version: 66.07.10.p01
glider: 574
mission: 4
dive: 53
start: 10 1 112 7 10 2
data:
$ID,574
$MISSION,4
$DIVE,53
$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,-5574.5308
$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,25
$R_STBD_OVSHOOT,69
$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,32
$GPS1,011012,070035,-4254.285,-848.767,30,1.2,31,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.0
$GPS2,011012,070942,-4254.310,-848.754,18,1.9,18,-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,45.6,29059,-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,-145.9,0.0,0.0,0,98,0.00,0.00,-71.93,0.000,2,0.000,0.000,67,1898,2846,0,0,0,0,0,0
$GC,100,-0.52,-145.9,3.0,-1.7,12,133,12.50,2.28,-14.30,0.000,4,0.278,0.072,2831,494,3423,0,0,0,0,0,0
$GC,271,-0.46,-145.9,23.7,-13.8,40,279,0.10,2.15,0.00,0.000,6,0.150,0.035,2856,1862,3424,0,0,0,0,0,0
$GC,351,-0.46,-145.9,31.6,-8.8,53,356,0.00,0.52,0.00,0.000,4,0.000,0.044,2854,2234,3424,0,0,0,0,0,0
$GC,390,-0.46,-145.9,35.2,-8.6,60,397,0.00,0.52,0.00,0.000,6,0.000,0.054,2855,1892,3424,0,0,0,0,0,0
$GC,628,-0.46,-145.9,59.2,-10.2,101,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1891,3424,0,0,0,0,0,0
$GC,862,-0.46,-145.9,80.7,-9.3,142,869,0.00,0.70,0.00,0.000,4,0.000,0.059,2855,1442,3424,0,0,0,0,0,0
$GC,909,-0.46,-145.9,85.6,-10.9,150,916,0.00,0.70,0.00,0.000,6,0.000,0.038,2852,1911,3424,0,0,0,0,0,0
$GC,1261,-0.46,-145.9,115.9,-8.2,211,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1911,3424,0,0,0,0,0,0
$GC,1611,-0.44,-145.9,146.9,-8.2,272,1619,0.08,0.70,0.00,0.000,4,0.206,0.055,2867,1466,3425,0,0,0,0,0,0
$GC,1659,-0.44,-145.9,150.5,-7.3,280,1666,0.00,0.65,0.00,0.000,6,0.000,0.039,2866,1910,3424,0,0,0,0,0,0
$GC,2012,-0.46,-145.9,178.2,-9.1,341,2017,0.00,0.73,0.00,0.000,4,0.000,0.055,2866,1439,3425,0,0,0,0,0,0
$GC,2063,-0.49,-145.9,183.2,-9.5,350,2070,0.00,0.68,0.00,0.000,6,0.000,0.040,2864,1900,3425,0,0,0,0,0,0
$GC,2415,-0.49,-145.9,218.1,-10.1,411,2420,0.00,0.30,0.00,0.000,4,0.000,0.053,2863,2138,3426,0,0,0,0,0,0
$GC,2455,-0.51,-145.9,222.2,-9.9,418,2462,0.00,0.35,0.00,0.000,6,0.000,0.056,2864,1892,3426,0,0,0,0,0,0
$GC,2808,-0.54,-145.9,253.3,-7.8,476,2810,0.08,0.00,0.00,0.000,6,0.130,0.000,2826,1891,3426,0,0,0,0,0,0
$GC,3126,-0.46,-145.9,286.9,-10.8,506,3128,0.12,0.00,0.00,0.000,6,0.169,0.000,2858,1890,3426,0,0,0,0,0,0
$GC,3445,-0.46,-145.9,314.4,-8.5,536,3448,0.00,0.55,0.00,0.000,4,0.000,0.055,2859,1519,3427,0,0,0,0,0,0
$GC,3490,-0.48,-145.9,318.3,-8.7,540,3494,0.00,0.55,0.00,0.000,6,0.000,0.039,2858,1904,3427,0,0,0,0,0,0
$GC,3822,-0.48,-145.9,347.4,-8.6,571,3825,0.00,0.22,0.00,0.000,4,0.000,0.056,2857,2104,3428,0,0,0,0,0,0
$GC,3869,-0.50,-145.9,351.4,-8.5,575,3872,0.00,0.28,0.00,0.000,6,0.000,0.057,2857,1902,3428,0,0,0,0,0,0
$GC,4200,-0.50,-145.9,378.8,-8.4,606,4203,0.00,0.75,0.00,0.000,4,0.000,0.054,2857,1404,3428,0,0,0,0,0,0
$GC,4245,-0.50,-145.9,382.7,-8.6,610,4248,0.00,0.73,0.00,0.000,6,0.000,0.037,2855,1901,3428,0,0,0,0,0,0
$GC,4576,-0.50,-145.9,410.1,-8.1,641,4580,0.00,0.95,0.00,0.000,4,0.000,0.041,2851,2553,3429,0,0,0,0,0,0
$GC,4648,-0.54,-145.9,415.6,-7.4,647,4652,0.00,0.98,0.00,0.000,6,0.000,0.044,2851,1910,3429,0,0,0,0,0,0
$GC,4978,-0.54,-145.9,440.8,-7.4,678,4981,0.00,0.93,0.00,0.000,4,0.000,0.054,2850,1304,3429,0,0,0,0,0,0
$GC,5036,-0.54,-145.9,445.0,-7.5,683,5040,0.00,0.88,0.00,0.000,6,0.000,0.037,2848,1893,3429,0,0,0,0,0,0
$GC,5367,-0.54,-145.9,471.2,-8.3,714,5371,0.00,0.35,0.00,0.000,4,0.000,0.048,2846,2167,3429,0,0,0,0,0,0
$GC,5412,-0.54,-145.9,475.0,-7.7,718,5416,0.00,0.40,0.00,0.000,6,0.000,0.052,2846,1885,3429,0,0,0,0,0,0
$GC,5744,-0.54,-145.9,499.1,-7.3,749,5748,0.00,0.32,0.00,0.000,4,0.000,0.061,2846,1645,3429,0,0,0,0,0,0
$GC,5812,-0.54,-145.9,504.1,-7.0,752,5815,0.00,0.35,0.00,0.000,6,0.000,0.046,2845,1908,3429,0,0,0,0,0,0
$GC,6152,-0.54,-145.9,528.7,-7.3,763,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1909,3428,0,0,0,0,0,0
$GC,6458,-0.54,-145.9,550.0,-7.1,773,6462,0.00,0.30,0.00,0.000,4,0.000,0.052,2844,2150,3429,0,0,0,0,0,0
$GC,6526,-0.54,-145.9,554.8,-7.0,775,6529,0.00,0.35,0.00,0.000,6,0.000,0.054,2844,1898,3429,0,0,0,0,0,0
$GC,6865,-0.54,-145.9,582.4,-8.4,786,6869,0.00,0.35,0.00,0.000,4,0.000,0.060,2844,1641,3429,0,0,0,0,0,0
$GC,6914,-0.54,-145.9,586.7,-8.2,787,6918,0.00,0.38,0.00,0.000,6,0.000,0.046,2844,1905,3429,0,0,0,0,0,0
$GC,7237,-0.54,-145.9,615.8,-9.1,798,7241,0.00,0.45,0.00,0.000,4,0.000,0.056,2843,1600,3428,0,0,0,0,0,0
$GC,7280,-0.54,-145.9,619.9,-9.1,799,7282,0.00,0.43,0.00,0.000,6,0.000,0.044,2842,1899,3428,0,0,0,0,0,0
$GC,7605,-0.54,-145.9,648.1,-8.8,810,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1900,3428,0,0,0,0,0,0
$GC,7912,-0.54,-145.9,673.4,-8.1,820,7915,0.00,0.22,0.00,0.000,4,0.000,0.057,2840,2097,3427,0,0,0,0,0,0
$GC,7960,-0.54,-145.9,677.5,-8.3,821,7962,0.00,0.30,0.00,0.000,6,0.000,0.057,2840,1891,3427,0,0,0,0,0,0
$GC,8279,-0.54,-145.9,703.8,-8.4,832,8283,0.00,0.22,0.00,0.000,4,0.000,0.069,2840,1710,3427,0,0,0,0,0,0
$GC,8322,-0.54,-145.9,707.6,-8.1,833,8324,0.00,0.28,0.00,0.000,6,0.000,0.051,2840,1910,3427,0,0,0,0,0,0
$GC,8647,-0.54,-145.9,733.7,-8.0,844,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1910,3426,0,0,0,0,0,0
$GC,8954,-0.54,-145.9,758.6,-8.1,854,8957,0.00,0.98,0.00,0.000,4,0.000,0.044,2837,2574,3426,0,0,0,0,0,0
$GC,9021,-0.57,-145.9,764.1,-8.5,856,9025,0.00,1.02,0.00,0.000,6,0.000,0.043,2837,1902,3425,0,0,0,0,0,0
$GC,9361,-0.57,-145.9,794.1,-9.1,867,9365,0.00,1.02,0.00,0.000,4,0.000,0.044,2833,2574,3425,0,0,0,0,0,0
$GC,9416,-0.59,-145.9,799.0,-9.1,868,9420,0.00,1.02,0.00,0.000,6,0.000,0.042,2833,1900,3424,0,0,0,0,0,0
$GC,9733,-0.59,-145.9,829.1,-9.8,879,9737,0.00,1.02,0.00,0.000,4,0.000,0.053,2833,1233,3424,0,0,0,0,0,0
$GC,9771,-0.59,-145.9,832.9,-9.2,880,9775,0.00,1.00,0.00,0.000,6,0.000,0.037,2831,1889,3424,0,0,0,0,0,0
$GC,10106,-0.59,-145.9,862.3,-8.7,891,10109,0.00,1.65,0.00,0.000,4,0.000,0.046,2823,2992,3423,0,0,0,0,0,0
$GC,10174,-0.63,-145.9,868.2,-7.7,893,10177,0.00,1.67,0.00,0.000,6,0.000,0.041,2823,1886,3424,0,0,0,0,0,0
$GC,10514,-0.60,-145.9,900.6,-9.6,904,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1885,3423,0,0,0,0,0,0
$GC,10820,-0.57,-145.9,929.8,-9.6,914,10824,0.00,1.67,0.00,0.000,4,0.000,0.050,2817,2966,3423,0,0,0,0,0,0
$GC,10887,-0.57,-145.9,936.1,-8.9,916,10891,0.00,1.65,0.00,0.000,6,0.000,0.043,2817,1898,3423,0,0,0,0,0,0
$GC,11227,-0.53,-145.9,969.4,-9.7,927,11232,0.08,0.57,0.00,0.000,4,0.194,0.047,2832,2289,3422,0,0,0,0,0,0
$GC,11276,-0.53,-145.9,973.9,-8.9,928,11280,0.00,0.60,0.00,0.000,6,0.000,0.050,2832,1895,3423,0,0,0,0,0,0
$STATE,11599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11600,begin apogee
$GC,11603,-0.19,0.0,1002.7,9.2,939,11729,0.38,0.00,123.18,1.448,6,0.142,0.000,2946,1627,2827,0,0,0,0,0,0
$STATE,11730,end apogee,CONTROL_FINISHED_OK
$STATE,11730,begin climb
$GC,11732,0.52,145.9,1008.2,0.0,943,11867,0.70,2.53,126.47,1.433,4,0.095,0.067,3172,234,2231,0,0,0,0,0,0
$GC,11979,0.37,166.0,1002.0,6.7,950,12005,0.12,2.28,18.45,1.304,6,0.168,0.038,3138,1618,2150,0,0,0,0,0,0
$GC,12323,0.33,198.2,980.7,6.3,962,12358,0.08,1.35,28.90,1.354,4,0.219,0.043,3123,2442,2018,0,0,0,0,0,0
$GC,12430,0.33,218.5,973.6,6.7,965,12453,0.00,1.35,18.60,1.323,6,0.000,0.048,3126,1633,1936,0,0,0,0,0,0
$GC,12788,0.33,243.5,950.2,6.6,977,12814,0.00,0.77,22.88,1.332,4,0.000,0.062,3128,1174,1834,0,0,0,0,0,0
$GC,12883,0.36,249.7,943.7,7.2,979,12893,0.00,0.70,6.62,1.093,6,0.000,0.040,3128,1635,1809,0,0,0,0,0,0
$GC,13217,0.40,275.0,921.9,6.5,990,13243,0.00,0.28,23.42,1.330,4,0.000,0.054,3127,1827,1706,0,0,0,0,0,0
$GC,13287,0.46,291.9,917.3,6.8,991,13310,0.10,0.32,16.90,1.298,6,0.104,0.064,3167,1625,1636,0,0,0,0,0,0
$GC,13615,0.46,291.9,889.2,8.6,1002,13619,0.00,1.25,0.00,0.000,4,0.000,0.063,3170,861,1630,0,0,0,0,0,0
$GC,13692,0.46,291.9,882.4,8.5,1004,13697,0.00,1.23,0.00,0.000,6,0.000,0.036,3169,1635,1629,0,0,0,0,0,0
$GC,14022,0.43,291.9,852.7,9.3,1015,14027,0.08,1.00,0.00,0.000,4,0.196,0.063,3157,1023,1629,0,0,0,0,0,0
$GC,14089,0.43,291.9,847.1,8.3,1017,14092,0.00,0.93,0.00,0.000,6,0.000,0.037,3157,1630,1628,0,0,0,0,0,0
$GC,14428,0.43,291.9,817.3,8.8,1028,14432,0.00,1.08,0.00,0.000,4,0.000,0.063,3158,973,1627,0,0,0,0,0,0
$GC,14505,0.43,291.9,810.4,8.7,1030,14510,0.00,1.02,0.00,0.000,6,0.000,0.035,3158,1636,1627,0,0,0,0,0,0
$GC,14834,0.43,291.9,780.4,9.0,1041,14838,0.00,1.60,0.00,0.000,4,0.000,0.065,3159,662,1627,0,0,0,0,0,0
$GC,14905,0.43,291.9,773.8,9.3,1043,14911,0.00,1.50,0.00,0.000,6,0.000,0.035,3159,1627,1626,0,0,0,0,0,0
$GC,15241,0.43,291.9,743.3,9.2,1054,15245,0.00,0.62,0.00,0.000,4,0.000,0.063,3159,1241,1626,0,0,0,0,0,0
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$STATE,23540,end climb,SURFACE_DEPTH_REACHED
$STATE,23541,begin surface coast
$FINISH,1.3,1.002107
$STATE,23578,end surface coast,CONTROL_FINISHED_OK
$STATE,23578,begin surface
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$IRIDIUM_FIX,-4242.04,-845.22,011012,000059
$TT8_MAMPS,0.026964
$HUMID,44.64
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,23.4,16.132
$10V_AH,10.3,14.567
$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
$DEVICE_SECS,23.025,73.325,434.325,0.000,0.000,23.418,36.506,365.604,0.250,0.000,21.364,4590.228,13438.844,517.187,5472.927,164.146,0.000,2339.204,0.000,4995.864,0.000,2.835,0.000
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$SENSOR_SECS,1299.860,2621.442,1100.713,242.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354716
$DATA_FILE_SIZE,113528,1874
$CAP_FILE_SIZE,234105,0
$CFSIZE,2097086464,2085912576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011012,134529,-4253.008,-849.471,42,2.0,43,-21.5