0.210,0.046,3201,1513,1782,0,0,0,0,0,0
$GC,9653,0.57,325.7,989.8,7.6,516,9722,0.00,2.35,62.42,1.405,4,0.000,0.043,3201,2893,1498,0,0,0,0,0,0
$GC,9801,0.61,352.4,976.9,9.7,520,9832,0.00,2.28,25.38,1.334,6,0.000,0.047,3209,1497,1390,0,0,0,0,0,0
$GC,10146,0.69,387.2,945.6,9.3,532,10185,0.08,1.98,32.30,1.369,4,0.132,0.041,3237,2686,1248,0,0,0,0,0,0
$GC,10245,0.76,396.9,935.1,10.6,535,10259,0.00,1.90,10.15,1.187,6,0.000,0.049,3245,1499,1209,0,0,0,0,0,0
$GC,10579,0.81,403.1,898.7,10.8,546,10591,0.10,1.30,6.68,1.053,4,0.112,0.041,3281,2308,1183,0,0,0,0,0,0
$GC,10652,0.81,403.1,889.7,12.3,548,10656,0.00,1.30,0.00,0.000,6,0.000,0.051,3286,1504,1182,0,0,0,0,0,0
$GC,10982,0.78,403.1,849.8,12.0,559,10984,0.10,0.00,0.00,0.000,6,0.216,0.000,3266,1502,1181,0,0,0,0,0,0
$GC,11288,0.78,405.5,815.8,11.0,569,11292,0.00,1.92,0.00,0.000,4,0.000,0.044,3266,2730,1181,0,0,0,0,0,0
$GC,11349,0.82,413.0,808.7,10.7,570,11364,0.00,1.98,10.30,1.166,6,0.000,0.050,3272,1491,1143,0,0,0,0,0,0
$GC,11688,0.82,415.0,770.8,11.0,582,11692,0.00,0.75,0.00,0.000,4,0.000,0.043,3273,1984,1142,0,0,0,0,0,0
$GC,11744,0.86,436.6,764.5,10.0,583,11773,0.00,0.77,24.10,1.271,6,0.000,0.056,3276,1504,1046,0,0,0,0,0,0
$GC,12093,0.93,445.3,726.3,10.7,595,12108,0.10,1.95,9.00,1.101,4,0.109,0.068,3323,339,1011,0,0,0,0,0,0
$GC,12141,0.82,445.3,720.0,12.8,596,12146,0.15,1.80,0.00,0.000,6,0.175,0.038,3282,1495,1010,0,0,0,0,0,0
$GC,12466,0.87,452.9,685.3,10.7,607,12479,0.00,0.77,8.35,1.063,4,0.000,0.063,3284,1037,980,0,0,0,0,0,0
$GC,12497,0.87,457.6,681.9,10.9,608,12507,0.00,0.70,6.30,0.975,6,0.000,0.041,3283,1504,960,0,0,0,0,0,0
$GC,12833,0.95,473.0,646.8,10.3,619,12855,0.10,2.20,16.40,1.174,4,0.109,0.067,3334,217,897,0,0,0,0,0,0
$GC,12888,0.87,473.0,640.0,12.1,620,12894,0.10,2.00,0.00,0.000,6,0.171,0.037,3298,1496,896,0,0,0,0,0,0
$GC,13201,0.93,490.4,607.5,10.2,631,13225,0.00,2.28,17.15,1.158,4,0.000,0.069,3307,173,827,0,0,0,0,0,0
$GC,13283,0.90,490.4,598.2,11.8,633,13288,0.00,2.08,0.00,0.000,6,0.000,0.038,3307,1497,824,0,0,0,0,0,0
$GC,13602,0.96,498.8,564.3,10.7,644,13616,0.00,2.25,8.60,1.014,4,0.000,0.045,3307,2898,793,0,0,0,0,0,0
$GC,13669,1.02,515.9,557.2,10.2,646,13694,0.08,2.25,17.58,1.135,6,0.125,0.050,3345,1494,722,0,0,0,0,0,0
$GC,14008,1.02,515.9,516.0,12.2,657,14012,0.00,2.17,0.00,0.000,4,0.000,0.068,3354,171,719,0,0,0,0,0,0
$GC,14052,0.93,515.9,509.7,14.7,658,14056,0.15,2.10,0.00,0.000,6,0.181,0.039,3317,1500,718,0,0,0,0,0,0
$GC,14375,0.98,515.9,471.3,12.0,669,14379,0.00,1.98,0.00,0.000,4,0.000,0.068,3321,309,718,0,0,0,0,0,0
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$STATE,17847,end climb,SURFACE_DEPTH_REACHED
$STATE,17847,begin surface coast
$FINISH,1.6,1.026218
$STATE,17879,end surface coast,CONTROL_FINISHED_OK
$STATE,17879,begin surface
$SM_CCo,17957,0.00,0.000,0,0,589,548.73
$SM_GC,2.41,9.07,0.00,0.00,0.054,0.000,0.000,85,1972,589,-9.11,0.62,548.73
$IRIDIUM_FIX,-4117.88,-528.33,191212,171753
$TT8_MAMPS,0.026964
$HUMID,50.11
$INTERNAL_PRESSURE,9.02826
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.9,93.209
$10V_AH,9.9,56.616
$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
$DEVICE_SECS,26.100,157.350,635.000,0.000,0.000,22.777,47.485,286.564,0.250,0.000,20.017,2396.092,12104.300,655.369,3060.190,227.770,0.000,1911.206,0.000,2654.743,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.689,1063.353,611.912,79.408,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,57029,936
$CAP_FILE_SIZE,181763,0
$CFSIZE,2097086464,2041085952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201212,042259,-4132.946,-527.631,58,1.0,58,-22.3