version: 66.07.10.p01
glider: 574
mission: 4
dive: 96
start: 10 13 112 2 27 14
data:
$ID,574
$MISSION,4
$DIVE,96
$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,450
$T_MISSION,520
$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,150
$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,1
$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,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$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,-5713.8843
$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,3013
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,71
$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,75
$GPS1,131012,021835,-4256.796,-815.673,41,1.2,42,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-70.6
$GPS2,131012,022620,-4256.763,-815.753,16,1.3,18,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP5n
$TGT_LATLONG,-4225.000,-750.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.141,0.188
$KALMAN_X,-107025.2,-73.9,308.6,152685.8,-7738.3
$KALMAN_Y,8811.1,1.2,57.0,-18397.6,1902.5
$MHEAD_RNG_PITCHd_Wd,58.4,68557,-13.9,-7.407
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,87,0.00,0.00,-60.10,0.000,2,0.000,0.000,67,1927,2639,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.0,-1.3,10,133,12.23,2.38,-24.35,0.000,4,0.267,0.079,2835,508,3422,0,0,0,0,0,0
$GC,264,-0.52,-145.9,20.2,-10.0,39,271,0.00,2.17,0.00,0.000,6,0.000,0.040,2828,1879,3424,0,0,0,0,0,0
$GC,343,-0.47,-145.9,26.6,-7.6,52,351,0.12,0.73,0.00,0.000,4,0.167,0.047,2858,2364,3424,0,0,0,0,0,0
$GC,393,-0.49,-145.9,30.8,-7.7,60,400,0.00,0.70,0.00,0.000,6,0.000,0.053,2858,1914,3424,0,0,0,0,0,0
$GC,631,-0.52,-145.9,52.9,-9.4,101,636,0.00,2.10,0.00,0.000,4,0.000,0.066,2858,603,3423,0,0,0,0,0,0
$GC,694,-0.56,-145.9,59.7,-10.3,112,702,0.03,2.05,0.00,0.000,6,0.108,0.041,2828,1909,3424,0,0,0,0,0,0
$GC,927,-0.53,-145.9,85.9,-12.6,153,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1910,3424,0,0,0,0,0,0
$GC,1262,-0.48,-145.9,122.5,-10.2,187,1266,0.10,1.10,0.00,0.000,4,0.178,0.060,2853,1233,3424,0,0,0,0,0,0
$GC,1331,-0.51,-145.9,129.5,-9.5,191,1335,0.00,1.05,0.00,0.000,6,0.000,0.041,2851,1913,3424,0,0,0,0,0,0
$GC,1661,-0.51,-145.9,160.1,-10.2,212,1665,0.00,1.17,0.00,0.000,4,0.000,0.060,2851,1182,3424,0,0,0,0,0,0
$GC,1721,-0.51,-145.9,166.5,-8.6,215,1727,0.00,1.15,0.00,0.000,6,0.000,0.042,2848,1914,3423,0,0,0,0,0,0
$GC,2042,-0.51,-145.9,195.9,-9.7,236,2045,0.00,1.12,0.00,0.000,4,0.000,0.059,2848,1208,3424,0,0,0,0,0,0
$GC,2109,-0.51,-145.9,202.1,-9.2,240,2113,0.00,1.10,0.00,0.000,6,0.000,0.041,2844,1921,3424,0,0,0,0,0,0
$GC,2440,-0.51,-145.9,233.5,-9.3,261,2444,0.00,1.10,0.00,0.000,4,0.000,0.058,2844,1231,3424,0,0,0,0,0,0
$GC,2500,-0.51,-145.9,239.4,-9.2,264,2508,0.00,1.08,0.00,0.000,6,0.000,0.040,2839,1920,3424,0,0,0,0,0,0
$GC,2822,-0.51,-145.9,269.5,-9.2,282,2826,0.00,1.42,0.00,0.000,4,0.000,0.059,2839,1035,3424,0,0,0,0,0,0
$GC,2883,-0.51,-145.9,275.4,-9.2,284,2891,0.00,1.38,0.00,0.000,6,0.000,0.038,2835,1916,3425,0,0,0,0,0,0
$GC,3199,-0.51,-145.9,306.1,-9.7,300,3203,0.00,0.40,0.00,0.000,4,0.000,0.060,2835,1651,3424,0,0,0,0,0,0
$GC,3248,-0.51,-145.9,311.3,-10.1,302,3252,0.00,0.40,0.00,0.000,6,0.000,0.045,2833,1928,3424,0,0,0,0,0,0
$GC,3574,-0.51,-145.9,343.4,-9.9,318,3578,0.00,0.95,0.00,0.000,4,0.000,0.057,2833,1330,3424,0,0,0,0,0,0
$GC,3644,-0.49,-145.9,349.9,-9.7,321,3649,0.05,0.88,0.00,0.000,6,0.153,0.040,2847,1906,3424,0,0,0,0,0,0
$GC,3979,-0.52,-145.9,376.3,-7.5,337,3983,0.00,0.77,0.00,0.000,4,0.000,0.057,2848,1408,3424,0,0,0,0,0,0
$GC,4039,-0.54,-145.9,381.2,-7.4,339,4045,0.00,0.77,0.00,0.000,6,0.000,0.039,2847,1919,3424,0,0,0,0,0,0
$GC,4358,-0.57,-145.9,404.1,-7.0,355,4361,0.00,1.83,0.00,0.000,4,0.000,0.060,2847,786,3424,0,0,0,0,0,0
$GC,4430,-0.59,-145.9,409.3,-6.7,358,4435,0.03,1.73,0.00,0.000,6,0.109,0.035,2818,1913,3424,0,0,0,0,0,0
$GC,4757,-0.55,-145.9,436.9,-8.8,374,4759,0.08,0.00,0.00,0.000,6,0.191,0.000,2835,1913,3424,0,0,0,0,0,0
$GC,5068,-0.55,-145.9,461.3,-8.3,389,5072,0.00,0.85,0.00,0.000,4,0.000,0.055,2835,1371,3424,0,0,0,0,0,0
$GC,5117,-0.55,-145.9,465.9,-8.3,391,5121,0.00,0.85,0.00,0.000,6,0.000,0.037,2832,1930,3424,0,0,0,0,0,0
$GC,5446,-0.55,-145.9,495.1,-9.1,407,5449,0.00,1.85,0.00,0.000,4,0.000,0.057,2832,775,3424,0,0,0,0,0,0
$GC,5513,-0.55,-145.9,501.9,-9.5,410,5517,0.00,1.73,0.00,0.000,6,0.000,0.035,2825,1915,3424,0,0,0,0,0,0
$GC,5853,-0.52,-145.9,537.9,-10.7,421,5857,0.08,0.52,0.00,0.000,4,0.203,0.056,2842,1572,3424,0,0,0,0,0,0
$GC,5913,-0.52,-145.9,544.5,-10.5,422,5919,0.00,0.52,0.00,0.000,6,0.000,0.041,2840,1931,3424,0,0,0,0,0,0
$GC,6225,-0.52,-145.9,577.0,-10.8,433,6229,0.00,1.55,0.00,0.000,4,0.000,0.056,2840,959,3424,0,0,0,0,0,0
$GC,6292,-0.52,-145.9,584.2,-10.8,435,6296,0.00,1.42,0.00,0.000,6,0.000,0.036,2836,1885,3423,0,0,0,0,0,0
$GC,6632,-0.52,-145.9,618.1,-9.7,446,6636,0.00,0.50,0.00,0.000,4,0.000,0.055,2836,1552,3422,0,0,0,0,0,0
$GC,6686,-0.52,-145.9,623.2,-9.9,447,6691,0.00,0.55,0.00,0.000,6,0.000,0.041,2834,1925,3423,0,0,0,0,0,0
$GC,7004,-0.52,-145.9,650.2,-8.3,458,7008,0.00,1.80,0.00,0.000,4,0.000,0.057,2834,771,3422,0,0,0,0,0,0
$GC,7071,-0.52,-145.9,655.8,-7.9,460,7076,0.08,1.73,0.00,0.000,6,0.189,0.036,2845,1915,3421,0,0,0,0,0,0
$GC,7412,-0.55,-145.9,681.4,-7.6,471,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1915,3421,0,0,0,0,0,0
$GC,7718,-0.58,-145.9,704.8,-7.8,481,7720,0.05,0.00,0.00,0.000,6,0.171,0.000,2822,1920,3420,0,0,0,0,0,0
$GC,8024,-0.55,-145.9,734.7,-9.9,491,8028,0.00,0.80,0.00,0.000,4,0.000,0.055,2821,1402,3420,0,0,0,0,0,0
$GC,8084,-0.53,-145.9,740.8,-9.4,492,8091,0.10,0.80,0.00,0.000,6,0.175,0.039,2843,1929,3420,0,0,0,0,0,0
$GC,8397,-0.55,-145.9,766.6,-8.3,503,8401,0.00,1.48,0.00,0.000,4,0.000,0.056,2843,1005,3419,0,0,0,0,0,0
$GC,8465,-0.59,-145.9,772.4,-8.5,505,8469,0.00,1.38,0.00,0.000,6,0.000,0.037,2839,1901,3419,0,0,0,0,0,0
$GC,8805,-0.59,-145.9,803.2,-9.3,516,8809,0.00,0.32,0.00,0.000,4,0.000,0.061,2839,1677,3417,0,0,0,0,0,0
$GC,8865,-0.59,-145.9,809.1,-9.7,517,8867,0.00,0.38,0.00,0.000,6,0.000,0.047,2838,1934,3417,0,0,0,0,0,0
$GC,9173,-0.59,-145.9,835.8,-8.4,527,9177,0.00,1.48,0.00,0.000,4,0.000,0.056,2837,1011,3417,0,0,0,0,0,0
$GC,9233,-0.62,-145.9,841.1,-9.0,528,9240,0.05,1.38,0.00,0.000,6,0.086,0.038,2807,1899,3417,0,0,0,0,0,0
$GC,9546,-0.56,-145.9,872.5,-10.2,539,9550,0.08,0.32,0.00,0.000,4,0.195,0.063,2824,1679,3417,0,0,0,0,0,0
$GC,9623,-0.56,-145.9,879.9,-9.1,541,9625,0.00,0.38,0.00,0.000,6,0.000,0.048,2823,1935,3417,0,0,0,0,0,0
$GC,9948,-0.56,-145.9,908.2,-8.6,552,9952,0.00,0.38,0.00,0.000,4,0.000,0.058,2823,1680,3416,0,0,0,0,0,0
$GC,10031,-0.56,-145.9,915.6,-8.0,554,10033,0.00,0.35,0.00,0.000,6,0.000,0.049,2821,1923,3416,0,0,0,0,0,0
$GC,10350,-0.56,-145.9,943.1,-8.8,565,10354,0.00,0.90,0.00,0.000,4,0.000,0.054,2822,1351,3415,0,0,0,0,0,0
$GC,10410,-0.56,-145.9,948.7,-8.4,566,10416,0.00,0.85,0.00,0.000,6,0.000,0.040,2818,1906,3416,0,0,0,0,0,0
$GC,10724,-0.54,-145.9,978.7,-9.8,577,10728,0.08,0.28,0.00,0.000,4,0.205,0.067,2835,1722,3415,0,0,0,0,0,0
$GC,10791,-0.56,-145.9,984.7,-8.8,579,10794,0.00,0.25,0.00,0.000,6,0.000,0.055,2835,1909,3415,0,0,0,0,0,0
$STATE,10977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10977,begin apogee
$GC,10981,-0.19,0.0,1000.2,8.3,585,11106,0.38,0.00,121.80,1.433,6,0.141,0.000,2948,1639,2827,0,0,0,0,0,0
$STATE,11107,end apogee,CONTROL_FINISHED_OK
$STATE,11107,begin climb
$GC,11108,0.52,145.9,1005.7,0.0,589,11243,0.73,0.52,127.40,1.425,4,0.085,0.045,3179,1951,2232,0,0,0,0,0,0
$GC,11350,0.35,145.9,1000.6,7.9,597,11354,0.17,0.50,0.00,0.000,6,0.169,0.060,3134,1653,2227,0,0,0,0,0,0
$GC,11691,0.29,218.9,982.8,4.9,608,11760,0.10,0.32,63.50,1.387,4,0.203,0.049,3110,1856,1934,0,0,0,0,0,0
$GC,11818,0.34,301.1,976.9,4.6,612,11898,0.00,0.32,74.32,1.368,6,0.000,0.064,3111,1655,1598,0,0,0,0,0,0
$GC,12216,0.66,326.7,953.1,6.5,625,12245,0.35,0.00,22.67,1.304,6,0.088,0.000,3227,1654,1495,0,0,0,0,0,0
$GC,12552,0.54,326.7,913.1,12.9,636,12556,0.15,0.35,0.00,0.000,4,0.176,0.070,3191,1438,1491,0,0,0,0,0,0
$GC,12607,0.49,326.7,907.0,10.5,637,12611,0.05,0.30,0.00,0.000,6,0.171,0.052,3176,1652,1490,0,0,0,0,0,0
$GC,12924,0.49,326.7,874.1,10.6,648,12927,0.00,0.35,0.00,0.000,4,0.000,0.047,3176,1904,1489,0,0,0,0,0,0
$GC,12991,0.49,326.7,866.6,11.6,650,12995,0.00,0.40,0.00,0.000,6,0.000,0.063,3176,1650,1489,0,0,0,0,0,0
$GC,13331,0.49,326.7,832.3,9.8,661,13335,0.00,1.02,0.00,0.000,4,0.000,0.064,3179,1013,1489,0,0,0,0,0,0
$GC,13398,0.49,326.7,825.6,10.6,663,13402,0.00,0.98,0.00,0.000,6,0.000,0.038,3179,1651,1488,0,0,0,0,0,0
$GC,13738,0.47,326.7,793.8,9.2,674,13740,0.05,0.00,0.00,0.000,6,0.226,0.000,3170,1660,1488,0,0,0,0,0,0
$GC,14044,0.47,326.7,767.2,8.8,684,14048,0.00,0.75,0.00,0.000,4,0.000,0.065,3172,1188,1488,0,0,0,0,0,0
$GC,14104,0.47,326.7,761.6,8.9,685,14110,0.00,0.73,0.00,0.000,6,0.000,0.041,3171,1660,1488,0,0,0,0,0,0
$GC,14416,0.47,326.7,731.1,10.1,696,14420,0.00,0.32,0.00,0.000,4,0.000,0.067,3172,1450,1488,0,0,0,0,0,0
$GC,14510,0.47,326.7,721.8,10.0,698,14512,0.00,0.30,0.00,0.000,6,0.000,0.053,3171,1658,1488,0,0,0,0,0,0
$GC,14818,0.47,326.7,691.5,9.7,708,14822,0.00,0.47,0.00,0.000,4,0.000,0.067,3171,1351,1488,0,0,0,0,0,0
$GC,14872,0.47,326.7,686.4,9.2,709,14875,0.00,0.45,0.00,0.000,6,0.000,0.047,3172,1653,1488,0,0,0,0,0,0
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$STATE,23019,end climb,SURFACE_DEPTH_REACHED
$STATE,23020,begin surface coast
$FINISH,1.5,1.016946
$STATE,23050,end surface coast,CONTROL_FINISHED_OK
$STATE,23050,begin surface
$SM_CCo,23126,0.00,0.000,0,0,1332,366.47
$SM_GC,2.60,8.52,0.00,0.00,0.054,0.000,0.000,93,1913,1332,-9.08,0.00,366.47
$IRIDIUM_FIX,-4247.91,-831.55,121012,191944
$TT8_MAMPS,0.026964
$HUMID,44.92
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.1,24.782
$10V_AH,10.2,21.486
$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,23.775,76.050,451.100,0.000,0.000,21.616,49.710,277.499,0.250,0.000,19.981,3128.130,15866.229,545.735,3902.620,140.176,33.355,1992.715,0.000,3489.572,0.000,2.833,0.000
$DEVICE_MAMPS,266.985,78.795,1432.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.652,1549.737,812.237,101.952,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354552
$DATA_FILE_SIZE,73589,1249
$CAP_FILE_SIZE,202950,0
$CFSIZE,2097086464,2080112640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,131012,085405,-4253.453,-816.577,52,1.0,53,-21.5