version: 66.07.10.p01
glider: 574
mission: 4
dive: 447
start: 1 2 113 18 45 21
data:
$ID,574
$MISSION,4
$DIVE,447
$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,520
$T_MISSION,550
$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,120
$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,-7260.9702
$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,2985
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,67
$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,426
$GPS1,020113,183035,-4121.729,-510.483,69,0.8,69,-22.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-74.9
$GPS2,020113,184500,-4121.682,-510.361,49,1.1,49,-22.4
$SPEED_LIMITS,0.111,0.202
$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,94.9,102965,-13.7,-6.410
$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,26,-0.69,-116.8,0.0,0.0,0,59,0.00,0.00,-31.05,0.000,2,0.000,0.000,69,1732,1941,0,0,0,0,0,0
$GC,62,-0.69,-116.8,3.1,-1.4,5,136,12.00,2.28,-52.00,0.000,4,0.246,0.062,2744,3119,3304,0,0,0,0,0,0
$GC,216,-0.64,-116.8,13.9,-10.2,30,224,0.10,2.20,0.00,0.000,6,0.142,0.047,2775,1761,3305,0,0,0,0,0,0
$GC,298,-0.67,-116.8,22.7,-11.3,43,305,0.00,2.10,0.00,0.000,4,0.000,0.063,2775,494,3305,0,0,0,0,0,0
$GC,368,-0.73,-116.8,30.2,-10.3,54,375,0.03,1.90,0.00,0.000,6,0.105,0.035,2746,1708,3305,0,0,0,0,0,0
$GC,609,-0.69,-116.8,55.5,-11.2,95,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1708,3305,0,0,0,0,0,0
$GC,831,-0.66,-116.8,79.2,-9.6,119,836,0.10,1.30,0.00,0.000,4,0.169,0.047,2769,2536,3305,0,0,0,0,0,0
$GC,888,-0.71,-116.8,84.2,-7.9,124,892,0.00,1.25,0.00,0.000,6,0.000,0.047,2769,1747,3305,0,0,0,0,0,0
$GC,1225,-0.79,-116.8,112.4,-8.9,151,1229,0.12,2.30,0.00,0.000,4,0.093,0.062,2713,344,3306,0,0,0,0,0,0
$GC,1296,-0.69,-116.8,119.7,-10.6,155,1301,0.20,2.20,0.00,0.000,6,0.148,0.034,2758,1769,3307,0,0,0,0,0,0
$GC,1621,-0.69,-116.8,149.7,-9.1,176,1624,0.00,0.50,0.00,0.000,4,0.000,0.047,2757,2128,3306,0,0,0,0,0,0
$GC,1675,-0.69,-116.8,154.6,-9.3,179,1679,0.00,0.57,0.00,0.000,6,0.000,0.048,2757,1746,3306,0,0,0,0,0,0
$GC,2006,-0.73,-116.8,186.1,-9.9,200,2010,0.00,0.70,0.00,0.000,4,0.000,0.057,2757,1297,3306,0,0,0,0,0,0
$GC,2068,-0.77,-116.8,192.6,-9.8,203,2074,0.03,0.70,0.00,0.000,6,0.110,0.038,2732,1761,3307,0,0,0,0,0,0
$GC,2404,-0.73,-116.8,226.5,-10.4,221,2408,0.05,0.57,0.00,0.000,4,0.213,0.045,2742,2158,3306,0,0,0,0,0,0
$GC,2451,-0.73,-116.8,231.5,-10.6,223,2454,0.00,0.62,0.00,0.000,6,0.000,0.047,2742,1746,3306,0,0,0,0,0,0
$GC,2783,-0.73,-116.8,264.2,-9.4,239,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1746,3306,0,0,0,0,0,0
$GC,3094,-0.73,-116.8,290.8,-8.0,254,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1746,3307,0,0,0,0,0,0
$GC,3400,-0.73,-116.8,316.3,-8.5,266,3403,0.00,0.57,0.00,0.000,4,0.000,0.041,2742,2138,3306,0,0,0,0,0,0
$GC,3468,-0.73,-116.8,322.3,-8.7,268,3471,0.00,0.60,0.00,0.000,6,0.000,0.047,2742,1742,3306,0,0,0,0,0,0
$GC,3808,-0.73,-116.8,352.9,-9.1,279,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1742,3306,0,0,0,0,0,0
$GC,4114,-0.73,-116.8,382.6,-10.0,289,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1742,3306,0,0,0,0,0,0
$GC,4421,-0.73,-116.8,414.3,-10.1,299,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1742,3306,0,0,0,0,0,0
$GC,4727,-0.73,-116.8,445.1,-9.9,309,4730,0.00,0.43,0.00,0.000,4,0.000,0.055,2742,1454,3306,0,0,0,0,0,0
$GC,4782,-0.73,-116.8,450.7,-9.9,310,4786,0.00,0.45,0.00,0.000,6,0.000,0.041,2742,1758,3306,0,0,0,0,0,0
$GC,5101,-0.76,-116.8,480.9,-9.4,321,5104,0.00,0.57,0.00,0.000,4,0.000,0.045,2742,2169,3305,0,0,0,0,0,0
$GC,5145,-0.79,-116.8,485.3,-9.4,322,5149,0.00,0.65,0.00,0.000,6,0.000,0.047,2742,1747,3305,0,0,0,0,0,0
$GC,5474,-0.79,-116.8,515.9,-9.5,333,5478,0.00,0.82,0.00,0.000,4,0.000,0.055,2742,1223,3304,0,0,0,0,0,0
$GC,5524,-0.79,-116.8,520.8,-9.7,334,5528,0.00,0.80,0.00,0.000,6,0.000,0.036,2742,1742,3304,0,0,0,0,0,0
$GC,5848,-0.79,-116.8,550.2,-9.0,345,5852,0.00,0.47,0.00,0.000,4,0.000,0.053,2742,1437,3304,0,0,0,0,0,0
$GC,5925,-0.79,-116.8,557.4,-8.6,347,5930,0.00,0.47,0.00,0.000,6,0.000,0.042,2742,1754,3304,0,0,0,0,0,0
$GC,6255,-0.79,-116.8,586.2,-8.9,358,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1754,3302,0,0,0,0,0,0
$GC,6561,-0.79,-116.8,613.9,-9.3,368,6564,0.00,0.57,0.00,0.000,4,0.000,0.053,2742,1388,3302,0,0,0,0,0,0
$GC,6616,-0.79,-116.8,619.4,-10.2,369,6620,0.00,0.55,0.00,0.000,6,0.000,0.040,2742,1751,3302,0,0,0,0,0,0
$GC,6935,-0.79,-116.8,650.6,-10.1,380,6938,0.00,0.88,0.00,0.000,4,0.000,0.053,2742,1206,3302,0,0,0,0,0,0
$GC,6995,-0.79,-116.8,657.1,-11.1,381,7001,0.00,0.85,0.00,0.000,6,0.000,0.037,2742,1750,3302,0,0,0,0,0,0
$GC,7308,-0.79,-116.8,688.5,-9.9,392,7312,0.00,1.12,0.00,0.000,4,0.000,0.044,2739,2486,3301,0,0,0,0,0,0
$GC,7369,-0.83,-116.8,694.4,-9.3,393,7375,0.03,1.15,0.00,0.000,6,0.104,0.043,2715,1753,3300,0,0,0,0,0,0
$GC,7682,-0.80,-116.8,725.0,-9.7,404,7686,0.00,1.55,0.00,0.000,4,0.000,0.054,2716,791,3300,0,0,0,0,0,0
$GC,7732,-0.75,-116.8,730.1,-9.9,405,7737,0.08,1.48,0.00,0.000,6,0.143,0.034,2735,1744,3300,0,0,0,0,0,0
$GC,8056,-0.75,-116.8,757.5,-8.2,416,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1744,3300,0,0,0,0,0,0
$GC,8362,-0.75,-116.8,781.9,-7.9,426,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1744,3299,0,0,0,0,0,0
$GC,8668,-0.75,-116.8,806.7,-8.2,436,8672,0.00,0.43,0.00,0.000,4,0.000,0.047,2734,2059,3298,0,0,0,0,0,0
$GC,8718,-0.77,-116.8,811.2,-9.0,437,8722,0.00,0.50,0.00,0.000,6,0.000,0.050,2734,1737,3298,0,0,0,0,0,0
$GC,9042,-0.77,-116.8,840.2,-9.5,448,9046,0.00,0.90,0.00,0.000,4,0.000,0.041,2730,2329,3297,0,0,0,0,0,0
$GC,9091,-0.77,-116.8,845.2,-10.1,449,9096,0.00,0.90,0.00,0.000,6,0.000,0.043,2730,1752,3297,0,0,0,0,0,0
$GC,9416,-0.77,-116.8,877.2,-10.1,460,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1752,3297,0,0,0,0,0,0
$GC,9722,-0.77,-116.8,907.6,-9.8,470,9726,0.00,1.33,0.00,0.000,4,0.000,0.044,2728,2592,3296,0,0,0,0,0,0
$GC,9771,-0.80,-116.8,912.8,-10.0,471,9776,0.00,1.33,0.00,0.000,6,0.000,0.041,2728,1745,3296,0,0,0,0,0,0
$GC,10095,-0.80,-116.8,945.5,-10.2,482,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1746,3296,0,0,0,0,0,0
$GC,10402,-0.80,-116.8,976.7,-10.1,492,10405,0.00,0.90,0.00,0.000,4,0.000,0.043,2727,2343,3295,0,0,0,0,0,0
$GC,10474,-0.82,-116.8,984.0,-9.7,494,10478,0.00,0.93,0.00,0.000,6,0.000,0.044,2727,1744,3295,0,0,0,0,0,0
$STATE,10655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10655,begin apogee
$GC,10661,-0.25,0.0,1001.8,9.7,500,10766,0.57,0.00,102.72,1.482,6,0.126,0.000,2899,1608,2827,0,0,0,0,0,0
$STATE,10767,end apogee,CONTROL_FINISHED_OK
$STATE,10767,begin climb
$GC,10769,0.69,116.8,1009.4,0.0,503,10886,0.90,1.33,108.72,1.463,4,0.071,0.057,3209,884,2351,0,0,0,0,0,0
$GC,11138,0.41,411.1,1029.2,-4.5,514,11424,0.32,1.15,275.75,1.445,6,0.193,0.037,3124,1637,1151,0,0,0,0,0,0
$GC,11739,0.67,411.1,990.5,8.4,534,11743,0.22,2.17,0.00,0.000,4,0.098,0.042,3197,3004,1143,0,0,0,0,0,0
$GC,11856,0.74,411.1,980.3,8.0,537,11861,0.08,2.17,0.00,0.000,6,0.130,0.045,3229,1636,1141,0,0,0,0,0,0
$GC,12169,0.71,411.1,951.2,9.3,547,12174,0.05,0.55,0.00,0.000,4,0.212,0.060,3220,1280,1140,0,0,0,0,0,0
$GC,12203,0.69,411.1,948.0,9.1,548,12208,0.03,0.47,0.00,0.000,6,0.171,0.042,3213,1618,1139,0,0,0,0,0,0
$GC,12544,0.69,411.1,915.5,9.7,559,12548,0.00,2.17,0.00,0.000,4,0.000,0.044,3212,2999,1139,0,0,0,0,0,0
$GC,12605,0.69,411.1,909.5,9.5,561,12610,0.00,2.20,0.00,0.000,6,0.000,0.046,3213,1611,1139,0,0,0,0,0,0
$GC,12940,0.69,411.1,877.2,9.7,572,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1611,1139,0,0,0,0,0,0
$GC,13247,0.69,411.1,847.9,9.5,582,13251,0.00,2.17,0.00,0.000,4,0.000,0.044,3213,2999,1139,0,0,0,0,0,0
$GC,13309,0.69,411.1,841.9,10.1,584,13313,0.00,2.20,0.00,0.000,6,0.000,0.044,3214,1610,1139,0,0,0,0,0,0
$GC,13643,0.69,411.1,810.8,9.2,595,13647,0.00,0.55,0.00,0.000,4,0.000,0.043,3214,1987,1139,0,0,0,0,0,0
$GC,13726,0.69,411.1,803.1,8.9,597,13731,0.00,0.60,0.00,0.000,6,0.000,0.053,3214,1618,1139,0,0,0,0,0,0
$GC,14050,0.69,411.1,774.6,8.8,608,14054,0.00,1.80,0.00,0.000,4,0.000,0.043,3214,2766,1139,0,0,0,0,0,0
$GC,14105,0.69,411.1,769.7,7.7,609,14110,0.00,1.85,0.00,0.000,6,0.000,0.048,3215,1619,1139,0,0,0,0,0,0
$GC,14424,0.69,411.1,742.3,8.5,620,14428,0.00,0.52,0.00,0.000,4,0.000,0.046,3214,1975,1139,0,0,0,0,0,0
$GC,14480,0.69,411.1,737.4,8.6,621,14483,0.00,0.57,0.00,0.000,6,0.000,0.057,3215,1616,1139,0,0,0,0,0,0
$GC,14798,0.69,411.1,709.9,8.7,632,14801,0.00,0.40,0.00,0.000,4,0.000,0.048,3214,1898,1139,0,0,0,0,0,0
$GC,14887,0.69,411.1,701.9,8.1,634,14891,0.00,0.47,0.00,0.000,6,0.000,0.059,3215,1607,1139,0,0,0,0,0,0
$GC,15205,0.69,411.1,673.4,9.1,645,15209,0.00,1.35,0.00,0.000,4,0.000,0.042,3215,2461,1139,0,0,0,0,0,0
$GC,15277,0.69,411.1,666.6,9.1,647,15281,0.00,1.35,0.00,0.000,6,0.000,0.050,3215,1625,1139,0,0,0,0,0,0
$GC,15612,0.69,411.1,637.1,8.7,658,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1625,1139,0,0,0,0,0,0
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$GC,19277,0.75,411.1,305.9,9.5,776,19281,0.00,1.17,0.00,0.000,4,0.000,0.041,3222,2373,1140,0,0,0,0,0,0
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$STATE,22922,end climb,SURFACE_DEPTH_REACHED
$STATE,22922,begin surface coast
$FINISH,1.7,1.012674
$STATE,22959,end surface coast,CONTROL_FINISHED_OK
$STATE,22959,begin surface
$SM_CCo,23038,0.00,0.000,0,0,1144,412.83
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$IRIDIUM_FIX,-4106.41,-510.11,020113,050502
$TT8_MAMPS,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.4,107.799
$10V_AH,9.9,63.541
$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
$DEVICE_SECS,24.175,106.150,487.200,0.000,0.000,27.375,42.892,574.416,0.250,0.000,52.110,2769.144,16587.213,539.426,3668.629,331.330,0.000,1914.914,0.000,2955.369,0.000,2.834,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.120,977.641,735.507,78.502,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,63584,1064
$CAP_FILE_SIZE,196625,0
$CFSIZE,2097086464,2033319936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,030113,011059,-4121.509,-510.678,65,1.0,65,-22.4