version: 66.07.10.p01
glider: 574
mission: 4
dive: 513
start: 1 22 113 12 36 29
data:
$ID,574
$MISSION,4
$DIVE,513
$D_SURF,3
$D_FLARE,3
$D_TGT,980
$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,580
$T_MISSION,620
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,4200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,150
$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,160
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,3
$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,-7433.4849
$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,1580
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,52
$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,492
$GPS1,220113,123435,-4059.902,-426.421,33,1.5,34,-22.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-75.2
$GPS2,220113,123606,-4059.912,-426.414,18,1.5,18,-22.6
$SPEED_LIMITS,0.098,0.186
$TGT_NAME,HEADING
$TGT_LATLONG,-4109.264,-419.243
$TGT_RADIUS,1852.000
$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,172.6,20000,-12.6,-5.632
$D_GRID,980
$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,-0.67,-107.0,0.0,0.0,0,47,0.00,0.00,-19.17,0.000,2,0.000,0.000,71,1573,1786,0,0,0,0,0,0
$GC,50,-0.67,-107.0,3.1,-0.6,3,124,12.50,2.33,-51.08,0.000,4,0.260,0.063,2746,2962,3265,0,0,0,0,0,0
$GC,181,-0.70,-107.0,12.5,-10.8,24,188,0.00,2.28,0.00,0.000,6,0.000,0.050,2746,1582,3266,0,0,0,0,0,0
$GC,262,-0.76,-107.0,21.2,-10.6,37,269,0.00,1.62,0.00,0.000,4,0.000,0.063,2746,612,3267,0,0,0,0,0,0
$GC,526,-0.87,-107.0,49.0,-10.2,83,531,0.10,1.50,0.00,0.000,6,0.057,0.037,2692,1561,3267,0,0,0,0,0,0
$GC,753,-0.79,-107.0,71.2,-9.2,113,758,0.10,2.38,0.00,0.000,4,0.164,0.062,2719,173,3267,0,0,0,0,0,0
$GC,883,-0.85,-107.0,83.9,-9.6,124,887,0.00,2.22,0.00,0.000,6,0.000,0.037,2715,1582,3267,0,0,0,0,0,0
$GC,1208,-0.85,-107.0,116.8,-11.1,149,1212,0.00,1.30,0.00,0.000,4,0.000,0.057,2715,798,3268,0,0,0,0,0,0
$GC,1380,-0.88,-107.0,136.3,-11.6,159,1384,0.00,1.23,0.00,0.000,6,0.000,0.036,2715,1586,3268,0,0,0,0,0,0
$GC,1713,-0.90,-107.0,175.2,-11.8,177,1718,0.08,2.40,0.00,0.000,4,0.126,0.060,2680,170,3268,0,0,0,0,0,0
$GC,1870,-0.86,-107.0,195.6,-12.8,184,1875,0.12,2.17,0.00,0.000,6,0.150,0.035,2705,1575,3268,0,0,0,0,0,0
$GC,2199,-0.86,-107.0,235.7,-12.3,196,2203,0.00,2.35,0.00,0.000,4,0.000,0.060,2705,173,3269,0,0,0,0,0,0
$GC,2455,-0.89,-107.0,265.9,-11.3,203,2461,0.00,2.20,0.00,0.000,6,0.000,0.034,2701,1586,3269,0,0,0,0,0,0
$GC,2768,-0.89,-107.0,297.7,-10.0,214,2772,0.00,1.17,0.00,0.000,4,0.000,0.055,2701,878,3269,0,0,0,0,0,0
$GC,3026,-0.91,-107.0,322.5,-9.6,221,3029,0.00,1.10,0.00,0.000,6,0.000,0.035,2701,1584,3269,0,0,0,0,0,0
$GC,3344,-0.91,-107.0,351.9,-9.2,232,3347,0.00,1.60,0.00,0.000,4,0.000,0.056,2701,626,3269,0,0,0,0,0,0
$GC,3601,-0.94,-107.0,374.3,-9.0,239,3606,0.05,1.48,0.00,0.000,6,0.079,0.034,2670,1574,3269,0,0,0,0,0,0
$GC,3920,-0.87,-107.0,402.2,-9.2,250,3925,0.12,2.28,0.00,0.000,4,0.154,0.058,2705,223,3269,0,0,0,0,0,0
$GC,4177,-0.92,-107.0,427.1,-10.0,257,4182,0.00,2.10,0.00,0.000,6,0.000,0.033,2700,1581,3269,0,0,0,0,0,0
$GC,4490,-0.92,-107.0,459.3,-10.7,268,4494,0.00,1.95,0.00,0.000,4,0.000,0.044,2694,2820,3269,0,0,0,0,0,0
$GC,4558,-0.92,-107.0,467.1,-12.1,270,4562,0.00,1.98,0.00,0.000,6,0.000,0.042,2694,1562,3269,0,0,0,0,0,0
$GC,4899,-0.92,-107.0,505.8,-11.5,281,4903,0.00,2.30,0.00,0.000,4,0.000,0.057,2694,170,3269,0,0,0,0,0,0
$GC,5156,-0.97,-107.0,534.0,-10.6,288,5162,0.08,2.20,0.00,0.000,6,0.129,0.031,2663,1587,3269,0,0,0,0,0,0
$GC,5471,-0.90,-107.0,567.4,-10.8,299,5475,0.10,1.42,0.00,0.000,4,0.176,0.040,2682,2499,3269,0,0,0,0,0,0
$GC,5525,-0.87,-107.0,573.3,-10.3,300,5529,0.00,1.48,0.00,0.000,6,0.000,0.042,2682,1575,3269,0,0,0,0,0,0
$GC,5844,-0.87,-107.0,604.8,-10.1,311,5849,0.05,2.28,0.00,0.000,4,0.216,0.043,2685,2987,3268,0,0,0,0,0,0
$GC,5926,-0.87,-107.0,613.7,-11.1,313,5931,0.00,2.25,0.00,0.000,6,0.000,0.039,2685,1583,3269,0,0,0,0,0,0
$GC,6245,-0.87,-107.0,647.3,-10.7,324,6249,0.00,2.33,0.00,0.000,4,0.000,0.056,2685,175,3268,0,0,0,0,0,0
$GC,6255,-0.85,-107.0,648.6,-10.9,324,6260,0.10,2.17,0.00,0.000,6,0.166,0.033,2701,1586,3268,0,0,0,0,0,0
$GC,6573,-0.87,-107.0,682.1,-10.7,335,6577,0.00,0.80,0.00,0.000,4,0.000,0.054,2701,1084,3268,0,0,0,0,0,0
$GC,6830,-0.89,-107.0,710.8,-11.2,342,6834,0.00,0.77,0.00,0.000,6,0.000,0.037,2700,1590,3268,0,0,0,0,0,0
$GC,7149,-0.92,-107.0,745.2,-10.7,353,7153,0.00,2.20,0.00,0.000,4,0.000,0.044,2691,2974,3268,0,0,0,0,0,0
$GC,7212,-0.92,-107.0,751.8,-9.7,355,7216,0.00,2.22,0.00,0.000,6,0.000,0.041,2692,1572,3268,0,0,0,0,0,0
$GC,7552,-0.92,-107.0,785.5,-9.7,366,7556,0.00,2.25,0.00,0.000,4,0.000,0.044,2682,2974,3268,0,0,0,0,0,0
$GC,7618,-0.92,-107.0,791.9,-9.0,368,7622,0.00,2.25,0.00,0.000,6,0.000,0.040,2682,1573,3267,0,0,0,0,0,0
$GC,7953,-0.92,-107.0,821.5,-8.6,379,7957,0.00,2.25,0.00,0.000,4,0.000,0.044,2673,2974,3267,0,0,0,0,0,0
$GC,8020,-0.89,-107.0,827.3,-8.0,381,8025,0.08,2.20,0.00,0.000,6,0.174,0.040,2691,1572,3266,0,0,0,0,0,0
$GC,8355,-0.89,-107.0,855.0,-8.4,392,8359,0.00,2.25,0.00,0.000,4,0.000,0.044,2685,2973,3267,0,0,0,0,0,0
$GC,8432,-0.89,-107.0,861.7,-9.4,394,8437,0.00,2.20,0.00,0.000,6,0.000,0.040,2685,1576,3267,0,0,0,0,0,0
$GC,8757,-0.89,-107.0,891.1,-9.6,405,8761,0.00,2.33,0.00,0.000,4,0.000,0.057,2685,176,3267,0,0,0,0,0,0
$GC,9014,-0.92,-107.0,916.6,-10.1,412,9019,0.00,2.20,0.00,0.000,6,0.000,0.032,2685,1580,3266,0,0,0,0,0,0
$GC,9327,-0.92,-107.0,948.6,-10.2,423,9331,0.00,2.33,0.00,0.000,4,0.000,0.057,2685,177,3266,0,0,0,0,0,0
$GC,9584,-0.98,-107.0,977.0,-11.0,430,9590,0.05,2.20,0.00,0.000,6,0.171,0.034,2668,1579,3266,0,0,0,0,0,0
$STATE,9619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9619,begin apogee
$GC,9625,-0.26,0.0,981.0,11.2,432,9723,0.75,0.00,95.20,1.467,6,0.125,0.000,2889,1483,2827,0,0,0,0,0,0
$STATE,9724,end apogee,CONTROL_FINISHED_OK
$STATE,9724,begin loiter
$GC,10018,-0.25,279.4,1021.2,-9.9,445,10278,0.00,0.85,253.38,1.461,4,0.000,0.038,2889,1956,1688,0,0,0,0,0,0
$GC,10312,-0.35,279.4,1030.9,3.1,454,10316,0.05,0.80,0.00,0.000,6,0.090,0.049,2868,1510,1684,0,0,0,0,0,0
$GC,10631,-0.40,279.4,1014.5,5.5,465,10635,0.05,1.08,0.00,0.000,4,0.175,0.040,2844,2198,1677,0,0,0,0,0,0
$GC,10775,-0.40,279.4,1006.1,5.4,469,10779,0.00,1.12,0.00,0.000,6,0.000,0.047,2844,1502,1676,0,0,0,0,0,0
$GC,11105,-0.40,279.4,985.5,6.3,480,11108,0.00,1.02,0.00,0.000,4,0.000,0.059,2844,867,1675,0,0,0,0,0,0
$GC,11274,-0.38,279.4,974.3,6.8,485,11279,0.03,0.98,0.00,0.000,6,0.167,0.035,2849,1504,1674,0,0,0,0,0,0
$GC,11614,-0.38,279.4,953.7,5.9,496,11618,0.00,1.95,0.00,0.000,4,0.000,0.044,2849,2762,1673,0,0,0,0,0,0
$GC,11742,-0.38,279.4,946.7,5.5,499,11748,0.00,2.05,0.00,0.000,6,0.000,0.044,2849,1500,1673,0,0,0,0,0,0
$GC,12056,-0.38,279.4,932.3,4.6,510,12060,0.00,2.20,0.00,0.000,4,0.000,0.060,2849,172,1673,0,0,0,0,0,0
$GC,12134,-0.26,279.4,928.9,4.3,512,12138,0.20,2.05,0.00,0.000,6,0.157,0.033,2892,1503,1671,0,0,0,0,0,0
$GC,12458,-0.34,279.4,915.2,4.2,523,12462,0.08,2.20,0.00,0.000,4,0.132,0.042,2857,2898,1671,0,0,0,0,0,0
$GC,12658,-0.34,279.4,907.0,4.1,529,12663,0.00,2.28,0.00,0.000,6,0.000,0.044,2857,1503,1671,0,0,0,0,0,0
$GC,12994,-0.34,279.4,894.6,3.8,540,12998,0.00,2.22,0.00,0.000,4,0.000,0.061,2857,164,1671,0,0,0,0,0,0
$GC,13061,-0.25,279.4,891.9,3.9,542,13066,0.17,2.08,0.00,0.000,6,0.161,0.034,2895,1499,1671,0,0,0,0,0,0
$GC,13396,-0.34,279.4,876.7,5.0,553,13401,0.08,2.25,0.00,0.000,4,0.130,0.060,2864,165,1670,0,0,0,0,0,0
$GC,13485,-0.28,279.4,871.7,6.5,555,13491,0.12,2.08,0.00,0.000,6,0.165,0.034,2890,1506,1671,0,0,0,0,0,0
$GC,13798,-0.36,279.4,854.1,6.1,566,13803,0.08,2.20,0.00,0.000,4,0.129,0.043,2851,2908,1671,0,0,0,0,0,0
$STATE,13914,end loiter,LOITER_COMPLETE
$STATE,13914,begin climb
$GC,13916,0.67,107.0,846.7,0.0,569,13922,1.12,2.25,0.00,0.000,6,0.113,0.044,3188,1498,1670,0,0,0,0,0,0
$GC,14229,0.45,107.0,825.4,6.9,579,14234,0.22,2.22,0.00,0.000,4,0.175,0.060,3141,168,1671,0,0,0,0,0,0
$GC,14414,0.34,133.2,814.7,4.7,584,14419,0.17,2.08,0.00,0.000,6,0.161,0.035,3095,1509,1671,0,0,0,0,0,0
$GC,14727,0.34,167.4,800.0,4.4,594,14730,0.00,0.68,0.00,0.000,4,0.000,0.043,3095,1970,1671,0,0,0,0,0,0
$GC,14985,0.35,232.2,789.8,3.3,601,14988,0.00,0.77,0.00,0.000,6,0.000,0.053,3096,1494,1671,0,0,0,0,0,0
$GC,15303,0.35,298.5,779.2,3.3,612,15321,0.00,0.00,16.48,1.258,6,0.000,0.000,3096,1494,1610,0,0,0,0,0,0
$GC,15610,0.37,331.0,765.9,4.5,622,15644,0.00,0.00,32.40,1.312,6,0.000,0.000,3096,1494,1476,0,0,0,0,0,0
$GC,15946,0.43,331.0,745.3,6.6,633,15950,0.08,1.35,0.00,0.000,4,0.125,0.061,3132,679,1473,0,0,0,0,0,0
$GC,16086,0.43,331.0,734.8,7.1,637,16089,0.00,1.27,0.00,0.000,6,0.000,0.036,3132,1501,1471,0,0,0,0,0,0
$GC,16421,0.41,331.0,708.7,8.0,648,16423,0.08,0.00,0.00,0.000,6,0.184,0.000,3116,1513,1472,0,0,0,0,0,0
$GC,16727,0.41,331.0,685.0,7.6,658,16730,0.00,0.82,0.00,0.000,4,0.000,0.060,3118,1003,1472,0,0,0,0,0,0
$GC,16985,0.44,331.0,666.7,6.5,665,16989,0.00,0.75,0.00,0.000,6,0.000,0.038,3118,1499,1471,0,0,0,0,0,0
$GC,17303,0.44,331.0,647.4,5.7,676,17307,0.00,1.75,0.00,0.000,4,0.000,0.063,3118,448,1472,0,0,0,0,0,0
$GC,17561,0.49,340.0,633.1,5.3,683,17576,0.00,1.65,8.95,1.058,6,0.000,0.036,3118,1535,1440,0,0,0,0,0,0
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$STATE,27142,end climb,SURFACE_DEPTH_REACHED
$STATE,27142,begin surface coast
$FINISH,1.7,1.013140
$STATE,27180,end surface coast,CONTROL_FINISHED_OK
$STATE,27180,begin surface
$SM_CCo,27258,0.00,0.000,0,0,1173,405.47
$SM_GC,2.87,8.73,0.00,0.00,0.054,0.000,0.000,88,1578,1173,-8.99,-0.06,405.47
$IRIDIUM_FIX,-4043.58,-431.14,200113,222254
$TT8_MAMPS,0.026964
$HUMID,49.64
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$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,21.5,121.493
$10V_AH,9.8,72.016
$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
$DEVICE_SECS,26.975,162.050,472.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.911,3191.044,19316.129,548.538,4002.297,276.238,0.000,2406.510,0.000,3906.777,0.000,1.013,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.526,694.267,424.701,70.829,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,66876,1159
$CAP_FILE_SIZE,238769,0
$CFSIZE,2097086464,2023489536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220113,201305,-4100.211,-425.473,103,0.9,103,-22.6