version: 66.07.10.p01
glider: 574
mission: 4
dive: 434
start: 12 30 112 12 15 48
data:
$ID,574
$MISSION,4
$DIVE,434
$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,-7227.8022
$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,29
$R_STBD_OVSHOOT,49
$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,413
$GPS1,301212,121405,-4125.081,-512.232,42,1.3,42,-22.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.7
$GPS2,301212,121528,-4125.080,-512.225,20,1.8,20,-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,117.6,100594,-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,26,-0.86,-145.9,0.0,0.0,0,64,0.00,0.00,-36.45,0.000,2,0.000,0.000,69,1784,1876,0,0,0,0,0,0
$GC,67,-0.86,-145.9,3.1,-0.9,6,152,12.18,2.22,-66.22,0.000,4,0.253,0.058,2712,3190,3422,0,0,0,0,0,0
$GC,227,-0.83,-145.9,12.1,-11.5,32,234,0.05,2.25,0.00,0.000,6,0.160,0.047,2729,1795,3422,0,0,0,0,0,0
$GC,308,-0.85,-145.9,21.1,-10.5,45,315,0.00,0.95,0.00,0.000,4,0.000,0.061,2729,1210,3423,0,0,0,0,0,0
$GC,335,-0.85,-145.9,24.3,-11.0,49,342,0.00,0.90,0.00,0.000,6,0.000,0.041,2728,1788,3423,0,0,0,0,0,0
$GC,413,-0.85,-145.9,32.7,-11.6,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1788,3423,0,0,0,0,0,0
$GC,651,-0.90,-145.9,57.4,-10.1,103,655,0.00,0.65,0.00,0.000,4,0.000,0.054,2728,1383,3424,0,0,0,0,0,0
$GC,712,-0.93,-145.9,64.1,-10.7,114,720,0.03,0.65,0.00,0.000,6,0.103,0.041,2704,1811,3424,0,0,0,0,0,0
$GC,1060,-0.93,-145.9,100.4,-10.3,175,1064,0.00,2.33,0.00,0.000,4,0.000,0.060,2703,390,3425,0,0,0,0,0,0
$GC,1116,-0.93,-145.9,107.1,-11.3,178,1120,0.00,2.20,0.00,0.000,6,0.000,0.036,2694,1789,3425,0,0,0,0,0,0
$GC,1443,-0.93,-145.9,144.4,-11.9,199,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1790,3425,0,0,0,0,0,0
$GC,1755,-0.93,-145.9,180.8,-11.9,219,1759,0.00,2.28,0.00,0.000,4,0.000,0.059,2694,383,3426,0,0,0,0,0,0
$GC,1820,-0.88,-145.9,188.5,-12.7,223,1825,0.12,2.20,0.00,0.000,6,0.167,0.036,2718,1804,3426,0,0,0,0,0,0
$GC,2145,-0.94,-145.9,225.2,-11.1,244,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1804,3427,0,0,0,0,0,0
$GC,2459,-0.98,-145.9,257.6,-10.3,263,2460,0.10,0.00,0.00,0.000,6,0.109,0.000,2676,1806,3427,0,0,0,0,0,0
$GC,2766,-0.95,-145.9,291.7,-10.9,278,2771,0.08,2.33,0.00,0.000,4,0.189,0.059,2695,390,3427,0,0,0,0,0,0
$GC,2838,-0.92,-145.9,299.6,-10.1,281,2843,0.08,2.17,0.00,0.000,6,0.194,0.034,2703,1804,3427,0,0,0,0,0,0
$GC,3163,-0.96,-145.9,329.9,-9.0,297,3167,0.00,1.12,0.00,0.000,4,0.000,0.054,2703,1113,3427,0,0,0,0,0,0
$GC,3225,-0.98,-145.9,335.9,-9.0,299,3230,0.00,1.05,0.00,0.000,6,0.000,0.036,2700,1798,3427,0,0,0,0,0,0
$GC,3543,-1.01,-145.9,363.7,-8.9,315,3548,0.08,1.75,0.00,0.000,4,0.127,0.057,2667,746,3428,0,0,0,0,0,0
$GC,3604,-0.95,-145.9,370.1,-10.1,317,3610,0.10,1.62,0.00,0.000,6,0.142,0.033,2692,1797,3427,0,0,0,0,0,0
$GC,3924,-0.97,-145.9,397.8,-8.8,333,3928,0.00,1.05,0.00,0.000,4,0.000,0.053,2692,1141,3428,0,0,0,0,0,0
$GC,3984,-0.97,-145.9,403.6,-8.5,335,3990,0.00,1.02,0.00,0.000,6,0.000,0.034,2688,1808,3428,0,0,0,0,0,0
$GC,4297,-0.97,-145.9,430.9,-8.8,346,4301,0.00,1.05,0.00,0.000,4,0.000,0.053,2688,1160,3427,0,0,0,0,0,0
$GC,4358,-0.97,-145.9,436.6,-9.1,347,4363,0.00,0.98,0.00,0.000,6,0.000,0.036,2684,1798,3428,0,0,0,0,0,0
$GC,4671,-0.97,-145.9,466.4,-9.8,358,4675,0.00,1.20,0.00,0.000,4,0.000,0.054,2684,1061,3427,0,0,0,0,0,0
$GC,4739,-0.97,-145.9,473.2,-9.9,360,4742,0.00,1.12,0.00,0.000,6,0.000,0.036,2679,1789,3427,0,0,0,0,0,0
$GC,5079,-0.97,-145.9,507.7,-10.4,371,5083,0.00,2.30,0.00,0.000,4,0.000,0.058,2679,382,3427,0,0,0,0,0,0
$GC,5139,-0.91,-145.9,514.7,-11.6,372,5145,0.15,2.17,0.00,0.000,6,0.164,0.033,2710,1806,3427,0,0,0,0,0,0
$GC,5453,-0.98,-145.9,545.5,-9.9,383,5457,0.08,1.80,0.00,0.000,4,0.130,0.054,2680,696,3426,0,0,0,0,0,0
$GC,5507,-0.95,-145.9,551.5,-10.2,384,5512,0.05,1.70,0.00,0.000,6,0.155,0.033,2691,1801,3426,0,0,0,0,0,0
$GC,5826,-0.98,-145.9,582.9,-9.8,395,5830,0.00,2.30,0.00,0.000,4,0.000,0.057,2690,381,3426,0,0,0,0,0,0
$GC,5888,-0.98,-145.9,589.3,-10.3,397,5892,0.00,2.17,0.00,0.000,6,0.000,0.034,2684,1799,3426,0,0,0,0,0,0
$GC,6222,-0.98,-145.9,624.0,-10.5,408,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1799,3426,0,0,0,0,0,0
$GC,6529,-0.98,-145.9,656.4,-10.5,418,6532,0.00,1.88,0.00,0.000,4,0.000,0.054,2684,639,3424,0,0,0,0,0,0
$GC,6584,-0.94,-145.9,662.7,-10.9,419,6589,0.05,1.80,0.00,0.000,6,0.157,0.033,2693,1799,3424,0,0,0,0,0,0
$GC,6903,-0.98,-145.9,696.4,-10.8,430,6906,0.00,0.47,0.00,0.000,4,0.000,0.053,2693,1482,3424,0,0,0,0,0,0
$GC,6992,-1.01,-145.9,706.0,-11.2,432,6996,0.00,0.50,0.00,0.000,6,0.000,0.042,2692,1812,3423,0,0,0,0,0,0
$GC,7311,-1.04,-145.9,738.7,-10.3,443,7315,0.05,1.62,0.00,0.000,4,0.170,0.054,2667,831,3423,0,0,0,0,0,0
$GC,7379,-0.99,-145.9,745.9,-10.4,445,7383,0.05,1.50,0.00,0.000,6,0.160,0.034,2677,1797,3423,0,0,0,0,0,0
$GC,7719,-0.99,-145.9,778.9,-9.6,456,7723,0.00,2.28,0.00,0.000,4,0.000,0.055,2677,387,3422,0,0,0,0,0,0
$GC,7790,-0.94,-145.9,786.2,-10.2,458,7795,0.12,2.17,0.00,0.000,6,0.172,0.033,2703,1802,3422,0,0,0,0,0,0
$GC,8120,-1.00,-145.9,816.1,-9.2,469,8122,0.05,0.00,0.00,0.000,6,0.173,0.000,2681,1804,3421,0,0,0,0,0,0
$GC,8426,-1.00,-145.9,846.8,-10.2,479,8430,0.00,2.28,0.00,0.000,4,0.000,0.054,2680,386,3421,0,0,0,0,0,0
$GC,8497,-0.98,-145.9,854.9,-11.6,481,8502,0.08,2.17,0.00,0.000,6,0.200,0.033,2690,1798,3421,0,0,0,0,0,0
$GC,8827,-1.01,-145.9,892.0,-11.6,492,8830,0.00,1.77,0.00,0.000,4,0.000,0.051,2691,693,3421,0,0,0,0,0,0
$GC,8895,-1.03,-145.9,900.0,-11.1,494,8899,0.00,1.70,0.00,0.000,6,0.000,0.034,2686,1804,3421,0,0,0,0,0,0
$GC,9236,-1.07,-145.9,938.5,-11.1,505,9240,0.08,1.70,0.00,0.000,4,0.135,0.051,2657,756,3421,0,0,0,0,0,0
$GC,9291,-0.99,-145.9,945.3,-12.0,506,9296,0.10,1.60,0.00,0.000,6,0.148,0.033,2681,1792,3420,0,0,0,0,0,0
$GC,9610,-1.02,-145.9,978.9,-10.3,517,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1792,3420,0,0,0,0,0,0
$STATE,9823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9823,begin apogee
$GC,9828,-0.25,0.0,1000.6,10.2,524,9962,0.80,0.00,130.57,1.489,6,0.130,0.000,2922,1580,2826,0,0,0,0,0,0
$STATE,9963,end apogee,CONTROL_FINISHED_OK
$STATE,9963,begin climb
$GC,9965,0.86,145.9,1010.3,0.0,528,10108,1.08,0.00,136.82,1.452,6,0.072,0.000,3273,1580,2232,0,0,0,0,0,0
$GC,10394,0.51,356.8,1015.3,0.3,542,10596,0.38,2.42,194.15,1.439,4,0.207,0.041,3182,2967,1372,0,0,0,0,0,0
$GC,10657,0.57,398.5,998.3,7.5,550,10704,0.00,2.25,41.05,1.380,6,0.000,0.044,3187,1626,1202,0,0,0,0,0,0
$GC,11034,0.69,432.4,967.9,7.8,563,11070,0.12,0.80,32.10,1.374,4,0.098,0.059,3240,1153,1063,0,0,0,0,0,0
$GC,11105,0.73,432.4,961.5,10.5,565,11108,0.00,0.70,0.00,0.000,6,0.000,0.037,3240,1615,1061,0,0,0,0,0,0
$GC,11434,0.77,432.4,929.9,9.8,576,11438,0.00,1.52,0.00,0.000,4,0.000,0.041,3240,2598,1057,0,0,0,0,0,0
$GC,11490,0.81,432.4,924.3,10.1,577,11494,0.05,1.60,0.00,0.000,6,0.083,0.049,3266,1606,1057,0,0,0,0,0,0
$GC,11808,0.81,432.4,890.9,10.6,588,11811,0.00,1.52,0.00,0.000,4,0.000,0.063,3266,671,1055,0,0,0,0,0,0
$GC,11851,0.79,432.4,886.2,9.9,589,11856,0.00,1.42,0.00,0.000,6,0.000,0.034,3267,1601,1055,0,0,0,0,0,0
$GC,12181,0.79,432.4,850.4,11.1,600,12185,0.00,0.70,0.00,0.000,4,0.000,0.042,3267,2083,1055,0,0,0,0,0,0
$GC,12230,0.79,432.4,844.6,11.1,601,12235,0.00,0.77,0.00,0.000,6,0.000,0.053,3267,1607,1054,0,0,0,0,0,0
$GC,12555,0.79,432.4,807.4,11.7,612,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1607,1054,0,0,0,0,0,0
$GC,12861,0.79,432.4,771.1,12.0,622,12865,0.00,1.38,0.00,0.000,4,0.000,0.063,3267,764,1054,0,0,0,0,0,0
$GC,12904,0.79,432.4,765.7,11.8,623,12909,0.00,1.30,0.00,0.000,6,0.000,0.035,3267,1606,1053,0,0,0,0,0,0
$GC,13235,0.79,432.4,726.6,11.6,634,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1607,1053,0,0,0,0,0,0
$GC,13541,0.79,432.4,691.5,11.3,644,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1607,1053,0,0,0,0,0,0
$GC,13847,0.79,432.4,658.1,10.8,654,13851,0.00,0.47,0.00,0.000,4,0.000,0.047,3267,1948,1053,0,0,0,0,0,0
$GC,13903,0.79,432.4,652.1,10.6,655,13906,0.00,0.55,0.00,0.000,6,0.000,0.057,3267,1607,1053,0,0,0,0,0,0
$GC,14221,0.79,432.4,619.1,10.3,666,14222,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1607,1053,0,0,0,0,0,0
$GC,14527,0.79,432.4,586.9,10.7,676,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1607,1053,0,0,0,0,0,0
$GC,14833,0.79,432.4,553.3,11.0,686,14834,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1607,1053,0,0,0,0,0,0
$GC,15139,0.79,432.4,519.8,10.8,696,15143,0.00,0.47,0.00,0.000,4,0.000,0.045,3267,1927,1053,0,0,0,0,0,0
$GC,15183,0.79,432.4,515.0,10.4,697,15187,0.00,0.52,0.00,0.000,6,0.000,0.058,3267,1610,1053,0,0,0,0,0,0
$GC,15513,0.79,432.4,480.1,10.4,708,15516,0.00,1.20,0.00,0.000,4,0.000,0.063,3267,874,1053,0,0,0,0,0,0
$GC,15556,0.79,432.4,475.6,9.6,709,15561,0.00,1.15,0.00,0.000,6,0.000,0.037,3267,1615,1053,0,0,0,0,0,0
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$STATE,20082,end climb,SURFACE_DEPTH_REACHED
$STATE,20082,begin surface coast
$FINISH,2.0,1.026509
$STATE,20097,end surface coast,CONTROL_FINISHED_OK
$STATE,20097,begin surface
$SM_CCo,20176,0.00,0.000,0,0,864,481.52
$SM_GC,2.84,8.95,0.00,0.00,0.057,0.000,0.000,88,1799,864,-9.06,0.00,481.52
$IRIDIUM_FIX,-4109.28,-510.37,291212,191905
$TT8_MAMPS,0.026964
$HUMID,50.51
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,21.6,104.754
$10V_AH,9.9,62.012
$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
$DEVICE_SECS,25.025,103.975,559.075,0.000,0.000,0.000,0.000,0.000,0.250,0.000,22.287,2630.607,13922.600,598.203,2911.116,188.239,0.000,1868.604,0.000,2867.482,0.000,2.829,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.596,1198.387,699.327,92.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,63565,1062
$CAP_FILE_SIZE,170068,0
$CFSIZE,2097086464,2035056640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301212,175305,-4125.321,-511.509,26,1.3,26,-22.4