version: 66.07.10.p01
glider: 574
mission: 4
dive: 437
start: 12 31 112 5 35 29
data:
$ID,574
$MISSION,4
$DIVE,437
$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,400
$T_MISSION,420
$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,200
$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,-7235.9297
$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,2995
$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,1770
$C_ROLL_CLIMB,1610
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,56
$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,416
$GPS1,311212,051953,-4124.921,-511.086,48,1.0,48,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-74.0
$GPS2,311212,053508,-4124.998,-510.951,29,2.0,30,-22.4
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-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,91.9,105742,-15.5,-8.333
$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,-0.78,-145.9,0.0,0.0,0,60,0.00,0.00,-30.88,0.000,2,0.000,0.000,68,1796,1799,0,0,0,0,0,0
$GC,62,-0.78,-145.9,3.0,-0.6,5,148,12.15,2.40,-64.50,0.000,4,0.260,0.071,2732,363,3423,0,0,0,0,0,0
$GC,199,-0.72,-145.9,11.1,-11.8,27,207,0.10,2.17,0.00,0.000,6,0.136,0.034,2760,1747,3423,0,0,0,0,0,0
$GC,281,-0.79,-145.9,19.8,-11.6,40,288,0.08,1.25,0.00,0.000,4,0.130,0.044,2723,2552,3423,0,0,0,0,0,0
$GC,326,-0.79,-145.9,25.5,-12.5,47,333,0.00,1.25,0.00,0.000,6,0.000,0.044,2723,1760,3423,0,0,0,0,0,0
$GC,404,-0.79,-145.9,35.3,-12.4,60,411,0.05,1.20,0.00,0.000,4,0.221,0.057,2735,1024,3423,0,0,0,0,0,0
$GC,453,-0.82,-145.9,40.8,-11.2,68,460,0.00,1.17,0.00,0.000,6,0.000,0.033,2731,1790,3423,0,0,0,0,0,0
$GC,694,-0.82,-145.9,64.6,-10.0,106,697,0.00,0.80,0.00,0.000,4,0.000,0.042,2729,2343,3423,0,0,0,0,0,0
$GC,739,-0.82,-145.9,69.1,-9.6,110,743,0.00,0.88,0.00,0.000,6,0.000,0.044,2729,1774,3423,0,0,0,0,0,0
$GC,1077,-0.87,-145.9,101.6,-9.7,141,1081,0.00,0.77,0.00,0.000,4,0.000,0.054,2729,1279,3424,0,0,0,0,0,0
$GC,1130,-0.93,-145.9,106.9,-10.0,144,1134,0.08,0.73,0.00,0.000,6,0.066,0.034,2686,1773,3424,0,0,0,0,0,0
$GC,1464,-0.88,-145.9,142.6,-10.8,165,1468,0.10,1.05,0.00,0.000,4,0.170,0.052,2712,1132,3425,0,0,0,0,0,0
$GC,1514,-0.88,-145.9,148.4,-10.4,168,1518,0.00,0.95,0.00,0.000,6,0.000,0.032,2709,1761,3425,0,0,0,0,0,0
$GC,1846,-0.88,-145.9,181.9,-10.2,189,1850,0.00,0.85,0.00,0.000,4,0.000,0.043,2705,2338,3426,0,0,0,0,0,0
$GC,1884,-0.88,-145.9,186.2,-10.2,191,1889,0.00,0.90,0.00,0.000,6,0.000,0.042,2705,1762,3425,0,0,0,0,0,0
$GC,2202,-0.88,-145.9,218.8,-10.5,209,2206,0.00,1.70,0.00,0.000,4,0.000,0.056,2705,697,3426,0,0,0,0,0,0
$GC,2250,-0.84,-145.9,223.6,-10.2,211,2255,0.10,1.65,0.00,0.000,6,0.181,0.033,2725,1766,3426,0,0,0,0,0,0
$GC,2584,-0.87,-145.9,257.2,-10.1,227,2588,0.00,1.92,0.00,0.000,4,0.000,0.045,2716,2993,3427,0,0,0,0,0,0
$GC,2645,-0.91,-145.9,263.8,-10.2,229,2650,0.00,1.92,0.00,0.000,6,0.000,0.041,2716,1776,3426,0,0,0,0,0,0
$GC,2963,-0.94,-145.9,296.0,-10.4,245,2968,0.08,2.30,0.00,0.000,4,0.130,0.057,2682,361,3426,0,0,0,0,0,0
$GC,3029,-0.87,-145.9,304.0,-11.2,248,3034,0.15,2.15,0.00,0.000,6,0.161,0.031,2714,1773,3427,0,0,0,0,0,0
$GC,3359,-0.90,-145.9,335.5,-9.4,259,3362,0.00,1.02,0.00,0.000,4,0.000,0.042,2710,2456,3426,0,0,0,0,0,0
$GC,3413,-0.90,-145.9,340.9,-9.6,260,3418,0.00,1.08,0.00,0.000,6,0.000,0.042,2710,1768,3426,0,0,0,0,0,0
$GC,3733,-0.93,-145.9,370.3,-9.2,271,3736,0.00,1.33,0.00,0.000,4,0.000,0.054,2710,942,3426,0,0,0,0,0,0
$GC,3772,-0.93,-145.9,374.0,-8.7,272,3776,0.00,1.27,0.00,0.000,6,0.000,0.032,2704,1772,3426,0,0,0,0,0,0
$GC,4107,-0.93,-145.9,405.6,-9.6,283,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1773,3426,0,0,0,0,0,0
$GC,4413,-0.93,-145.9,435.3,-9.8,293,4417,0.00,1.23,0.00,0.000,4,0.000,0.052,2704,1018,3426,0,0,0,0,0,0
$GC,4462,-0.93,-145.9,440.6,-10.0,294,4467,0.00,1.15,0.00,0.000,6,0.000,0.033,2701,1765,3426,0,0,0,0,0,0
$GC,4787,-0.93,-145.9,474.3,-10.5,305,4790,0.00,1.10,0.00,0.000,4,0.000,0.052,2701,1079,3426,0,0,0,0,0,0
$GC,4854,-0.93,-145.9,481.4,-10.3,307,4858,0.00,1.08,0.00,0.000,6,0.000,0.036,2700,1777,3426,0,0,0,0,0,0
$GC,5195,-0.93,-145.9,518.1,-11.1,318,5198,0.00,0.52,0.00,0.000,4,0.000,0.050,2700,1433,3425,0,0,0,0,0,0
$GC,5452,-0.93,-145.9,548.4,-12.0,325,5456,0.00,0.52,0.00,0.000,6,0.000,0.039,2697,1784,3425,0,0,0,0,0,0
$GC,5771,-0.95,-145.9,587.1,-12.4,336,5775,0.00,2.33,0.00,0.000,4,0.000,0.056,2698,360,3424,0,0,0,0,0,0
$GC,5848,-0.95,-145.9,596.8,-12.4,338,5852,0.00,2.15,0.00,0.000,6,0.000,0.031,2689,1759,3424,0,0,0,0,0,0
$GC,6172,-0.95,-145.9,634.2,-11.6,349,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1759,3424,0,0,0,0,0,0
$GC,6479,-0.93,-145.9,667.8,-10.6,359,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1760,3424,0,0,0,0,0,0
$GC,6785,-0.93,-145.9,699.6,-10.2,369,6788,0.00,0.40,0.00,0.000,4,0.000,0.047,2687,2058,3424,0,0,0,0,0,0
$GC,6823,-0.93,-145.9,703.9,-9.9,370,6827,0.00,0.47,0.00,0.000,6,0.000,0.047,2687,1750,3424,0,0,0,0,0,0
$GC,7158,-0.93,-145.9,738.6,-10.4,381,7162,0.00,0.90,0.00,0.000,4,0.000,0.053,2687,1178,3423,0,0,0,0,0,0
$GC,7213,-0.93,-145.9,744.9,-10.9,382,7217,0.00,0.93,0.00,0.000,6,0.000,0.037,2685,1771,3423,0,0,0,0,0,0
$GC,7532,-0.93,-145.9,780.1,-11.5,393,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1771,3423,0,0,0,0,0,0
$GC,7838,-0.93,-145.9,817.0,-12.3,403,7842,0.00,0.95,0.00,0.000,4,0.000,0.050,2685,1181,3423,0,0,0,0,0,0
$GC,7905,-0.93,-145.9,825.4,-13.0,405,7909,0.00,0.90,0.00,0.000,6,0.000,0.037,2681,1768,3422,0,0,0,0,0,0
$GC,8246,-0.93,-145.9,866.4,-11.8,416,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1768,3422,0,0,0,0,0,0
$GC,8552,-0.93,-145.9,901.6,-11.3,426,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1768,3422,0,0,0,0,0,0
$GC,8858,-0.93,-145.9,934.6,-10.6,436,8862,0.00,0.95,0.00,0.000,4,0.000,0.050,2681,1177,3422,0,0,0,0,0,0
$GC,8918,-0.93,-145.9,941.1,-10.6,437,8924,0.03,0.90,0.00,0.000,6,0.185,0.035,2688,1766,3422,0,0,0,0,0,0
$GC,9232,-0.95,-145.9,971.1,-9.5,448,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1767,3422,0,0,0,0,0,0
$GC,9537,-0.95,-145.9,999.4,-9.1,458,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1767,3422,0,0,0,0,0,0
$STATE,9567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9567,begin apogee
$GC,9572,-0.25,0.0,1002.1,9.1,459,9707,0.73,0.00,130.73,1.493,6,0.129,0.000,2908,1606,2827,0,0,0,0,0,0
$STATE,9707,end apogee,CONTROL_FINISHED_OK
$STATE,9707,begin climb
$GC,9709,0.78,145.9,1011.3,0.0,463,9853,1.05,2.33,136.65,1.451,4,0.070,0.058,3260,325,2231,0,0,0,0,0,0
$GC,10107,0.42,276.5,1014.4,3.3,476,10234,0.50,1.98,117.18,1.431,6,0.213,0.034,3138,1625,1699,0,0,0,0,0,0
$GC,10566,0.49,363.6,991.7,5.0,491,10648,0.00,0.00,79.88,1.412,6,0.000,0.000,3138,1628,1343,0,0,0,0,0,0
$GC,10934,0.70,429.7,970.6,5.8,503,11004,0.25,1.75,62.00,1.401,4,0.080,0.040,3231,2674,1075,0,0,0,0,0,0
$GC,11038,0.71,459.8,962.8,7.2,506,11073,0.03,1.73,29.55,1.333,6,0.187,0.045,3229,1623,951,0,0,0,0,0,0
$GC,11398,0.77,459.8,933.3,8.5,518,11401,0.00,0.95,0.00,0.000,4,0.000,0.040,3230,2244,944,0,0,0,0,0,0
$GC,11448,0.83,459.8,928.7,8.4,519,11452,0.05,1.02,0.00,0.000,6,0.080,0.051,3256,1605,944,0,0,0,0,0,0
$GC,11771,0.83,459.8,897.0,10.0,530,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1605,942,0,0,0,0,0,0
$GC,12077,0.83,459.8,865.1,10.7,540,12081,0.00,0.70,0.00,0.000,4,0.000,0.041,3256,2074,942,0,0,0,0,0,0
$GC,12126,0.83,459.8,859.6,11.6,541,12131,0.00,0.77,0.00,0.000,6,0.000,0.052,3256,1599,941,0,0,0,0,0,0
$GC,12451,0.83,459.8,822.6,11.8,552,12454,0.00,0.77,0.00,0.000,4,0.000,0.040,3256,2115,941,0,0,0,0,0,0
$GC,12500,0.83,459.8,816.6,11.4,553,12504,0.00,0.82,0.00,0.000,6,0.000,0.053,3257,1608,940,0,0,0,0,0,0
$GC,12824,0.83,459.8,777.2,12.3,564,12828,0.00,0.85,0.00,0.000,4,0.000,0.039,3257,2172,941,0,0,0,0,0,0
$GC,12868,0.83,459.8,771.6,12.5,565,12872,0.00,0.93,0.00,0.000,6,0.000,0.051,3258,1605,941,0,0,0,0,0,0
$GC,13198,0.83,459.8,730.9,12.3,576,13202,0.00,0.70,0.00,0.000,4,0.000,0.040,3258,2076,940,0,0,0,0,0,0
$GC,13247,0.83,459.8,724.8,11.6,577,13252,0.00,0.77,0.00,0.000,6,0.000,0.051,3261,1601,940,0,0,0,0,0,0
$GC,13572,0.83,459.8,686.4,11.7,588,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1600,940,0,0,0,0,0,0
$GC,13878,0.83,459.8,651.4,11.1,598,13881,0.00,0.52,0.00,0.000,4,0.000,0.064,3261,1260,940,0,0,0,0,0,0
$GC,13916,0.83,459.8,647.0,11.0,599,13920,0.00,0.52,0.00,0.000,6,0.000,0.042,3262,1616,939,0,0,0,0,0,0
$GC,14251,0.83,459.8,611.4,10.4,610,14255,0.00,0.73,0.00,0.000,4,0.000,0.041,3261,2100,939,0,0,0,0,0,0
$GC,14295,0.81,459.8,606.8,10.1,611,14299,0.00,0.77,0.00,0.000,6,0.000,0.054,3263,1618,939,0,0,0,0,0,0
$GC,14625,0.81,459.8,574.7,9.7,622,14628,0.00,0.73,0.00,0.000,4,0.000,0.042,3263,2097,939,0,0,0,0,0,0
$GC,14693,0.81,459.8,567.9,10.1,624,14696,0.00,0.77,0.00,0.000,6,0.000,0.053,3266,1612,940,0,0,0,0,0,0
$GC,15033,0.81,459.8,533.2,10.2,635,15037,0.00,0.95,0.00,0.000,4,0.000,0.041,3266,2232,939,0,0,0,0,0,0
$GC,15082,0.81,459.8,527.8,10.1,636,15087,0.00,1.02,0.00,0.000,6,0.000,0.052,3267,1594,939,0,0,0,0,0,0
$GC,15407,0.81,459.8,493.1,10.9,647,15408,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1595,939,0,0,0,0,0,0
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$STATE,20250,end climb,SURFACE_DEPTH_REACHED
$STATE,20250,begin surface coast
$FINISH,1.8,1.004080
$STATE,20287,end surface coast,CONTROL_FINISHED_OK
$STATE,20287,begin surface
$SM_CCo,20365,0.00,0.000,0,0,939,463.12
$SM_GC,2.83,9.00,0.00,0.00,0.057,0.000,0.000,86,1800,939,-9.04,0.85,463.12
$IRIDIUM_FIX,-4109.28,-510.37,311212,050541
$TT8_MAMPS,0.026964
$HUMID,49.96
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.6,105.492
$10V_AH,9.9,62.367
$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,24.500,92.425,555.975,0.000,0.000,61.008,120.221,474.570,0.250,0.000,32.628,2469.674,14555.220,621.092,3319.365,304.488,0.000,1863.682,0.000,2621.012,0.000,2.832,0.000
$DEVICE_MAMPS,260.100,71.145,1493.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.579,891.586,646.176,74.692,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,57027,954
$CAP_FILE_SIZE,176894,0
$CFSIZE,2097086464,2034663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,311212,111605,-4124.637,-510.544,37,1.1,37,-22.4