version: 66.07.10.p01
glider: 574
mission: 4
dive: 404
start: 12 23 112 10 48 26
data:
$ID,574
$MISSION,4
$DIVE,404
$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,-7141.9365
$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,30
$R_STBD_OVSHOOT,45
$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,383
$GPS1,231212,103935,-4127.508,-526.404,67,0.8,67,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-67.8
$GPS2,231212,104805,-4127.501,-526.358,35,2.0,35,-22.4
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,HEADING
$TGT_LATLONG,-4132.901,-513.861
$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,142.4,20000,-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,-145.9,0.0,0.0,0,89,0.00,0.00,-59.72,0.000,2,0.000,0.000,66,1961,2257,0,0,0,0,0,0
$GC,91,-0.84,-145.9,3.0,-1.8,10,153,12.27,2.35,-41.95,0.000,4,0.262,0.075,2734,539,3421,0,0,0,0,0,0
$GC,227,-0.84,-145.9,14.2,-12.1,32,234,0.00,2.22,0.00,0.000,6,0.000,0.040,2728,1934,3422,0,0,0,0,0,0
$GC,308,-0.90,-145.9,22.9,-10.4,45,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1934,3422,0,0,0,0,0,0
$GC,386,-0.99,-145.9,31.8,-11.0,58,393,0.10,0.00,0.00,0.000,6,0.107,0.000,2685,1934,3422,0,0,0,0,0,0
$GC,623,-0.99,-145.9,62.2,-12.8,99,629,0.00,2.28,0.00,0.000,4,0.000,0.051,2674,3359,3422,0,0,0,0,0,0
$GC,692,-0.95,-145.9,70.2,-11.7,111,699,0.08,2.22,0.00,0.000,6,0.155,0.044,2698,1955,3422,0,0,0,0,0,0
$GC,1040,-1.00,-145.9,106.7,-10.5,165,1044,0.00,2.22,0.00,0.000,4,0.000,0.048,2688,3367,3423,0,0,0,0,0,0
$GC,1090,-1.03,-145.9,112.6,-11.3,168,1094,0.00,2.22,0.00,0.000,6,0.000,0.044,2688,1945,3423,0,0,0,0,0,0
$GC,1418,-1.05,-145.9,145.3,-10.1,189,1422,0.00,2.25,0.00,0.000,4,0.000,0.048,2679,3367,3424,0,0,0,0,0,0
$GC,1479,-1.05,-145.9,152.3,-9.9,192,1487,0.00,2.25,0.00,0.000,6,0.000,0.043,2678,1951,3424,0,0,0,0,0,0
$GC,1801,-1.05,-145.9,186.2,-11.1,213,1805,0.00,1.73,0.00,0.000,4,0.000,0.045,2671,3042,3425,0,0,0,0,0,0
$GC,1845,-1.05,-145.9,191.3,-10.4,215,1851,0.00,1.73,0.00,0.000,6,0.000,0.042,2671,1950,3424,0,0,0,0,0,0
$GC,2164,-1.05,-145.9,226.3,-11.2,236,2168,0.00,2.22,0.00,0.000,4,0.000,0.047,2661,3364,3425,0,0,0,0,0,0
$GC,2220,-1.05,-145.9,233.1,-11.6,239,2225,0.00,2.22,0.00,0.000,6,0.000,0.040,2660,1949,3425,0,0,0,0,0,0
$GC,2553,-1.03,-145.9,274.0,-12.8,258,2558,0.08,2.25,0.00,0.000,4,0.207,0.046,2668,3374,3426,0,0,0,0,0,0
$GC,2617,-1.03,-145.9,282.2,-13.1,261,2621,0.00,2.20,0.00,0.000,6,0.000,0.038,2668,1945,3425,0,0,0,0,0,0
$GC,2945,-1.03,-145.9,328.3,-14.2,277,2949,0.00,2.22,0.00,0.000,4,0.000,0.046,2658,3365,3426,0,0,0,0,0,0
$GC,3000,-1.03,-145.9,336.7,-14.8,279,3007,0.05,2.20,0.00,0.000,6,0.161,0.037,2674,1950,3426,0,0,0,0,0,0
$GC,3319,-1.03,-145.9,379.4,-13.2,295,3322,0.00,2.22,0.00,0.000,4,0.000,0.047,2665,3367,3427,0,0,0,0,0,0
$GC,3374,-1.03,-145.9,387.2,-12.8,297,3378,0.00,2.22,0.00,0.000,6,0.000,0.038,2665,1943,3426,0,0,0,0,0,0
$GC,3705,-1.03,-145.9,427.5,-12.0,310,3709,0.05,2.05,0.00,0.000,4,0.239,0.044,2666,3246,3426,0,0,0,0,0,0
$GC,3749,-1.03,-145.9,433.2,-12.0,311,3753,0.00,2.03,0.00,0.000,6,0.000,0.037,2666,1943,3426,0,0,0,0,0,0
$GC,4079,-1.03,-145.9,469.1,-10.8,322,4083,0.00,2.22,0.00,0.000,4,0.000,0.044,2656,3365,3426,0,0,0,0,0,0
$GC,4134,-1.03,-145.9,475.3,-11.0,323,4140,0.10,2.17,0.00,0.000,6,0.174,0.036,2680,1948,3426,0,0,0,0,0,0
$GC,4447,-1.07,-145.9,505.4,-9.5,334,4451,0.00,2.22,0.00,0.000,4,0.000,0.045,2671,3370,3426,0,0,0,0,0,0
$GC,4516,-1.12,-145.9,512.1,-9.6,336,4521,0.05,2.17,0.00,0.000,6,0.164,0.036,2647,1950,3426,0,0,0,0,0,0
$GC,4851,-1.09,-145.9,548.4,-11.1,347,4854,0.00,1.83,0.00,0.000,4,0.000,0.044,2639,3103,3426,0,0,0,0,0,0
$GC,4894,-1.06,-145.9,553.8,-11.8,348,4899,0.10,1.80,0.00,0.000,6,0.148,0.037,2669,1944,3426,0,0,0,0,0,0
$GC,5224,-1.06,-145.9,592.3,-12.1,359,5228,0.00,2.25,0.00,0.000,4,0.000,0.045,2660,3374,3426,0,0,0,0,0,0
$GC,5279,-1.08,-145.9,599.2,-12.5,360,5284,0.00,2.20,0.00,0.000,6,0.000,0.036,2660,1942,3426,0,0,0,0,0,0
$GC,5592,-1.08,-145.9,638.5,-12.8,371,5595,0.00,1.15,0.00,0.000,4,0.000,0.041,2655,2686,3425,0,0,0,0,0,0
$GC,5626,-1.08,-145.9,642.8,-11.8,372,5629,0.00,1.15,0.00,0.000,6,0.000,0.040,2655,1940,3425,0,0,0,0,0,0
$GC,5966,-1.08,-145.9,686.8,-13.1,383,5970,0.00,0.82,0.00,0.000,4,0.000,0.040,2652,2486,3425,0,0,0,0,0,0
$GC,6000,-1.08,-145.9,691.1,-12.5,384,6003,0.00,0.82,0.00,0.000,6,0.000,0.042,2651,1948,3425,0,0,0,0,0,0
$GC,6340,-1.08,-145.9,735.3,-12.8,395,6344,0.00,2.22,0.00,0.000,4,0.000,0.044,2642,3364,3424,0,0,0,0,0,0
$GC,6394,-1.08,-145.9,742.8,-13.6,396,6401,0.05,2.20,0.00,0.000,6,0.166,0.036,2657,1948,3424,0,0,0,0,0,0
$GC,6707,-1.08,-145.9,780.8,-12.1,407,6711,0.00,2.22,0.00,0.000,4,0.000,0.045,2649,3366,3423,0,0,0,0,0,0
$GC,6775,-1.08,-145.9,789.0,-12.4,409,6780,0.08,2.20,0.00,0.000,6,0.194,0.037,2664,1941,3423,0,0,0,0,0,0
$GC,7110,-1.11,-145.9,827.2,-11.4,420,7114,0.00,1.42,0.00,0.000,4,0.000,0.043,2659,2849,3423,0,0,0,0,0,0
$GC,7154,-1.14,-145.9,832.2,-10.7,421,7157,0.00,1.40,0.00,0.000,6,0.000,0.038,2660,1948,3423,0,0,0,0,0,0
$GC,7483,-1.14,-145.9,867.6,-10.9,432,7487,0.00,2.25,0.00,0.000,4,0.000,0.047,2649,3371,3423,0,0,0,0,0,0
$GC,7546,-1.14,-145.9,874.5,-10.3,434,7550,0.00,2.20,0.00,0.000,6,0.000,0.037,2649,1943,3423,0,0,0,0,0,0
$GC,7881,-1.14,-145.9,910.2,-10.7,445,7884,0.00,1.60,0.00,0.000,4,0.000,0.044,2643,2962,3422,0,0,0,0,0,0
$GC,7924,-1.14,-145.9,915.2,-11.3,446,7929,0.00,1.58,0.00,0.000,6,0.000,0.037,2643,1949,3422,0,0,0,0,0,0
$GC,8255,-1.14,-145.9,951.5,-11.0,457,8259,0.00,2.22,0.00,0.000,4,0.000,0.046,2632,3365,3422,0,0,0,0,0,0
$GC,8318,-1.09,-145.9,958.7,-11.1,459,8323,0.12,2.17,0.00,0.000,6,0.177,0.036,2662,1952,3422,0,0,0,0,0,0
$GC,8654,-1.13,-145.9,994.9,-10.9,470,8658,0.00,2.22,0.00,0.000,4,0.000,0.046,2654,3365,3421,0,0,0,0,0,0
$STATE,8696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8696,begin apogee
$GC,8704,-0.21,0.0,1000.2,12.3,471,8840,0.98,0.00,131.12,1.506,6,0.149,0.000,2939,1510,2827,0,0,0,0,0,0
$STATE,8841,end apogee,CONTROL_FINISHED_OK
$STATE,8841,begin climb
$GC,8843,0.84,145.9,1011.3,0.0,476,8992,1.05,2.53,137.30,1.483,4,0.064,0.062,3291,172,2232,0,0,0,0,0,0
$GC,9163,0.51,244.0,1010.1,6.1,486,9260,0.47,2.12,89.40,1.466,6,0.220,0.034,3184,1532,1832,0,0,0,0,0,0
$GC,9590,0.51,321.1,980.2,7.2,500,9665,0.00,2.22,69.60,1.423,4,0.000,0.041,3183,2891,1518,0,0,0,0,0,0
$GC,9745,0.59,371.8,968.2,8.5,505,9799,0.00,2.25,47.28,1.391,6,0.000,0.045,3193,1499,1311,0,0,0,0,0,0
$GC,10114,0.76,427.7,937.2,8.3,517,10175,0.20,2.35,51.75,1.400,4,0.080,0.042,3266,2888,1082,0,0,0,0,0,0
$GC,10187,0.79,430.2,929.5,11.0,519,10191,0.00,2.28,0.00,0.000,6,0.000,0.046,3274,1494,1081,0,0,0,0,0,0
$GC,10511,0.83,437.4,895.0,10.7,530,10525,0.00,0.90,9.23,1.177,4,0.000,0.065,3277,952,1043,0,0,0,0,0,0
$GC,10548,0.87,445.8,890.7,10.7,531,10562,0.00,0.82,9.75,1.181,6,0.000,0.036,3277,1506,1009,0,0,0,0,0,0
$GC,10883,0.93,453.3,854.9,10.7,542,10897,0.10,2.28,7.78,1.103,4,0.112,0.067,3322,162,979,0,0,0,0,0,0
$GC,10960,0.85,453.3,845.0,12.6,544,10965,0.15,2.05,0.00,0.000,6,0.192,0.035,3287,1494,978,0,0,0,0,0,0
$GC,11284,0.90,453.3,808.5,11.3,555,11288,0.00,2.20,0.00,0.000,4,0.000,0.067,3293,168,978,0,0,0,0,0,0
$GC,11355,0.90,453.3,799.9,12.1,557,11360,0.00,2.08,0.00,0.000,6,0.000,0.036,3293,1496,976,0,0,0,0,0,0
$GC,11686,0.93,453.3,762.3,11.5,568,11690,0.00,2.20,0.00,0.000,4,0.000,0.067,3301,168,976,0,0,0,0,0,0
$GC,11741,0.90,453.3,755.5,12.4,569,11746,0.00,2.08,0.00,0.000,6,0.000,0.037,3301,1495,975,0,0,0,0,0,0
$GC,12054,0.90,460.9,720.6,10.7,580,12068,0.00,1.62,8.68,1.085,4,0.000,0.065,3307,535,947,0,0,0,0,0,0
$GC,12096,0.88,472.9,715.9,10.5,581,12117,0.00,1.50,13.43,1.162,6,0.000,0.036,3306,1519,899,0,0,0,0,0,0
$GC,12426,0.90,494.0,682.1,10.0,592,12451,0.00,2.17,20.58,1.209,4,0.000,0.042,3306,2886,814,0,0,0,0,0,0
$GC,12521,0.94,501.5,672.1,10.7,594,12535,0.00,2.22,8.82,1.073,6,0.000,0.049,3315,1501,782,0,0,0,0,0,0
$GC,12862,0.98,517.3,637.6,10.3,605,12882,0.00,1.35,15.68,1.157,4,0.000,0.038,3315,2379,717,0,0,0,0,0,0
$GC,12923,1.03,517.3,631.1,11.3,607,12927,0.03,1.42,0.00,0.000,6,0.106,0.053,3341,1504,717,0,0,0,0,0,0
$GC,13263,1.03,517.3,591.9,11.8,618,13267,0.00,0.35,0.00,0.000,4,0.000,0.048,3342,1770,716,0,0,0,0,0,0
$GC,13312,1.03,517.3,585.6,11.9,619,13316,0.00,0.45,0.00,0.000,6,0.000,0.063,3344,1494,716,0,0,0,0,0,0
$GC,13636,1.03,517.3,543.8,13.3,630,13640,0.00,0.98,0.00,0.000,4,0.000,0.041,3344,2133,716,0,0,0,0,0,0
$GC,13680,1.03,517.3,537.7,12.9,631,13684,0.00,1.05,0.00,0.000,6,0.000,0.054,3348,1495,715,0,0,0,0,0,0
$GC,14010,1.03,517.3,492.2,14.0,642,14013,0.00,1.12,0.00,0.000,4,0.000,0.066,3348,804,715,0,0,0,0,0,0
$GC,14044,1.00,517.3,487.3,14.1,643,14049,0.03,1.05,0.00,0.000,6,0.197,0.040,3340,1493,715,0,0,0,0,0,0
$GC,14384,1.00,517.3,440.1,13.6,654,14388,0.00,2.17,0.00,0.000,4,0.000,0.045,3341,2888,715,0,0,0,0,0,0
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$STATE,17981,end climb,SURFACE_DEPTH_REACHED
$STATE,17981,begin surface coast
$FINISH,1.6,1.013016
$STATE,18006,end surface coast,CONTROL_FINISHED_OK
$STATE,18006,begin surface
$SM_CCo,18084,0.00,0.000,0,0,684,525.67
$SM_GC,2.57,9.12,0.00,0.00,0.056,0.000,0.000,91,1961,684,-9.08,0.31,525.67
$IRIDIUM_FIX,-4115.01,-628.98,231212,050544
$TT8_MAMPS,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.5,97.378
$10V_AH,9.9,58.416
$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
$DEVICE_SECS,25.750,167.700,628.225,0.000,0.000,23.042,43.769,286.780,0.250,0.000,37.063,2403.397,12122.938,690.346,3140.117,230.465,0.000,1955.777,0.000,2714.070,0.000,2.834,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.333,1044.063,617.281,75.290,0.000,0.000,0.000,0.000,0.000,0.000
$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,56906,936
$CAP_FILE_SIZE,180764,0
$CFSIZE,2097086464,2038988800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231212,155105,-4126.912,-526.015,41,1.2,41,-22.4