version: 66.07.10.p01
glider: 574
mission: 4
dive: 178
start: 11 4 112 8 36 54
data:
$ID,574
$MISSION,4
$DIVE,178
$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,-5986.2661
$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,50
$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,157
$GPS1,041112,082806,-4216.001,-718.881,29,1.1,30,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-73.5
$GPS2,041112,083559,-4216.023,-718.898,41,1.5,42,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.188,-0.140
$KALMAN_X,-321155.8,34.5,594.4,443596.7,-7354.3
$KALMAN_Y,258905.1,-374.8,-144.4,-192460.0,2509.2
$MHEAD_RNG_PITCHd_Wd,148.6,61210,-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,-145.9,0.0,0.0,0,104,0.00,0.00,-77.88,0.000,2,0.000,0.000,67,1923,2784,0,0,0,0,0,0
$GC,106,-0.52,-145.9,3.4,-2.0,13,145,12.45,2.25,-15.82,0.000,4,0.266,0.066,2825,3296,3423,0,0,0,0,0,0
$GC,235,-0.52,-145.9,17.2,-9.5,34,243,0.03,2.22,0.00,0.000,6,0.171,0.047,2835,1915,3424,0,0,0,0,0,0
$GC,316,-0.62,-145.9,24.5,-8.9,47,324,0.08,2.35,0.00,0.000,4,0.129,0.063,2804,502,3424,0,0,0,0,0,0
$GC,391,-0.54,-145.9,32.3,-11.0,59,397,0.15,2.15,0.00,0.000,6,0.156,0.036,2835,1903,3424,0,0,0,0,0,0
$GC,626,-0.54,-145.9,53.5,-8.8,100,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1903,3425,0,0,0,0,0,0
$GC,860,-0.54,-145.9,73.9,-8.5,141,866,0.00,1.15,0.00,0.000,4,0.000,0.058,2836,1196,3424,0,0,0,0,0,0
$GC,944,-0.54,-145.9,81.1,-8.2,156,951,0.00,1.12,0.00,0.000,6,0.000,0.037,2832,1920,3424,0,0,0,0,0,0
$GC,1294,-0.64,-145.9,108.8,-8.0,205,1299,0.08,2.35,0.00,0.000,4,0.132,0.062,2798,491,3424,0,0,0,0,0,0
$GC,1377,-0.57,-145.9,118.0,-11.0,210,1382,0.10,2.22,0.00,0.000,6,0.140,0.037,2821,1920,3424,0,0,0,0,0,0
$GC,1705,-0.55,-145.9,147.9,-9.2,231,1709,0.00,0.50,0.00,0.000,4,0.000,0.057,2822,1592,3425,0,0,0,0,0,0
$GC,1776,-0.52,-145.9,154.6,-9.5,235,1780,0.05,0.47,0.00,0.000,6,0.150,0.044,2838,1921,3425,0,0,0,0,0,0
$GC,2107,-0.64,-145.9,182.8,-8.0,256,2111,0.10,1.17,0.00,0.000,4,0.109,0.047,2793,2675,3425,0,0,0,0,0,0
$GC,2134,-0.66,-145.9,185.4,-8.9,257,2140,0.00,1.20,0.00,0.000,6,0.000,0.044,2793,1906,3425,0,0,0,0,0,0
$GC,2455,-0.69,-145.9,212.8,-8.4,278,2459,0.00,1.85,0.00,0.000,4,0.000,0.059,2793,734,3425,0,0,0,0,0,0
$GC,2523,-0.61,-145.9,219.3,-9.7,282,2527,0.12,1.77,0.00,0.000,6,0.162,0.035,2819,1914,3425,0,0,0,0,0,0
$GC,2855,-0.67,-145.9,244.8,-7.5,303,2859,0.08,2.17,0.00,0.000,4,0.130,0.046,2781,3315,3425,0,0,0,0,0,0
$GC,2932,-0.61,-145.9,252.6,-9.9,307,2937,0.08,2.17,0.00,0.000,6,0.145,0.036,2806,1909,3424,0,0,0,0,0,0
$GC,3256,-0.66,-145.9,281.6,-9.1,323,3259,0.00,2.22,0.00,0.000,4,0.000,0.058,2806,508,3425,0,0,0,0,0,0
$GC,3311,-0.62,-145.9,287.7,-11.1,325,3315,0.00,2.17,0.00,0.000,6,0.000,0.033,2797,1921,3425,0,0,0,0,0,0
$GC,3635,-0.64,-145.9,318.4,-9.6,341,3638,0.00,1.02,0.00,0.000,4,0.000,0.043,2793,2600,3425,0,0,0,0,0,0
$GC,3690,-0.70,-145.9,324.3,-10.0,343,3694,0.00,1.10,0.00,0.000,6,0.000,0.043,2793,1899,3425,0,0,0,0,0,0
$GC,4014,-0.73,-145.9,356.9,-10.3,359,4018,0.00,2.17,0.00,0.000,4,0.000,0.047,2784,3288,3425,0,0,0,0,0,0
$GC,4061,-0.69,-145.9,361.9,-10.8,361,4065,0.00,2.10,0.00,0.000,6,0.000,0.037,2784,1913,3425,0,0,0,0,0,0
$GC,4390,-0.60,-145.9,401.8,-12.2,377,4394,0.12,2.22,0.00,0.000,4,0.179,0.056,2817,510,3425,0,0,0,0,0,0
$GC,4466,-0.60,-145.9,410.8,-11.3,379,4471,0.00,2.17,0.00,0.000,6,0.000,0.032,2808,1918,3425,0,0,0,0,0,0
$GC,4797,-0.57,-145.9,443.7,-9.9,390,4801,0.08,0.32,0.00,0.000,4,0.203,0.058,2826,1705,3424,0,0,0,0,0,0
$GC,4867,-0.57,-145.9,450.3,-9.0,392,4871,0.00,0.32,0.00,0.000,6,0.000,0.046,2825,1939,3424,0,0,0,0,0,0
$GC,5202,-0.69,-145.9,477.5,-8.0,403,5207,0.10,0.20,0.00,0.000,4,0.112,0.060,2781,2111,3424,0,0,0,0,0,0
$GC,5348,-0.71,-145.9,491.1,-9.5,407,5352,0.00,0.32,0.00,0.000,6,0.000,0.054,2780,1892,3424,0,0,0,0,0,0
$GC,5676,-0.71,-145.9,521.8,-9.5,418,5680,0.00,0.80,0.00,0.000,4,0.000,0.054,2780,1374,3424,0,0,0,0,0,0
$GC,5703,-0.66,-145.9,524.7,-10.1,418,5709,0.08,0.82,0.00,0.000,6,0.195,0.036,2794,1917,3424,0,0,0,0,0,0
$GC,6016,-0.70,-145.9,552.3,-8.7,429,6020,0.00,2.15,0.00,0.000,4,0.000,0.047,2785,3301,3423,0,0,0,0,0,0
$GC,6093,-0.66,-145.9,559.7,-10.0,431,6097,0.00,2.12,0.00,0.000,6,0.000,0.037,2785,1929,3423,0,0,0,0,0,0
$GC,6417,-0.59,-145.9,592.4,-9.9,442,6421,0.12,1.83,0.00,0.000,4,0.173,0.055,2818,774,3422,0,0,0,0,0,0
$GC,6484,-0.59,-145.9,598.3,-7.8,444,6488,0.00,1.70,0.00,0.000,6,0.000,0.034,2811,1904,3422,0,0,0,0,0,0
$GC,6825,-0.67,-145.9,623.6,-7.2,455,6829,0.00,2.22,0.00,0.000,4,0.000,0.055,2812,504,3422,0,0,0,0,0,0
$GC,6913,-0.67,-145.9,631.5,-8.6,457,6919,0.00,2.17,0.00,0.000,6,0.000,0.035,2808,1906,3422,0,0,0,0,0,0
$GC,7227,-0.74,-145.9,655.1,-7.3,468,7232,0.10,2.22,0.00,0.000,4,0.110,0.047,2761,3325,3421,0,0,0,0,0,0
$GC,7315,-0.67,-145.9,664.1,-10.7,470,7321,0.10,2.20,0.00,0.000,6,0.142,0.037,2792,1908,3421,0,0,0,0,0,0
$GC,7628,-0.62,-145.9,694.5,-9.6,481,7632,0.08,1.65,0.00,0.000,4,0.210,0.050,2809,842,3421,0,0,0,0,0,0
$GC,7699,-0.62,-145.9,701.4,-9.5,483,7704,0.00,1.67,0.00,0.000,6,0.000,0.033,2803,1923,3421,0,0,0,0,0,0
$GC,8035,-0.60,-145.9,733.0,-9.6,494,8039,0.05,0.40,0.00,0.000,4,0.230,0.054,2814,1659,3420,0,0,0,0,0,0
$GC,8117,-0.60,-145.9,740.9,-9.0,496,8121,0.00,0.40,0.00,0.000,6,0.000,0.044,2813,1937,3420,0,0,0,0,0,0
$GC,8440,-0.60,-145.9,770.1,-9.1,507,8444,0.00,1.25,0.00,0.000,4,0.000,0.049,2813,1149,3420,0,0,0,0,0,0
$GC,8517,-0.60,-145.9,777.5,-9.5,509,8522,0.00,1.17,0.00,0.000,6,0.000,0.034,2808,1907,3420,0,0,0,0,0,0
$GC,8847,-0.60,-145.9,808.6,-9.4,520,8850,0.00,0.98,0.00,0.000,4,0.000,0.049,2808,1291,3419,0,0,0,0,0,0
$GC,8924,-0.60,-145.9,816.3,-10.0,522,8928,0.00,0.98,0.00,0.000,6,0.000,0.037,2804,1918,3419,0,0,0,0,0,0
$GC,9253,-0.60,-145.9,847.1,-9.4,533,9258,0.03,1.05,0.00,0.000,4,0.283,0.053,2813,1270,3419,0,0,0,0,0,0
$GC,9341,-0.60,-145.9,855.4,-9.4,535,9346,0.00,1.00,0.00,0.000,6,0.000,0.036,2810,1914,3419,0,0,0,0,0,0
$GC,9660,-0.60,-145.9,883.3,-8.6,546,9664,0.00,0.55,0.00,0.000,4,0.000,0.052,2810,1552,3419,0,0,0,0,0,0
$GC,9731,-0.60,-145.9,889.6,-8.8,548,9735,0.00,0.55,0.00,0.000,6,0.000,0.042,2808,1918,3419,0,0,0,0,0,0
$GC,10066,-0.60,-145.9,918.7,-8.8,559,10070,0.00,0.35,0.00,0.000,4,0.000,0.057,2808,1676,3419,0,0,0,0,0,0
$GC,10149,-0.60,-145.9,926.3,-9.6,561,10153,0.00,0.35,0.00,0.000,6,0.000,0.047,2807,1918,3418,0,0,0,0,0,0
$GC,10472,-0.60,-145.9,954.1,-8.6,572,10476,0.00,0.88,0.00,0.000,4,0.000,0.051,2807,1363,3418,0,0,0,0,0,0
$GC,10574,-0.60,-145.9,962.8,-8.3,575,10577,0.00,0.82,0.00,0.000,6,0.000,0.038,2804,1909,3418,0,0,0,0,0,0
$GC,10914,-0.60,-145.9,991.6,-8.3,586,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1909,3418,0,0,0,0,0,0
$STATE,11036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11036,begin apogee
$GC,11040,-0.19,0.0,1001.9,8.4,590,11168,0.47,0.00,124.95,1.535,6,0.135,0.000,2947,1636,2826,0,0,0,0,0,0
$STATE,11169,end apogee,CONTROL_FINISHED_OK
$STATE,11169,begin climb
$GC,11171,0.52,145.9,1008.3,0.0,594,11307,0.73,0.73,131.85,1.498,4,0.078,0.058,3179,1243,2232,0,0,0,0,0,0
$GC,11352,0.34,189.8,1009.6,5.9,600,11397,0.22,0.68,41.12,1.449,6,0.181,0.037,3128,1659,2052,0,0,0,0,0,0
$GC,11710,0.31,235.5,989.2,5.8,612,11756,0.05,1.08,40.70,1.447,4,0.238,0.037,3118,2345,1866,0,0,0,0,0,0
$GC,11812,0.31,247.9,983.1,7.0,615,11828,0.00,1.12,12.15,1.306,6,0.000,0.048,3119,1664,1816,0,0,0,0,0,0
$GC,12135,0.34,310.2,965.5,5.3,625,12194,0.00,0.00,57.00,1.489,6,0.000,0.000,3119,1664,1562,0,0,0,0,0,0
$GC,12501,0.57,346.7,943.5,6.2,637,12540,0.22,1.02,33.65,1.429,4,0.088,0.057,3199,1055,1412,0,0,0,0,0,0
$GC,12584,0.52,346.7,936.8,8.6,639,12589,0.08,0.95,0.00,0.000,6,0.197,0.036,3185,1657,1409,0,0,0,0,0,0
$GC,12902,0.49,346.7,906.9,9.6,650,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1657,1406,0,0,0,0,0,0
$GC,13209,0.46,346.7,875.4,10.4,660,13210,0.08,0.00,0.00,0.000,6,0.214,0.000,3168,1657,1405,0,0,0,0,0,0
$GC,13514,0.46,346.7,846.8,9.1,670,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1657,1405,0,0,0,0,0,0
$GC,13821,0.46,346.7,819.6,8.8,680,13824,0.00,0.45,0.00,0.000,4,0.000,0.063,3168,1365,1404,0,0,0,0,0,0
$GC,13858,0.46,346.7,816.1,9.9,681,13862,0.00,0.40,0.00,0.000,6,0.000,0.044,3168,1647,1403,0,0,0,0,0,0
$GC,14193,0.46,346.7,786.1,8.9,692,14196,0.00,0.50,0.00,0.000,4,0.000,0.062,3170,1328,1403,0,0,0,0,0,0
$GC,14242,0.46,346.7,781.5,9.0,693,14246,0.00,0.50,0.00,0.000,6,0.000,0.041,3170,1654,1402,0,0,0,0,0,0
$GC,14565,0.46,346.7,752.8,8.7,704,14566,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1655,1402,0,0,0,0,0,0
$GC,14871,0.46,346.7,726.9,8.4,714,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1654,1402,0,0,0,0,0,0
$GC,15178,0.46,346.7,703.2,7.5,724,15182,0.00,1.15,0.00,0.000,4,0.000,0.061,3173,953,1402,0,0,0,0,0,0
$GC,15221,0.46,346.7,700.0,7.8,725,15226,0.00,1.10,0.00,0.000,6,0.000,0.038,3173,1652,1401,0,0,0,0,0,0
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$STATE,23308,end climb,SURFACE_DEPTH_REACHED
$STATE,23309,begin surface coast
$FINISH,1.3,1.005182
$STATE,23340,end surface coast,CONTROL_FINISHED_OK
$STATE,23340,begin surface
$SM_CCo,23416,0.00,0.000,0,0,1213,395.66
$SM_GC,2.40,8.70,0.00,0.00,0.060,0.000,0.000,88,1966,1213,-9.11,1.50,395.66
$IRIDIUM_FIX,-4201.18,-717.61,041112,010107
$TT8_MAMPS,0.026964
$HUMID,47.08
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.6,43.023
$10V_AH,10.1,32.859
$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
$DEVICE_SECS,25.725,116.925,488.300,0.000,0.000,23.948,40.248,264.623,0.250,0.000,43.681,3079.792,16303.963,621.593,3690.834,184.382,33.362,2039.646,0.000,3291.188,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.693,1309.987,792.894,99.698,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,73695,1209
$CAP_FILE_SIZE,210191,0
$CFSIZE,2097086464,2069331968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041112,150824,-4216.680,-717.710,40,0.9,41,-21.9