version: 66.07.10.p01
glider: 574
mission: 4
dive: 52
start: 10 1 112 0 33 3
data:
$ID,574
$MISSION,4
$DIVE,52
$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,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,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,-5571.3447
$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,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,31
$GPS1,011012,002423,-4256.175,-847.937,40,1.2,41,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.3
$GPS2,011012,003242,-4256.214,-847.908,15,1.8,15,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,41.1,31901,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.52,-145.9,0.0,0.0,0,92,0.00,0.00,-66.20,0.000,2,0.000,0.000,65,1901,2808,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.0,-1.5,11,132,12.52,2.33,-16.42,0.000,4,0.278,0.075,2834,495,3424,0,0,0,0,0,0
$GC,258,-0.48,-145.9,23.2,-14.5,38,266,0.08,2.15,0.00,0.000,6,0.151,0.036,2851,1869,3425,0,0,0,0,0,0
$GC,338,-0.45,-145.9,32.4,-11.3,51,343,0.00,0.60,0.00,0.000,4,0.000,0.045,2849,2286,3425,0,0,0,0,0,0
$GC,374,-0.43,-145.9,36.1,-10.4,57,380,0.05,0.60,0.00,0.000,6,0.166,0.049,2865,1885,3425,0,0,0,0,0,0
$GC,609,-0.43,-145.9,56.4,-8.8,98,616,0.00,0.32,0.00,0.000,4,0.000,0.048,2865,2130,3425,0,0,0,0,0,0
$GC,645,-0.43,-145.9,59.9,-10.0,104,652,0.00,0.32,0.00,0.000,6,0.000,0.057,2865,1906,3425,0,0,0,0,0,0
$GC,883,-0.43,-145.9,84.2,-10.5,145,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1906,3425,0,0,0,0,0,0
$GC,1232,-0.43,-145.9,113.4,-8.1,206,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1907,3425,0,0,0,0,0,0
$GC,1583,-0.43,-145.9,140.3,-7.9,267,1588,0.00,0.85,0.00,0.000,4,0.000,0.054,2865,1355,3425,0,0,0,0,0,0
$GC,1642,-0.45,-145.9,145.1,-7.8,277,1647,0.00,0.82,0.00,0.000,6,0.000,0.037,2863,1908,3424,0,0,0,0,0,0
$GC,1991,-0.45,-145.9,173.8,-8.5,338,1998,0.00,0.25,0.00,0.000,4,0.000,0.054,2861,2116,3425,0,0,0,0,0,0
$GC,2045,-0.45,-145.9,178.0,-7.9,347,2050,0.00,0.32,0.00,0.000,6,0.000,0.054,2861,1883,3424,0,0,0,0,0,0
$GC,2393,-0.45,-145.9,207.8,-8.1,408,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1883,3425,0,0,0,0,0,0
$GC,2744,-0.45,-145.9,237.7,-9.0,469,2749,0.00,0.35,0.00,0.000,4,0.000,0.047,2860,2147,3425,0,0,0,0,0,0
$GC,2772,-0.45,-145.9,240.2,-8.7,474,2779,0.00,0.35,0.00,0.000,6,0.000,0.053,2860,1896,3425,0,0,0,0,0,0
$GC,3106,-0.45,-145.9,269.5,-8.9,514,3110,0.00,0.98,0.00,0.000,4,0.000,0.054,2860,1260,3426,0,0,0,0,0,0
$GC,3174,-0.45,-145.9,275.4,-8.9,520,3177,0.00,0.95,0.00,0.000,6,0.000,0.035,2857,1900,3425,0,0,0,0,0,0
$GC,3505,-0.45,-145.9,306.0,-9.5,551,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1900,3426,0,0,0,0,0,0
$GC,3824,-0.45,-145.9,335.8,-8.8,581,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1900,3426,0,0,0,0,0,0
$GC,4143,-0.45,-145.9,365.1,-9.4,611,4147,0.00,0.52,0.00,0.000,4,0.000,0.044,2855,2284,3426,0,0,0,0,0,0
$GC,4200,-0.48,-145.9,370.4,-8.9,616,4203,0.00,0.55,0.00,0.000,6,0.000,0.047,2855,1906,3426,0,0,0,0,0,0
$GC,4532,-0.48,-145.9,400.4,-9.1,647,4535,0.00,0.57,0.00,0.000,4,0.000,0.054,2855,1511,3426,0,0,0,0,0,0
$GC,4579,-0.48,-145.9,405.0,-9.8,651,4583,0.00,0.57,0.00,0.000,6,0.000,0.038,2852,1915,3426,0,0,0,0,0,0
$GC,4908,-0.48,-145.9,435.2,-9.3,682,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1914,3426,0,0,0,0,0,0
$GC,5227,-0.48,-145.9,465.3,-9.1,712,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1915,3426,0,0,0,0,0,0
$GC,5546,-0.48,-145.9,493.8,-8.2,742,5550,0.00,0.62,0.00,0.000,4,0.000,0.050,2852,1501,3425,0,0,0,0,0,0
$GC,5594,-0.48,-145.9,498.1,-8.1,746,5602,0.00,0.60,0.00,0.000,6,0.000,0.038,2852,1907,3425,0,0,0,0,0,0
$GC,5928,-0.48,-145.9,526.7,-8.7,759,5932,0.00,0.40,0.00,0.000,4,0.000,0.055,2851,1632,3424,0,0,0,0,0,0
$GC,5971,-0.48,-145.9,530.6,-8.3,760,5973,0.00,0.40,0.00,0.000,6,0.000,0.043,2851,1912,3424,0,0,0,0,0,0
$GC,6296,-0.48,-145.9,559.4,-9.2,771,6300,0.00,0.62,0.00,0.000,4,0.000,0.051,2851,1496,3424,0,0,0,0,0,0
$GC,6345,-0.48,-145.9,564.1,-9.1,772,6349,0.00,0.60,0.00,0.000,6,0.000,0.039,2850,1901,3423,0,0,0,0,0,0
$GC,6668,-0.48,-145.9,592.9,-8.7,783,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1901,3423,0,0,0,0,0,0
$GC,6974,-0.48,-145.9,621.4,-9.6,793,6978,0.00,0.40,0.00,0.000,4,0.000,0.056,2850,1627,3422,0,0,0,0,0,0
$GC,7011,-0.48,-145.9,625.2,-9.3,794,7014,0.00,0.40,0.00,0.000,6,0.000,0.044,2850,1907,3422,0,0,0,0,0,0
$GC,7343,-0.48,-145.9,654.9,-8.9,805,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1907,3421,0,0,0,0,0,0
$GC,7649,-0.48,-145.9,682.6,-9.0,815,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1907,3421,0,0,0,0,0,0
$GC,7955,-0.48,-145.9,710.2,-9.0,825,7959,0.00,0.73,0.00,0.000,4,0.000,0.052,2850,1435,3420,0,0,0,0,0,0
$GC,8009,-0.48,-145.9,715.1,-9.1,826,8013,0.00,0.70,0.00,0.000,6,0.000,0.038,2848,1902,3420,0,0,0,0,0,0
$GC,8327,-0.48,-145.9,741.3,-8.0,837,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1902,3419,0,0,0,0,0,0
$GC,8633,-0.48,-145.9,768.2,-8.9,847,8637,0.00,0.65,0.00,0.000,4,0.000,0.051,2848,1476,3419,0,0,0,0,0,0
$GC,8682,-0.51,-145.9,772.8,-8.9,848,8686,0.00,0.65,0.00,0.000,6,0.000,0.039,2845,1911,3419,0,0,0,0,0,0
$GC,9006,-0.51,-145.9,801.1,-9.0,859,9009,0.00,0.52,0.00,0.000,4,0.000,0.052,2846,1559,3418,0,0,0,0,0,0
$GC,9054,-0.51,-145.9,805.8,-8.9,860,9058,0.00,0.50,0.00,0.000,6,0.000,0.041,2844,1902,3418,0,0,0,0,0,0
$GC,9378,-0.51,-145.9,836.3,-9.5,871,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1902,3418,0,0,0,0,0,0
$GC,9684,-0.51,-145.9,865.0,-9.5,881,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1902,3417,0,0,0,0,0,0
$GC,9991,-0.53,-145.9,893.0,-8.7,891,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1902,3416,0,0,0,0,0,0
$GC,10297,-0.55,-145.9,917.9,-8.0,901,10300,0.00,0.68,0.00,0.000,4,0.000,0.051,2844,1459,3416,0,0,0,0,0,0
$GC,10351,-0.55,-145.9,922.3,-7.4,902,10356,0.00,0.68,0.00,0.000,6,0.000,0.040,2842,1907,3416,0,0,0,0,0,0
$GC,10670,-0.55,-145.9,945.8,-7.4,913,10673,0.00,0.28,0.00,0.000,4,0.000,0.059,2842,1710,3415,0,0,0,0,0,0
$GC,10718,-0.55,-145.9,949.8,-7.5,914,10720,0.00,0.28,0.00,0.000,6,0.000,0.051,2842,1908,3415,0,0,0,0,0,0
$GC,11038,-0.57,-145.9,973.7,-7.5,925,11042,0.00,0.77,0.00,0.000,4,0.000,0.050,2842,1407,3415,0,0,0,0,0,0
$GC,11092,-0.57,-145.9,978.0,-7.5,926,11097,0.00,0.75,0.00,0.000,6,0.000,0.037,2839,1903,3415,0,0,0,0,0,0
$STATE,11411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11411,begin apogee
$GC,11414,-0.19,0.0,1000.5,6.9,937,11539,0.35,0.00,121.30,1.434,6,0.136,0.000,2947,1626,2827,0,0,0,0,0,0
$STATE,11539,end apogee,CONTROL_FINISHED_OK
$STATE,11539,begin climb
$GC,11541,0.52,145.9,1003.3,0.0,941,11676,0.70,1.75,126.22,1.424,4,0.087,0.059,3180,651,2232,0,0,0,0,0,0
$GC,11747,0.36,145.9,994.2,8.7,947,11753,0.15,1.58,0.00,0.000,6,0.168,0.034,3139,1625,2227,0,0,0,0,0,0
$GC,12066,0.29,145.9,967.0,8.6,958,12070,0.12,1.17,0.00,0.000,4,0.185,0.041,3108,2365,2226,0,0,0,0,0,0
$GC,12160,0.29,145.9,960.0,7.5,960,12166,0.00,1.17,0.00,0.000,6,0.000,0.046,3111,1638,2225,0,0,0,0,0,0
$GC,12473,0.29,175.4,939.1,6.4,971,12503,0.00,0.38,25.92,1.320,4,0.000,0.037,3111,1899,2110,0,0,0,0,0,0
$GC,12614,0.29,197.9,929.9,6.6,975,12640,0.00,0.45,20.50,1.307,6,0.000,0.056,3113,1625,2019,0,0,0,0,0,0
$GC,12976,0.32,255.8,909.4,5.4,987,13032,0.00,1.60,51.30,1.372,4,0.000,0.037,3112,2602,1783,0,0,0,0,0,0
$GC,13081,0.36,307.3,903.3,5.6,989,13132,0.00,1.60,46.58,1.349,6,0.000,0.045,3115,1631,1574,0,0,0,0,0,0
$GC,13462,0.68,309.2,877.0,7.3,1002,13466,0.32,1.75,0.00,0.000,4,0.088,0.039,3229,2750,1563,0,0,0,0,0,0
$GC,13527,0.52,309.2,870.0,12.7,1004,13532,0.15,1.83,0.00,0.000,6,0.166,0.047,3191,1624,1562,0,0,0,0,0,0
$GC,13863,0.47,309.2,834.5,10.5,1015,13867,0.10,1.33,0.00,0.000,4,0.210,0.062,3171,818,1562,0,0,0,0,0,0
$GC,13929,0.47,309.2,828.0,9.6,1017,13933,0.00,1.25,0.00,0.000,6,0.000,0.034,3172,1631,1561,0,0,0,0,0,0
$GC,14269,0.47,309.2,797.5,8.9,1028,14273,0.00,0.65,0.00,0.000,4,0.000,0.059,3172,1227,1560,0,0,0,0,0,0
$GC,14351,0.47,309.2,789.5,8.9,1030,14355,0.00,0.62,0.00,0.000,6,0.000,0.037,3172,1652,1560,0,0,0,0,0,0
$GC,14675,0.47,309.2,759.0,9.6,1041,14678,0.00,0.80,0.00,0.000,4,0.000,0.060,3172,1148,1559,0,0,0,0,0,0
$GC,14751,0.47,309.2,751.6,9.2,1043,14756,0.00,0.73,0.00,0.000,6,0.000,0.036,3172,1631,1559,0,0,0,0,0,0
$GC,15080,0.47,309.2,721.9,9.0,1054,15084,0.00,0.32,0.00,0.000,4,0.000,0.065,3172,1419,1559,0,0,0,0,0,0
$GC,15147,0.47,309.2,716.0,9.1,1056,15151,0.00,0.28,0.00,0.000,6,0.000,0.052,3172,1627,1559,0,0,0,0,0,0
$GC,15487,0.47,309.2,684.7,9.4,1067,15488,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1627,1559,0,0,0,0,0,0
$GC,15793,0.47,309.2,656.3,9.3,1077,15797,0.00,0.88,0.00,0.000,4,0.000,0.061,3172,1070,1559,0,0,0,0,0,0
$GC,15864,0.47,309.2,649.4,9.3,1079,15869,0.00,0.85,0.00,0.000,6,0.000,0.036,3172,1631,1559,0,0,0,0,0,0
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$STATE,23076,end climb,SURFACE_DEPTH_REACHED
$STATE,23076,begin surface coast
$FINISH,1.3,1.014143
$STATE,23113,end surface coast,CONTROL_FINISHED_OK
$STATE,23113,begin surface
$SM_CCo,23189,0.00,0.000,0,0,1067,431.72
$SM_GC,2.17,8.60,0.00,0.00,0.053,0.000,0.000,88,1902,1067,-9.10,0.06,431.72
$IRIDIUM_FIX,-4242.04,-848.57,300912,181834
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,23.4,15.942
$10V_AH,10.3,14.356
$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
$DEVICE_SECS,23.450,62.050,500.175,0.000,0.000,29.301,34.528,315.320,0.250,0.000,17.797,4445.229,13301.361,557.822,5208.921,160.655,0.000,2313.724,0.000,4786.488,0.000,2.835,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1274.675,2565.393,1075.892,236.810,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,110137,1846
$CAP_FILE_SIZE,222495,0
$CFSIZE,2097086464,2086109184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,011012,070035,-4254.285,-848.767,30,1.2,31,-21.4