version: 66.07.10.p01
glider: 574
mission: 4
dive: 209
start: 11 12 112 19 2 29
data:
$ID,574
$MISSION,4
$DIVE,209
$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,596.31458
$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,-6090.6958
$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,26
$R_STBD_OVSHOOT,75
$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,188
$GPS1,121112,184535,-4207.865,-717.063,38,1.2,39,-21.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.1
$GPS2,121112,190135,-4207.726,-717.060,72,1.0,73,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.081,0.220
$KALMAN_X,-331733.0,-1309.1,66.1,458582.2,-1957.2
$KALMAN_Y,225625.3,520.3,-160.9,-144716.5,-5693.0
$MHEAD_RNG_PITCHd_Wd,42.1,95617,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,69,0.00,0.00,-42.20,0.000,2,0.000,0.000,68,1931,2228,0,0,0,0,0,0
$GC,71,-0.52,-145.9,3.0,-1.0,7,139,12.75,2.40,-47.70,0.000,4,0.271,0.079,2832,512,3421,0,0,0,0,0,0
$GC,201,-0.48,-145.9,10.9,-11.5,28,209,0.08,2.15,0.00,0.000,6,0.148,0.037,2849,1863,3423,0,0,0,0,0,0
$GC,281,-0.61,-145.9,18.0,-8.3,41,288,0.10,1.12,0.00,0.000,4,0.116,0.047,2804,2580,3424,0,0,0,0,0,0
$GC,315,-0.70,-145.9,21.2,-9.2,46,322,0.00,1.08,0.00,0.000,6,0.000,0.047,2804,1908,3423,0,0,0,0,0,0
$GC,395,-0.70,-145.9,28.8,-9.0,59,402,0.00,2.28,0.00,0.000,4,0.000,0.050,2796,3312,3423,0,0,0,0,0,0
$GC,491,-0.66,-145.9,37.8,-9.3,75,496,0.00,2.20,0.00,0.000,6,0.000,0.044,2796,1913,3423,0,0,0,0,0,0
$GC,726,-0.66,-145.9,57.8,-8.3,116,733,0.00,2.30,0.00,0.000,4,0.000,0.060,2796,504,3424,0,0,0,0,0,0
$GC,774,-0.61,-145.9,62.4,-9.6,124,780,0.10,2.20,0.00,0.000,6,0.181,0.036,2811,1921,3423,0,0,0,0,0,0
$GC,1121,-0.70,-145.9,90.2,-7.4,185,1126,0.08,1.23,0.00,0.000,4,0.131,0.044,2776,2707,3424,0,0,0,0,0,0
$GC,1190,-0.70,-145.9,96.2,-8.9,197,1194,0.00,1.25,0.00,0.000,6,0.000,0.044,2777,1911,3424,0,0,0,0,0,0
$GC,1511,-0.67,-145.9,127.9,-10.4,222,1515,0.08,2.25,0.00,0.000,4,0.194,0.048,2784,3328,3424,0,0,0,0,0,0
$GC,1559,-0.67,-145.9,133.2,-10.1,225,1564,0.00,2.22,0.00,0.000,6,0.000,0.041,2785,1915,3424,0,0,0,0,0,0
$GC,1884,-0.67,-145.9,164.6,-9.7,246,1888,0.00,2.22,0.00,0.000,4,0.000,0.048,2776,3324,3424,0,0,0,0,0,0
$GC,1932,-0.62,-145.9,169.4,-10.5,249,1937,0.12,2.17,0.00,0.000,6,0.156,0.040,2809,1904,3423,0,0,0,0,0,0
$GC,2256,-0.69,-145.9,199.8,-9.2,270,2260,0.00,2.22,0.00,0.000,4,0.000,0.047,2800,3317,3424,0,0,0,0,0,0
$GC,2319,-0.74,-145.9,206.0,-9.9,274,2323,0.08,2.15,0.00,0.000,6,0.131,0.038,2769,1908,3424,0,0,0,0,0,0
$GC,2651,-0.71,-145.9,242.0,-10.9,295,2655,0.00,2.22,0.00,0.000,4,0.000,0.045,2759,3326,3424,0,0,0,0,0,0
$GC,2689,-0.64,-145.9,246.9,-12.0,297,2695,0.12,2.20,0.00,0.000,6,0.141,0.037,2797,1903,3424,0,0,0,0,0,0
$GC,3016,-0.70,-145.9,279.0,-9.8,314,3020,0.00,2.22,0.00,0.000,4,0.000,0.047,2789,3316,3424,0,0,0,0,0,0
$GC,3070,-0.74,-145.9,284.5,-9.9,316,3078,0.00,2.17,0.00,0.000,6,0.000,0.037,2789,1910,3424,0,0,0,0,0,0
$GC,3387,-0.77,-145.9,313.7,-9.0,332,3391,0.08,2.22,0.00,0.000,4,0.135,0.047,2748,3317,3424,0,0,0,0,0,0
$GC,3430,-0.66,-145.9,318.3,-10.6,334,3435,0.17,2.17,0.00,0.000,6,0.160,0.037,2794,1910,3423,0,0,0,0,0,0
$GC,3757,-0.70,-145.9,344.4,-7.6,350,3761,0.00,2.22,0.00,0.000,4,0.000,0.047,2786,3327,3423,0,0,0,0,0,0
$GC,3824,-0.75,-145.9,350.0,-8.5,353,3828,0.00,2.17,0.00,0.000,6,0.000,0.036,2786,1917,3424,0,0,0,0,0,0
$GC,4154,-0.78,-145.9,375.7,-8.0,369,4158,0.08,1.58,0.00,0.000,4,0.131,0.044,2749,2912,3423,0,0,0,0,0,0
$GC,4180,-0.73,-145.9,378.4,-9.3,370,4185,0.08,1.55,0.00,0.000,6,0.148,0.039,2772,1912,3423,0,0,0,0,0,0
$GC,4516,-0.73,-145.9,409.9,-9.8,385,4520,0.00,2.22,0.00,0.000,4,0.000,0.047,2763,3324,3422,0,0,0,0,0,0
$GC,4570,-0.68,-145.9,416.2,-11.7,386,4577,0.08,2.17,0.00,0.000,6,0.143,0.036,2787,1918,3422,0,0,0,0,0,0
$GC,4884,-0.72,-145.9,447.8,-10.3,397,4888,0.00,2.20,0.00,0.000,4,0.000,0.047,2779,3316,3422,0,0,0,0,0,0
$GC,4932,-0.72,-145.9,453.3,-11.0,398,4937,0.00,2.17,0.00,0.000,6,0.000,0.036,2779,1908,3422,0,0,0,0,0,0
$GC,5251,-0.72,-145.9,486.1,-10.2,409,5255,0.00,2.22,0.00,0.000,4,0.000,0.047,2770,3321,3422,0,0,0,0,0,0
$GC,5306,-0.69,-145.9,492.2,-11.0,410,5313,0.03,2.17,0.00,0.000,6,0.168,0.036,2778,1913,3422,0,0,0,0,0,0
$GC,5619,-0.69,-145.9,522.6,-9.4,421,5623,0.00,2.22,0.00,0.000,4,0.000,0.047,2770,3328,3421,0,0,0,0,0,0
$GC,5673,-0.69,-145.9,528.1,-10.0,422,5680,0.05,2.20,0.00,0.000,6,0.140,0.035,2787,1908,3421,0,0,0,0,0,0
$GC,5986,-0.74,-145.9,554.5,-8.3,433,5990,0.00,2.20,0.00,0.000,4,0.000,0.047,2779,3317,3421,0,0,0,0,0,0
$GC,6029,-0.74,-145.9,558.7,-9.5,434,6034,0.00,2.17,0.00,0.000,6,0.000,0.036,2779,1912,3420,0,0,0,0,0,0
$GC,6359,-0.74,-145.9,588.0,-9.0,445,6363,0.00,2.20,0.00,0.000,4,0.000,0.047,2770,3315,3420,0,0,0,0,0,0
$GC,6397,-0.72,-145.9,591.9,-10.0,446,6402,0.00,2.17,0.00,0.000,6,0.000,0.035,2770,1911,3419,0,0,0,0,0,0
$GC,6727,-0.72,-145.9,623.8,-9.7,457,6730,0.00,2.05,0.00,0.000,4,0.000,0.046,2762,3226,3419,0,0,0,0,0,0
$GC,6761,-0.72,-145.9,627.4,-10.3,458,6765,0.08,2.03,0.00,0.000,6,0.187,0.037,2778,1909,3419,0,0,0,0,0,0
$GC,7095,-0.76,-145.9,660.4,-9.8,469,7099,0.00,2.15,0.00,0.000,4,0.000,0.047,2770,3272,3418,0,0,0,0,0,0
$GC,7133,-0.76,-145.9,664.3,-9.8,470,7137,0.00,2.10,0.00,0.000,6,0.000,0.037,2770,1907,3418,0,0,0,0,0,0
$GC,7457,-0.76,-145.9,694.4,-8.9,481,7461,0.00,2.22,0.00,0.000,4,0.000,0.047,2761,3325,3417,0,0,0,0,0,0
$GC,7506,-0.71,-145.9,699.2,-10.1,482,7511,0.05,2.20,0.00,0.000,6,0.151,0.035,2778,1905,3417,0,0,0,0,0,0
$GC,7825,-0.74,-145.9,725.5,-8.2,493,7829,0.00,2.20,0.00,0.000,4,0.000,0.047,2769,3318,3417,0,0,0,0,0,0
$GC,7879,-0.74,-145.9,730.5,-9.5,494,7884,0.00,2.17,0.00,0.000,6,0.000,0.036,2769,1914,3416,0,0,0,0,0,0
$GC,8198,-0.74,-145.9,756.7,-8.1,505,8202,0.00,2.20,0.00,0.000,4,0.000,0.047,2761,3317,3416,0,0,0,0,0,0
$GC,8260,-0.70,-145.9,761.9,-8.6,507,8265,0.10,2.15,0.00,0.000,6,0.169,0.037,2785,1905,3416,0,0,0,0,0,0
$GC,8595,-0.75,-145.9,785.2,-6.9,518,8598,0.00,1.92,0.00,0.000,4,0.000,0.045,2779,3133,3416,0,0,0,0,0,0
$GC,8629,-0.80,-145.9,787.5,-7.2,519,8634,0.05,1.90,0.00,0.000,6,0.090,0.037,2738,1914,3415,0,0,0,0,0,0
$GC,8970,-0.76,-145.9,818.1,-9.1,530,8974,0.10,2.28,0.00,0.000,4,0.186,0.054,2763,502,3415,0,0,0,0,0,0
$GC,9035,-0.65,-145.9,825.1,-9.8,532,9041,0.15,2.20,0.00,0.000,6,0.153,0.033,2799,1917,3415,0,0,0,0,0,0
$GC,9370,-0.73,-145.9,851.3,-7.9,543,9375,0.08,0.68,0.00,0.000,4,0.134,0.043,2769,2381,3415,0,0,0,0,0,0
$GC,9442,-0.78,-145.9,857.9,-9.3,545,9447,0.00,0.75,0.00,0.000,6,0.000,0.043,2769,1897,3415,0,0,0,0,0,0
$GC,9778,-0.80,-145.9,889.8,-9.8,556,9781,0.00,2.10,0.00,0.000,4,0.000,0.045,2761,3230,3415,0,0,0,0,0,0
$GC,9816,-0.78,-145.9,894.0,-11.0,557,9820,0.00,2.05,0.00,0.000,6,0.000,0.037,2760,1917,3414,0,0,0,0,0,0
$GC,10151,-0.78,-145.9,928.0,-10.1,568,10155,0.00,2.28,0.00,0.000,4,0.000,0.056,2760,501,3414,0,0,0,0,0,0
$GC,10228,-0.67,-145.9,936.9,-11.9,570,10233,0.12,2.20,0.00,0.000,6,0.155,0.036,2790,1907,3415,0,0,0,0,0,0
$GC,10553,-0.62,-145.9,968.9,-10.0,581,10555,0.08,0.00,0.00,0.000,6,0.215,0.000,2806,1907,3414,0,0,0,0,0,0
$GC,10859,-0.68,-145.9,994.0,-7.6,591,10863,0.00,0.43,0.00,0.000,4,0.000,0.054,2806,1619,3414,0,0,0,0,0,0
$GC,10869,-0.79,-145.9,995.0,-7.4,591,10874,0.15,0.47,0.00,0.000,6,0.107,0.044,2757,1933,3414,0,0,0,0,0,0
$STATE,10953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10953,begin apogee
$GC,10957,-0.19,0.0,1001.9,8.5,594,11086,0.62,0.00,125.10,1.545,6,0.128,0.000,2947,1645,2827,0,0,0,0,0,0
$STATE,11086,end apogee,CONTROL_FINISHED_OK
$STATE,11086,begin climb
$GC,11088,0.52,145.9,1009.1,0.0,598,11229,0.70,2.50,132.90,1.520,4,0.076,0.046,3175,3042,2232,0,0,0,0,0,0
$GC,11409,0.33,145.9,998.2,8.3,608,11414,0.25,2.28,0.00,0.000,6,0.188,0.044,3125,1662,2225,0,0,0,0,0,0
$GC,11745,0.27,200.8,979.2,5.5,619,11800,0.10,1.12,48.12,1.476,4,0.206,0.059,3104,1008,2007,0,0,0,0,0,0
$GC,11840,0.31,240.1,973.8,6.1,622,11880,0.00,1.02,35.90,1.441,6,0.000,0.035,3104,1649,1848,0,0,0,0,0,0
$GC,12210,0.45,285.6,951.4,5.9,634,12257,0.15,2.28,40.90,1.447,4,0.093,0.043,3162,3045,1660,0,0,0,0,0,0
$GC,12323,0.38,285.6,942.8,8.4,637,12328,0.10,2.30,0.00,0.000,6,0.160,0.045,3141,1654,1658,0,0,0,0,0,0
$GC,12642,0.46,320.0,922.4,6.2,648,12678,0.08,2.28,30.98,1.424,4,0.128,0.043,3171,3048,1522,0,0,0,0,0,0
$GC,12745,0.40,320.0,914.2,8.8,651,12750,0.10,2.30,0.00,0.000,6,0.162,0.045,3141,1643,1519,0,0,0,0,0,0
$GC,13075,0.57,342.8,893.0,6.6,662,13105,0.17,2.05,21.50,1.384,4,0.084,0.064,3213,446,1429,0,0,0,0,0,0
$GC,13144,0.45,342.8,886.4,10.6,664,13149,0.20,1.90,0.00,0.000,6,0.173,0.036,3163,1654,1426,0,0,0,0,0,0
$GC,13479,0.45,342.8,858.6,8.5,675,13482,0.00,0.35,0.00,0.000,4,0.000,0.062,3163,1435,1424,0,0,0,0,0,0
$GC,13494,0.49,342.8,857.2,8.2,675,13498,0.00,0.32,0.00,0.000,6,0.000,0.046,3163,1660,1423,0,0,0,0,0,0
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$STATE,23216,end climb,SURFACE_DEPTH_REACHED
$STATE,23216,begin surface coast
$FINISH,1.6,1.002334
$STATE,23260,end surface coast,CONTROL_FINISHED_OK
$STATE,23260,begin surface
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$HUMID,45.31
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$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.4,49.495
$10V_AH,10.1,37.136
$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
$DEVICE_SECS,30.950,231.925,449.900,111.700,0.000,139.733,400.429,0.000,0.250,0.000,75.543,3188.601,16116.422,704.063,4115.396,213.634,33.359,2255.616,0.000,3463.721,0.000,2.834,0.000
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$MEM,354676
$DATA_FILE_SIZE,73656,1222
$CAP_FILE_SIZE,238821,0
$CFSIZE,2097086464,2064482304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131112,013334,-4206.856,-716.430,38,1.1,42,-21.9