version: 66.07.10.p01
glider: 574
mission: 4
dive: 172
start: 11 2 112 16 15 43
data:
$ID,574
$MISSION,4
$DIVE,172
$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,-5966.2368
$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,57
$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,151
$GPS1,021112,160659,-4229.208,-722.368,40,1.1,41,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-75.2
$GPS2,021112,161449,-4229.193,-722.407,20,1.4,21,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,-0.094
$KALMAN_X,-293731.7,168.4,1130.8,410745.6,-10254.1
$KALMAN_Y,248355.8,-124.6,-492.3,-206200.8,6941.7
$MHEAD_RNG_PITCHd_Wd,135.4,80959,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.52,-145.9,0.0,0.0,0,99,0.00,0.00,-72.20,0.000,2,0.000,0.000,66,1925,2743,0,0,0,0,0,0
$GC,102,-0.52,-145.9,3.3,-1.4,12,140,12.05,2.25,-16.88,0.000,4,0.256,0.064,2826,3300,3425,0,0,0,0,0,0
$GC,307,-0.58,-145.9,25.1,-8.0,46,314,0.00,2.20,0.00,0.000,6,0.000,0.042,2825,1917,3425,0,0,0,0,0,0
$GC,387,-0.55,-145.9,32.6,-9.0,59,392,0.00,2.17,0.00,0.000,4,0.000,0.063,2825,586,3425,0,0,0,0,0,0
$GC,450,-0.53,-145.9,39.2,-10.1,70,458,0.05,2.05,0.00,0.000,6,0.148,0.037,2838,1885,3426,0,0,0,0,0,0
$GC,690,-0.53,-145.9,59.3,-8.6,111,695,0.00,0.38,0.00,0.000,4,0.000,0.048,2837,2165,3426,0,0,0,0,0,0
$GC,739,-0.53,-145.9,63.7,-8.4,120,746,0.00,0.40,0.00,0.000,6,0.000,0.053,2837,1899,3426,0,0,0,0,0,0
$GC,1086,-0.53,-145.9,93.6,-9.2,181,1090,0.00,1.27,0.00,0.000,4,0.000,0.059,2836,1103,3426,0,0,0,0,0,0
$GC,1159,-0.53,-145.9,100.5,-9.1,194,1162,0.00,1.25,0.00,0.000,6,0.000,0.035,2833,1915,3426,0,0,0,0,0,0
$GC,1484,-0.53,-145.9,131.1,-9.7,215,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1915,3426,0,0,0,0,0,0
$GC,1797,-0.53,-145.9,160.5,-9.3,235,1801,0.00,1.23,0.00,0.000,4,0.000,0.057,2833,1158,3426,0,0,0,0,0,0
$GC,1882,-0.53,-145.9,169.3,-10.1,240,1886,0.00,1.15,0.00,0.000,6,0.000,0.035,2829,1914,3426,0,0,0,0,0,0
$GC,2213,-0.53,-145.9,201.7,-9.7,261,2217,0.00,0.35,0.00,0.000,4,0.000,0.059,2829,1677,3427,0,0,0,0,0,0
$GC,2283,-0.53,-145.9,208.3,-9.0,265,2287,0.00,0.32,0.00,0.000,6,0.000,0.045,2828,1922,3426,0,0,0,0,0,0
$GC,2614,-0.53,-145.9,239.2,-9.0,286,2617,0.00,1.62,0.00,0.000,4,0.000,0.057,2828,926,3427,0,0,0,0,0,0
$GC,2702,-0.53,-145.9,246.9,-9.1,291,2706,0.03,1.50,0.00,0.000,6,0.178,0.034,2833,1895,3427,0,0,0,0,0,0
$GC,3019,-0.53,-145.9,274.1,-8.5,307,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1895,3427,0,0,0,0,0,0
$GC,3327,-0.53,-145.9,301.1,-8.8,322,3330,0.00,1.05,0.00,0.000,4,0.000,0.054,2833,1240,3427,0,0,0,0,0,0
$GC,3409,-0.53,-145.9,308.6,-9.0,325,3416,0.00,1.05,0.00,0.000,6,0.000,0.036,2831,1920,3427,0,0,0,0,0,0
$GC,3728,-0.64,-145.9,333.0,-7.2,341,3733,0.08,1.70,0.00,0.000,4,0.132,0.057,2797,880,3427,0,0,0,0,0,0
$GC,3766,-0.60,-145.9,336.7,-9.7,342,3775,0.08,1.60,0.00,0.000,6,0.144,0.034,2816,1913,3428,0,0,0,0,0,0
$GC,4083,-0.68,-145.9,358.7,-6.5,358,4087,0.08,0.40,0.00,0.000,4,0.130,0.057,2785,1647,3427,0,0,0,0,0,0
$GC,4198,-0.68,-145.9,367.3,-7.9,363,4202,0.00,0.40,0.00,0.000,6,0.000,0.044,2783,1934,3428,0,0,0,0,0,0
$GC,4533,-0.71,-145.9,391.4,-7.0,379,4537,0.00,1.17,0.00,0.000,4,0.000,0.044,2779,2708,3427,0,0,0,0,0,0
$GC,4582,-0.71,-145.9,395.4,-7.9,381,4587,0.00,1.25,0.00,0.000,6,0.000,0.040,2779,1910,3427,0,0,0,0,0,0
$GC,4907,-0.60,-145.9,425.0,-9.6,393,4911,0.15,1.77,0.00,0.000,4,0.169,0.053,2819,773,3427,0,0,0,0,0,0
$GC,4985,-0.60,-145.9,431.3,-7.0,395,4989,0.00,1.73,0.00,0.000,6,0.000,0.031,2813,1907,3427,0,0,0,0,0,0
$GC,5314,-0.58,-145.9,457.5,-8.3,406,5318,0.00,0.35,0.00,0.000,4,0.000,0.047,2810,2181,3427,0,0,0,0,0,0
$GC,5363,-0.58,-145.9,462.0,-8.3,407,5367,0.00,0.43,0.00,0.000,6,0.000,0.050,2810,1895,3427,0,0,0,0,0,0
$GC,5687,-0.56,-145.9,492.7,-10.0,418,5692,0.08,1.15,0.00,0.000,4,0.191,0.052,2829,1169,3427,0,0,0,0,0,0
$GC,5769,-0.56,-145.9,500.9,-9.5,420,5774,0.00,1.15,0.00,0.000,6,0.000,0.031,2825,1925,3427,0,0,0,0,0,0
$GC,6093,-0.56,-145.9,533.1,-10.5,431,6097,0.00,0.60,0.00,0.000,4,0.000,0.052,2825,1534,3427,0,0,0,0,0,0
$GC,6170,-0.56,-145.9,541.4,-11.2,433,6174,0.00,0.57,0.00,0.000,6,0.000,0.038,2823,1918,3426,0,0,0,0,0,0
$GC,6500,-0.56,-145.9,575.6,-10.4,444,6503,0.00,1.08,0.00,0.000,4,0.000,0.052,2823,1243,3426,0,0,0,0,0,0
$GC,6576,-0.56,-145.9,583.9,-11.3,446,6581,0.00,1.02,0.00,0.000,6,0.000,0.035,2820,1909,3426,0,0,0,0,0,0
$GC,6906,-0.56,-145.9,616.8,-9.9,457,6910,0.00,0.68,0.00,0.000,4,0.000,0.051,2820,1472,3425,0,0,0,0,0,0
$GC,6999,-0.56,-145.9,625.9,-10.0,459,7005,0.00,0.68,0.00,0.000,6,0.000,0.037,2818,1920,3425,0,0,0,0,0,0
$GC,7312,-0.56,-145.9,655.5,-9.5,470,7316,0.00,1.00,0.00,0.000,4,0.000,0.053,2817,1291,3425,0,0,0,0,0,0
$GC,7400,-0.56,-145.9,663.6,-8.9,472,7405,0.08,0.95,0.00,0.000,6,0.187,0.035,2831,1911,3425,0,0,0,0,0,0
$GC,7719,-0.59,-145.9,687.3,-7.0,483,7723,0.00,1.00,0.00,0.000,4,0.000,0.052,2831,1280,3425,0,0,0,0,0,0
$GC,7780,-0.65,-145.9,691.7,-6.8,484,7786,0.05,0.95,0.00,0.000,6,0.083,0.036,2799,1908,3425,0,0,0,0,0,0
$GC,8093,-0.71,-145.9,712.4,-6.6,495,8097,0.00,2.20,0.00,0.000,4,0.000,0.048,2790,3321,3425,0,0,0,0,0,0
$GC,8192,-0.71,-145.9,720.1,-6.9,498,8197,0.00,2.17,0.00,0.000,6,0.000,0.037,2790,1921,3424,0,0,0,0,0,0
$GC,8528,-0.65,-145.9,749.8,-9.2,509,8532,0.00,1.73,0.00,0.000,4,0.000,0.054,2790,842,3424,0,0,0,0,0,0
$GC,8621,-0.59,-145.9,758.9,-9.2,511,8628,0.10,1.65,0.00,0.000,6,0.141,0.036,2817,1906,3424,0,0,0,0,0,0
$GC,8934,-0.59,-145.9,782.9,-7.9,522,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1906,3424,0,0,0,0,0,0
$GC,9240,-0.59,-145.9,808.3,-8.4,532,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1906,3424,0,0,0,0,0,0
$GC,9547,-0.59,-145.9,835.6,-9.1,542,9550,0.00,0.93,0.00,0.000,4,0.000,0.052,2817,1322,3424,0,0,0,0,0,0
$GC,9640,-0.59,-145.9,844.6,-9.1,544,9646,0.00,0.93,0.00,0.000,6,0.000,0.038,2814,1918,3424,0,0,0,0,0,0
$GC,9953,-0.59,-145.9,873.2,-9.2,555,9957,0.00,0.95,0.00,0.000,4,0.000,0.051,2815,1319,3424,0,0,0,0,0,0
$GC,10041,-0.59,-145.9,880.6,-8.3,557,10045,0.00,0.93,0.00,0.000,6,0.000,0.037,2810,1915,3424,0,0,0,0,0,0
$GC,10359,-0.59,-145.9,905.7,-7.7,568,10363,0.00,1.05,0.00,0.000,4,0.000,0.052,2810,1254,3423,0,0,0,0,0,0
$GC,10460,-0.59,-145.9,913.3,-7.5,571,10463,0.00,1.00,0.00,0.000,6,0.000,0.038,2809,1906,3424,0,0,0,0,0,0
$GC,10800,-0.59,-145.9,940.1,-8.1,582,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1906,3424,0,0,0,0,0,0
$GC,11106,-0.59,-145.9,965.7,-8.4,592,11109,0.00,1.02,0.00,0.000,4,0.000,0.050,2809,1258,3424,0,0,0,0,0,0
$GC,11211,-0.59,-145.9,974.7,-7.9,595,11216,0.00,1.02,0.00,0.000,6,0.000,0.036,2807,1922,3424,0,0,0,0,0,0
$STATE,11515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11515,begin apogee
$GC,11520,-0.19,0.0,1000.3,8.4,605,11649,0.47,0.00,126.00,1.561,6,0.135,0.000,2951,1635,2827,0,0,0,0,0,0
$STATE,11650,end apogee,CONTROL_FINISHED_OK
$STATE,11650,begin climb
$GC,11651,0.52,145.9,1005.9,0.0,609,11791,0.73,1.45,131.23,1.517,4,0.078,0.040,3181,2450,2232,0,0,0,0,0,0
$GC,11897,0.33,145.9,1002.3,7.7,617,11902,0.22,1.33,0.00,0.000,6,0.177,0.047,3127,1665,2227,0,0,0,0,0,0
$GC,12227,0.27,220.4,985.8,4.9,628,12296,0.10,0.00,66.00,1.496,6,0.200,0.000,3104,1665,1928,0,0,0,0,0,0
$GC,12593,0.38,274.8,965.2,5.5,640,12648,0.10,2.35,48.38,1.476,4,0.108,0.044,3143,3043,1705,0,0,0,0,0,0
$GC,12737,0.35,274.8,954.2,9.3,644,12742,0.05,2.30,0.00,0.000,6,0.166,0.044,3131,1653,1701,0,0,0,0,0,0
$GC,13061,0.38,292.1,932.1,6.8,655,13081,0.00,0.55,15.90,1.370,4,0.000,0.056,3131,1280,1635,0,0,0,0,0,0
$GC,13115,0.43,318.1,928.3,6.5,656,13145,0.08,0.60,24.35,1.419,6,0.127,0.039,3158,1671,1530,0,0,0,0,0,0
$GC,13463,0.43,318.1,900.8,7.9,668,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1671,1524,0,0,0,0,0,0
$GC,13769,0.43,326.0,877.8,7.1,678,13780,0.00,1.17,7.32,1.198,4,0.000,0.060,3158,972,1498,0,0,0,0,0,0
$GC,13824,0.43,332.0,873.9,7.2,679,13835,0.00,1.05,7.32,1.171,6,0.000,0.036,3158,1641,1473,0,0,0,0,0,0
$GC,14165,0.43,337.3,849.9,7.2,691,14173,0.00,0.00,6.32,1.162,6,0.000,0.000,3159,1641,1451,0,0,0,0,0,0
$GC,14471,0.43,341.5,828.0,7.3,701,14478,0.00,0.00,5.70,1.109,6,0.000,0.000,3158,1641,1434,0,0,0,0,0,0
$GC,14777,0.45,341.5,804.5,7.5,711,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1641,1433,0,0,0,0,0,0
$GC,15083,0.45,341.5,781.1,7.8,721,15084,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1641,1432,0,0,0,0,0,0
$GC,15390,0.48,341.5,756.7,8.1,731,15394,0.00,0.28,0.00,0.000,4,0.000,0.053,3158,1862,1432,0,0,0,0,0,0
$GC,15444,0.48,341.5,752.4,7.6,732,15448,0.00,0.38,0.00,0.000,6,0.000,0.061,3158,1634,1432,0,0,0,0,0,0
$GC,15762,0.48,343.6,728.8,7.3,743,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1633,1431,0,0,0,0,0,0
$GC,16069,0.50,350.9,706.9,7.2,753,16083,0.00,0.65,9.75,1.235,4,0.000,0.045,3158,2054,1396,0,0,0,0,0,0
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$STATE,24159,end climb,SURFACE_DEPTH_REACHED
$STATE,24159,begin surface coast
$FINISH,1.6,1.026566
$STATE,24202,end surface coast,CONTROL_FINISHED_OK
$STATE,24202,begin surface
$SM_CCo,24278,0.00,0.000,0,0,1277,380.21
$SM_GC,2.49,8.57,0.00,0.00,0.054,0.000,0.000,87,1927,1277,-9.10,0.40,380.21
$IRIDIUM_FIX,-4212.81,-721.98,021112,020244
$TT8_MAMPS,0.026964
$HUMID,46.33
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.6,41.664
$10V_AH,10.2,32.038
$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,23.350,94.675,476.700,0.000,0.000,25.516,40.381,271.414,0.250,0.000,22.848,3181.937,16908.963,599.152,3857.248,191.131,33.358,2077.218,0.000,3458.517,0.000,2.832,0.000
$DEVICE_MAMPS,255.510,66.555,1560.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.460,1401.714,831.565,102.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,76915,1264
$CAP_FILE_SIZE,210574,0
$CFSIZE,2097086464,2070118400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021112,230136,-4228.310,-721.716,41,1.1,42,-21.8