version: 66.07.10.p01
glider: 574
mission: 4
dive: 473
start: 1 9 113 19 56 44
data:
$ID,574
$MISSION,4
$DIVE,473
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,560
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,600
$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,170
$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,-7330.1074
$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,19
$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,1730
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,50
$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,452
$GPS1,090113,194259,-4106.276,-456.900,42,1.3,42,-22.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-72.2
$GPS2,090113,195623,-4106.235,-456.887,42,1.3,42,-22.5
$SPEED_LIMITS,0.110,0.202
$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,110.9,79445,-13.5,-6.346
$D_GRID,990
$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,-0.72,-116.8,0.0,0.0,0,51,0.00,0.00,-23.20,0.000,2,0.000,0.000,69,1723,1794,0,0,0,0,0,0
$GC,54,-0.72,-116.8,3.1,-1.4,4,134,12.52,2.28,-59.90,0.000,4,0.264,0.064,2738,3119,3303,0,0,0,0,0,0
$GC,220,-0.64,-116.8,12.4,-9.9,31,228,0.10,2.25,0.00,0.000,6,0.110,0.047,2773,1736,3304,0,0,0,0,0,0
$GC,301,-0.64,-116.8,19.4,-10.0,44,308,0.00,1.98,0.00,0.000,4,0.000,0.065,2773,559,3304,0,0,0,0,0,0
$GC,382,-0.75,-116.8,27.4,-9.9,57,389,0.05,1.83,0.00,0.000,6,0.076,0.037,2737,1713,3304,0,0,0,0,0,0
$GC,460,-0.71,-116.8,35.9,-10.6,70,468,0.08,1.08,0.00,0.000,4,0.183,0.046,2750,2407,3304,0,0,0,0,0,0
$GC,516,-0.71,-116.8,41.7,-10.9,79,521,0.00,1.10,0.00,0.000,6,0.000,0.047,2751,1714,3304,0,0,0,0,0,0
$GC,750,-0.71,-116.8,68.9,-11.6,114,753,0.00,0.82,0.00,0.000,4,0.000,0.057,2751,1195,3305,0,0,0,0,0,0
$GC,798,-0.71,-116.8,74.1,-11.5,118,801,0.00,0.85,0.00,0.000,6,0.000,0.037,2747,1750,3305,0,0,0,0,0,0
$GC,1132,-0.71,-116.8,112.7,-10.2,146,1136,0.00,0.93,0.00,0.000,4,0.000,0.044,2743,2372,3305,0,0,0,0,0,0
$GC,1220,-0.71,-116.8,121.1,-9.5,151,1223,0.00,1.00,0.00,0.000,6,0.000,0.046,2743,1728,3304,0,0,0,0,0,0
$GC,1551,-0.71,-116.8,148.8,-7.5,172,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1728,3305,0,0,0,0,0,0
$GC,1862,-0.71,-116.8,170.7,-6.8,192,1866,0.00,1.15,0.00,0.000,4,0.000,0.042,2742,2467,3305,0,0,0,0,0,0
$GC,1932,-0.74,-116.8,175.6,-7.4,196,1936,0.00,1.17,0.00,0.000,6,0.000,0.047,2742,1726,3305,0,0,0,0,0,0
$GC,2269,-0.74,-116.8,203.1,-8.7,217,2273,0.00,0.68,0.00,0.000,4,0.000,0.043,2742,2178,3305,0,0,0,0,0,0
$GC,2324,-0.74,-116.8,208.7,-9.3,219,2328,0.00,0.73,0.00,0.000,6,0.000,0.047,2742,1720,3305,0,0,0,0,0,0
$GC,2648,-0.74,-116.8,239.9,-10.1,235,2651,0.00,0.98,0.00,0.000,4,0.000,0.044,2741,2353,3305,0,0,0,0,0,0
$GC,2693,-0.74,-116.8,244.9,-10.4,237,2697,0.00,0.98,0.00,0.000,6,0.000,0.048,2741,1732,3305,0,0,0,0,0,0
$GC,3028,-0.77,-116.8,278.1,-9.7,253,3032,0.00,0.50,0.00,0.000,4,0.000,0.043,2741,2086,3305,0,0,0,0,0,0
$GC,3089,-0.79,-116.8,284.4,-9.3,255,3096,0.00,0.55,0.00,0.000,6,0.000,0.050,2741,1726,3305,0,0,0,0,0,0
$GC,3404,-0.82,-116.8,311.9,-8.7,269,3408,0.05,0.40,0.00,0.000,4,0.168,0.063,2710,1469,3305,0,0,0,0,0,0
$GC,3472,-0.76,-116.8,318.2,-8.8,271,3476,0.08,0.38,0.00,0.000,6,0.138,0.044,2734,1741,3305,0,0,0,0,0,0
$GC,3812,-0.76,-116.8,346.8,-8.3,282,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1741,3305,0,0,0,0,0,0
$GC,4118,-0.76,-116.8,374.0,-8.9,292,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1741,3305,0,0,0,0,0,0
$GC,4424,-0.76,-116.8,402.5,-9.3,302,4428,0.00,1.15,0.00,0.000,4,0.000,0.043,2730,2491,3305,0,0,0,0,0,0
$GC,4497,-0.78,-116.8,409.8,-9.6,304,4501,0.00,1.20,0.00,0.000,6,0.000,0.045,2730,1734,3305,0,0,0,0,0,0
$GC,4832,-0.78,-116.8,442.0,-9.4,315,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1734,3305,0,0,0,0,0,0
$GC,5138,-0.78,-116.8,470.9,-9.4,325,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1734,3305,0,0,0,0,0,0
$GC,5444,-0.78,-116.8,499.7,-9.5,335,5448,0.00,0.62,0.00,0.000,4,0.000,0.043,2730,2158,3304,0,0,0,0,0,0
$GC,5550,-0.80,-116.8,510.1,-9.6,338,5554,0.00,0.68,0.00,0.000,6,0.000,0.049,2730,1721,3304,0,0,0,0,0,0
$GC,5885,-0.80,-116.8,542.9,-10.1,349,5889,0.00,1.55,0.00,0.000,4,0.000,0.044,2725,2704,3304,0,0,0,0,0,0
$GC,5957,-0.84,-116.8,550.6,-10.2,351,5961,0.00,1.55,0.00,0.000,6,0.000,0.044,2725,1730,3304,0,0,0,0,0,0
$GC,6293,-0.84,-116.8,585.2,-10.4,362,6296,0.00,1.12,0.00,0.000,4,0.000,0.041,2721,2458,3303,0,0,0,0,0,0
$GC,6361,-0.84,-116.8,592.2,-10.3,364,6364,0.00,1.15,0.00,0.000,6,0.000,0.046,2721,1730,3303,0,0,0,0,0,0
$GC,6701,-0.84,-116.8,626.4,-9.8,375,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1730,3303,0,0,0,0,0,0
$GC,7007,-0.84,-116.8,656.3,-9.6,385,7011,0.00,1.30,0.00,0.000,4,0.000,0.043,2715,2556,3302,0,0,0,0,0,0
$GC,7075,-0.84,-116.8,663.1,-9.8,387,7079,0.00,1.30,0.00,0.000,6,0.000,0.045,2715,1736,3302,0,0,0,0,0,0
$GC,7416,-0.82,-116.8,696.3,-9.9,398,7420,0.00,0.47,0.00,0.000,4,0.000,0.045,2715,2064,3301,0,0,0,0,0,0
$GC,7505,-0.82,-116.8,705.3,-10.0,400,7509,0.00,0.55,0.00,0.000,6,0.000,0.050,2715,1716,3301,0,0,0,0,0,0
$GC,7824,-0.82,-116.8,736.8,-10.1,411,7827,0.00,1.80,0.00,0.000,4,0.000,0.044,2709,2861,3301,0,0,0,0,0,0
$GC,7892,-0.82,-116.8,743.7,-9.8,413,7895,0.00,1.77,0.00,0.000,6,0.000,0.044,2709,1734,3300,0,0,0,0,0,0
$GC,8232,-0.82,-116.8,779.9,-10.5,424,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1734,3300,0,0,0,0,0,0
$GC,8539,-0.78,-116.8,811.9,-10.3,434,8543,0.10,1.70,0.00,0.000,4,0.176,0.043,2728,2818,3300,0,0,0,0,0,0
$GC,8607,-0.85,-116.8,818.8,-10.2,436,8610,0.00,1.70,0.00,0.000,6,0.000,0.041,2728,1730,3300,0,0,0,0,0,0
$GC,8948,-0.90,-116.8,853.3,-10.3,447,8952,0.10,0.57,0.00,0.000,4,0.107,0.055,2685,1367,3300,0,0,0,0,0,0
$GC,8997,-0.83,-116.8,858.9,-11.5,448,9001,0.10,0.55,0.00,0.000,6,0.143,0.041,2714,1742,3300,0,0,0,0,0,0
$GC,9320,-0.83,-116.8,891.2,-9.8,459,9324,0.00,2.17,0.00,0.000,4,0.000,0.046,2706,3120,3300,0,0,0,0,0,0
$GC,9392,-0.83,-116.8,898.6,-10.1,461,9397,0.00,2.22,0.00,0.000,6,0.000,0.041,2706,1725,3299,0,0,0,0,0,0
$GC,9722,-0.83,-116.8,930.3,-9.6,472,9726,0.00,1.42,0.00,0.000,4,0.000,0.044,2701,2626,3299,0,0,0,0,0,0
$GC,9805,-0.83,-116.8,938.4,-9.3,474,9810,0.03,1.42,0.00,0.000,6,0.162,0.044,2711,1727,3299,0,0,0,0,0,0
$GC,10129,-0.83,-116.8,967.9,-9.2,485,10133,0.00,2.22,0.00,0.000,4,0.000,0.046,2703,3122,3299,0,0,0,0,0,0
$GC,10206,-0.83,-116.8,975.4,-9.5,487,10210,0.00,2.20,0.00,0.000,6,0.000,0.041,2703,1731,3298,0,0,0,0,0,0
$STATE,10375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10375,begin apogee
$GC,10381,-0.26,0.0,991.6,9.5,493,10487,0.65,0.00,102.85,1.473,6,0.123,0.000,2899,1616,2827,0,0,0,0,0,0
$STATE,10487,end apogee,CONTROL_FINISHED_OK
$STATE,10487,begin loiter
$GC,10775,-0.25,216.7,1023.7,-7.9,506,10973,0.00,0.00,196.10,1.477,6,0.000,0.000,2899,1615,1943,0,0,0,0,0,0
$STATE,11077,end loiter,LOITER_COMPLETE
$STATE,11077,begin climb
$GC,11079,0.72,116.8,1028.8,0.0,516,11084,0.95,1.60,0.00,0.000,4,0.107,0.057,3204,634,1936,0,0,0,0,0,0
$GC,11192,0.49,189.3,1024.0,3.7,519,11196,0.20,1.58,0.00,0.000,6,0.177,0.037,3150,1646,1935,0,0,0,0,0,0
$GC,11515,0.38,258.5,1011.4,3.8,530,11560,0.15,2.30,37.83,1.417,4,0.198,0.047,3112,3027,1772,0,0,0,0,0,0
$GC,11714,0.38,283.5,1002.3,5.4,536,11744,0.00,2.20,23.70,1.375,6,0.000,0.045,3119,1646,1670,0,0,0,0,0,0
$GC,12053,0.43,310.1,984.5,5.4,547,12084,0.00,1.52,25.10,1.380,4,0.000,0.060,3119,711,1562,0,0,0,0,0,0
$GC,12154,0.54,318.3,978.6,6.0,550,12169,0.08,1.42,8.70,1.175,6,0.070,0.035,3157,1638,1528,0,0,0,0,0,0
$GC,12494,0.54,318.3,956.7,6.5,561,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1638,1525,0,0,0,0,0,0
$GC,12799,0.54,318.3,936.4,6.8,571,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1638,1524,0,0,0,0,0,0
$GC,13105,0.54,318.3,914.8,7.3,581,13109,0.00,1.42,0.00,0.000,4,0.000,0.042,3157,2554,1524,0,0,0,0,0,0
$GC,13188,0.54,318.3,908.4,7.1,583,13193,0.00,1.48,0.00,0.000,6,0.000,0.049,3159,1640,1523,0,0,0,0,0,0
$GC,13513,0.54,318.3,883.1,8.1,594,13516,0.00,0.55,0.00,0.000,4,0.000,0.044,3159,2021,1523,0,0,0,0,0,0
$GC,13601,0.54,318.3,875.7,8.0,596,13606,0.00,0.62,0.00,0.000,6,0.000,0.054,3159,1638,1522,0,0,0,0,0,0
$GC,13920,0.54,318.3,848.7,8.6,607,13924,0.00,0.95,0.00,0.000,4,0.000,0.041,3159,2257,1522,0,0,0,0,0,0
$GC,13988,0.54,318.3,842.8,9.6,609,13992,0.00,0.98,0.00,0.000,6,0.000,0.051,3159,1647,1522,0,0,0,0,0,0
$GC,14329,0.54,318.3,814.0,8.4,620,14332,0.00,0.88,0.00,0.000,4,0.000,0.061,3159,1097,1522,0,0,0,0,0,0
$GC,14378,0.54,318.3,809.9,7.8,621,14383,0.00,0.85,0.00,0.000,6,0.000,0.038,3159,1646,1522,0,0,0,0,0,0
$GC,14703,0.54,318.3,784.6,7.7,632,14706,0.00,1.40,0.00,0.000,4,0.000,0.043,3159,2551,1522,0,0,0,0,0,0
$GC,14791,0.54,319.0,778.2,6.3,634,14796,0.00,1.48,0.00,0.000,6,0.000,0.050,3159,1643,1521,0,0,0,0,0,0
$GC,15110,0.54,319.0,756.9,6.6,645,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1644,1521,0,0,0,0,0,0
$GC,15416,0.54,330.9,738.5,5.9,655,15430,0.00,0.00,12.07,1.177,6,0.000,0.000,3159,1643,1477,0,0,0,0,0,0
$GC,15723,0.54,332.9,719.8,6.3,665,15727,0.00,1.12,0.00,0.000,4,0.000,0.062,3159,955,1476,0,0,0,0,0,0
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$STATE,25377,end climb,SURFACE_DEPTH_REACHED
$STATE,25377,begin surface coast
$FINISH,1.8,1.026139
$STATE,25402,end surface coast,CONTROL_FINISHED_OK
$STATE,25402,begin surface
$SM_CCo,25480,0.00,0.000,0,0,1296,375.55
$SM_GC,2.76,8.90,0.00,0.00,0.058,0.000,0.000,88,1721,1296,-9.00,-0.25,375.55
$IRIDIUM_FIX,-4052.13,-454.60,090113,060646
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,9.12592
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.1,113.489
$10V_AH,9.8,66.727
$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
$DEVICE_SECS,24.875,133.700,458.875,0.000,0.000,27.560,38.842,520.352,0.000,0.000,43.911,3125.225,18152.820,570.342,4074.601,351.131,0.000,2108.106,0.000,3409.593,0.000,1.014,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.549,1049.837,801.108,87.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,70271,1166
$CAP_FILE_SIZE,222495,0
$CFSIZE,2097086464,2029879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,100113,030305,-4105.426,-455.250,66,1.7,67,-22.5