version: 66.07.10.p01
glider: 574
mission: 4
dive: 422
start: 12 27 112 15 26 39
data:
$ID,574
$MISSION,4
$DIVE,422
$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,360
$T_MISSION,385
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,2
$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,-7194.1714
$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,3005
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1800
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,401
$GPS1,271212,152458,-4127.233,-518.537,41,1.9,44,-22.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.0
$GPS2,271212,152619,-4127.227,-518.518,16,1.8,16,-22.4
$SPEED_LIMITS,0.160,0.254
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4130.000,-400.000
$TGT_RADIUS,6000.000
$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,115.1,109031,-17.1,-9.259
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.86,-145.9,0.0,0.0,0,88,0.00,0.00,-60.10,0.000,2,0.000,0.000,68,1788,2160,0,0,0,0,0,0
$GC,91,-0.86,-145.9,3.1,-0.9,10,158,12.18,2.30,-44.38,0.000,4,0.263,0.075,2722,388,3419,0,0,0,0,0,0
$GC,210,-0.72,-145.9,12.6,-12.9,29,218,0.17,2.20,0.00,0.000,6,0.132,0.034,2769,1790,3419,0,0,0,0,0,0
$GC,291,-0.78,-145.9,20.4,-10.0,42,298,0.00,1.20,0.00,0.000,4,0.000,0.047,2767,2564,3419,0,0,0,0,0,0
$GC,337,-0.89,-145.9,25.4,-11.6,49,344,0.10,1.23,0.00,0.000,6,0.070,0.047,2718,1794,3419,0,0,0,0,0,0
$GC,415,-0.93,-145.9,35.2,-11.6,62,422,0.00,2.08,0.00,0.000,4,0.000,0.060,2718,529,3420,0,0,0,0,0,0
$GC,470,-0.93,-145.9,41.7,-12.0,71,475,0.00,1.98,0.00,0.000,6,0.000,0.032,2709,1815,3420,0,0,0,0,0,0
$GC,704,-0.90,-145.9,67.8,-10.7,112,709,0.00,0.80,0.00,0.000,4,0.000,0.043,2704,2360,3420,0,0,0,0,0,0
$GC,756,-0.90,-145.9,73.8,-11.9,121,760,0.00,0.88,0.00,0.000,6,0.000,0.044,2705,1795,3420,0,0,0,0,0,0
$GC,1097,-0.90,-145.9,112.1,-10.9,169,1101,0.00,2.28,0.00,0.000,4,0.000,0.057,2704,382,3420,0,0,0,0,0,0
$GC,1196,-0.90,-145.9,123.1,-10.4,175,1201,0.08,2.17,0.00,0.000,6,0.194,0.032,2712,1805,3421,0,0,0,0,0,0
$GC,1522,-0.93,-145.9,155.1,-9.5,196,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1805,3421,0,0,0,0,0,0
$GC,1835,-0.96,-145.9,185.7,-9.8,216,1838,0.00,1.52,0.00,0.000,4,0.000,0.054,2713,876,3422,0,0,0,0,0,0
$GC,1890,-0.96,-145.9,191.9,-10.7,219,1894,0.00,1.42,0.00,0.000,6,0.000,0.033,2707,1796,3422,0,0,0,0,0,0
$GC,2216,-0.96,-145.9,225.4,-10.5,240,2220,0.00,2.00,0.00,0.000,4,0.000,0.056,2707,564,3423,0,0,0,0,0,0
$GC,2271,-0.96,-145.9,231.3,-10.6,243,2275,0.00,1.90,0.00,0.000,6,0.000,0.034,2698,1801,3423,0,0,0,0,0,0
$GC,2591,-0.96,-145.9,266.2,-11.1,261,2594,0.00,0.88,0.00,0.000,4,0.000,0.053,2698,1250,3423,0,0,0,0,0,0
$GC,2668,-0.96,-145.9,275.6,-11.6,264,2673,0.00,0.88,0.00,0.000,6,0.000,0.036,2694,1814,3423,0,0,0,0,0,0
$GC,2991,-0.96,-145.9,313.6,-12.0,280,2995,0.00,2.12,0.00,0.000,4,0.000,0.057,2694,487,3424,0,0,0,0,0,0
$GC,3040,-0.92,-145.9,320.1,-12.7,282,3045,0.08,2.03,0.00,0.000,6,0.192,0.034,2702,1796,3424,0,0,0,0,0,0
$GC,3362,-0.95,-145.9,359.3,-12.2,298,3366,0.00,0.73,0.00,0.000,4,0.000,0.052,2703,1334,3424,0,0,0,0,0,0
$GC,3417,-0.95,-145.9,366.6,-12.6,300,3421,0.00,0.73,0.00,0.000,6,0.000,0.036,2701,1808,3424,0,0,0,0,0,0
$GC,3759,-0.98,-145.9,408.3,-12.0,316,3763,0.00,1.35,0.00,0.000,4,0.000,0.053,2701,980,3424,0,0,0,0,0,0
$GC,3808,-0.98,-145.9,414.5,-11.8,317,3813,0.00,1.25,0.00,0.000,6,0.000,0.034,2695,1788,3424,0,0,0,0,0,0
$GC,4133,-0.98,-145.9,449.4,-10.5,328,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1788,3424,0,0,0,0,0,0
$GC,4439,-0.98,-145.9,481.0,-10.1,338,4443,0.00,0.90,0.00,0.000,4,0.000,0.052,2695,1219,3424,0,0,0,0,0,0
$GC,4483,-0.98,-145.9,485.6,-10.1,339,4487,0.00,0.88,0.00,0.000,6,0.000,0.034,2691,1801,3424,0,0,0,0,0,0
$GC,4813,-0.98,-145.9,518.9,-10.3,350,4816,0.00,1.90,0.00,0.000,4,0.000,0.056,2691,624,3424,0,0,0,0,0,0
$GC,4867,-0.98,-145.9,525.4,-11.2,351,4872,0.00,1.83,0.00,0.000,6,0.000,0.034,2683,1799,3423,0,0,0,0,0,0
$GC,5186,-0.98,-145.9,559.2,-10.7,362,5190,0.00,1.05,0.00,0.000,4,0.000,0.053,2683,1149,3423,0,0,0,0,0,0
$GC,5247,-0.98,-145.9,566.1,-10.4,363,5252,0.00,1.02,0.00,0.000,6,0.000,0.036,2679,1803,3423,0,0,0,0,0,0
$GC,5560,-0.98,-145.9,600.0,-10.9,374,5564,0.00,2.28,0.00,0.000,4,0.000,0.056,2679,393,3423,0,0,0,0,0,0
$GC,5631,-0.93,-145.9,608.3,-11.8,376,5636,0.12,2.15,0.00,0.000,6,0.166,0.032,2701,1804,3423,0,0,0,0,0,0
$GC,5955,-0.97,-145.9,640.8,-10.0,387,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1804,3423,0,0,0,0,0,0
$GC,6261,-1.00,-145.9,671.6,-10.0,397,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1804,3422,0,0,0,0,0,0
$GC,6568,-1.05,-145.9,702.2,-10.0,407,6572,0.10,2.08,0.00,0.000,4,0.109,0.054,2661,529,3422,0,0,0,0,0,0
$GC,6617,-0.95,-145.9,707.9,-12.6,408,6621,0.12,1.95,0.00,0.000,6,0.146,0.031,2699,1794,3422,0,0,0,0,0,0
$GC,6935,-0.99,-145.9,739.0,-9.8,419,6938,0.00,0.40,0.00,0.000,4,0.000,0.053,2699,1530,3422,0,0,0,0,0,0
$GC,7007,-1.03,-145.9,746.3,-9.6,421,7012,0.08,0.43,0.00,0.000,6,0.127,0.043,2667,1815,3422,0,0,0,0,0,0
$GC,7343,-1.01,-145.9,782.7,-11.2,432,7347,0.00,2.30,0.00,0.000,4,0.000,0.054,2667,392,3421,0,0,0,0,0,0
$GC,7420,-0.94,-145.9,792.1,-12.1,434,7425,0.15,2.15,0.00,0.000,6,0.166,0.032,2696,1795,3421,0,0,0,0,0,0
$GC,7744,-0.98,-145.9,826.3,-10.6,445,7748,0.00,1.12,0.00,0.000,4,0.000,0.050,2696,1098,3421,0,0,0,0,0,0
$GC,7799,-1.01,-145.9,832.6,-11.5,446,7804,0.00,1.08,0.00,0.000,6,0.000,0.035,2692,1798,3421,0,0,0,0,0,0
$GC,8118,-1.04,-145.9,865.8,-10.5,457,8123,0.08,2.30,0.00,0.000,4,0.129,0.055,2662,386,3421,0,0,0,0,0,0
$GC,8173,-0.95,-145.9,872.4,-11.8,458,8179,0.17,2.17,0.00,0.000,6,0.163,0.033,2697,1801,3421,0,0,0,0,0,0
$GC,8486,-1.00,-145.9,903.4,-9.8,469,8490,0.00,1.12,0.00,0.000,4,0.000,0.042,2693,2539,3420,0,0,0,0,0,0
$GC,8536,-1.06,-145.9,908.5,-10.1,470,8541,0.05,1.15,0.00,0.000,6,0.078,0.041,2663,1795,3421,0,0,0,0,0,0
$GC,8860,-1.03,-145.9,942.9,-10.8,481,8864,0.00,2.22,0.00,0.000,4,0.000,0.045,2653,3200,3421,0,0,0,0,0,0
$GC,8932,-0.97,-145.9,951.3,-11.7,483,8937,0.15,2.17,0.00,0.000,6,0.161,0.037,2692,1801,3420,0,0,0,0,0,0
$GC,9262,-1.03,-145.9,986.2,-10.7,494,9266,0.00,2.22,0.00,0.000,4,0.000,0.046,2683,3203,3421,0,0,0,0,0,0
$GC,9339,-1.07,-145.9,994.9,-10.7,496,9344,0.08,2.15,0.00,0.000,6,0.134,0.037,2655,1799,3421,0,0,0,0,0,0
$STATE,9387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9387,begin apogee
$GC,9392,-0.25,0.0,1000.4,11.8,498,9526,0.90,0.00,130.93,1.493,6,0.135,0.000,2922,1591,2827,0,0,0,0,0,0
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9529,0.86,145.9,1011.2,0.0,502,9675,1.08,2.25,137.35,1.471,4,0.073,0.042,3273,2835,2232,0,0,0,0,0,0
$GC,9809,0.52,302.4,1020.2,2.6,510,9960,0.45,1.98,144.27,1.446,6,0.213,0.044,3180,1622,1593,0,0,0,0,0,0
$GC,10269,0.56,370.5,994.0,6.4,525,10334,0.00,0.00,63.22,1.425,6,0.000,0.000,3181,1622,1316,0,0,0,0,0,0
$GC,10638,0.70,392.1,965.1,8.3,537,10664,0.15,2.22,20.08,1.335,4,0.089,0.043,3238,3012,1228,0,0,0,0,0,0
$GC,10742,0.65,392.1,954.0,10.7,539,10746,0.12,2.25,0.00,0.000,6,0.184,0.044,3216,1604,1226,0,0,0,0,0,0
$GC,11071,0.72,392.1,919.4,10.9,550,11076,0.05,1.80,0.00,0.000,4,0.165,0.041,3238,2734,1225,0,0,0,0,0,0
$GC,11120,0.72,392.1,913.7,11.5,551,11124,0.00,1.80,0.00,0.000,6,0.000,0.047,3244,1611,1225,0,0,0,0,0,0
$GC,11444,0.72,392.1,876.1,11.6,562,11448,0.00,0.85,0.00,0.000,4,0.000,0.061,3247,1075,1225,0,0,0,0,0,0
$GC,11488,0.72,392.1,870.7,12.9,563,11492,0.00,0.85,0.00,0.000,6,0.000,0.037,3246,1629,1224,0,0,0,0,0,0
$GC,11818,0.72,392.1,833.3,11.4,574,11822,0.00,1.05,0.00,0.000,4,0.000,0.042,3246,2322,1224,0,0,0,0,0,0
$GC,11861,0.72,392.1,828.4,10.8,575,11866,0.03,1.12,0.00,0.000,6,0.192,0.050,3243,1614,1224,0,0,0,0,0,0
$GC,12191,0.72,392.1,794.6,10.1,586,12194,0.00,0.77,0.00,0.000,4,0.000,0.038,3243,2134,1224,0,0,0,0,0,0
$GC,12251,0.72,392.1,788.4,10.3,587,12257,0.00,0.85,0.00,0.000,6,0.000,0.051,3245,1609,1224,0,0,0,0,0,0
$GC,12564,0.72,392.1,757.6,9.8,598,12568,0.00,0.70,0.00,0.000,4,0.000,0.039,3245,2081,1224,0,0,0,0,0,0
$GC,12632,0.72,392.1,750.7,9.8,600,12636,0.00,0.75,0.00,0.000,6,0.000,0.054,3248,1611,1224,0,0,0,0,0,0
$GC,12973,0.72,392.1,715.6,10.3,611,12976,0.00,1.92,0.00,0.000,4,0.000,0.041,3248,2838,1224,0,0,0,0,0,0
$GC,13022,0.70,392.1,710.5,10.3,612,13027,0.08,1.98,0.00,0.000,6,0.158,0.047,3224,1615,1223,0,0,0,0,0,0
$GC,13346,0.75,394.1,680.2,9.2,623,13351,0.08,1.02,0.00,0.000,4,0.129,0.040,3254,2271,1224,0,0,0,0,0,0
$GC,13453,0.73,399.6,669.8,9.0,626,13468,0.05,1.08,8.43,1.062,6,0.171,0.052,3243,1603,1197,0,0,0,0,0,0
$GC,13788,0.73,408.9,639.6,8.9,637,13803,0.00,1.67,10.43,1.097,4,0.000,0.038,3243,2680,1159,0,0,0,0,0,0
$GC,13864,0.76,416.0,632.1,9.0,639,13880,0.00,1.73,8.40,1.036,6,0.000,0.048,3247,1601,1131,0,0,0,0,0,0
$GC,14187,0.79,416.0,602.2,9.4,650,14191,0.00,1.45,0.00,0.000,4,0.000,0.040,3247,2530,1129,0,0,0,0,0,0
$GC,14244,0.79,416.0,596.8,9.5,651,14247,0.00,1.48,0.00,0.000,6,0.000,0.049,3252,1616,1129,0,0,0,0,0,0
$GC,14562,0.79,416.0,564.4,10.6,662,14565,0.00,1.73,0.00,0.000,4,0.000,0.041,3252,2724,1129,0,0,0,0,0,0
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$GC,19944,0.81,483.3,13.0,7.0,1022,19981,0.00,0.60,28.73,0.750,4,0.000,0.039,3268,2002,855,0,0,0,0,0,0
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$STATE,20094,end climb,SURFACE_DEPTH_REACHED
$STATE,20094,begin surface coast
$FINISH,1.7,1.016952
$STATE,20137,end surface coast,CONTROL_FINISHED_OK
$STATE,20138,begin surface
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$SM_GC,2.55,9.10,0.00,0.00,0.059,0.000,0.000,91,1815,744,-9.06,0.42,510.71
$IRIDIUM_FIX,-4112.14,-522.06,271212,090933
$TT8_MAMPS,0.026964
$HUMID,50.23
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,21.5,101.868
$10V_AH,9.9,60.570
$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
$DEVICE_SECS,25.875,131.150,579.150,0.000,0.000,0.000,0.000,0.000,0.250,0.000,18.784,2652.576,13808.411,628.036,3002.110,196.175,0.000,1971.747,0.000,2960.381,0.000,2.828,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.918,1199.395,697.100,88.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354704
$DATA_FILE_SIZE,63592,1053
$CAP_FILE_SIZE,180548,0
$CFSIZE,2097086464,2036629504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271212,210435,-4126.633,-518.062,25,1.3,25,-22.4