version: 66.07.10.p01
glider: 574
mission: 4
dive: 210
start: 11 13 112 1 48 18
data:
$ID,574
$MISSION,4
$DIVE,210
$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,-6094.019
$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,29
$R_STBD_OVSHOOT,62
$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,189
$GPS1,131112,013334,-4206.856,-716.430,38,1.1,42,-21.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,3
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-63.5
$GPS2,131112,014723,-4207.000,-716.423,46,1.5,46,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4130.000,-630.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,-334720.4,263.6,142.2,460756.8,-3279.7
$KALMAN_Y,220265.5,73.2,1081.6,-138795.8,-9718.1
$MHEAD_RNG_PITCHd_Wd,23.4,94030,-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,-145.9,0.0,0.0,0,116,0.00,0.00,-89.43,0.000,2,0.000,0.000,66,1937,2580,0,0,0,0,0,0
$GC,118,-0.52,-145.9,3.0,-1.2,15,163,12.60,2.38,-25.10,0.000,4,0.268,0.076,2835,509,3423,0,0,0,0,0,0
$GC,200,-0.52,-145.9,10.7,-11.1,28,207,0.00,2.20,0.00,0.000,6,0.000,0.039,2829,1882,3424,0,0,0,0,0,0
$GC,280,-0.57,-145.9,18.6,-8.9,41,287,0.00,1.65,0.00,0.000,4,0.000,0.049,2822,2921,3424,0,0,0,0,0,0
$GC,331,-0.66,-145.9,22.8,-8.6,49,339,0.05,1.62,0.00,0.000,6,0.084,0.047,2792,1911,3424,0,0,0,0,0,0
$GC,412,-0.66,-145.9,30.3,-9.6,62,419,0.00,2.30,0.00,0.000,4,0.000,0.061,2792,510,3424,0,0,0,0,0,0
$GC,437,-0.64,-145.9,33.0,-9.6,66,445,0.05,2.22,0.00,0.000,6,0.168,0.035,2798,1922,3423,0,0,0,0,0,0
$GC,677,-0.67,-145.9,55.0,-9.1,107,682,0.00,2.20,0.00,0.000,4,0.000,0.048,2789,3324,3423,0,0,0,0,0,0
$GC,762,-0.67,-145.9,63.2,-10.0,122,767,0.00,2.20,0.00,0.000,6,0.000,0.041,2789,1899,3424,0,0,0,0,0,0
$GC,1106,-0.67,-145.9,94.8,-8.9,183,1113,0.00,2.25,0.00,0.000,4,0.000,0.046,2780,3311,3424,0,0,0,0,0,0
$GC,1157,-0.63,-145.9,100.0,-10.2,192,1161,0.10,2.15,0.00,0.000,6,0.166,0.039,2804,1910,3424,0,0,0,0,0,0
$GC,1484,-0.70,-145.9,127.6,-8.8,213,1488,0.00,2.22,0.00,0.000,4,0.000,0.044,2795,3328,3424,0,0,0,0,0,0
$GC,1538,-0.70,-145.9,133.3,-9.9,216,1547,0.00,2.20,0.00,0.000,6,0.000,0.035,2795,1909,3424,0,0,0,0,0,0
$GC,1860,-0.73,-145.9,162.2,-9.2,237,1864,0.00,2.10,0.00,0.000,4,0.000,0.043,2787,3255,3424,0,0,0,0,0,0
$GC,1892,-0.73,-145.9,165.7,-9.7,239,1897,0.00,2.08,0.00,0.000,6,0.000,0.036,2787,1918,3424,0,0,0,0,0,0
$GC,2219,-0.73,-145.9,195.0,-9.0,260,2223,0.00,2.20,0.00,0.000,4,0.000,0.044,2779,3326,3424,0,0,0,0,0,0
$GC,2266,-0.70,-145.9,199.3,-9.5,263,2270,0.00,2.17,0.00,0.000,6,0.000,0.035,2778,1899,3424,0,0,0,0,0,0
$GC,2597,-0.70,-145.9,229.8,-9.8,284,2601,0.00,2.22,0.00,0.000,4,0.000,0.043,2769,3327,3424,0,0,0,0,0,0
$GC,2644,-0.63,-145.9,234.5,-10.0,287,2649,0.15,2.15,0.00,0.000,6,0.155,0.034,2809,1912,3424,0,0,0,0,0,0
$GC,2964,-0.72,-145.9,263.7,-9.2,305,2969,0.10,2.20,0.00,0.000,4,0.112,0.044,2760,3323,3424,0,0,0,0,0,0
$GC,3053,-0.66,-145.9,274.0,-11.4,309,3058,0.10,2.17,0.00,0.000,6,0.141,0.034,2792,1911,3424,0,0,0,0,0,0
$GC,3382,-0.70,-145.9,306.5,-9.9,325,3386,0.00,2.20,0.00,0.000,4,0.000,0.044,2783,3322,3424,0,0,0,0,0,0
$GC,3430,-0.70,-145.9,312.2,-10.6,327,3435,0.00,2.17,0.00,0.000,6,0.000,0.034,2783,1915,3424,0,0,0,0,0,0
$GC,3755,-0.73,-145.9,345.8,-10.4,343,3759,0.00,2.17,0.00,0.000,4,0.000,0.043,2775,3321,3424,0,0,0,0,0,0
$GC,3802,-0.73,-145.9,350.8,-11.0,345,3806,0.00,2.12,0.00,0.000,6,0.000,0.034,2774,1909,3423,0,0,0,0,0,0
$GC,4130,-0.73,-145.9,385.2,-10.3,361,4134,0.00,2.20,0.00,0.000,4,0.000,0.043,2766,3325,3423,0,0,0,0,0,0
$GC,4177,-0.67,-145.9,390.2,-10.9,363,4182,0.10,2.15,0.00,0.000,6,0.170,0.034,2791,1912,3423,0,0,0,0,0,0
$GC,4491,-0.72,-145.9,419.3,-8.9,375,4495,0.00,2.20,0.00,0.000,4,0.000,0.043,2781,3326,3423,0,0,0,0,0,0
$GC,4545,-0.72,-145.9,424.9,-9.7,376,4551,0.00,2.17,0.00,0.000,6,0.000,0.034,2781,1915,3423,0,0,0,0,0,0
$GC,4859,-0.74,-145.9,453.1,-8.9,387,4863,0.00,2.17,0.00,0.000,4,0.000,0.042,2772,3321,3422,0,0,0,0,0,0
$GC,4908,-0.71,-145.9,457.9,-9.4,388,4912,0.00,2.17,0.00,0.000,6,0.000,0.034,2772,1911,3422,0,0,0,0,0,0
$GC,5226,-0.71,-145.9,486.4,-9.0,399,5230,0.00,2.20,0.00,0.000,4,0.000,0.044,2764,3321,3422,0,0,0,0,0,0
$GC,5291,-0.63,-145.9,493.1,-10.7,401,5296,0.12,2.17,0.00,0.000,6,0.135,0.033,2802,1908,3422,0,0,0,0,0,0
$GC,5627,-0.71,-145.9,521.3,-8.6,412,5631,0.00,2.22,0.00,0.000,4,0.000,0.044,2794,3330,3421,0,0,0,0,0,0
$GC,5692,-0.77,-145.9,527.6,-9.5,414,5698,0.05,2.20,0.00,0.000,6,0.084,0.034,2763,1907,3421,0,0,0,0,0,0
$GC,6028,-0.77,-145.9,562.7,-10.8,425,6032,0.00,2.17,0.00,0.000,4,0.000,0.043,2753,3301,3421,0,0,0,0,0,0
$GC,6060,-0.72,-145.9,566.8,-12.2,426,6065,0.08,2.15,0.00,0.000,6,0.148,0.034,2776,1908,3420,0,0,0,0,0,0
$GC,6395,-0.74,-145.9,603.1,-10.9,437,6399,0.00,2.20,0.00,0.000,4,0.000,0.044,2768,3321,3420,0,0,0,0,0,0
$GC,6432,-0.71,-145.9,607.7,-12.1,438,6437,0.00,2.17,0.00,0.000,6,0.000,0.034,2768,1910,3420,0,0,0,0,0,0
$GC,6762,-0.71,-145.9,645.2,-11.2,449,6766,0.00,2.20,0.00,0.000,4,0.000,0.044,2760,3321,3420,0,0,0,0,0,0
$GC,6811,-0.66,-145.9,651.0,-12.2,450,6816,0.12,2.17,0.00,0.000,6,0.134,0.033,2798,1905,3420,0,0,0,0,0,0
$GC,7134,-0.73,-145.9,682.6,-9.5,461,7139,0.08,2.22,0.00,0.000,4,0.135,0.044,2762,3321,3419,0,0,0,0,0,0
$GC,7183,-0.67,-145.9,687.9,-11.3,462,7188,0.10,2.17,0.00,0.000,6,0.138,0.033,2794,1910,3418,0,0,0,0,0,0
$GC,7501,-0.72,-145.9,715.9,-8.4,473,7505,0.00,2.20,0.00,0.000,4,0.000,0.043,2785,3320,3419,0,0,0,0,0,0
$GC,7573,-0.77,-145.9,722.4,-9.1,475,7578,0.03,2.17,0.00,0.000,6,0.112,0.034,2765,1912,3418,0,0,0,0,0,0
$GC,7908,-0.77,-145.9,752.4,-8.9,486,7912,0.00,2.20,0.00,0.000,4,0.000,0.043,2756,3325,3418,0,0,0,0,0,0
$GC,7951,-0.70,-145.9,756.7,-9.4,487,7956,0.05,2.17,0.00,0.000,6,0.151,0.033,2781,1916,3417,0,0,0,0,0,0
$GC,8275,-0.74,-145.9,784.1,-8.4,498,8279,0.00,2.17,0.00,0.000,4,0.000,0.043,2772,3322,3417,0,0,0,0,0,0
$GC,8346,-0.74,-145.9,790.7,-9.6,500,8352,0.00,2.17,0.00,0.000,6,0.000,0.033,2772,1911,3416,0,0,0,0,0,0
$GC,8676,-0.74,-145.9,820.4,-9.2,511,8680,0.00,2.20,0.00,0.000,4,0.000,0.043,2764,3322,3416,0,0,0,0,0,0
$GC,8726,-0.68,-145.9,825.5,-11.5,512,8731,0.08,2.17,0.00,0.000,6,0.141,0.033,2788,1914,3415,0,0,0,0,0,0
$GC,9045,-0.74,-145.9,855.7,-9.7,523,9049,0.00,2.20,0.00,0.000,4,0.000,0.044,2779,3320,3415,0,0,0,0,0,0
$GC,9111,-0.76,-145.9,863.0,-10.6,525,9115,0.00,2.17,0.00,0.000,6,0.000,0.034,2779,1913,3415,0,0,0,0,0,0
$GC,9446,-0.81,-145.9,898.4,-10.6,536,9451,0.08,2.22,0.00,0.000,4,0.137,0.044,2741,3320,3415,0,0,0,0,0,0
$GC,9484,-0.71,-145.9,903.2,-12.8,537,9489,0.10,2.20,0.00,0.000,6,0.147,0.034,2772,1902,3415,0,0,0,0,0,0
$GC,9814,-0.64,-145.9,942.4,-11.7,548,9818,0.12,2.22,0.00,0.000,4,0.187,0.054,2805,501,3415,0,0,0,0,0,0
$GC,9879,-0.64,-145.9,949.6,-10.4,550,9884,0.00,2.20,0.00,0.000,6,0.000,0.032,2796,1921,3414,0,0,0,0,0,0
$GC,10215,-0.73,-145.9,978.8,-8.3,561,10219,0.00,1.83,0.00,0.000,4,0.000,0.046,2789,3093,3415,0,0,0,0,0,0
$GC,10270,-0.80,-145.9,984.0,-9.3,562,10275,0.08,1.85,0.00,0.000,6,0.083,0.037,2756,1907,3415,0,0,0,0,0,0
$STATE,10467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10467,begin apogee
$GC,10471,-0.19,0.0,1002.9,9.7,569,10598,0.65,0.00,123.57,1.551,6,0.134,0.000,2949,1637,2827,0,0,0,0,0,0
$STATE,10599,end apogee,CONTROL_FINISHED_OK
$STATE,10599,begin climb
$GC,10601,0.52,145.9,1011.5,0.0,573,10741,0.70,2.50,133.07,1.525,4,0.080,0.062,3181,258,2232,0,0,0,0,0,0
$GC,10926,0.33,145.9,1005.3,7.6,583,10931,0.20,2.28,0.00,0.000,6,0.174,0.034,3113,1654,2231,0,0,0,0,0,0
$GC,11262,0.30,230.5,990.2,4.5,594,11343,0.00,2.35,75.32,1.527,4,0.000,0.043,3113,3056,1886,0,0,0,0,0,0
$GC,11451,0.32,243.4,978.5,7.0,600,11470,0.00,2.28,12.30,1.344,6,0.000,0.042,3118,1657,1834,0,0,0,0,0,0
$GC,11790,0.44,267.7,956.3,6.6,611,11821,0.12,2.33,22.23,1.390,4,0.102,0.043,3165,3054,1734,0,0,0,0,0,0
$GC,11877,0.36,267.7,949.2,7.6,613,11882,0.17,2.25,0.00,0.000,6,0.183,0.043,3130,1649,1733,0,0,0,0,0,0
$GC,12195,0.46,295.6,928.1,6.5,624,12227,0.10,2.33,25.73,1.396,4,0.110,0.063,3170,245,1621,0,0,0,0,0,0
$GC,12345,0.42,295.6,916.2,8.1,628,12349,0.08,2.20,0.00,0.000,6,0.191,0.034,3154,1660,1619,0,0,0,0,0,0
$GC,12662,0.46,302.8,892.9,7.2,639,12673,0.00,1.50,7.05,1.132,4,0.000,0.040,3154,2605,1591,0,0,0,0,0,0
$GC,12706,0.50,304.2,889.5,7.4,640,12711,0.00,1.52,0.00,0.000,6,0.000,0.045,3157,1655,1592,0,0,0,0,0,0
$GC,13031,0.57,320.5,867.1,6.8,651,13056,0.12,2.38,17.65,1.333,4,0.098,0.063,3213,244,1520,0,0,0,0,0,0
$GC,13114,0.45,320.5,859.6,10.0,653,13119,0.20,2.20,0.00,0.000,6,0.177,0.034,3163,1657,1518,0,0,0,0,0,0
$GC,13431,0.45,332.1,836.8,7.0,664,13446,0.00,0.68,11.48,1.251,4,0.000,0.041,3163,2101,1472,0,0,0,0,0,0
$GC,13478,0.45,348.0,833.4,6.9,665,13499,0.00,0.75,16.40,1.307,6,0.000,0.050,3164,1643,1407,0,0,0,0,0,0
$GC,13829,0.61,348.0,808.1,7.5,677,13834,0.12,2.28,0.00,0.000,4,0.097,0.044,3216,3064,1405,0,0,0,0,0,0
$GC,13918,0.50,348.0,798.5,10.8,679,13924,0.15,2.28,0.00,0.000,6,0.161,0.046,3181,1655,1404,0,0,0,0,0,0
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$STATE,23065,end climb,SURFACE_DEPTH_REACHED
$STATE,23065,begin surface coast
$FINISH,1.4,1.013329
$STATE,23126,end surface coast,CONTROL_FINISHED_OK
$STATE,23126,begin surface
$SM_CCo,23204,0.00,0.000,0,0,1400,350.04
$SM_GC,2.46,8.73,0.00,0.00,0.062,0.000,0.000,90,1926,1400,-9.09,0.37,350.04
$IRIDIUM_FIX,-4155.38,-725.51,121112,181845
$TT8_MAMPS,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.3,49.723
$10V_AH,10.2,37.283
$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
$DEVICE_SECS,29.900,256.625,444.800,0.000,0.000,27.822,43.701,596.350,0.250,0.000,49.220,3188.586,15739.308,598.996,4282.595,211.512,33.360,2182.960,0.000,3525.867,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.944,1363.337,795.408,100.974,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,73733,1217
$CAP_FILE_SIZE,246421,0
$CFSIZE,2097086464,2064580608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131112,081623,-4207.315,-717.431,47,1.3,48,-21.9