version: 66.07.10.p01
glider: 574
mission: 4
dive: 445
start: 1 2 113 5 47 25
data:
$ID,574
$MISSION,4
$DIVE,445
$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,520
$T_MISSION,550
$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,120
$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,2
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-7256.3066
$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,2985
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,67
$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,424
$GPS1,020113,052523,-4121.954,-510.532,40,1.7,40,-22.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-65.8
$GPS2,020113,054704,-4122.048,-510.665,53,1.0,63,-22.4
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,94.7,103575,-13.7,-6.410
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.69,-116.8,0.0,0.0,0,81,0.00,0.00,-53.75,0.000,2,0.000,0.000,67,1764,2002,0,0,0,0,0,0
$GC,84,-0.69,-116.8,3.1,-1.0,9,152,12.05,2.17,-50.67,0.000,4,0.249,0.062,2745,3121,3298,0,0,0,0,0,0
$GC,233,-0.63,-116.8,13.2,-11.1,33,241,0.10,2.20,0.00,0.000,6,0.145,0.049,2776,1760,3299,0,0,0,0,0,0
$GC,314,-0.63,-116.8,24.1,-14.0,46,321,0.00,2.12,0.00,0.000,4,0.000,0.063,2775,470,3300,0,0,0,0,0,0
$GC,385,-0.67,-116.8,32.4,-9.8,58,392,0.00,1.95,0.00,0.000,6,0.000,0.034,2770,1714,3300,0,0,0,0,0,0
$GC,625,-0.64,-116.8,55.3,-10.3,99,630,0.00,0.82,0.00,0.000,4,0.000,0.054,2770,1200,3299,0,0,0,0,0,0
$GC,675,-0.64,-116.8,61.1,-10.0,107,680,0.00,0.88,0.00,0.000,6,0.000,0.037,2768,1766,3300,0,0,0,0,0,0
$GC,1000,-0.67,-116.8,93.3,-8.5,138,1004,0.00,1.15,0.00,0.000,4,0.000,0.044,2762,2526,3299,0,0,0,0,0,0
$GC,1047,-0.71,-116.8,97.2,-8.9,142,1051,0.00,1.23,0.00,0.000,6,0.000,0.044,2762,1743,3299,0,0,0,0,0,0
$GC,1378,-0.71,-116.8,126.7,-9.1,164,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1743,3300,0,0,0,0,0,0
$GC,1689,-0.71,-116.8,156.3,-9.8,184,1692,0.00,1.08,0.00,0.000,4,0.000,0.057,2763,1069,3300,0,0,0,0,0,0
$GC,1733,-0.74,-116.8,160.9,-10.1,186,1740,0.00,1.05,0.00,0.000,6,0.000,0.035,2758,1757,3300,0,0,0,0,0,0
$GC,2054,-0.74,-116.8,193.1,-10.1,207,2058,0.00,0.62,0.00,0.000,4,0.000,0.047,2756,2191,3300,0,0,0,0,0,0
$GC,2107,-0.74,-116.8,198.5,-10.2,210,2111,0.00,0.68,0.00,0.000,6,0.000,0.047,2756,1747,3300,0,0,0,0,0,0
$GC,2436,-0.74,-116.8,232.1,-10.1,226,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1747,3300,0,0,0,0,0,0
$GC,2745,-0.77,-116.8,263.2,-10.2,241,2747,0.05,0.00,0.00,0.000,6,0.170,0.000,2724,1747,3299,0,0,0,0,0,0
$GC,3055,-0.72,-116.8,295.6,-10.3,256,3059,0.10,0.43,0.00,0.000,4,0.165,0.044,2750,2043,3299,0,0,0,0,0,0
$GC,3115,-0.72,-116.8,301.7,-9.5,258,3120,0.00,0.47,0.00,0.000,6,0.000,0.049,2750,1734,3299,0,0,0,0,0,0
$GC,3428,-0.74,-116.8,329.9,-8.9,269,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1734,3299,0,0,0,0,0,0
$GC,3734,-0.74,-116.8,356.4,-8.6,279,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1733,3299,0,0,0,0,0,0
$GC,4040,-0.74,-116.8,382.9,-8.7,289,4044,0.00,0.38,0.00,0.000,4,0.000,0.059,2749,1472,3298,0,0,0,0,0,0
$GC,4089,-0.74,-116.8,387.3,-8.9,290,4093,0.00,0.43,0.00,0.000,6,0.000,0.041,2748,1765,3298,0,0,0,0,0,0
$GC,4413,-0.74,-116.8,415.8,-9.0,301,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1765,3297,0,0,0,0,0,0
$GC,4719,-0.74,-116.8,443.4,-9.0,311,4723,0.00,1.52,0.00,0.000,4,0.000,0.057,2748,838,3297,0,0,0,0,0,0
$GC,4763,-0.74,-116.8,447.6,-9.1,312,4767,0.00,1.38,0.00,0.000,6,0.000,0.034,2742,1725,3297,0,0,0,0,0,0
$GC,5093,-0.74,-116.8,476.8,-8.8,323,5097,0.00,0.68,0.00,0.000,4,0.000,0.044,2742,2190,3296,0,0,0,0,0,0
$GC,5136,-0.74,-116.8,480.7,-8.6,324,5141,0.00,0.68,0.00,0.000,6,0.000,0.046,2742,1755,3296,0,0,0,0,0,0
$GC,5466,-0.74,-116.8,509.4,-8.9,335,5470,0.00,1.62,0.00,0.000,4,0.000,0.057,2743,753,3295,0,0,0,0,0,0
$GC,5521,-0.74,-116.8,514.5,-8.7,336,5525,0.00,1.55,0.00,0.000,6,0.000,0.034,2742,1755,3295,0,0,0,0,0,0
$GC,5840,-0.74,-116.8,542.0,-8.7,347,5843,0.00,0.70,0.00,0.000,4,0.000,0.045,2742,2233,3294,0,0,0,0,0,0
$GC,5889,-0.74,-116.8,546.5,-8.7,348,5893,0.00,0.77,0.00,0.000,6,0.000,0.045,2742,1743,3294,0,0,0,0,0,0
$GC,6213,-0.74,-116.8,574.3,-8.9,359,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1743,3293,0,0,0,0,0,0
$GC,6520,-0.74,-116.8,602.2,-9.1,369,6523,0.00,1.45,0.00,0.000,4,0.000,0.056,2742,848,3292,0,0,0,0,0,0
$GC,6569,-0.74,-116.8,607.1,-9.7,370,6573,0.00,1.40,0.00,0.000,6,0.000,0.034,2742,1751,3292,0,0,0,0,0,0
$GC,6893,-0.74,-116.8,637.3,-9.6,381,6897,0.00,0.82,0.00,0.000,4,0.000,0.044,2742,2307,3290,0,0,0,0,0,0
$GC,6943,-0.76,-116.8,642.2,-9.8,382,6947,0.00,0.88,0.00,0.000,6,0.000,0.046,2742,1742,3291,0,0,0,0,0,0
$GC,7267,-0.76,-116.8,672.8,-9.6,393,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1742,3290,0,0,0,0,0,0
$GC,7573,-0.76,-116.8,701.7,-9.6,403,7577,0.00,1.05,0.00,0.000,4,0.000,0.054,2742,1076,3290,0,0,0,0,0,0
$GC,7629,-0.76,-116.8,707.1,-10.1,404,7633,0.00,1.05,0.00,0.000,6,0.000,0.035,2742,1758,3289,0,0,0,0,0,0
$GC,7947,-0.76,-116.8,736.3,-9.4,415,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1758,3289,0,0,0,0,0,0
$GC,8253,-0.76,-116.8,764.0,-8.9,425,8257,0.00,0.80,0.00,0.000,4,0.000,0.053,2742,1254,3288,0,0,0,0,0,0
$GC,8297,-0.76,-116.8,768.0,-8.2,426,8301,0.00,0.77,0.00,0.000,6,0.000,0.038,2742,1753,3288,0,0,0,0,0,0
$GC,8627,-0.76,-116.8,795.2,-8.2,437,8630,0.00,0.40,0.00,0.000,4,0.000,0.054,2742,1482,3287,0,0,0,0,0,0
$GC,8695,-0.76,-116.8,800.8,-7.9,439,8698,0.00,0.40,0.00,0.000,6,0.000,0.046,2742,1758,3287,0,0,0,0,0,0
$GC,9035,-0.76,-116.8,827.9,-7.8,450,9039,0.00,0.43,0.00,0.000,4,0.000,0.054,2742,1474,3286,0,0,0,0,0,0
$GC,9090,-0.76,-116.8,832.4,-7.9,451,9094,0.00,0.43,0.00,0.000,6,0.000,0.044,2742,1754,3286,0,0,0,0,0,0
$GC,9409,-0.78,-116.8,858.2,-8.5,462,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1754,3286,0,0,0,0,0,0
$GC,9715,-0.78,-116.8,884.8,-9.0,472,9718,0.00,1.92,0.00,0.000,4,0.000,0.046,2734,2995,3285,0,0,0,0,0,0
$GC,9776,-0.82,-116.8,890.6,-8.8,473,9782,0.03,1.95,0.00,0.000,6,0.106,0.039,2712,1760,3285,0,0,0,0,0,0
$GC,10089,-0.79,-116.8,921.4,-10.1,484,10093,0.08,0.77,0.00,0.000,4,0.190,0.041,2727,2268,3284,0,0,0,0,0,0
$GC,10143,-0.79,-116.8,927.1,-10.4,485,10148,0.00,0.82,0.00,0.000,6,0.000,0.044,2727,1740,3284,0,0,0,0,0,0
$GC,10462,-0.79,-116.8,959.8,-10.3,496,10465,0.00,2.05,0.00,0.000,4,0.000,0.044,2718,3058,3284,0,0,0,0,0,0
$GC,10522,-0.79,-116.8,966.4,-9.9,497,10528,0.00,2.05,0.00,0.000,6,0.000,0.038,2718,1757,3283,0,0,0,0,0,0
$GC,10836,-0.79,-116.8,999.1,-10.5,508,10839,0.00,0.77,0.00,0.000,4,0.000,0.051,2718,1257,3283,0,0,0,0,0,0
$STATE,10845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10845,begin apogee
$GC,10851,-0.25,0.0,1000.4,10.5,508,10954,0.60,0.00,99.97,1.497,6,0.133,0.000,2899,1642,2827,0,0,0,0,0,0
$STATE,10955,end apogee,CONTROL_FINISHED_OK
$STATE,10955,begin climb
$GC,10957,0.69,116.8,1007.8,0.0,511,11073,0.90,1.30,108.53,1.467,4,0.070,0.041,3204,2393,2351,0,0,0,0,0,0
$GC,11107,0.42,386.5,1019.5,-3.6,515,11378,0.32,1.30,261.27,1.439,6,0.186,0.045,3129,1626,1251,0,0,0,0,0,0
$GC,11692,0.63,386.5,984.6,7.5,535,11697,0.17,2.35,0.00,0.000,4,0.094,0.063,3189,208,1245,0,0,0,0,0,0
$GC,11805,0.73,386.5,975.5,7.5,538,11810,0.10,2.17,0.00,0.000,6,0.119,0.032,3224,1626,1242,0,0,0,0,0,0
$GC,12123,0.69,386.5,947.8,8.8,549,12127,0.08,2.15,0.00,0.000,4,0.194,0.042,3210,3016,1243,0,0,0,0,0,0
$GC,12183,0.66,386.5,942.5,8.7,550,12189,0.08,2.22,0.00,0.000,6,0.198,0.045,3201,1612,1242,0,0,0,0,0,0
$GC,12496,0.66,386.5,917.2,8.0,561,12499,0.00,1.12,0.00,0.000,4,0.000,0.041,3201,2345,1242,0,0,0,0,0,0
$GC,12545,0.66,386.5,913.1,7.7,562,12549,0.00,1.15,0.00,0.000,6,0.000,0.049,3201,1621,1242,0,0,0,0,0,0
$GC,12870,0.66,386.5,887.5,7.8,573,12873,0.00,0.82,0.00,0.000,4,0.000,0.041,3201,2167,1242,0,0,0,0,0,0
$GC,12913,0.66,386.5,883.8,8.0,574,12917,0.00,0.88,0.00,0.000,6,0.000,0.052,3202,1616,1242,0,0,0,0,0,0
$GC,13243,0.66,386.5,856.9,8.4,585,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1616,1243,0,0,0,0,0,0
$GC,13549,0.66,386.5,831.0,8.4,595,13553,0.00,2.00,0.00,0.000,4,0.000,0.044,3202,2882,1243,0,0,0,0,0,0
$GC,13610,0.64,386.5,825.9,8.6,596,13616,0.08,2.03,0.00,0.000,6,0.200,0.046,3195,1603,1243,0,0,0,0,0,0
$GC,13923,0.67,386.5,800.1,8.4,607,13927,0.00,0.88,0.00,0.000,4,0.000,0.040,3195,2182,1243,0,0,0,0,0,0
$GC,13995,0.70,386.5,793.8,9.4,609,14000,0.00,0.90,0.00,0.000,6,0.000,0.050,3196,1616,1244,0,0,0,0,0,0
$GC,14331,0.70,386.5,764.4,8.8,620,14335,0.00,1.60,0.00,0.000,4,0.000,0.040,3196,2636,1244,0,0,0,0,0,0
$GC,14387,0.70,386.5,759.5,7.5,621,14391,0.00,1.62,0.00,0.000,6,0.000,0.047,3200,1626,1244,0,0,0,0,0,0
$GC,14705,0.70,386.5,732.2,8.5,632,14709,0.00,0.43,0.00,0.000,4,0.000,0.043,3200,1929,1245,0,0,0,0,0,0
$GC,14777,0.73,386.5,725.9,8.5,634,14782,0.00,0.52,0.00,0.000,6,0.000,0.055,3200,1609,1245,0,0,0,0,0,0
$GC,15113,0.73,386.5,698.2,8.3,645,15117,0.00,2.20,0.00,0.000,4,0.000,0.043,3200,3017,1245,0,0,0,0,0,0
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$STATE,23578,end climb,SURFACE_DEPTH_REACHED
$STATE,23578,begin surface coast
$FINISH,1.6,1.001124
$STATE,23620,end surface coast,CONTROL_FINISHED_OK
$STATE,23620,begin surface
$SM_CCo,23698,0.00,0.000,0,0,836,488.38
$SM_GC,2.74,8.93,0.00,0.00,0.063,0.000,0.000,94,1783,836,-8.99,0.93,488.38
$IRIDIUM_FIX,-4112.14,-229.37,020113,050507
$TT8_MAMPS,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,21.3,107.363
$10V_AH,9.9,63.305
$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,24.425,119.950,532.200,0.000,0.000,89.231,127.080,692.017,0.250,0.000,66.148,2865.878,17121.145,574.175,4086.176,342.597,0.000,2052.769,0.000,3058.652,0.000,2.835,0.000
$DEVICE_MAMPS,249.390,62.730,1497.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.601,1036.504,753.893,86.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354588
$DATA_FILE_SIZE,66900,1106
$CAP_FILE_SIZE,215439,0
$CFSIZE,2097086464,2033549312
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,020113,122335,-4121.900,-511.002,37,1.0,37,-22.4