version: 66.07.10.p01
glider: 574
mission: 4
dive: 175
start: 11 3 112 12 30 25
data:
$ID,574
$MISSION,4
$DIVE,175
$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,-5976.3726
$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,24
$R_STBD_OVSHOOT,70
$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,154
$GPS1,031112,122125,-4223.076,-721.322,39,1.2,40,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-72.6
$GPS2,031112,122930,-4223.059,-721.355,13,1.7,14,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.206,0.112
$KALMAN_X,-307825.6,2.8,540.2,427022.5,-7929.6
$KALMAN_Y,256099.3,-367.8,-1252.0,-201564.0,7794.5
$MHEAD_RNG_PITCHd_Wd,83.2,71156,-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,22,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,98,0.00,0.00,-72.07,0.000,2,0.000,0.000,66,1942,2769,0,0,0,0,0,0
$GC,101,-0.52,-145.9,3.0,-1.7,12,139,12.32,1.95,-17.25,0.000,4,0.262,0.081,2837,784,3424,0,0,0,0,0,0
$GC,194,-0.52,-145.9,12.9,-9.5,27,201,0.00,1.75,0.00,0.000,6,0.000,0.041,2835,1876,3425,0,0,0,0,0,0
$GC,274,-0.52,-145.9,19.9,-8.9,40,281,0.00,0.85,0.00,0.000,4,0.000,0.047,2831,2430,3425,0,0,0,0,0,0
$GC,330,-0.52,-145.9,25.0,-9.1,49,337,0.00,0.82,0.00,0.000,6,0.000,0.051,2831,1913,3425,0,0,0,0,0,0
$GC,407,-0.52,-145.9,32.2,-9.0,62,414,0.00,0.70,0.00,0.000,4,0.000,0.060,2831,1466,3425,0,0,0,0,0,0
$GC,477,-0.52,-145.9,38.7,-9.2,74,484,0.00,0.70,0.00,0.000,6,0.000,0.040,2829,1925,3425,0,0,0,0,0,0
$GC,715,-0.52,-145.9,60.2,-9.1,115,720,0.00,0.75,0.00,0.000,4,0.000,0.057,2829,1458,3425,0,0,0,0,0,0
$GC,775,-0.50,-145.9,66.0,-9.1,126,784,0.05,0.70,0.00,0.000,6,0.151,0.040,2844,1915,3425,0,0,0,0,0,0
$GC,1123,-0.61,-145.9,92.2,-7.4,187,1128,0.10,2.33,0.00,0.000,4,0.109,0.063,2802,501,3426,0,0,0,0,0,0
$GC,1183,-0.55,-145.9,98.4,-10.2,198,1192,0.10,2.20,0.00,0.000,6,0.135,0.037,2827,1910,3426,0,0,0,0,0,0
$GC,1519,-0.55,-145.9,128.1,-9.1,221,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1910,3426,0,0,0,0,0,0
$GC,1830,-0.55,-145.9,158.2,-10.1,241,1834,0.00,0.52,0.00,0.000,4,0.000,0.057,2827,1567,3426,0,0,0,0,0,0
$GC,1890,-0.55,-145.9,164.9,-10.4,244,1898,0.00,0.55,0.00,0.000,6,0.000,0.041,2826,1933,3425,0,0,0,0,0,0
$GC,2211,-0.55,-145.9,198.9,-11.0,265,2215,0.00,1.67,0.00,0.000,4,0.000,0.059,2825,895,3426,0,0,0,0,0,0
$GC,2271,-0.55,-145.9,206.0,-11.3,268,2279,0.00,1.58,0.00,0.000,6,0.000,0.036,2819,1908,3426,0,0,0,0,0,0
$GC,2592,-0.55,-145.9,237.6,-8.9,289,2597,0.05,1.02,0.00,0.000,4,0.231,0.057,2831,1285,3426,0,0,0,0,0,0
$GC,2652,-0.55,-145.9,243.1,-8.2,292,2661,0.00,1.00,0.00,0.000,6,0.000,0.036,2829,1929,3426,0,0,0,0,0,0
$GC,2981,-0.64,-145.9,266.7,-7.1,310,2985,0.08,1.40,0.00,0.000,4,0.129,0.056,2793,1067,3426,0,0,0,0,0,0
$GC,3005,-0.67,-145.9,268.5,-7.8,311,3009,0.00,1.30,0.00,0.000,6,0.000,0.036,2788,1910,3425,0,0,0,0,0,0
$GC,3339,-0.67,-145.9,297.2,-8.6,327,3343,0.00,2.28,0.00,0.000,4,0.000,0.060,2788,503,3425,0,0,0,0,0,0
$GC,3386,-0.58,-145.9,301.7,-9.7,329,3391,0.17,2.17,0.00,0.000,6,0.155,0.035,2827,1922,3425,0,0,0,0,0,0
$GC,3714,-0.58,-145.9,328.9,-8.7,345,3718,0.00,0.43,0.00,0.000,4,0.000,0.055,2827,1634,3425,0,0,0,0,0,0
$GC,3761,-0.58,-145.9,333.0,-9.0,347,3765,0.00,0.40,0.00,0.000,6,0.000,0.046,2826,1919,3425,0,0,0,0,0,0
$GC,4095,-0.68,-145.9,361.1,-8.3,363,4100,0.10,1.20,0.00,0.000,4,0.115,0.047,2779,2692,3425,0,0,0,0,0,0
$GC,4121,-0.68,-145.9,363.9,-9.5,364,4126,0.00,1.25,0.00,0.000,6,0.000,0.042,2779,1897,3425,0,0,0,0,0,0
$GC,4449,-0.68,-145.9,396.5,-9.9,380,4452,0.00,2.20,0.00,0.000,4,0.000,0.047,2769,3302,3425,0,0,0,0,0,0
$GC,4521,-0.62,-145.9,404.4,-11.1,383,4526,0.12,2.15,0.00,0.000,6,0.133,0.037,2809,1914,3424,0,0,0,0,0,0
$GC,4851,-0.59,-145.9,436.4,-10.0,394,4855,0.00,2.22,0.00,0.000,4,0.000,0.057,2809,504,3424,0,0,0,0,0,0
$GC,4917,-0.57,-145.9,443.5,-10.4,396,4922,0.05,2.17,0.00,0.000,6,0.149,0.034,2820,1907,3424,0,0,0,0,0,0
$GC,5252,-0.66,-145.9,472.7,-8.5,407,5256,0.05,1.77,0.00,0.000,4,0.170,0.047,2788,3049,3424,0,0,0,0,0,0
$GC,5312,-0.66,-145.9,478.4,-9.6,408,5318,0.00,1.77,0.00,0.000,6,0.000,0.038,2788,1905,3423,0,0,0,0,0,0
$GC,5626,-0.68,-145.9,507.4,-9.2,419,5630,0.00,2.20,0.00,0.000,4,0.000,0.057,2788,511,3423,0,0,0,0,0,0
$GC,5675,-0.60,-145.9,512.9,-11.6,420,5680,0.10,2.17,0.00,0.000,6,0.147,0.035,2811,1913,3422,0,0,0,0,0,0
$GC,5993,-0.58,-145.9,543.3,-9.6,431,5997,0.05,0.95,0.00,0.000,4,0.233,0.052,2823,1322,3422,0,0,0,0,0,0
$GC,6060,-0.58,-145.9,549.6,-9.2,433,6064,0.00,0.90,0.00,0.000,6,0.000,0.038,2820,1917,3421,0,0,0,0,0,0
$GC,6400,-0.58,-145.9,579.3,-8.6,444,6404,0.00,2.00,0.00,0.000,4,0.000,0.056,2820,653,3422,0,0,0,0,0,0
$GC,6454,-0.58,-145.9,584.5,-9.3,445,6459,0.00,1.92,0.00,0.000,6,0.000,0.034,2812,1903,3421,0,0,0,0,0,0
$GC,6773,-0.58,-145.9,611.8,-8.6,456,6775,0.03,0.00,0.00,0.000,6,0.280,0.000,2821,1904,3421,0,0,0,0,0,0
$GC,7079,-0.58,-145.9,636.8,-8.3,466,7083,0.00,0.98,0.00,0.000,4,0.000,0.053,2821,1292,3420,0,0,0,0,0,0
$GC,7139,-0.58,-145.9,642.2,-8.6,467,7145,0.00,0.98,0.00,0.000,6,0.000,0.036,2819,1925,3420,0,0,0,0,0,0
$GC,7452,-0.58,-145.9,669.8,-9.1,478,7456,0.00,1.88,0.00,0.000,4,0.000,0.055,2819,739,3419,0,0,0,0,0,0
$GC,7506,-0.58,-145.9,675.3,-10.1,479,7511,0.00,1.80,0.00,0.000,6,0.000,0.033,2811,1907,3419,0,0,0,0,0,0
$GC,7825,-0.58,-145.9,705.1,-9.5,490,7830,0.05,0.35,0.00,0.000,4,0.226,0.051,2822,2169,3418,0,0,0,0,0,0
$GC,7868,-0.60,-145.9,709.1,-8.5,491,7872,0.00,0.40,0.00,0.000,6,0.000,0.050,2822,1902,3418,0,0,0,0,0,0
$GC,8197,-0.60,-145.9,737.3,-8.2,502,8201,0.00,1.85,0.00,0.000,4,0.000,0.055,2821,710,3417,0,0,0,0,0,0
$GC,8251,-0.60,-145.9,741.9,-8.4,503,8256,0.00,1.85,0.00,0.000,6,0.000,0.034,2813,1910,3417,0,0,0,0,0,0
$GC,8571,-0.68,-145.9,763.1,-6.5,514,8575,0.05,2.03,0.00,0.000,4,0.173,0.047,2780,3216,3417,0,0,0,0,0,0
$GC,8642,-0.68,-145.9,768.9,-8.1,516,8647,0.00,2.00,0.00,0.000,6,0.000,0.035,2780,1925,3416,0,0,0,0,0,0
$GC,8977,-0.61,-145.9,800.1,-9.5,527,8982,0.12,2.25,0.00,0.000,4,0.175,0.055,2813,511,3416,0,0,0,0,0,0
$GC,9039,-0.61,-145.9,805.3,-7.3,529,9043,0.00,2.17,0.00,0.000,6,0.000,0.037,2804,1922,3416,0,0,0,0,0,0
$GC,9372,-0.61,-145.9,831.8,-7.8,540,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1922,3415,0,0,0,0,0,0
$GC,9679,-0.61,-145.9,856.3,-8.2,550,9682,0.00,0.43,0.00,0.000,4,0.000,0.055,2804,1636,3415,0,0,0,0,0,0
$GC,9750,-0.61,-145.9,862.4,-8.8,552,9754,0.00,0.43,0.00,0.000,6,0.000,0.047,2803,1925,3415,0,0,0,0,0,0
$GC,10085,-0.61,-145.9,890.2,-8.4,563,10088,0.00,1.27,0.00,0.000,4,0.000,0.054,2803,1132,3415,0,0,0,0,0,0
$GC,10161,-0.61,-145.9,896.7,-8.2,565,10167,0.08,1.23,0.00,0.000,6,0.186,0.037,2817,1915,3414,0,0,0,0,0,0
$GC,10492,-0.63,-145.9,919.1,-6.7,576,10495,0.00,0.30,0.00,0.000,4,0.000,0.059,2817,1703,3414,0,0,0,0,0,0
$GC,10546,-0.63,-145.9,923.0,-7.1,577,10550,0.00,0.32,0.00,0.000,6,0.000,0.050,2817,1927,3414,0,0,0,0,0,0
$GC,10865,-0.65,-145.9,943.1,-6.3,588,10869,0.00,0.60,0.00,0.000,4,0.000,0.052,2817,1534,3414,0,0,0,0,0,0
$GC,10933,-0.65,-145.9,947.4,-5.9,590,10936,0.00,0.55,0.00,0.000,6,0.000,0.042,2815,1907,3414,0,0,0,0,0,0
$GC,11273,-0.65,-145.9,972.0,-7.7,601,11276,0.00,0.65,0.00,0.000,4,0.000,0.053,2816,1489,3414,0,0,0,0,0,0
$GC,11340,-0.67,-145.9,977.3,-7.7,603,11344,0.00,0.62,0.00,0.000,6,0.000,0.042,2813,1908,3414,0,0,0,0,0,0
$STATE,11621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11621,begin apogee
$GC,11625,-0.19,0.0,1001.0,8.6,612,11752,0.45,0.00,124.20,1.570,6,0.132,0.000,2949,1637,2826,0,0,0,0,0,0
$STATE,11753,end apogee,CONTROL_FINISHED_OK
$STATE,11753,begin climb
$GC,11755,0.52,145.9,1007.7,0.0,616,11895,0.70,1.15,132.12,1.553,4,0.079,0.060,3181,1017,2232,0,0,0,0,0,0
$GC,11941,0.33,206.4,1009.1,5.3,622,12003,0.22,1.05,56.60,1.506,6,0.176,0.037,3123,1657,1985,0,0,0,0,0,0
$GC,12308,0.33,252.6,988.5,5.8,634,12353,0.00,0.57,41.30,1.481,4,0.000,0.035,3124,2039,1796,0,0,0,0,0,0
$GC,12399,0.33,309.7,983.1,5.5,637,12456,0.00,0.62,52.95,1.488,6,0.000,0.052,3124,1658,1563,0,0,0,0,0,0
$GC,12762,0.48,340.5,960.9,6.4,648,12797,0.12,0.45,28.25,1.454,4,0.106,0.064,3169,1393,1437,0,0,0,0,0,0
$GC,13049,0.63,351.3,939.7,7.0,656,13064,0.10,0.35,10.45,1.300,6,0.073,0.045,3217,1642,1394,0,0,0,0,0,0
$GC,13400,0.54,351.3,903.6,10.2,668,13405,0.10,2.25,0.00,0.000,4,0.191,0.046,3194,3042,1391,0,0,0,0,0,0
$GC,13488,0.49,351.3,894.9,9.1,670,13495,0.08,2.22,0.00,0.000,6,0.164,0.046,3178,1664,1390,0,0,0,0,0,0
$GC,13801,0.49,351.3,871.0,7.6,681,13805,0.00,1.50,0.00,0.000,4,0.000,0.063,3179,742,1389,0,0,0,0,0,0
$GC,13855,0.49,351.3,866.6,8.0,682,13860,0.00,1.42,0.00,0.000,6,0.000,0.034,3179,1651,1388,0,0,0,0,0,0
$GC,14174,0.49,351.3,841.2,8.2,693,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1651,1388,0,0,0,0,0,0
$GC,14480,0.49,351.3,815.2,8.6,703,14484,0.00,0.68,0.00,0.000,4,0.000,0.060,3179,1236,1387,0,0,0,0,0,0
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$STATE,23644,end climb,SURFACE_DEPTH_REACHED
$STATE,23644,begin surface coast
$FINISH,1.2,1.026559
$STATE,23675,end surface coast,CONTROL_FINISHED_OK
$STATE,23675,begin surface
$SM_CCo,23751,0.00,0.000,0,0,1315,370.89
$SM_GC,2.44,8.70,0.00,0.00,0.062,0.000,0.000,90,1921,1315,-9.09,0.25,370.89
$IRIDIUM_FIX,-4209.90,-721.61,031112,050543
$TT8_MAMPS,0.026964
$HUMID,46.53
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.6,42.349
$10V_AH,10.1,32.450
$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,25.075,120.775,462.650,0.000,0.000,30.699,36.927,297.147,0.250,0.000,16.646,3103.952,16600.305,582.483,3753.758,186.496,33.365,2082.623,0.000,3338.752,0.000,2.834,0.000
$DEVICE_MAMPS,279.990,81.090,1569.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.128,1300.020,797.266,97.471,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,73489,1221
$CAP_FILE_SIZE,217577,0
$CFSIZE,2097086464,2069725184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031112,190731,-4220.556,-720.232,41,1.2,41,-21.8