version: 66.07.10.p01
glider: 574
mission: 4
dive: 478
start: 1 11 113 6 35 50
data:
$ID,574
$MISSION,4
$DIVE,478
$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,-7344.1577
$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,27
$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,457
$GPS1,110113,063405,-4101.993,-450.371,42,0.9,42,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-72.0
$GPS2,110113,063530,-4101.979,-450.370,17,1.0,17,-22.6
$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,117.2,70536,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.72,-116.8,0.0,0.0,0,52,0.00,0.00,-24.70,0.000,2,0.000,0.000,74,1726,1654,0,0,0,0,0,0
$GC,55,-0.72,-116.8,3.2,-2.4,4,153,12.40,2.40,-76.57,0.000,4,0.259,0.076,2743,318,3304,0,0,0,0,0,0
$GC,234,-0.69,-116.8,12.2,-11.4,33,242,0.05,2.22,0.00,0.000,6,0.148,0.041,2758,1704,3305,0,0,0,0,0,0
$GC,316,-0.76,-116.8,20.6,-9.7,46,323,0.00,1.58,0.00,0.000,4,0.000,0.050,2753,2692,3305,0,0,0,0,0,0
$GC,385,-0.81,-116.8,27.3,-9.6,57,393,0.05,1.55,0.00,0.000,6,0.074,0.050,2716,1737,3305,0,0,0,0,0,0
$GC,463,-0.75,-116.8,35.7,-10.5,70,471,0.10,0.85,0.00,0.000,4,0.163,0.060,2743,1216,3306,0,0,0,0,0,0
$GC,519,-0.75,-116.8,41.4,-10.1,79,524,0.00,0.82,0.00,0.000,6,0.000,0.040,2742,1749,3306,0,0,0,0,0,0
$GC,753,-0.75,-116.8,66.2,-11.0,115,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1749,3306,0,0,0,0,0,0
$GC,1078,-0.78,-116.8,101.7,-10.8,145,1081,0.00,1.62,0.00,0.000,4,0.000,0.047,2737,2778,3307,0,0,0,0,0,0
$GC,1139,-0.80,-116.8,108.9,-10.4,148,1146,0.00,1.67,0.00,0.000,6,0.000,0.047,2737,1735,3307,0,0,0,0,0,0
$GC,1460,-0.80,-116.8,141.7,-9.9,169,1464,0.00,0.70,0.00,0.000,4,0.000,0.060,2737,1296,3308,0,0,0,0,0,0
$GC,1513,-0.80,-116.8,146.7,-9.5,172,1517,0.00,0.68,0.00,0.000,6,0.000,0.041,2735,1737,3308,0,0,0,0,0,0
$GC,1845,-0.80,-116.8,176.5,-8.9,193,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1737,3309,0,0,0,0,0,0
$GC,2165,-0.80,-116.8,204.7,-8.7,213,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1737,3309,0,0,0,0,0,0
$GC,2475,-0.80,-116.8,230.4,-8.2,228,2478,0.00,1.17,0.00,0.000,4,0.000,0.057,2735,1028,3309,0,0,0,0,0,0
$GC,2553,-0.86,-116.8,237.0,-8.1,231,2557,0.05,1.10,0.00,0.000,6,0.073,0.039,2697,1730,3309,0,0,0,0,0,0
$GC,2876,-0.82,-116.8,267.2,-9.7,247,2881,0.10,1.10,0.00,0.000,4,0.161,0.057,2724,1071,3309,0,0,0,0,0,0
$GC,2948,-0.82,-116.8,274.0,-9.4,250,2952,0.00,1.02,0.00,0.000,6,0.000,0.037,2723,1731,3309,0,0,0,0,0,0
$GC,3280,-0.82,-116.8,306.4,-9.6,265,3283,0.00,0.98,0.00,0.000,4,0.000,0.057,2722,1131,3309,0,0,0,0,0,0
$GC,3340,-0.82,-116.8,312.4,-9.7,266,3346,0.00,0.95,0.00,0.000,6,0.000,0.037,2720,1735,3309,0,0,0,0,0,0
$GC,3653,-0.82,-116.8,341.4,-9.3,277,3657,0.00,0.62,0.00,0.000,4,0.000,0.054,2719,1344,3309,0,0,0,0,0,0
$GC,3736,-0.82,-116.8,349.2,-9.0,279,3741,0.00,0.60,0.00,0.000,6,0.000,0.039,2716,1737,3309,0,0,0,0,0,0
$GC,4061,-0.82,-116.8,377.1,-8.7,290,4065,0.00,1.00,0.00,0.000,4,0.000,0.054,2716,1125,3310,0,0,0,0,0,0
$GC,4122,-0.82,-116.8,382.6,-8.7,291,4127,0.00,0.93,0.00,0.000,6,0.000,0.037,2715,1721,3310,0,0,0,0,0,0
$GC,4435,-0.82,-116.8,410.5,-9.2,302,4438,0.00,0.82,0.00,0.000,4,0.000,0.054,2715,1213,3310,0,0,0,0,0,0
$GC,4551,-0.82,-116.8,422.2,-10.2,305,4556,0.00,0.82,0.00,0.000,6,0.000,0.037,2715,1737,3310,0,0,0,0,0,0
$GC,4876,-0.82,-116.8,455.5,-10.6,316,4880,0.00,1.38,0.00,0.000,4,0.000,0.056,2715,908,3310,0,0,0,0,0,0
$GC,4936,-0.82,-116.8,462.4,-10.7,317,4941,0.00,1.27,0.00,0.000,6,0.000,0.035,2713,1726,3310,0,0,0,0,0,0
$GC,5249,-0.82,-116.8,496.5,-11.0,328,5253,0.00,1.23,0.00,0.000,4,0.000,0.044,2706,2519,3310,0,0,0,0,0,0
$GC,5317,-0.82,-116.8,504.1,-11.0,330,5321,0.00,1.25,0.00,0.000,6,0.000,0.045,2707,1728,3310,0,0,0,0,0,0
$GC,5657,-0.82,-116.8,542.7,-11.2,341,5662,0.05,0.68,0.00,0.000,4,0.223,0.055,2719,1302,3310,0,0,0,0,0,0
$GC,5712,-0.82,-116.8,548.9,-10.5,342,5717,0.00,0.68,0.00,0.000,6,0.000,0.040,2717,1738,3310,0,0,0,0,0,0
$GC,6031,-0.82,-116.8,582.7,-10.7,353,6035,0.00,0.60,0.00,0.000,4,0.000,0.045,2715,2156,3310,0,0,0,0,0,0
$GC,6125,-0.82,-116.8,592.3,-9.9,355,6131,0.00,0.68,0.00,0.000,6,0.000,0.047,2715,1724,3310,0,0,0,0,0,0
$GC,6439,-0.82,-116.8,621.7,-9.2,366,6443,0.00,0.82,0.00,0.000,4,0.000,0.055,2715,1199,3309,0,0,0,0,0,0
$GC,6499,-0.82,-116.8,627.5,-9.4,367,6505,0.00,0.82,0.00,0.000,6,0.000,0.038,2713,1734,3309,0,0,0,0,0,0
$GC,6812,-0.82,-116.8,656.3,-9.4,378,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1734,3309,0,0,0,0,0,0
$GC,7119,-0.82,-116.8,686.5,-10.0,388,7122,0.00,0.55,0.00,0.000,4,0.000,0.055,2713,1388,3309,0,0,0,0,0,0
$GC,7168,-0.82,-116.8,691.8,-10.1,389,7172,0.00,0.55,0.00,0.000,6,0.000,0.043,2711,1744,3308,0,0,0,0,0,0
$GC,7492,-0.82,-116.8,725.3,-10.8,400,7496,0.00,0.62,0.00,0.000,4,0.000,0.047,2708,2177,3309,0,0,0,0,0,0
$GC,7547,-0.82,-116.8,731.3,-11.1,401,7551,0.00,0.70,0.00,0.000,6,0.000,0.047,2708,1729,3309,0,0,0,0,0,0
$GC,7866,-0.82,-116.8,765.4,-10.8,412,7870,0.00,1.33,0.00,0.000,4,0.000,0.056,2708,916,3309,0,0,0,0,0,0
$GC,7921,-0.82,-116.8,771.5,-11.4,413,7926,0.03,1.25,0.00,0.000,6,0.175,0.034,2713,1721,3308,0,0,0,0,0,0
$GC,8239,-0.82,-116.8,803.9,-9.8,424,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1721,3308,0,0,0,0,0,0
$GC,8545,-0.82,-116.8,832.9,-9.2,434,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1722,3308,0,0,0,0,0,0
$GC,8852,-0.84,-116.8,859.7,-8.8,444,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1721,3308,0,0,0,0,0,0
$GC,9158,-0.88,-116.8,886.1,-8.8,454,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1721,3307,0,0,0,0,0,0
$GC,9464,-0.92,-116.8,913.1,-8.8,464,9466,0.08,0.00,0.00,0.000,6,0.129,0.000,2682,1723,3307,0,0,0,0,0,0
$GC,9771,-0.90,-116.8,942.7,-9.9,474,9774,0.00,0.90,0.00,0.000,4,0.000,0.053,2683,1168,3306,0,0,0,0,0,0
$GC,9849,-0.86,-116.8,950.6,-10.1,476,9853,0.08,0.88,0.00,0.000,6,0.138,0.040,2704,1731,3306,0,0,0,0,0,0
$GC,10178,-0.86,-116.8,983.3,-10.1,487,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1732,3306,0,0,0,0,0,0
$STATE,10268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10268,begin apogee
$GC,10273,-0.26,0.0,992.5,10.1,490,10381,0.62,0.00,104.80,1.479,6,0.122,0.000,2894,1633,2827,0,0,0,0,0,0
$STATE,10382,end apogee,CONTROL_FINISHED_OK
$STATE,10382,begin loiter
$GC,10667,-0.25,237.2,1028.0,-8.7,503,10886,0.00,0.95,213.93,1.476,4,0.000,0.039,2893,2169,1860,0,0,0,0,0,0
$STATE,10957,end loiter,LOITER_COMPLETE
$STATE,10957,begin climb
$GC,10959,0.72,116.8,1034.1,0.0,512,10964,1.02,0.88,0.00,0.000,6,0.106,0.049,3207,1646,1854,0,0,0,0,0,0
$GC,11278,0.50,135.8,1017.1,5.6,523,11283,0.22,2.22,0.00,0.000,4,0.181,0.044,3152,3036,1851,0,0,0,0,0,0
$GC,11423,0.38,189.3,1009.9,4.4,527,11428,0.20,2.22,0.00,0.000,6,0.177,0.044,3111,1638,1849,0,0,0,0,0,0
$GC,11741,0.38,230.1,995.3,4.9,538,11745,0.00,0.60,0.00,0.000,4,0.000,0.045,3110,2042,1848,0,0,0,0,0,0
$GC,11915,0.38,250.7,986.6,5.6,543,11930,0.00,0.65,11.65,1.266,6,0.000,0.054,3112,1635,1805,0,0,0,0,0,0
$GC,12243,0.39,280.4,969.5,5.3,554,12274,0.00,0.00,28.80,1.381,6,0.000,0.000,3112,1635,1683,0,0,0,0,0,0
$GC,12580,0.43,302.4,950.4,5.5,565,12605,0.00,1.00,21.27,1.350,4,0.000,0.039,3111,2281,1594,0,0,0,0,0,0
$GC,12762,0.50,316.6,939.5,5.8,569,12782,0.08,1.02,14.43,1.281,6,0.070,0.051,3150,1642,1535,0,0,0,0,0,0
$GC,13113,0.50,317.8,917.3,6.3,581,13117,0.00,2.15,0.00,0.000,4,0.000,0.047,3149,2998,1532,0,0,0,0,0,0
$GC,13209,0.48,326.8,911.2,6.0,584,13225,0.05,2.17,10.07,1.200,6,0.232,0.047,3146,1640,1494,0,0,0,0,0,0
$GC,13545,0.51,326.8,889.8,6.6,595,13548,0.00,0.65,0.00,0.000,4,0.000,0.044,3146,2077,1493,0,0,0,0,0,0
$GC,13628,0.54,326.8,883.9,6.8,597,13632,0.00,0.70,0.00,0.000,6,0.000,0.054,3146,1641,1492,0,0,0,0,0,0
$GC,13953,0.57,326.8,860.9,7.2,608,13957,0.08,0.65,0.00,0.000,4,0.128,0.046,3176,2059,1492,0,0,0,0,0,0
$GC,14055,0.52,326.8,853.3,6.8,611,14059,0.08,0.68,0.00,0.000,6,0.164,0.054,3156,1636,1492,0,0,0,0,0,0
$GC,14395,0.52,326.8,826.4,8.0,622,14398,0.00,1.15,0.00,0.000,4,0.000,0.043,3157,2372,1492,0,0,0,0,0,0
$GC,14489,0.52,326.8,818.6,8.6,624,14495,0.00,1.17,0.00,0.000,6,0.000,0.050,3157,1642,1492,0,0,0,0,0,0
$GC,14802,0.52,326.8,793.9,7.8,635,14806,0.00,1.10,0.00,0.000,4,0.000,0.042,3157,2351,1491,0,0,0,0,0,0
$GC,14885,0.50,326.8,787.6,7.1,637,14889,0.00,1.15,0.00,0.000,6,0.000,0.051,3159,1638,1492,0,0,0,0,0,0
$GC,15209,0.50,326.8,764.5,7.0,648,15213,0.00,0.43,0.00,0.000,4,0.000,0.047,3159,1936,1492,0,0,0,0,0,0
$GC,15467,0.50,326.8,747.2,6.6,655,15471,0.00,0.50,0.00,0.000,6,0.000,0.058,3159,1634,1492,0,0,0,0,0,0
$GC,15786,0.50,335.2,727.4,6.0,666,15800,0.00,1.38,9.32,1.107,4,0.000,0.045,3159,2478,1459,0,0,0,0,0,0
$GC,15897,0.50,350.2,720.6,5.8,669,15917,0.00,1.35,15.95,1.198,6,0.000,0.050,3160,1648,1398,0,0,0,0,0,0
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$STATE,25196,end climb,SURFACE_DEPTH_REACHED
$STATE,25196,begin surface coast
$FINISH,1.8,1.010241
$STATE,25233,end surface coast,CONTROL_FINISHED_OK
$STATE,25233,begin surface
$SM_CCo,25311,0.00,0.000,0,0,1139,414.06
$SM_GC,2.87,9.05,0.00,0.00,0.058,0.000,0.000,85,1741,1139,-9.00,0.31,414.06
$IRIDIUM_FIX,-4049.28,-454.35,100113,101050
$TT8_MAMPS,0.026964
$HUMID,49.84
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,21.9,114.513
$10V_AH,9.8,67.362
$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
$DEVICE_SECS,25.275,100.875,490.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.200,3045.152,18074.455,568.299,3447.303,248.596,0.000,2125.196,0.000,3394.703,0.000,1.011,0.000
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$SENSOR_SECS,772.427,1020.935,795.713,85.167,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,70296,1149
$CAP_FILE_SIZE,207633,0
$CFSIZE,2097086464,2029223936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110113,133929,-4100.913,-448.803,73,1.1,73,-22.6