version: 66.07.10.p01
glider: 574
mission: 4
dive: 449
start: 1 3 113 7 53 14
data:
$ID,574
$MISSION,4
$DIVE,449
$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,-7266.1865
$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,28
$R_STBD_OVSHOOT,66
$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,428
$GPS1,030113,073905,-4121.479,-510.517,32,1.5,32,-22.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-72.9
$GPS2,030113,075253,-4121.511,-510.265,47,1.2,47,-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,95.1,102742,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.69,-116.8,0.0,0.0,0,71,0.00,0.00,-42.15,0.000,2,0.000,0.000,68,1756,2116,0,0,0,0,0,0
$GC,74,-0.69,-116.8,3.2,-1.1,7,130,12.18,2.35,-38.20,0.000,4,0.252,0.072,2753,332,3305,0,0,0,0,0,0
$GC,193,-0.60,-116.8,13.7,-12.5,26,201,0.12,2.17,0.00,0.000,6,0.131,0.035,2785,1714,3307,0,0,0,0,0,0
$GC,275,-0.66,-116.8,22.6,-10.4,39,282,0.00,0.80,0.00,0.000,4,0.000,0.047,2782,2246,3307,0,0,0,0,0,0
$GC,332,-0.73,-116.8,28.6,-10.3,48,340,0.08,0.77,0.00,0.000,6,0.063,0.050,2737,1748,3307,0,0,0,0,0,0
$GC,412,-0.66,-116.8,36.7,-10.2,61,417,0.12,1.58,0.00,0.000,4,0.155,0.059,2770,775,3307,0,0,0,0,0,0
$GC,472,-0.66,-116.8,42.7,-9.6,71,477,0.00,1.52,0.00,0.000,6,0.000,0.037,2769,1750,3307,0,0,0,0,0,0
$GC,707,-0.68,-116.8,66.4,-10.0,107,711,0.00,0.52,0.00,0.000,4,0.000,0.054,2769,1407,3307,0,0,0,0,0,0
$GC,919,-0.71,-116.8,86.9,-8.7,126,923,0.00,0.52,0.00,0.000,6,0.000,0.041,2769,1762,3308,0,0,0,0,0,0
$GC,1244,-0.77,-116.8,115.2,-9.1,151,1249,0.10,2.35,0.00,0.000,4,0.106,0.060,2721,342,3308,0,0,0,0,0,0
$GC,1325,-0.67,-116.8,124.0,-10.8,156,1330,0.20,2.17,0.00,0.000,6,0.145,0.035,2766,1750,3308,0,0,0,0,0,0
$GC,1652,-0.72,-116.8,153.5,-9.0,177,1656,0.00,0.75,0.00,0.000,4,0.000,0.054,2766,1281,3309,0,0,0,0,0,0
$GC,1729,-0.76,-116.8,161.0,-9.1,181,1735,0.05,0.73,0.00,0.000,6,0.080,0.037,2730,1763,3308,0,0,0,0,0,0
$GC,2052,-0.72,-116.8,193.3,-10.4,202,2056,0.08,0.68,0.00,0.000,4,0.180,0.054,2748,1351,3308,0,0,0,0,0,0
$GC,2106,-0.72,-116.8,198.9,-10.0,205,2109,0.00,0.60,0.00,0.000,6,0.000,0.041,2747,1751,3309,0,0,0,0,0,0
$GC,2433,-0.72,-116.8,233.3,-10.3,221,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1750,3308,0,0,0,0,0,0
$GC,2742,-0.72,-116.8,263.6,-9.5,236,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1750,3309,0,0,0,0,0,0
$GC,3051,-0.72,-116.8,294.0,-10.0,251,3055,0.00,0.98,0.00,0.000,4,0.000,0.054,2747,1147,3308,0,0,0,0,0,0
$GC,3099,-0.72,-116.8,298.5,-10.0,253,3103,0.00,0.93,0.00,0.000,6,0.000,0.037,2743,1751,3308,0,0,0,0,0,0
$GC,3428,-0.72,-116.8,330.8,-9.6,264,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1751,3308,0,0,0,0,0,0
$GC,3734,-0.72,-116.8,358.9,-9.1,274,3738,0.00,1.30,0.00,0.000,4,0.000,0.054,2743,958,3308,0,0,0,0,0,0
$GC,3789,-0.72,-116.8,363.9,-8.8,275,3794,0.00,1.23,0.00,0.000,6,0.000,0.034,2742,1749,3307,0,0,0,0,0,0
$GC,4108,-0.74,-116.8,390.9,-8.7,286,4112,0.00,0.73,0.00,0.000,4,0.000,0.052,2742,1298,3308,0,0,0,0,0,0
$GC,4170,-0.79,-116.8,396.8,-9.3,287,4175,0.00,0.70,0.00,0.000,6,0.000,0.037,2743,1763,3307,0,0,0,0,0,0
$GC,4482,-0.79,-116.8,425.3,-9.3,298,4486,0.00,1.00,0.00,0.000,4,0.000,0.053,2742,1145,3307,0,0,0,0,0,0
$GC,4537,-0.79,-116.8,430.9,-9.9,299,4541,0.00,0.95,0.00,0.000,6,0.000,0.035,2742,1757,3307,0,0,0,0,0,0
$GC,4856,-0.81,-116.8,461.1,-9.7,310,4858,0.05,0.00,0.00,0.000,6,0.168,0.000,2713,1757,3305,0,0,0,0,0,0
$GC,5162,-0.78,-116.8,492.7,-10.4,320,5167,0.08,0.50,0.00,0.000,4,0.178,0.055,2732,1445,3305,0,0,0,0,0,0
$GC,5230,-0.78,-116.8,499.5,-9.4,322,5233,0.00,0.45,0.00,0.000,6,0.000,0.041,2731,1757,3305,0,0,0,0,0,0
$GC,5570,-0.78,-116.8,533.0,-9.9,333,5574,0.00,1.65,0.00,0.000,4,0.000,0.056,2731,755,3304,0,0,0,0,0,0
$GC,5625,-0.78,-116.8,538.5,-9.9,334,5629,0.00,1.52,0.00,0.000,6,0.000,0.034,2729,1737,3304,0,0,0,0,0,0
$GC,5943,-0.78,-116.8,568.7,-9.5,345,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1737,3303,0,0,0,0,0,0
$GC,6249,-0.78,-116.8,597.3,-9.3,355,6253,0.00,1.27,0.00,0.000,4,0.000,0.054,2729,961,3303,0,0,0,0,0,0
$GC,6299,-0.75,-116.8,602.5,-10.3,356,6303,0.00,1.23,0.00,0.000,6,0.000,0.036,2728,1747,3303,0,0,0,0,0,0
$GC,6623,-0.75,-116.8,634.3,-10.3,367,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1748,3302,0,0,0,0,0,0
$GC,6929,-0.75,-116.8,667.3,-11.0,377,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1748,3301,0,0,0,0,0,0
$GC,7235,-0.75,-116.8,701.3,-11.3,387,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1748,3301,0,0,0,0,0,0
$GC,7542,-0.75,-116.8,735.8,-10.9,397,7545,0.00,0.50,0.00,0.000,4,0.000,0.054,2729,1427,3300,0,0,0,0,0,0
$GC,7643,-0.75,-116.8,746.8,-10.7,400,7647,0.00,0.50,0.00,0.000,6,0.000,0.044,2728,1762,3300,0,0,0,0,0,0
$GC,7984,-0.75,-116.8,781.4,-9.7,411,7987,0.00,1.00,0.00,0.000,4,0.000,0.053,2729,1146,3299,0,0,0,0,0,0
$GC,8033,-0.75,-116.8,786.3,-8.9,412,8037,0.00,0.95,0.00,0.000,6,0.000,0.039,2729,1746,3299,0,0,0,0,0,0
$GC,8358,-0.78,-116.8,814.4,-8.6,423,8362,0.00,1.17,0.00,0.000,4,0.000,0.055,2729,1028,3298,0,0,0,0,0,0
$GC,8419,-0.78,-116.8,819.7,-8.2,424,8424,0.00,1.12,0.00,0.000,6,0.000,0.039,2728,1745,3298,0,0,0,0,0,0
$GC,8731,-0.78,-116.8,845.5,-8.4,435,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1745,3298,0,0,0,0,0,0
$GC,9038,-0.80,-116.8,873.0,-9.2,445,9042,0.00,1.50,0.00,0.000,4,0.000,0.055,2728,827,3298,0,0,0,0,0,0
$GC,9093,-0.80,-116.8,878.8,-10.1,446,9097,0.00,1.45,0.00,0.000,6,0.000,0.036,2728,1750,3297,0,0,0,0,0,0
$GC,9412,-0.80,-116.8,912.0,-10.9,457,9415,0.00,0.55,0.00,0.000,4,0.000,0.047,2727,2144,3296,0,0,0,0,0,0
$GC,9461,-0.80,-116.8,917.8,-11.2,458,9466,0.00,0.62,0.00,0.000,6,0.000,0.047,2726,1743,3296,0,0,0,0,0,0
$GC,9785,-0.80,-116.8,955.4,-11.9,469,9789,0.00,1.05,0.00,0.000,4,0.000,0.053,2726,1076,3296,0,0,0,0,0,0
$GC,9840,-0.80,-116.8,962.1,-12.2,470,9845,0.00,1.05,0.00,0.000,6,0.000,0.037,2727,1754,3296,0,0,0,0,0,0
$GC,10159,-0.84,-116.8,997.1,-10.8,481,10163,0.00,0.93,0.00,0.000,4,0.000,0.052,2727,1179,3295,0,0,0,0,0,0
$STATE,10193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10193,begin apogee
$GC,10199,-0.25,0.0,1000.5,9.8,482,10305,0.57,0.00,102.95,1.491,6,0.125,0.000,2899,1636,2827,0,0,0,0,0,0
$STATE,10306,end apogee,CONTROL_FINISHED_OK
$STATE,10306,begin climb
$GC,10308,0.69,116.8,1008.1,0.0,485,10424,0.90,1.83,108.28,1.467,4,0.071,0.058,3210,651,2350,0,0,0,0,0,0
$GC,10677,0.40,343.3,1024.2,-2.0,496,10894,0.30,1.50,208.95,1.459,6,0.193,0.036,3119,1628,1426,0,0,0,0,0,0
$GC,11219,0.58,343.3,983.7,8.9,514,11223,0.15,1.38,0.00,0.000,4,0.096,0.041,3174,2514,1418,0,0,0,0,0,0
$GC,11273,0.58,343.3,978.5,8.9,515,11278,0.00,1.42,0.00,0.000,6,0.000,0.049,3175,1630,1416,0,0,0,0,0,0
$GC,11592,0.58,343.3,951.7,8.1,526,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1630,1415,0,0,0,0,0,0
$GC,11898,0.58,343.3,930.1,6.6,536,11902,0.00,0.93,0.00,0.000,4,0.000,0.041,3175,2239,1414,0,0,0,0,0,0
$GC,11953,0.58,353.5,926.6,6.0,537,11968,0.00,1.00,8.75,1.184,6,0.000,0.050,3175,1613,1385,0,0,0,0,0,0
$GC,12305,0.61,353.5,903.9,6.6,549,12308,0.00,0.88,0.00,0.000,4,0.000,0.040,3175,2192,1383,0,0,0,0,0,0
$GC,12377,0.64,353.5,898.9,6.8,551,12381,0.00,0.93,0.00,0.000,6,0.000,0.051,3175,1615,1383,0,0,0,0,0,0
$GC,12713,0.67,353.5,875.0,7.6,562,12717,0.08,2.22,0.00,0.000,4,0.130,0.044,3204,3020,1382,0,0,0,0,0,0
$GC,12775,0.60,353.5,869.7,8.6,564,12780,0.12,2.22,0.00,0.000,6,0.179,0.046,3183,1619,1382,0,0,0,0,0,0
$GC,13109,0.60,353.5,841.8,8.4,575,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1619,1382,0,0,0,0,0,0
$GC,13415,0.60,353.5,815.0,9.0,585,13419,0.00,2.20,0.00,0.000,4,0.000,0.047,3183,3014,1382,0,0,0,0,0,0
$GC,13481,0.60,353.5,808.8,10.2,587,13486,0.00,2.25,0.00,0.000,6,0.000,0.046,3186,1621,1381,0,0,0,0,0,0
$GC,13817,0.60,353.5,778.2,9.2,598,13821,0.00,0.70,0.00,0.000,4,0.000,0.044,3186,2083,1381,0,0,0,0,0,0
$GC,13919,0.60,353.5,768.7,9.5,601,13923,0.00,0.75,0.00,0.000,6,0.000,0.054,3186,1616,1381,0,0,0,0,0,0
$GC,14259,0.60,353.5,737.7,8.9,612,14263,0.00,2.22,0.00,0.000,4,0.000,0.047,3186,3019,1381,0,0,0,0,0,0
$GC,14337,0.57,353.5,730.8,7.9,614,14342,0.08,2.25,0.00,0.000,6,0.202,0.047,3172,1612,1380,0,0,0,0,0,0
$GC,14667,0.61,353.5,703.0,8.6,625,14670,0.00,0.82,0.00,0.000,4,0.000,0.042,3172,2155,1380,0,0,0,0,0,0
$GC,14739,0.64,353.5,696.8,8.6,627,14743,0.00,0.85,0.00,0.000,6,0.000,0.053,3172,1625,1380,0,0,0,0,0,0
$GC,15075,0.67,353.5,669.1,8.3,638,15079,0.10,1.73,0.00,0.000,4,0.110,0.044,3217,2708,1380,0,0,0,0,0,0
$GC,15142,0.58,353.5,662.9,9.7,640,15147,0.20,1.75,0.00,0.000,6,0.165,0.048,3173,1611,1380,0,0,0,0,0,0
$GC,15483,0.62,353.5,635.0,8.1,651,15486,0.00,0.98,0.00,0.000,4,0.000,0.044,3173,2239,1380,0,0,0,0,0,0
$GC,15572,0.67,353.5,627.9,8.3,653,15576,0.05,1.00,0.00,0.000,6,0.077,0.053,3205,1613,1380,0,0,0,0,0,0
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$STATE,23611,end climb,SURFACE_DEPTH_REACHED
$STATE,23611,begin surface coast
$FINISH,1.6,1.025852
$STATE,23653,end surface coast,CONTROL_FINISHED_OK
$STATE,23653,begin surface
$SM_CCo,23732,0.00,0.000,0,0,1243,388.55
$SM_GC,2.69,8.70,0.00,0.00,0.049,0.000,0.000,85,1747,1243,-9.01,-0.08,388.55
$IRIDIUM_FIX,-4106.41,-510.11,020113,181820
$TT8_MAMPS,0.026964
$HUMID,49.29
$INTERNAL_PRESSURE,9.13569
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,21.7,108.215
$10V_AH,9.9,63.788
$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,24.625,122.225,462.525,0.000,0.000,24.189,46.993,542.482,0.250,0.000,49.465,2909.745,16954.426,536.896,3824.959,325.066,0.000,1978.997,0.000,3133.174,0.000,2.832,0.000
$DEVICE_MAMPS,252.450,71.910,1490.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.431,1027.045,755.374,89.619,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,67041,1108
$CAP_FILE_SIZE,208586,0
$CFSIZE,2097086464,2033025024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,030113,143029,-4121.045,-510.129,69,1.4,69,-22.4