version: 66.07.10.p01
glider: 574
mission: 4
dive: 441
start: 1 1 113 5 7 14
data:
$ID,574
$MISSION,4
$DIVE,441
$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,-7245.8447
$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,27
$R_STBD_OVSHOOT,74
$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,420
$GPS1,010113,044936,-4123.576,-510.793,42,0.8,42,-22.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-68.8
$GPS2,010113,050653,-4123.594,-510.597,60,0.8,60,-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,93.1,104393,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.78,-145.9,0.0,0.0,0,75,0.00,0.00,-47.60,0.000,2,0.000,0.000,67,1789,2054,0,0,0,0,0,0
$GC,78,-0.78,-145.9,3.1,-1.1,8,146,12.52,2.35,-49.78,0.000,4,0.269,0.073,2730,364,3422,0,0,0,0,0,0
$GC,226,-0.81,-145.9,15.1,-11.8,32,233,0.00,2.15,0.00,0.000,6,0.000,0.037,2729,1728,3423,0,0,0,0,0,0
$GC,306,-0.83,-145.9,24.0,-9.8,45,313,0.00,1.33,0.00,0.000,4,0.000,0.044,2722,2594,3423,0,0,0,0,0,0
$GC,364,-0.87,-145.9,30.6,-11.5,54,371,0.00,1.30,0.00,0.000,6,0.000,0.045,2722,1769,3423,0,0,0,0,0,0
$GC,603,-0.87,-145.9,57.1,-12.1,95,608,0.00,2.20,0.00,0.000,4,0.000,0.061,2722,400,3423,0,0,0,0,0,0
$GC,663,-0.85,-145.9,63.6,-10.7,103,667,0.00,2.12,0.00,0.000,6,0.000,0.034,2715,1781,3423,0,0,0,0,0,0
$GC,992,-0.85,-145.9,99.5,-11.0,133,995,0.00,0.95,0.00,0.000,4,0.000,0.051,2715,1187,3423,0,0,0,0,0,0
$GC,1080,-0.85,-145.9,109.4,-11.1,139,1084,0.00,0.90,0.00,0.000,6,0.000,0.036,2712,1782,3423,0,0,0,0,0,0
$GC,1411,-0.87,-145.9,145.8,-10.6,160,1416,0.00,2.30,0.00,0.000,4,0.000,0.055,2712,363,3424,0,0,0,0,0,0
$GC,1518,-0.87,-145.9,157.4,-9.9,166,1526,0.00,2.15,0.00,0.000,6,0.000,0.032,2702,1759,3424,0,0,0,0,0,0
$GC,1839,-0.87,-145.9,188.7,-9.7,187,1843,0.00,2.00,0.00,0.000,4,0.000,0.056,2702,514,3424,0,0,0,0,0,0
$GC,1901,-0.84,-145.9,195.2,-9.9,190,1909,0.08,1.92,0.00,0.000,6,0.140,0.032,2719,1761,3424,0,0,0,0,0,0
$GC,2218,-0.88,-145.9,225.0,-9.6,207,2222,0.00,2.28,0.00,0.000,4,0.000,0.056,2719,360,3424,0,0,0,0,0,0
$GC,2312,-0.92,-145.9,234.6,-9.9,211,2317,0.00,2.20,0.00,0.000,6,0.000,0.033,2714,1778,3424,0,0,0,0,0,0
$GC,2634,-0.96,-145.9,266.7,-9.9,227,2639,0.10,1.12,0.00,0.000,4,0.107,0.053,2671,1086,3424,0,0,0,0,0,0
$GC,2696,-0.88,-145.9,273.8,-11.4,229,2702,0.12,1.05,0.00,0.000,6,0.136,0.034,2707,1774,3424,0,0,0,0,0,0
$GC,3011,-0.90,-145.9,306.6,-10.6,244,3015,0.00,2.28,0.00,0.000,4,0.000,0.056,2707,363,3424,0,0,0,0,0,0
$GC,3117,-0.90,-145.9,317.6,-9.8,247,3121,0.00,2.17,0.00,0.000,6,0.000,0.032,2697,1773,3424,0,0,0,0,0,0
$GC,3447,-0.90,-145.9,351.0,-10.3,258,3451,0.00,2.28,0.00,0.000,4,0.000,0.055,2697,353,3424,0,0,0,0,0,0
$GC,3518,-0.90,-145.9,358.5,-9.9,260,3523,0.03,2.17,0.00,0.000,6,0.175,0.031,2698,1767,3424,0,0,0,0,0,0
$GC,3848,-0.90,-145.9,390.0,-9.6,271,3852,0.00,2.25,0.00,0.000,4,0.000,0.054,2698,360,3423,0,0,0,0,0,0
$GC,3919,-0.90,-145.9,397.3,-10.1,273,3924,0.00,2.17,0.00,0.000,6,0.000,0.031,2688,1778,3423,0,0,0,0,0,0
$GC,4249,-0.90,-145.9,430.9,-10.6,284,4254,0.05,2.30,0.00,0.000,4,0.229,0.054,2704,357,3423,0,0,0,0,0,0
$GC,4326,-0.90,-145.9,439.3,-10.4,286,4331,0.00,2.17,0.00,0.000,6,0.000,0.030,2695,1771,3423,0,0,0,0,0,0
$GC,4651,-0.90,-145.9,475.6,-11.4,297,4655,0.00,2.28,0.00,0.000,4,0.000,0.054,2695,356,3423,0,0,0,0,0,0
$GC,4712,-0.90,-145.9,482.5,-11.0,299,4717,0.08,2.15,0.00,0.000,6,0.186,0.031,2705,1772,3423,0,0,0,0,0,0
$GC,5047,-0.94,-145.9,519.3,-11.3,310,5051,0.00,2.30,0.00,0.000,4,0.000,0.054,2705,352,3422,0,0,0,0,0,0
$GC,5110,-0.94,-145.9,526.4,-11.4,312,5114,0.00,2.15,0.00,0.000,6,0.000,0.031,2699,1781,3422,0,0,0,0,0,0
$GC,5445,-0.96,-145.9,563.9,-11.1,323,5449,0.00,1.77,0.00,0.000,4,0.000,0.052,2699,671,3422,0,0,0,0,0,0
$GC,5513,-0.96,-145.9,571.5,-10.5,325,5517,0.00,1.67,0.00,0.000,6,0.000,0.031,2692,1783,3421,0,0,0,0,0,0
$GC,5853,-0.96,-145.9,608.8,-10.8,336,5857,0.00,2.30,0.00,0.000,4,0.000,0.053,2692,356,3421,0,0,0,0,0,0
$GC,5937,-0.93,-145.9,618.2,-11.3,338,5941,0.00,2.15,0.00,0.000,6,0.000,0.031,2682,1767,3421,0,0,0,0,0,0
$GC,6255,-0.93,-145.9,651.6,-10.5,349,6259,0.00,2.12,0.00,0.000,4,0.000,0.052,2682,438,3420,0,0,0,0,0,0
$GC,6318,-0.87,-145.9,658.4,-11.0,351,6323,0.15,2.03,0.00,0.000,6,0.151,0.031,2714,1768,3420,0,0,0,0,0,0
$GC,6653,-0.95,-145.9,690.2,-9.3,362,6657,0.08,0.57,0.00,0.000,4,0.130,0.050,2684,1401,3420,0,0,0,0,0,0
$GC,6687,-0.91,-145.9,693.6,-10.4,363,6691,0.03,0.55,0.00,0.000,6,0.184,0.039,2690,1784,3420,0,0,0,0,0,0
$GC,7027,-0.94,-145.9,727.9,-10.6,374,7031,0.00,0.50,0.00,0.000,4,0.000,0.052,2690,1459,3419,0,0,0,0,0,0
$GC,7116,-0.94,-145.9,737.7,-11.0,376,7120,0.00,0.47,0.00,0.000,6,0.000,0.043,2689,1771,3419,0,0,0,0,0,0
$GC,7434,-0.94,-145.9,771.1,-10.4,387,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1772,3418,0,0,0,0,0,0
$GC,7740,-0.94,-145.9,802.2,-10.2,397,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1772,3418,0,0,0,0,0,0
$GC,8047,-0.94,-145.9,832.7,-9.8,407,8050,0.00,0.93,0.00,0.000,4,0.000,0.051,2689,1192,3417,0,0,0,0,0,0
$GC,8101,-0.94,-145.9,838.3,-10.4,408,8106,0.00,0.90,0.00,0.000,6,0.000,0.039,2686,1764,3417,0,0,0,0,0,0
$GC,8420,-0.94,-145.9,869.6,-9.8,419,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1764,3417,0,0,0,0,0,0
$GC,8726,-0.94,-145.9,900.1,-10.0,429,8730,0.00,0.47,0.00,0.000,4,0.000,0.053,2686,1454,3416,0,0,0,0,0,0
$GC,8804,-0.94,-145.9,907.9,-10.0,431,8808,0.00,0.50,0.00,0.000,6,0.000,0.044,2685,1781,3416,0,0,0,0,0,0
$GC,9134,-0.94,-145.9,940.2,-9.7,442,9138,0.00,1.20,0.00,0.000,4,0.000,0.052,2685,1042,3416,0,0,0,0,0,0
$GC,9183,-0.94,-145.9,945.5,-10.5,443,9188,0.00,1.12,0.00,0.000,6,0.000,0.036,2680,1766,3416,0,0,0,0,0,0
$GC,9507,-0.94,-145.9,975.8,-9.3,454,9511,0.00,1.02,0.00,0.000,4,0.000,0.044,2675,2444,3415,0,0,0,0,0,0
$GC,9562,-0.94,-145.9,981.2,-9.1,455,9567,0.03,1.08,0.00,0.000,6,0.167,0.042,2685,1752,3415,0,0,0,0,0,0
$STATE,9788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9788,begin apogee
$GC,9793,-0.25,0.0,1001.5,9.3,463,9925,0.75,0.00,129.02,1.497,6,0.131,0.000,2910,1599,2827,0,0,0,0,0,0
$STATE,9926,end apogee,CONTROL_FINISHED_OK
$STATE,9926,begin climb
$GC,9928,0.78,145.9,1010.4,0.0,467,10074,1.05,2.55,136.38,1.460,4,0.075,0.060,3259,230,2232,0,0,0,0,0,0
$GC,10328,0.33,474.0,1018.8,-4.3,480,10649,0.62,2.15,309.30,1.429,6,0.216,0.034,3109,1622,894,0,0,0,0,0,0
$GC,10968,0.65,474.0,956.1,12.4,501,10973,0.28,2.15,0.00,0.000,4,0.088,0.042,3204,3000,886,0,0,0,0,0,0
$GC,11225,0.91,474.0,927.4,11.2,508,11231,0.25,2.17,0.00,0.000,6,0.075,0.045,3293,1623,884,0,0,0,0,0,0
$GC,11538,0.85,474.0,889.2,12.0,519,11540,0.10,0.00,0.00,0.000,6,0.189,0.000,3272,1623,884,0,0,0,0,0,0
$GC,11844,0.85,474.0,855.2,10.9,529,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1623,883,0,0,0,0,0,0
$GC,12150,0.85,474.0,822.3,10.7,539,12154,0.00,0.60,0.00,0.000,4,0.000,0.043,3272,2032,882,0,0,0,0,0,0
$GC,12200,0.85,474.0,816.8,11.3,540,12204,0.00,0.70,0.00,0.000,6,0.000,0.054,3273,1601,883,0,0,0,0,0,0
$GC,12524,0.85,474.0,782.2,10.9,551,12528,0.00,0.88,0.00,0.000,4,0.000,0.041,3273,2176,882,0,0,0,0,0,0
$GC,12579,0.85,474.0,776.1,10.8,552,12583,0.00,0.93,0.00,0.000,6,0.000,0.050,3274,1606,882,0,0,0,0,0,0
$GC,12898,0.85,474.0,740.2,11.5,563,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1606,882,0,0,0,0,0,0
$GC,13204,0.85,474.0,705.1,11.4,573,13207,0.00,1.00,0.00,0.000,4,0.000,0.042,3274,2256,882,0,0,0,0,0,0
$GC,13275,0.85,474.0,696.5,12.6,575,13280,0.00,1.05,0.00,0.000,6,0.000,0.051,3277,1600,881,0,0,0,0,0,0
$GC,13611,0.85,474.0,656.1,12.1,586,13615,0.00,0.75,0.00,0.000,4,0.000,0.042,3277,2097,882,0,0,0,0,0,0
$GC,13666,0.85,474.0,649.3,11.4,587,13670,0.00,0.80,0.00,0.000,6,0.000,0.053,3278,1607,882,0,0,0,0,0,0
$GC,13985,0.85,474.0,612.4,11.4,598,13989,0.00,1.25,0.00,0.000,4,0.000,0.062,3278,837,882,0,0,0,0,0,0
$GC,14024,0.83,474.0,608.0,11.1,599,14028,0.05,1.17,0.00,0.000,6,0.152,0.037,3262,1613,881,0,0,0,0,0,0
$GC,14359,0.85,474.0,573.8,10.0,610,14362,0.00,1.45,0.00,0.000,4,0.000,0.043,3262,2543,881,0,0,0,0,0,0
$GC,14419,0.88,474.0,567.5,10.3,611,14425,0.00,1.50,0.00,0.000,6,0.000,0.050,3267,1614,881,0,0,0,0,0,0
$GC,14732,0.88,474.0,537.4,9.7,622,14736,0.00,0.57,0.00,0.000,4,0.000,0.044,3267,2003,882,0,0,0,0,0,0
$GC,14849,0.88,474.0,526.1,9.4,625,14853,0.00,0.65,0.00,0.000,6,0.000,0.054,3267,1607,881,0,0,0,0,0,0
$GC,15173,0.88,474.0,494.6,9.9,636,15177,0.00,1.17,0.00,0.000,4,0.000,0.041,3267,2362,881,0,0,0,0,0,0
$GC,15234,0.88,474.0,488.2,10.3,637,15239,0.00,1.20,0.00,0.000,6,0.000,0.050,3267,1613,881,0,0,0,0,0,0
$GC,15547,0.88,474.0,457.0,10.0,648,15550,0.00,1.27,0.00,0.000,4,0.000,0.039,3267,2436,881,0,0,0,0,0,0
$GC,15607,0.88,474.0,450.8,9.6,649,15613,0.00,1.33,0.00,0.000,6,0.000,0.047,3267,1604,881,0,0,0,0,0,0
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$STATE,19665,end climb,SURFACE_DEPTH_REACHED
$STATE,19665,begin surface coast
$FINISH,1.6,1.003431
$STATE,19696,end surface coast,CONTROL_FINISHED_OK
$STATE,19696,begin surface
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$SM_GC,2.64,9.02,0.00,0.00,0.056,0.000,0.000,86,1788,882,-9.05,0.51,477.10
$IRIDIUM_FIX,-4109.28,-513.22,010113,040421
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,11.60
$XPDR_PINGS,0
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$10V_AH,9.9,62.816
$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
$DEVICE_SECS,25.625,118.250,574.700,0.000,0.000,59.679,80.078,595.415,0.250,0.000,62.316,2407.180,13982.646,617.544,3481.094,315.292,0.000,1904.998,0.000,2672.917,0.000,2.834,0.000
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$SENSOR_SECS,612.863,858.905,625.269,71.211,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,56973,921
$CAP_FILE_SIZE,180785,0
$CFSIZE,2097086464,2034139136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010113,103805,-4123.025,-510.432,42,0.9,42,-22.4