version: 66.07.10.p01
glider: 574
mission: 4
dive: 484
start: 1 13 113 3 36 59
data:
$ID,574
$MISSION,4
$DIVE,484
$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,560
$T_MISSION,600
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,3000
$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,-7358.1592
$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,2980
$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,41
$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,463
$GPS1,130113,033505,-4056.960,-444.414,35,1.4,35,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-72.2
$GPS2,130113,033642,-4056.951,-444.414,24,1.4,24,-22.6
$SPEED_LIMITS,0.102,0.196
$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,126.1,63766,-12.5,-5.893
$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,-0.66,-116.8,0.0,0.0,0,35,0.00,0.00,-7.00,0.000,2,0.000,0.000,68,1725,1448,0,0,0,0,0,0
$GC,38,-0.66,-116.8,3.0,-0.0,1,141,12.60,2.30,-83.72,0.000,4,0.261,0.066,2748,3128,3302,0,0,0,0,0,0
$GC,216,-0.76,-116.8,10.2,-7.6,30,223,0.00,2.28,0.00,0.000,6,0.000,0.048,2747,1735,3304,0,0,0,0,0,0
$GC,297,-0.80,-116.8,17.1,-8.3,43,305,0.08,1.60,0.00,0.000,4,0.127,0.063,2713,782,3304,0,0,0,0,0,0
$GC,385,-0.72,-116.8,26.4,-11.2,57,393,0.10,1.48,0.00,0.000,6,0.132,0.036,2739,1723,3304,0,0,0,0,0,0
$GC,463,-0.72,-116.8,33.9,-8.5,70,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1723,3304,0,0,0,0,0,0
$GC,703,-0.72,-116.8,56.4,-9.7,111,708,0.00,2.35,0.00,0.000,4,0.000,0.061,2740,318,3304,0,0,0,0,0,0
$GC,843,-0.75,-116.8,70.1,-11.1,127,848,0.00,2.22,0.00,0.000,6,0.000,0.040,2740,1725,3304,0,0,0,0,0,0
$GC,1171,-0.79,-116.8,106.3,-8.9,155,1174,0.00,2.35,0.00,0.000,4,0.000,0.060,2740,313,3305,0,0,0,0,0,0
$GC,1330,-0.85,-116.8,119.0,-7.4,164,1335,0.10,2.25,0.00,0.000,6,0.103,0.037,2696,1744,3305,0,0,0,0,0,0
$GC,1650,-0.78,-116.8,144.9,-8.2,184,1655,0.12,2.40,0.00,0.000,4,0.155,0.058,2731,311,3305,0,0,0,0,0,0
$GC,1800,-0.80,-116.8,156.1,-7.2,193,1804,0.00,2.22,0.00,0.000,6,0.000,0.037,2730,1731,3305,0,0,0,0,0,0
$GC,2124,-0.80,-116.8,186.8,-10.4,214,2127,0.00,0.95,0.00,0.000,4,0.000,0.052,2730,1147,3306,0,0,0,0,0,0
$GC,2236,-0.83,-116.8,198.7,-10.7,220,2243,0.00,0.90,0.00,0.000,6,0.000,0.037,2730,1730,3307,0,0,0,0,0,0
$GC,2567,-0.83,-116.8,235.9,-11.0,237,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1731,3307,0,0,0,0,0,0
$GC,2878,-0.83,-116.8,269.3,-10.4,252,2882,0.00,0.62,0.00,0.000,4,0.000,0.046,2728,2162,3307,0,0,0,0,0,0
$GC,2939,-0.83,-116.8,276.0,-10.6,254,2944,0.00,0.70,0.00,0.000,6,0.000,0.046,2729,1715,3307,0,0,0,0,0,0
$GC,3255,-0.85,-116.8,307.9,-10.0,269,3259,0.08,1.80,0.00,0.000,4,0.123,0.057,2691,621,3307,0,0,0,0,0,0
$GC,3360,-0.80,-116.8,318.6,-9.2,272,3365,0.08,1.75,0.00,0.000,6,0.126,0.035,2715,1733,3307,0,0,0,0,0,0
$GC,3695,-0.80,-116.8,350.8,-9.7,283,3699,0.00,2.33,0.00,0.000,4,0.000,0.057,2715,328,3307,0,0,0,0,0,0
$GC,3901,-0.80,-116.8,370.5,-9.6,289,3906,0.00,2.20,0.00,0.000,6,0.000,0.036,2715,1725,3308,0,0,0,0,0,0
$GC,4231,-0.80,-116.8,399.6,-8.9,300,4235,0.00,2.22,0.00,0.000,4,0.000,0.047,2707,3136,3308,0,0,0,0,0,0
$GC,4326,-0.80,-116.8,407.5,-8.3,302,4331,0.00,2.22,0.00,0.000,6,0.000,0.039,2707,1733,3307,0,0,0,0,0,0
$GC,4639,-0.80,-116.8,433.1,-8.1,313,4643,0.00,2.25,0.00,0.000,4,0.000,0.047,2697,3145,3308,0,0,0,0,0,0
$GC,4707,-0.78,-116.8,439.0,-8.1,315,4711,0.12,2.22,0.00,0.000,6,0.141,0.039,2731,1725,3307,0,0,0,0,0,0
$GC,5042,-0.83,-116.8,465.8,-8.1,326,5046,0.08,1.52,0.00,0.000,4,0.127,0.044,2691,2674,3307,0,0,0,0,0,0
$GC,5085,-0.77,-116.8,470.1,-9.9,327,5090,0.10,1.50,0.00,0.000,6,0.119,0.041,2726,1727,3307,0,0,0,0,0,0
$GC,5415,-0.81,-116.8,499.5,-9.1,338,5419,0.00,2.25,0.00,0.000,4,0.000,0.047,2718,3135,3307,0,0,0,0,0,0
$GC,5487,-0.86,-116.8,506.6,-9.6,340,5491,0.00,2.22,0.00,0.000,6,0.000,0.040,2718,1723,3307,0,0,0,0,0,0
$GC,5816,-0.86,-116.8,538.9,-10.0,351,5820,0.00,2.28,0.00,0.000,4,0.000,0.047,2713,3142,3307,0,0,0,0,0,0
$GC,5939,-0.89,-116.8,551.2,-10.6,354,5945,0.05,2.22,0.00,0.000,6,0.161,0.039,2686,1724,3306,0,0,0,0,0,0
$GC,6252,-0.82,-116.8,584.7,-10.9,365,6257,0.10,2.25,0.00,0.000,4,0.177,0.044,2701,3136,3306,0,0,0,0,0,0
$GC,6346,-0.82,-116.8,595.1,-10.7,367,6352,0.00,2.22,0.00,0.000,6,0.000,0.038,2702,1733,3305,0,0,0,0,0,0
$GC,6660,-0.79,-116.8,627.3,-10.3,378,6664,0.08,2.25,0.00,0.000,4,0.192,0.044,2710,3137,3305,0,0,0,0,0,0
$GC,6742,-0.79,-116.8,635.8,-9.5,380,6746,0.00,2.25,0.00,0.000,6,0.000,0.038,2710,1724,3305,0,0,0,0,0,0
$GC,7067,-0.79,-116.8,665.7,-9.1,391,7071,0.00,2.22,0.00,0.000,4,0.000,0.045,2701,3135,3305,0,0,0,0,0,0
$GC,7163,-0.79,-116.8,674.3,-8.6,394,7167,0.10,2.20,0.00,0.000,6,0.151,0.038,2727,1721,3304,0,0,0,0,0,0
$GC,7497,-0.84,-116.8,702.7,-8.5,405,7502,0.00,2.28,0.00,0.000,4,0.000,0.047,2727,3143,3304,0,0,0,0,0,0
$GC,7575,-0.90,-116.8,709.8,-8.8,407,7580,0.12,2.22,0.00,0.000,6,0.093,0.038,2677,1725,3304,0,0,0,0,0,0
$GC,7899,-0.81,-116.8,741.2,-9.9,418,7904,0.15,2.28,0.00,0.000,4,0.158,0.045,2709,3135,3304,0,0,0,0,0,0
$GC,8006,-0.84,-116.8,751.5,-9.2,421,8010,0.00,2.22,0.00,0.000,6,0.000,0.039,2709,1726,3304,0,0,0,0,0,0
$GC,8330,-0.80,-116.8,782.6,-9.9,432,8334,0.00,2.30,0.00,0.000,4,0.000,0.056,2709,318,3303,0,0,0,0,0,0
$GC,8402,-0.78,-116.8,790.3,-10.6,434,8407,0.10,2.22,0.00,0.000,6,0.162,0.034,2727,1746,3304,0,0,0,0,0,0
$GC,8725,-0.78,-116.8,823.4,-10.3,445,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1746,3303,0,0,0,0,0,0
$GC,9032,-0.83,-116.8,854.6,-10.0,455,9036,0.00,2.35,0.00,0.000,4,0.000,0.056,2727,317,3303,0,0,0,0,0,0
$GC,9166,-0.91,-116.8,867.9,-9.2,459,9171,0.12,2.22,0.00,0.000,6,0.098,0.036,2680,1736,3302,0,0,0,0,0,0
$GC,9496,-0.85,-116.8,901.7,-10.2,470,9501,0.10,2.33,0.00,0.000,4,0.176,0.055,2707,325,3302,0,0,0,0,0,0
$GC,9612,-0.85,-116.8,913.0,-9.4,473,9616,0.00,2.22,0.00,0.000,6,0.000,0.035,2701,1734,3302,0,0,0,0,0,0
$GC,9931,-0.85,-116.8,942.3,-9.1,484,9935,0.00,1.23,0.00,0.000,4,0.000,0.052,2701,989,3302,0,0,0,0,0,0
$GC,10014,-0.85,-116.8,950.0,-8.8,486,10018,0.00,1.17,0.00,0.000,6,0.000,0.037,2701,1733,3302,0,0,0,0,0,0
$GC,10339,-0.85,-116.8,979.1,-9.1,497,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1733,3302,0,0,0,0,0,0
$STATE,10459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10459,begin apogee
$GC,10465,-0.26,0.0,990.1,9.0,501,10571,0.62,0.00,102.95,1.470,6,0.120,0.000,2890,1636,2827,0,0,0,0,0,0
$STATE,10572,end apogee,CONTROL_FINISHED_OK
$STATE,10572,begin loiter
$GC,10859,-0.25,195.9,1017.9,-6.7,514,11040,0.00,1.67,174.38,1.479,4,0.000,0.040,2890,2611,2027,0,0,0,0,0,0
$GC,11272,-0.34,195.9,1014.3,4.4,526,11278,0.05,1.55,0.00,0.000,6,0.086,0.046,2864,1652,2021,0,0,0,0,0,0
$GC,11585,-0.34,195.9,1001.9,3.8,537,11588,0.00,1.30,0.00,0.000,4,0.000,0.042,2863,2481,2018,0,0,0,0,0,0
$GC,11843,-0.37,195.9,992.9,3.7,544,11846,0.00,1.35,0.00,0.000,6,0.000,0.046,2864,1638,2017,0,0,0,0,0,0
$GC,12161,-0.37,195.9,982.8,3.0,555,12164,0.00,0.65,0.00,0.000,4,0.000,0.057,2864,1223,2017,0,0,0,0,0,0
$GC,12418,-0.37,195.9,975.3,2.5,562,12422,0.00,0.65,0.00,0.000,6,0.000,0.038,2864,1655,2017,0,0,0,0,0,0
$GC,12737,-0.37,195.9,968.1,2.3,573,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1655,2016,0,0,0,0,0,0
$GC,13043,-0.37,195.9,960.8,2.6,583,13047,0.00,2.38,0.00,0.000,4,0.000,0.060,2864,230,2016,0,0,0,0,0,0
$GC,13300,-0.30,195.9,953.7,3.8,590,13306,0.08,2.20,0.00,0.000,6,0.193,0.035,2879,1638,2016,0,0,0,0,0,0
$STATE,13550,end loiter,LOITER_COMPLETE
$STATE,13550,begin climb
$GC,13552,0.66,116.8,946.9,0.0,599,13558,0.95,2.22,0.00,0.000,4,0.110,0.044,3175,3039,2016,0,0,0,0,0,0
$GC,13812,0.41,161.2,936.3,4.4,606,13818,0.28,2.25,0.00,0.000,6,0.191,0.045,3118,1638,2017,0,0,0,0,0,0
$GC,14125,0.31,195.3,922.3,4.7,617,14129,0.12,0.88,0.00,0.000,4,0.196,0.044,3087,2204,2017,0,0,0,0,0,0
$GC,14383,0.27,227.5,909.7,4.8,624,14418,0.05,0.93,28.23,1.376,6,0.157,0.053,3075,1630,1898,0,0,0,0,0,0
$GC,14731,0.31,227.5,887.0,6.8,636,14734,0.00,1.27,0.00,0.000,4,0.000,0.044,3074,2437,1895,0,0,0,0,0,0
$GC,14988,0.33,227.5,869.8,6.2,643,14992,0.00,1.30,0.00,0.000,6,0.000,0.050,3075,1634,1894,0,0,0,0,0,0
$GC,15307,0.37,241.7,851.0,5.4,654,15327,0.08,1.88,13.57,1.255,4,0.126,0.046,3111,2779,1840,0,0,0,0,0,0
$GC,15467,0.31,276.8,842.5,4.7,658,15508,0.12,1.83,33.47,1.340,6,0.175,0.048,3087,1641,1698,0,0,0,0,0,0
$GC,15844,0.40,332.4,825.2,4.0,671,15905,0.08,2.22,52.00,1.348,4,0.125,0.047,3120,2948,1470,0,0,0,0,0,0
$GC,16023,0.47,391.2,817.0,3.9,676,16084,0.00,2.10,55.65,1.342,6,0.000,0.047,3121,1642,1232,0,0,0,0,0,0
$GC,16403,0.63,406.0,796.9,5.4,689,16423,0.17,2.30,13.75,1.206,4,0.084,0.047,3192,3036,1170,0,0,0,0,0,0
$GC,16508,0.61,406.0,790.6,6.1,692,16513,0.08,2.25,0.00,0.000,6,0.185,0.045,3183,1634,1170,0,0,0,0,0,0
$GC,16837,0.61,406.0,769.3,7.0,703,16841,0.00,2.25,0.00,0.000,4,0.000,0.047,3183,3042,1167,0,0,0,0,0,0
$GC,16936,0.61,406.0,761.8,7.7,706,16940,0.00,2.28,0.00,0.000,6,0.000,0.048,3185,1643,1167,0,0,0,0,0,0
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$STATE,26206,end climb,SURFACE_DEPTH_REACHED
$STATE,26206,begin surface coast
$FINISH,1.7,1.014525
$STATE,26250,end surface coast,CONTROL_FINISHED_OK
$STATE,26250,begin surface
$SM_CCo,26328,0.00,0.000,0,0,1169,406.70
$SM_GC,2.98,8.93,0.00,0.00,0.052,0.000,0.000,90,1747,1169,-8.98,0.54,406.70
$IRIDIUM_FIX,-4043.58,-445.35,120113,050551
$TT8_MAMPS,0.026964
$HUMID,49.37
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.2,115.743
$10V_AH,9.8,68.215
$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
$DEVICE_SECS,26.175,190.450,474.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,26.720,3246.540,18317.809,569.763,4000.279,269.801,0.000,2370.244,0.000,3919.758,0.000,1.012,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.979,1042.878,816.067,89.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,73655,1187
$CAP_FILE_SIZE,232005,0
$CFSIZE,2097086464,2028240896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130113,105704,-4056.454,-443.711,38,1.2,42,-22.6