version: 66.07.10.p01
glider: 574
mission: 4
dive: 60
start: 10 3 112 5 40 42
data:
$ID,574
$MISSION,4
$DIVE,60
$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,-5597.0957
$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,30
$R_STBD_OVSHOOT,47
$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,39
$GPS1,031012,053105,-4245.294,-844.654,70,0.9,70,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-71.4
$GPS2,031012,053948,-4245.335,-844.655,24,1.1,25,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP3
$TGT_LATLONG,-4240.000,-840.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,0.137
$KALMAN_X,-12010.3,-135.1,1001.9,17801.9,-5682.0
$KALMAN_Y,-10966.9,-66.2,347.0,22313.3,-4513.3
$MHEAD_RNG_PITCHd_Wd,75.9,11740,-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,-145.9,0.0,0.0,0,99,0.00,0.00,-72.65,0.000,2,0.000,0.000,66,1909,2784,0,0,0,0,0,0
$GC,101,-0.52,-145.9,3.3,-2.0,12,139,12.35,2.28,-16.83,0.000,4,0.274,0.067,2823,3310,3424,0,0,0,0,0,0
$GC,258,-0.52,-145.9,18.5,-7.9,38,266,0.05,2.22,0.00,0.000,6,0.142,0.049,2840,1923,3425,0,0,0,0,0,0
$GC,339,-0.47,-145.9,24.7,-7.8,51,346,0.08,0.43,0.00,0.000,4,0.192,0.063,2859,1640,3424,0,0,0,0,0,0
$GC,407,-0.47,-145.9,29.9,-7.2,62,415,0.00,0.40,0.00,0.000,6,0.000,0.048,2858,1915,3425,0,0,0,0,0,0
$GC,485,-0.47,-145.9,35.8,-7.7,75,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1915,3425,0,0,0,0,0,0
$GC,719,-0.47,-145.9,55.3,-7.5,116,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1917,3425,0,0,0,0,0,0
$GC,955,-0.47,-145.9,74.0,-8.1,157,960,0.00,0.50,0.00,0.000,4,0.000,0.059,2858,1589,3425,0,0,0,0,0,0
$GC,1014,-0.47,-145.9,78.3,-6.9,167,1019,0.00,0.47,0.00,0.000,6,0.000,0.047,2858,1913,3425,0,0,0,0,0,0
$GC,1363,-0.47,-145.9,106.3,-6.9,228,1370,0.00,0.65,0.00,0.000,4,0.000,0.057,2858,1495,3425,0,0,0,0,0,0
$GC,1418,-0.47,-145.9,110.1,-7.4,237,1423,0.00,0.62,0.00,0.000,6,0.000,0.043,2856,1917,3425,0,0,0,0,0,0
$GC,1767,-0.47,-145.9,134.4,-7.8,298,1774,0.00,0.82,0.00,0.000,4,0.000,0.056,2856,1394,3425,0,0,0,0,0,0
$GC,1821,-0.47,-145.9,139.0,-9.1,307,1826,0.00,0.77,0.00,0.000,6,0.000,0.042,2852,1908,3425,0,0,0,0,0,0
$GC,2170,-0.47,-145.9,171.0,-10.3,368,2177,0.00,0.55,0.00,0.000,4,0.000,0.057,2853,1546,3425,0,0,0,0,0,0
$GC,2236,-0.47,-145.9,178.0,-11.0,379,2241,0.00,0.55,0.00,0.000,6,0.000,0.041,2851,1930,3425,0,0,0,0,0,0
$GC,2584,-0.47,-145.9,217.9,-9.1,440,2592,0.00,0.68,0.00,0.000,4,0.000,0.054,2852,1491,3425,0,0,0,0,0,0
$GC,2651,-0.47,-145.9,224.7,-10.7,451,2656,0.00,0.60,0.00,0.000,6,0.000,0.041,2849,1904,3425,0,0,0,0,0,0
$GC,3000,-0.47,-145.9,258.1,-9.4,505,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1903,3425,0,0,0,0,0,0
$GC,3319,-0.47,-145.9,287.6,-9.2,535,3323,0.00,0.98,0.00,0.000,4,0.000,0.056,2849,1283,3426,0,0,0,0,0,0
$GC,3389,-0.47,-145.9,294.1,-8.9,541,3392,0.00,0.95,0.00,0.000,6,0.000,0.039,2845,1908,3426,0,0,0,0,0,0
$GC,3718,-0.47,-145.9,325.8,-9.4,572,3722,0.05,1.35,0.00,0.000,4,0.224,0.057,2857,1071,3426,0,0,0,0,0,0
$GC,3790,-0.49,-145.9,332.4,-8.8,578,3798,0.00,1.27,0.00,0.000,6,0.000,0.037,2854,1908,3426,0,0,0,0,0,0
$GC,4117,-0.49,-145.9,359.5,-8.2,609,4120,0.00,0.38,0.00,0.000,4,0.000,0.051,2852,2198,3426,0,0,0,0,0,0
$GC,4164,-0.49,-145.9,363.2,-7.8,613,4167,0.00,0.45,0.00,0.000,6,0.000,0.053,2851,1889,3426,0,0,0,0,0,0
$GC,4495,-0.49,-145.9,389.5,-8.0,644,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1889,3427,0,0,0,0,0,0
$GC,4814,-0.49,-145.9,415.2,-8.2,674,4817,0.00,0.28,0.00,0.000,4,0.000,0.053,2851,2103,3426,0,0,0,0,0,0
$GC,4874,-0.49,-145.9,420.4,-8.2,679,4876,0.00,0.30,0.00,0.000,6,0.000,0.059,2851,1902,3427,0,0,0,0,0,0
$GC,5196,-0.49,-145.9,446.0,-7.7,709,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1902,3426,0,0,0,0,0,0
$GC,5516,-0.49,-145.9,471.9,-7.8,739,5519,0.00,0.45,0.00,0.000,4,0.000,0.060,2851,1587,3425,0,0,0,0,0,0
$GC,5572,-0.49,-145.9,476.5,-7.8,744,5576,0.00,0.47,0.00,0.000,6,0.000,0.045,2850,1921,3425,0,0,0,0,0,0
$GC,5911,-0.49,-145.9,502.5,-7.4,774,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1922,3425,0,0,0,0,0,0
$GC,6217,-0.49,-145.9,525.9,-7.9,784,6221,0.00,0.65,0.00,0.000,4,0.000,0.056,2850,1499,3424,0,0,0,0,0,0
$GC,6271,-0.49,-145.9,530.3,-8.5,785,6275,0.00,0.62,0.00,0.000,6,0.000,0.041,2848,1915,3424,0,0,0,0,0,0
$GC,6589,-0.49,-145.9,557.1,-8.8,796,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1915,3424,0,0,0,0,0,0
$GC,6895,-0.49,-145.9,584.6,-8.9,806,6899,0.00,0.95,0.00,0.000,4,0.000,0.057,2848,1314,3423,0,0,0,0,0,0
$GC,6962,-0.49,-145.9,590.7,-8.9,808,6966,0.00,0.90,0.00,0.000,6,0.000,0.041,2844,1910,3423,0,0,0,0,0,0
$GC,7302,-0.49,-145.9,623.6,-10.0,819,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1910,3422,0,0,0,0,0,0
$GC,7608,-0.49,-145.9,655.1,-10.2,829,7612,0.00,0.60,0.00,0.000,4,0.000,0.056,2845,1515,3421,0,0,0,0,0,0
$GC,7679,-0.49,-145.9,662.8,-10.4,831,7684,0.00,0.62,0.00,0.000,6,0.000,0.042,2842,1929,3422,0,0,0,0,0,0
$GC,8014,-0.49,-145.9,698.4,-10.6,842,8018,0.00,0.40,0.00,0.000,4,0.000,0.059,2842,1658,3421,0,0,0,0,0,0
$GC,8068,-0.49,-145.9,704.3,-10.4,843,8071,0.00,0.38,0.00,0.000,6,0.000,0.049,2841,1920,3420,0,0,0,0,0,0
$GC,8383,-0.49,-145.9,737.7,-10.8,854,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1921,3420,0,0,0,0,0,0
$GC,8689,-0.49,-145.9,771.1,-10.9,864,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1921,3419,0,0,0,0,0,0
$GC,8995,-0.49,-145.9,801.3,-9.6,874,8999,0.00,1.42,0.00,0.000,4,0.000,0.056,2841,1023,3419,0,0,0,0,0,0
$GC,9079,-0.49,-145.9,809.7,-10.4,876,9083,0.03,1.35,0.00,0.000,6,0.187,0.038,2846,1906,3418,0,0,0,0,0,0
$GC,9402,-0.52,-145.9,837.8,-8.6,887,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1906,3417,0,0,0,0,0,0
$GC,9708,-0.54,-145.9,862.0,-7.5,897,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1905,3417,0,0,0,0,0,0
$GC,10014,-0.57,-145.9,884.7,-7.5,907,10018,0.00,0.30,0.00,0.000,4,0.000,0.063,2846,1692,3416,0,0,0,0,0,0
$GC,10063,-0.60,-145.9,888.6,-7.8,908,10068,0.10,0.35,0.00,0.000,6,0.111,0.050,2807,1936,3416,0,0,0,0,0,0
$GC,10386,-0.53,-145.9,924.6,-11.7,919,10391,0.12,0.77,0.00,0.000,4,0.170,0.054,2840,1441,3416,0,0,0,0,0,0
$GC,10453,-0.53,-145.9,931.0,-8.7,921,10457,0.00,0.70,0.00,0.000,6,0.000,0.043,2838,1911,3416,0,0,0,0,0,0
$GC,10793,-0.53,-145.9,961.5,-8.8,932,10797,0.00,0.32,0.00,0.000,4,0.000,0.060,2838,1683,3415,0,0,0,0,0,0
$GC,10841,-0.53,-145.9,965.7,-8.4,933,10843,0.00,0.35,0.00,0.000,6,0.000,0.051,2838,1926,3415,0,0,0,0,0,0
$GC,11161,-0.53,-145.9,992.5,-8.0,944,11164,0.00,0.45,0.00,0.000,4,0.000,0.057,2838,1623,3415,0,0,0,0,0,0
$GC,11215,-0.53,-145.9,996.8,-8.0,945,11217,0.00,0.43,0.00,0.000,6,0.000,0.048,2837,1910,3415,0,0,0,0,0,0
$STATE,11287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11287,begin apogee
$GC,11291,-0.19,0.0,1002.1,7.8,948,11415,0.38,0.00,121.45,1.482,6,0.139,0.000,2951,1650,2827,0,0,0,0,0,0
$STATE,11416,end apogee,CONTROL_FINISHED_OK
$STATE,11416,begin climb
$GC,11418,0.52,145.9,1006.5,0.0,952,11553,0.68,1.83,126.88,1.456,4,0.090,0.060,3172,642,2232,0,0,0,0,0,0
$GC,11625,0.37,145.9,1000.9,8.1,958,11630,0.12,1.65,0.00,0.000,6,0.164,0.039,3138,1640,2228,0,0,0,0,0,0
$GC,11943,0.31,145.9,977.3,7.4,969,11947,0.10,1.12,0.00,0.000,4,0.194,0.046,3114,2341,2225,0,0,0,0,0,0
$GC,12065,0.28,178.8,969.1,6.3,972,12100,0.03,1.10,28.48,1.389,6,0.197,0.051,3110,1661,2098,0,0,0,0,0,0
$GC,12413,0.30,215.4,947.5,6.2,984,12448,0.00,0.50,32.33,1.388,4,0.000,0.047,3110,1968,1948,0,0,0,0,0,0
$GC,12510,0.35,280.0,941.5,5.2,987,12572,0.00,0.52,58.17,1.404,6,0.000,0.057,3111,1642,1685,0,0,0,0,0,0
$GC,12901,0.56,280.6,912.8,7.4,1000,12906,0.25,2.33,0.00,0.000,4,0.080,0.066,3200,244,1677,0,0,0,0,0,0
$GC,12984,0.48,280.6,904.3,12.4,1002,12989,0.10,2.25,0.00,0.000,6,0.157,0.040,3171,1648,1676,0,0,0,0,0,0
$GC,13302,0.44,280.6,873.7,9.4,1013,13306,0.05,0.38,0.00,0.000,4,0.244,0.051,3161,1914,1675,0,0,0,0,0,0
$GC,13350,0.44,280.6,869.2,8.3,1014,13352,0.00,0.43,0.00,0.000,6,0.000,0.064,3161,1652,1674,0,0,0,0,0,0
$GC,13670,0.44,280.6,842.0,8.2,1025,13673,0.00,0.73,0.00,0.000,4,0.000,0.067,3161,1194,1674,0,0,0,0,0,0
$GC,13746,0.44,280.6,835.8,7.9,1027,13751,0.00,0.73,0.00,0.000,6,0.000,0.042,3161,1663,1674,0,0,0,0,0,0
$GC,14076,0.44,286.7,811.5,7.2,1038,14083,0.00,0.00,4.97,0.985,6,0.000,0.000,3161,1664,1658,0,0,0,0,0,0
$GC,14382,0.44,297.2,789.7,7.0,1048,14396,0.00,0.28,11.40,1.229,4,0.000,0.057,3161,1460,1614,0,0,0,0,0,0
$GC,14451,0.44,297.2,784.1,8.2,1050,14453,0.00,0.30,0.00,0.000,6,0.000,0.053,3161,1662,1613,0,0,0,0,0,0
$GC,14782,0.44,297.2,759.0,8.0,1061,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1662,1612,0,0,0,0,0,0
$GC,15088,0.44,297.2,731.4,9.3,1071,15092,0.00,0.62,0.00,0.000,4,0.000,0.067,3161,1269,1612,0,0,0,0,0,0
$GC,15148,0.44,297.2,725.9,9.3,1072,15154,0.00,0.60,0.00,0.000,6,0.000,0.044,3161,1665,1611,0,0,0,0,0,0
$GC,15460,0.44,297.2,696.5,9.6,1083,15464,0.00,0.28,0.00,0.000,4,0.000,0.074,3161,1477,1611,0,0,0,0,0,0
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$STATE,23499,end climb,SURFACE_DEPTH_REACHED
$STATE,23499,begin surface coast
$FINISH,1.5,1.014034
$STATE,23530,end surface coast,CONTROL_FINISHED_OK
$STATE,23530,begin surface
$SM_CCo,23605,0.00,0.000,0,0,1314,371.13
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$IRIDIUM_FIX,-4233.25,-847.22,021012,232349
$TT8_MAMPS,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,23.3,17.591
$10V_AH,10.3,16.024
$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
$DEVICE_SECS,23.550,56.925,451.675,0.000,0.000,29.539,38.935,329.269,0.500,0.000,27.014,4650.650,13339.015,526.095,5434.197,164.653,33.342,2304.684,0.000,4986.818,0.000,5.331,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1335.549,2732.708,1119.550,263.539,0.000,0.000,0.000,0.000,0.000,0.000
$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,113645,1927
$CAP_FILE_SIZE,227518,0
$CFSIZE,2097086464,2084864000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031012,121505,-4243.796,-842.156,25,1.4,26,-21.5