version: 66.07.10.p01
glider: 574
mission: 4
dive: 179
start: 11 4 112 15 17 2
data:
$ID,574
$MISSION,4
$DIVE,179
$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,-5989.6895
$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,32
$R_STBD_OVSHOOT,60
$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,158
$GPS1,041112,150824,-4216.680,-717.710,40,0.9,41,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-72.8
$GPS2,041112,151607,-4216.699,-717.712,20,1.3,21,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.212,0.101
$KALMAN_X,-325122.1,495.5,718.3,448586.5,-8375.2
$KALMAN_Y,260830.7,22.3,58.1,-196246.0,2467.9
$MHEAD_RNG_PITCHd_Wd,86.4,60419,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-66.12,0.000,2,0.000,0.000,66,1959,2752,0,0,0,0,0,0
$GC,95,-0.52,-145.9,3.2,-1.6,11,133,12.27,1.70,-17.30,0.000,4,0.261,0.081,2840,945,3424,0,0,0,0,0,0
$GC,182,-0.52,-145.9,13.0,-10.0,25,189,0.00,1.50,0.00,0.000,6,0.000,0.039,2837,1882,3425,0,0,0,0,0,0
$GC,262,-0.52,-145.9,20.5,-9.3,38,269,0.00,0.30,0.00,0.000,4,0.000,0.062,2837,1687,3425,0,0,0,0,0,0
$GC,422,-0.52,-145.9,35.3,-9.4,65,427,0.00,0.35,0.00,0.000,6,0.000,0.047,2835,1931,3426,0,0,0,0,0,0
$GC,657,-0.52,-145.9,57.3,-9.2,106,664,0.00,2.08,0.00,0.000,4,0.000,0.062,2836,679,3426,0,0,0,0,0,0
$GC,712,-0.52,-145.9,62.6,-9.9,115,716,0.00,1.92,0.00,0.000,6,0.000,0.037,2828,1901,3426,0,0,0,0,0,0
$GC,1055,-0.52,-145.9,93.5,-8.8,176,1060,0.05,0.40,0.00,0.000,4,0.231,0.052,2838,2182,3426,0,0,0,0,0,0
$GC,1087,-0.52,-145.9,96.2,-8.0,182,1093,0.00,0.43,0.00,0.000,6,0.000,0.052,2838,1907,3426,0,0,0,0,0,0
$GC,1412,-0.63,-145.9,120.2,-7.6,209,1416,0.10,0.52,0.00,0.000,4,0.114,0.044,2791,2260,3426,0,0,0,0,0,0
$GC,1516,-0.63,-145.9,129.7,-9.0,215,1520,0.03,0.52,0.00,0.000,6,0.170,0.050,2800,1908,3426,0,0,0,0,0,0
$GC,1847,-0.66,-145.9,161.8,-9.8,236,1851,0.00,2.20,0.00,0.000,4,0.000,0.049,2792,3320,3426,0,0,0,0,0,0
$GC,1910,-0.62,-145.9,168.9,-11.5,240,1915,0.08,2.17,0.00,0.000,6,0.178,0.042,2810,1917,3426,0,0,0,0,0,0
$GC,2236,-0.58,-145.9,206.4,-11.8,261,2241,0.03,2.25,0.00,0.000,4,0.288,0.060,2821,506,3426,0,0,0,0,0,0
$GC,2300,-0.56,-145.9,214.1,-11.9,265,2305,0.08,2.15,0.00,0.000,6,0.184,0.032,2830,1937,3427,0,0,0,0,0,0
$GC,2624,-0.65,-145.9,246.0,-9.3,286,2628,0.10,1.33,0.00,0.000,4,0.109,0.044,2783,2794,3427,0,0,0,0,0,0
$GC,2684,-0.65,-145.9,252.9,-11.4,289,2691,0.08,1.40,0.00,0.000,6,0.175,0.039,2801,1899,3426,0,0,0,0,0,0
$GC,3003,-0.69,-145.9,283.7,-9.3,305,3007,0.00,2.22,0.00,0.000,4,0.000,0.047,2792,3318,3426,0,0,0,0,0,0
$GC,3065,-0.69,-145.9,290.1,-10.1,308,3069,0.00,2.15,0.00,0.000,6,0.000,0.037,2792,1904,3427,0,0,0,0,0,0
$GC,3396,-0.69,-145.9,319.7,-8.5,324,3400,0.00,2.17,0.00,0.000,4,0.000,0.057,2792,510,3427,0,0,0,0,0,0
$GC,3446,-0.61,-145.9,324.8,-10.1,326,3451,0.08,2.15,0.00,0.000,6,0.151,0.031,2808,1907,3426,0,0,0,0,0,0
$GC,3767,-0.58,-145.9,351.8,-8.5,342,3772,0.08,0.57,0.00,0.000,4,0.197,0.044,2825,2313,3426,0,0,0,0,0,0
$GC,3812,-0.58,-145.9,355.3,-7.6,344,3816,0.00,0.60,0.00,0.000,6,0.000,0.047,2825,1909,3426,0,0,0,0,0,0
$GC,4145,-0.68,-145.9,379.8,-7.5,360,4149,0.10,0.62,0.00,0.000,4,0.116,0.044,2781,2328,3426,0,0,0,0,0,0
$GC,4227,-0.70,-145.9,387.5,-9.6,363,4233,0.00,0.65,0.00,0.000,6,0.000,0.046,2781,1904,3426,0,0,0,0,0,0
$GC,4561,-0.70,-145.9,417.8,-9.0,377,4565,0.00,2.22,0.00,0.000,4,0.000,0.057,2781,509,3426,0,0,0,0,0,0
$GC,4633,-0.61,-145.9,425.4,-10.8,379,4638,0.12,2.17,0.00,0.000,6,0.140,0.033,2810,1920,3425,0,0,0,0,0,0
$GC,4963,-0.58,-145.9,452.6,-8.0,390,4966,0.00,1.08,0.00,0.000,4,0.000,0.052,2810,1247,3425,0,0,0,0,0,0
$GC,5023,-0.55,-145.9,457.7,-8.1,391,5030,0.10,1.05,0.00,0.000,6,0.173,0.035,2833,1929,3425,0,0,0,0,0,0
$GC,5337,-0.69,-145.9,478.3,-6.9,402,5341,0.12,2.28,0.00,0.000,4,0.100,0.056,2781,515,3425,0,0,0,0,0,0
$GC,5402,-0.61,-145.9,484.7,-9.6,404,5408,0.12,2.15,0.00,0.000,6,0.139,0.033,2811,1910,3425,0,0,0,0,0,0
$GC,5737,-0.59,-145.9,514.4,-9.1,415,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1911,3425,0,0,0,0,0,0
$GC,6043,-0.59,-145.9,544.1,-9.9,425,6047,0.00,0.73,0.00,0.000,4,0.000,0.051,2811,1445,3424,0,0,0,0,0,0
$GC,6111,-0.56,-145.9,551.0,-9.9,427,6115,0.05,0.70,0.00,0.000,6,0.152,0.040,2826,1918,3424,0,0,0,0,0,0
$GC,6451,-0.68,-145.9,582.9,-9.2,438,6455,0.10,2.25,0.00,0.000,4,0.112,0.056,2787,511,3423,0,0,0,0,0,0
$GC,6494,-0.62,-145.9,588.0,-12.3,439,6499,0.08,2.17,0.00,0.000,6,0.155,0.035,2803,1906,3423,0,0,0,0,0,0
$GC,6818,-0.59,-145.9,620.8,-9.8,450,6823,0.08,0.25,0.00,0.000,4,0.198,0.058,2822,2096,3423,0,0,0,0,0,0
$GC,6855,-0.59,-145.9,624.4,-8.8,451,6859,0.00,0.28,0.00,0.000,6,0.000,0.055,2822,1904,3422,0,0,0,0,0,0
$GC,7190,-0.70,-145.9,649.1,-7.1,462,7195,0.10,2.15,0.00,0.000,4,0.116,0.055,2778,541,3422,0,0,0,0,0,0
$GC,7233,-0.62,-145.9,653.1,-9.8,463,7238,0.12,2.12,0.00,0.000,6,0.145,0.034,2808,1907,3422,0,0,0,0,0,0
$GC,7558,-0.69,-145.9,677.4,-7.3,474,7562,0.00,1.33,0.00,0.000,4,0.000,0.053,2807,1081,3422,0,0,0,0,0,0
$GC,7585,-0.73,-145.9,679.7,-7.8,474,7591,0.05,1.27,0.00,0.000,6,0.087,0.037,2778,1908,3421,0,0,0,0,0,0
$GC,7897,-0.73,-145.9,706.4,-8.7,485,7901,0.00,2.17,0.00,0.000,4,0.000,0.050,2769,3315,3421,0,0,0,0,0,0
$GC,7963,-0.69,-145.9,713.0,-10.3,487,7968,0.05,2.15,0.00,0.000,6,0.154,0.037,2784,1927,3421,0,0,0,0,0,0
$GC,8299,-0.62,-145.9,748.4,-11.1,498,8304,0.10,2.25,0.00,0.000,4,0.197,0.054,2811,509,3420,0,0,0,0,0,0
$GC,8370,-0.62,-145.9,756.2,-10.8,500,8375,0.00,2.20,0.00,0.000,6,0.000,0.037,2803,1915,3420,0,0,0,0,0,0
$GC,8700,-0.69,-145.9,787.4,-9.4,511,8703,0.00,0.43,0.00,0.000,4,0.000,0.050,2800,2222,3420,0,0,0,0,0,0
$GC,8889,-0.80,-145.9,804.9,-9.4,516,8894,0.15,0.50,0.00,0.000,6,0.093,0.050,2742,1894,3420,0,0,0,0,0,0
$GC,9207,-0.64,-145.9,845.6,-13.9,527,9212,0.22,2.20,0.00,0.000,4,0.170,0.054,2803,518,3419,0,0,0,0,0,0
$GC,9278,-0.64,-145.9,853.3,-10.0,529,9283,0.00,2.17,0.00,0.000,6,0.000,0.037,2795,1907,3419,0,0,0,0,0,0
$GC,9608,-0.61,-145.9,884.2,-9.5,540,9613,0.08,0.43,0.00,0.000,4,0.207,0.050,2811,2211,3418,0,0,0,0,0,0
$GC,9657,-0.61,-145.9,888.5,-8.3,541,9661,0.00,0.45,0.00,0.000,6,0.000,0.051,2811,1914,3418,0,0,0,0,0,0
$GC,9981,-0.61,-145.9,914.5,-8.1,552,9984,0.00,1.12,0.00,0.000,4,0.000,0.055,2811,1200,3417,0,0,0,0,0,0
$GC,10052,-0.61,-145.9,920.9,-8.8,554,10057,0.00,1.12,0.00,0.000,6,0.000,0.041,2808,1914,3418,0,0,0,0,0,0
$GC,10387,-0.61,-145.9,948.7,-8.3,565,10390,0.00,0.32,0.00,0.000,4,0.000,0.060,2808,1689,3417,0,0,0,0,0,0
$GC,10458,-0.61,-145.9,954.8,-8.0,567,10462,0.00,0.35,0.00,0.000,6,0.000,0.052,2806,1925,3417,0,0,0,0,0,0
$GC,10793,-0.61,-145.9,981.9,-8.1,578,10796,0.00,1.25,0.00,0.000,4,0.000,0.055,2806,1149,3417,0,0,0,0,0,0
$GC,10877,-0.61,-145.9,988.6,-7.7,580,10880,0.00,1.17,0.00,0.000,6,0.000,0.041,2802,1901,3417,0,0,0,0,0,0
$STATE,11046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11046,begin apogee
$GC,11051,-0.19,0.0,1001.8,7.8,586,11179,0.50,0.00,124.88,1.535,6,0.136,0.000,2952,1646,2826,0,0,0,0,0,0
$STATE,11179,end apogee,CONTROL_FINISHED_OK
$STATE,11180,begin climb
$GC,11181,0.52,145.9,1007.3,0.0,590,11319,0.73,0.32,131.60,1.509,4,0.080,0.067,3183,1465,2232,0,0,0,0,0,0
$GC,11346,0.35,172.2,1007.8,6.5,595,11377,0.22,0.32,25.85,1.439,6,0.183,0.050,3132,1665,2123,0,0,0,0,0,0
$GC,11691,0.29,186.4,983.9,6.9,607,11710,0.10,1.00,12.68,1.327,4,0.188,0.046,3108,2272,2067,0,0,0,0,0,0
$GC,11765,0.29,204.8,978.8,6.8,609,11787,0.00,1.02,17.88,1.387,6,0.000,0.050,3111,1656,1991,0,0,0,0,0,0
$GC,12093,0.29,224.3,957.0,6.7,620,12113,0.00,0.00,18.02,1.376,6,0.000,0.000,3111,1657,1912,0,0,0,0,0,0
$GC,12400,0.33,251.6,936.4,6.5,630,12430,0.00,0.62,25.58,1.405,4,0.000,0.038,3111,2058,1801,0,0,0,0,0,0
$GC,12474,0.47,251.6,931.3,7.7,632,12479,0.15,0.68,0.00,0.000,6,0.092,0.052,3166,1650,1798,0,0,0,0,0,0
$GC,12803,0.47,251.6,904.1,8.6,643,12807,0.00,0.40,0.00,0.000,4,0.000,0.063,3166,1388,1796,0,0,0,0,0,0
$GC,12824,0.44,251.6,902.2,8.4,643,12828,0.00,0.40,0.00,0.000,6,0.000,0.045,3166,1657,1796,0,0,0,0,0,0
$GC,13142,0.44,251.6,875.0,8.3,654,13146,0.00,2.20,0.00,0.000,4,0.000,0.048,3166,3041,1795,0,0,0,0,0,0
$GC,13265,0.35,251.6,863.9,8.7,657,13270,0.12,2.22,0.00,0.000,6,0.164,0.047,3135,1656,1794,0,0,0,0,0,0
$GC,13583,0.35,277.8,842.1,6.5,668,13614,0.00,1.17,23.90,1.364,4,0.000,0.061,3136,952,1694,0,0,0,0,0,0
$GC,13663,0.35,285.3,836.9,7.2,670,13675,0.00,1.12,7.95,1.177,6,0.000,0.037,3135,1655,1664,0,0,0,0,0,0
$GC,13982,0.39,312.2,816.5,6.5,680,14011,0.00,0.00,25.75,1.361,6,0.000,0.000,3135,1656,1554,0,0,0,0,0,0
$GC,14318,0.56,338.9,794.4,6.5,691,14350,0.17,2.40,25.17,1.349,4,0.084,0.067,3211,242,1444,0,0,0,0,0,0
$GC,14427,0.48,338.9,783.6,11.8,694,14432,0.12,2.28,0.00,0.000,6,0.161,0.040,3175,1646,1440,0,0,0,0,0,0
$GC,14756,0.48,338.9,755.9,8.3,705,14760,0.00,1.08,0.00,0.000,4,0.000,0.044,3175,2343,1438,0,0,0,0,0,0
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$STATE,23400,end climb,SURFACE_DEPTH_REACHED
$STATE,23400,begin surface coast
$FINISH,1.4,1.024715
$STATE,23438,end surface coast,CONTROL_FINISHED_OK
$STATE,23438,begin surface
$SM_CCo,23515,0.00,0.000,0,0,1338,365.25
$SM_GC,2.44,8.60,0.00,0.00,0.054,0.000,0.000,92,1912,1338,-9.08,-0.06,365.25
$IRIDIUM_FIX,-4158.28,-720.12,041112,080844
$TT8_MAMPS,0.026964
$HUMID,46.61
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.6,43.231
$10V_AH,10.2,32.998
$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
$DEVICE_SECS,26.050,121.800,464.225,0.000,0.000,24.033,36.685,275.338,0.250,0.000,22.856,3134.380,16299.845,584.147,3769.755,181.009,33.356,2054.569,0.000,3371.620,0.000,3.436,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.222,1349.723,803.399,103.178,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,73610,1226
$CAP_FILE_SIZE,218622,0
$CFSIZE,2097086464,2069200896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041112,215005,-4214.414,-715.995,35,0.9,35,-21.9