version: 66.07.10.p01
glider: 574
mission: 4
dive: 183
start: 11 5 112 18 9 54
data:
$ID,574
$MISSION,4
$DIVE,183
$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,-6003.0566
$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,47
$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,162
$GPS1,051112,180005,-4213.976,-711.649,28,1.4,29,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-73.2
$GPS2,051112,180859,-4214.006,-711.663,52,1.6,53,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4200.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,0.089
$KALMAN_X,-338312.8,161.8,72.9,470981.9,-5251.0
$KALMAN_Y,271728.2,-37.5,-1127.7,-200910.1,6295.8
$MHEAD_RNG_PITCHd_Wd,89.7,50714,-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,-145.9,0.0,0.0,0,75,0.00,0.00,-48.95,0.000,2,0.000,0.000,68,1914,2459,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.0,-1.3,8,127,12.62,2.35,-31.80,0.000,4,0.269,0.079,2833,508,3423,0,0,0,0,0,0
$GC,195,-0.52,-145.9,12.8,-10.5,27,203,0.03,2.22,0.00,0.000,6,0.187,0.042,2834,1890,3425,0,0,0,0,0,0
$GC,275,-0.52,-145.9,20.3,-9.8,40,282,0.00,0.85,0.00,0.000,4,0.000,0.047,2832,2442,3425,0,0,0,0,0,0
$GC,320,-0.52,-145.9,24.6,-9.3,47,327,0.00,0.82,0.00,0.000,6,0.000,0.048,2832,1916,3425,0,0,0,0,0,0
$GC,397,-0.52,-145.9,32.1,-9.2,60,404,0.00,1.12,0.00,0.000,4,0.000,0.060,2832,1223,3425,0,0,0,0,0,0
$GC,441,-0.55,-145.9,35.6,-8.8,67,446,0.00,1.10,0.00,0.000,6,0.000,0.038,2829,1925,3425,0,0,0,0,0,0
$GC,676,-0.63,-145.9,55.4,-8.6,108,683,0.05,1.20,0.00,0.000,4,0.170,0.048,2798,2684,3425,0,0,0,0,0,0
$GC,732,-0.67,-145.9,60.4,-9.7,117,738,0.00,1.23,0.00,0.000,6,0.000,0.047,2798,1910,3425,0,0,0,0,0,0
$GC,1076,-0.67,-145.9,94.0,-9.6,178,1081,0.00,2.22,0.00,0.000,4,0.000,0.050,2789,3316,3426,0,0,0,0,0,0
$GC,1128,-0.64,-145.9,99.2,-10.6,187,1133,0.08,2.17,0.00,0.000,6,0.185,0.042,2805,1906,3425,0,0,0,0,0,0
$GC,1449,-0.68,-145.9,130.7,-9.8,208,1453,0.00,2.25,0.00,0.000,4,0.000,0.059,2805,504,3425,0,0,0,0,0,0
$GC,1514,-0.62,-145.9,138.5,-11.6,212,1519,0.00,2.20,0.00,0.000,6,0.000,0.032,2796,1928,3426,0,0,0,0,0,0
$GC,1842,-0.55,-145.9,176.4,-11.8,233,1844,0.12,0.00,0.00,0.000,6,0.171,0.000,2830,1928,3425,0,0,0,0,0,0
$GC,2154,-0.65,-145.9,205.8,-8.6,253,2158,0.08,1.67,0.00,0.000,4,0.129,0.046,2795,3028,3425,0,0,0,0,0,0
$GC,2214,-0.67,-145.9,211.8,-9.6,256,2222,0.00,1.75,0.00,0.000,6,0.000,0.041,2795,1908,3425,0,0,0,0,0,0
$GC,2535,-0.69,-145.9,242.7,-9.7,277,2539,0.00,2.20,0.00,0.000,4,0.000,0.047,2785,3313,3425,0,0,0,0,0,0
$GC,2607,-0.64,-145.9,250.4,-10.2,281,2614,0.05,2.17,0.00,0.000,6,0.146,0.037,2802,1904,3426,0,0,0,0,0,0
$GC,2925,-0.59,-145.9,281.9,-9.7,297,2930,0.05,1.92,0.00,0.000,4,0.230,0.056,2817,684,3425,0,0,0,0,0,0
$GC,2980,-0.57,-145.9,287.4,-8.5,299,2985,0.03,1.90,0.00,0.000,6,0.184,0.033,2819,1914,3425,0,0,0,0,0,0
$GC,3305,-0.65,-145.9,311.3,-7.1,315,3309,0.00,2.17,0.00,0.000,4,0.000,0.047,2810,3312,3425,0,0,0,0,0,0
$GC,3398,-0.78,-145.9,318.0,-7.4,319,3403,0.15,2.15,0.00,0.000,6,0.088,0.037,2750,1906,3425,0,0,0,0,0,0
$GC,3727,-0.62,-145.9,351.4,-10.8,335,3732,0.22,2.22,0.00,0.000,4,0.167,0.053,2813,506,3426,0,0,0,0,0,0
$GC,3814,-0.60,-145.9,358.6,-7.3,339,3819,0.05,2.12,0.00,0.000,6,0.225,0.032,2816,1920,3425,0,0,0,0,0,0
$GC,4144,-0.67,-145.9,379.5,-6.4,355,4148,0.08,2.17,0.00,0.000,4,0.132,0.047,2779,3310,3425,0,0,0,0,0,0
$GC,4215,-0.67,-145.9,385.9,-8.8,358,4220,0.00,2.17,0.00,0.000,6,0.000,0.037,2779,1910,3425,0,0,0,0,0,0
$GC,4551,-0.67,-145.9,415.0,-8.7,372,4555,0.05,1.23,0.00,0.000,4,0.226,0.053,2792,1137,3425,0,0,0,0,0,0
$GC,4599,-0.67,-145.9,419.4,-9.1,373,4604,0.00,1.20,0.00,0.000,6,0.000,0.034,2788,1916,3425,0,0,0,0,0,0
$GC,4923,-0.67,-145.9,448.3,-9.0,384,4927,0.00,0.60,0.00,0.000,4,0.000,0.050,2788,1523,3424,0,0,0,0,0,0
$GC,4957,-0.67,-145.9,451.7,-10.1,385,4961,0.00,0.57,0.00,0.000,6,0.000,0.041,2785,1915,3425,0,0,0,0,0,0
$GC,5297,-0.67,-145.9,483.9,-9.6,396,5301,0.00,2.15,0.00,0.000,4,0.000,0.047,2777,3304,3424,0,0,0,0,0,0
$GC,5311,-0.67,-145.9,485.5,-9.4,396,5317,0.03,2.15,0.00,0.000,6,0.169,0.035,2786,1911,3424,0,0,0,0,0,0
$GC,5636,-0.70,-145.9,516.2,-9.5,407,5639,0.00,1.08,0.00,0.000,4,0.000,0.043,2783,2616,3423,0,0,0,0,0,0
$GC,5656,-0.70,-145.9,518.4,-9.4,407,5661,0.00,1.10,0.00,0.000,6,0.000,0.040,2782,1913,3423,0,0,0,0,0,0
$GC,5975,-0.70,-145.9,547.4,-9.0,418,5979,0.00,2.22,0.00,0.000,4,0.000,0.055,2783,510,3423,0,0,0,0,0,0
$GC,5995,-0.68,-145.9,549.5,-9.4,418,6002,0.05,2.15,0.00,0.000,6,0.165,0.034,2789,1904,3423,0,0,0,0,0,0
$GC,6308,-0.71,-145.9,576.2,-8.5,429,6313,0.00,2.22,0.00,0.000,4,0.000,0.056,2789,502,3423,0,0,0,0,0,0
$GC,6358,-0.63,-145.9,581.1,-11.0,430,6363,0.08,2.20,0.00,0.000,6,0.153,0.034,2805,1917,3422,0,0,0,0,0,0
$GC,6676,-0.69,-145.9,607.3,-8.3,441,6680,0.00,0.62,0.00,0.000,4,0.000,0.045,2803,2350,3422,0,0,0,0,0,0
$GC,6933,-0.79,-145.9,629.4,-9.3,448,6939,0.12,0.70,0.00,0.000,6,0.101,0.045,2753,1896,3422,0,0,0,0,0,0
$GC,7252,-0.65,-145.9,668.7,-12.9,459,7257,0.17,2.25,0.00,0.000,4,0.173,0.047,2789,3316,3421,0,0,0,0,0,0
$GC,7353,-0.65,-145.9,679.1,-10.2,462,7358,0.05,2.12,0.00,0.000,6,0.212,0.037,2800,1917,3421,0,0,0,0,0,0
$GC,7687,-0.72,-145.9,708.8,-8.7,473,7691,0.00,2.22,0.00,0.000,4,0.000,0.049,2791,3325,3421,0,0,0,0,0,0
$GC,7777,-0.72,-145.9,717.0,-9.2,475,7782,0.00,2.17,0.00,0.000,6,0.000,0.037,2792,1908,3420,0,0,0,0,0,0
$GC,8089,-0.76,-145.9,743.4,-8.3,486,8094,0.08,2.25,0.00,0.000,4,0.140,0.056,2763,505,3421,0,0,0,0,0,0
$GC,8195,-0.67,-145.9,754.9,-11.1,489,8199,0.15,2.17,0.00,0.000,6,0.176,0.036,2791,1920,3420,0,0,0,0,0,0
$GC,8523,-0.63,-145.9,784.5,-8.9,500,8525,0.08,0.00,0.00,0.000,6,0.213,0.000,2808,1921,3419,0,0,0,0,0,0
$GC,8830,-0.63,-145.9,808.1,-7.3,510,8833,0.00,1.50,0.00,0.000,4,0.000,0.053,2808,990,3420,0,0,0,0,0,0
$GC,8890,-0.63,-145.9,812.8,-7.2,511,8896,0.00,1.42,0.00,0.000,6,0.000,0.035,2803,1909,3420,0,0,0,0,0,0
$GC,9203,-0.63,-145.9,836.9,-8.2,522,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1909,3419,0,0,0,0,0,0
$GC,9509,-0.63,-145.9,863.4,-8.8,532,9512,0.00,0.50,0.00,0.000,4,0.000,0.051,2803,1576,3418,0,0,0,0,0,0
$GC,9592,-0.63,-145.9,870.9,-8.2,534,9596,0.00,0.52,0.00,0.000,6,0.000,0.042,2801,1927,3418,0,0,0,0,0,0
$GC,9915,-0.63,-145.9,900.4,-9.4,545,9919,0.00,1.65,0.00,0.000,4,0.000,0.054,2801,910,3418,0,0,0,0,0,0
$GC,9983,-0.63,-145.9,907.0,-10.2,547,9987,0.03,1.55,0.00,0.000,6,0.190,0.035,2803,1909,3418,0,0,0,0,0,0
$GC,10322,-0.63,-145.9,938.0,-8.8,558,10326,0.00,0.47,0.00,0.000,4,0.000,0.053,2804,1591,3418,0,0,0,0,0,0
$GC,10389,-0.63,-145.9,943.5,-7.7,560,10393,0.00,0.47,0.00,0.000,6,0.000,0.043,2802,1922,3417,0,0,0,0,0,0
$GC,10730,-0.63,-145.9,969.9,-7.3,571,10733,0.00,1.23,0.00,0.000,4,0.000,0.053,2802,1160,3418,0,0,0,0,0,0
$GC,10801,-0.63,-145.9,975.4,-7.5,573,10806,0.00,1.17,0.00,0.000,6,0.000,0.036,2797,1911,3417,0,0,0,0,0,0
$GC,11137,-0.63,-145.9,999.7,-7.3,584,11142,0.00,0.28,0.00,0.000,4,0.000,0.060,2797,1714,3418,0,0,0,0,0,0
$STATE,11145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11145,begin apogee
$GC,11149,-0.19,0.0,1000.4,7.4,584,11277,0.47,0.00,124.88,1.526,6,0.139,0.000,2944,1641,2827,0,0,0,0,0,0
$STATE,11278,end apogee,CONTROL_FINISHED_OK
$STATE,11278,begin climb
$GC,11279,0.52,145.9,1004.5,0.0,588,11420,0.75,1.15,131.82,1.507,4,0.078,0.060,3185,1022,2232,0,0,0,0,0,0
$GC,11477,0.32,145.9,1002.1,7.9,595,11481,0.25,1.05,0.00,0.000,6,0.171,0.037,3121,1660,2228,0,0,0,0,0,0
$GC,11818,0.27,192.8,981.8,5.8,606,11864,0.08,1.65,41.62,1.467,4,0.220,0.044,3104,2628,2039,0,0,0,0,0,0
$GC,11925,0.27,229.6,975.2,6.1,609,11966,0.00,1.60,33.83,1.454,6,0.000,0.047,3108,1666,1890,0,0,0,0,0,0
$GC,12280,0.38,256.5,952.5,6.5,621,12310,0.10,0.00,24.27,1.405,6,0.111,0.000,3147,1666,1781,0,0,0,0,0,0
$GC,12618,0.42,256.5,927.1,7.6,632,12622,0.00,0.52,0.00,0.000,4,0.000,0.063,3147,1327,1776,0,0,0,0,0,0
$GC,12633,0.44,256.5,925.9,7.5,632,12637,0.00,0.50,0.00,0.000,6,0.000,0.045,3147,1654,1776,0,0,0,0,0,0
$GC,12957,0.48,256.5,901.2,7.7,643,12961,0.05,1.62,0.00,0.000,4,0.171,0.046,3170,2695,1776,0,0,0,0,0,0
$GC,13029,0.37,256.5,894.8,9.0,645,13034,0.12,1.70,0.00,0.000,6,0.163,0.050,3138,1648,1775,0,0,0,0,0,0
$GC,13364,0.38,281.2,872.2,6.6,656,13393,0.00,1.02,22.77,1.368,4,0.000,0.063,3139,1040,1680,0,0,0,0,0,0
$GC,13437,0.38,287.5,867.2,7.2,658,13448,0.00,0.98,7.07,1.142,6,0.000,0.040,3139,1648,1654,0,0,0,0,0,0
$GC,13766,0.38,312.5,845.4,6.6,669,13796,0.00,0.30,23.60,1.355,4,0.000,0.055,3139,1854,1553,0,0,0,0,0,0
$GC,13831,0.41,331.8,841.3,6.7,671,13855,0.00,0.32,19.08,1.333,6,0.000,0.064,3139,1648,1474,0,0,0,0,0,0
$GC,14169,0.60,364.4,819.8,6.3,682,14205,0.20,2.22,30.65,1.365,4,0.081,0.067,3220,332,1341,0,0,0,0,0,0
$GC,14250,0.50,364.4,812.4,10.2,684,14255,0.17,2.12,0.00,0.000,6,0.170,0.040,3177,1653,1337,0,0,0,0,0,0
$GC,14568,0.50,364.4,786.8,8.0,695,14571,0.00,0.62,0.00,0.000,4,0.000,0.045,3177,2077,1334,0,0,0,0,0,0
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$STATE,23570,end climb,SURFACE_DEPTH_REACHED
$STATE,23570,begin surface coast
$FINISH,1.7,1.026597
$STATE,23613,end surface coast,CONTROL_FINISHED_OK
$STATE,23613,begin surface
$SM_CCo,23689,0.00,0.000,0,0,1310,372.11
$SM_GC,2.67,8.70,0.00,0.00,0.062,0.000,0.000,93,1928,1310,-9.08,0.42,372.11
$IRIDIUM_FIX,-4146.69,-1402.88,051112,111148
$TT8_MAMPS,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.5,44.099
$10V_AH,10.2,33.561
$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
$DEVICE_SECS,25.950,133.950,465.400,0.000,0.000,28.155,43.341,300.881,0.250,0.000,55.009,3118.208,16509.547,570.071,3827.872,188.140,33.358,2045.553,0.000,3362.175,0.000,2.841,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.912,1353.021,803.993,99.716,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,73617,1224
$CAP_FILE_SIZE,214996,0
$CFSIZE,2097086464,2068643840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,061112,004559,-4212.299,-710.272,42,1.1,43,-21.9