version: 66.07.10.p01
glider: 574
mission: 4
dive: 62
start: 10 3 112 19 4 36
data:
$ID,574
$MISSION,4
$DIVE,62
$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,-5603.6304
$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,24
$R_STBD_OVSHOOT,54
$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,41
$GPS1,031012,185435,-4248.624,-842.064,39,0.8,40,-21.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.8
$GPS2,031012,190342,-4248.638,-842.156,17,1.2,18,-21.5
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.203,-0.117
$KALMAN_X,-15404.4,113.3,394.5,24949.3,-4267.9
$KALMAN_Y,-13836.7,400.2,-921.1,19864.0,-699.3
$MHEAD_RNG_PITCHd_Wd,141.5,99647,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,81,0.00,0.00,-54.12,0.000,2,0.000,0.000,66,1926,2682,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.1,-1.3,9,127,12.48,1.95,-21.12,0.000,4,0.275,0.067,2826,3121,3424,0,0,0,0,0,0
$GC,200,-0.52,-145.9,14.3,-8.8,28,207,0.00,1.95,0.00,0.000,6,0.000,0.048,2826,1909,3424,0,0,0,0,0,0
$GC,280,-0.44,-145.9,23.2,-12.0,41,288,0.15,0.32,0.00,0.000,4,0.162,0.069,2865,1690,3424,0,0,0,0,0,0
$GC,370,-0.44,-145.9,30.9,-7.6,56,377,0.00,0.30,0.00,0.000,6,0.000,0.051,2865,1903,3424,0,0,0,0,0,0
$GC,609,-0.46,-145.9,50.9,-9.4,97,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1903,3424,0,0,0,0,0,0
$GC,843,-0.48,-145.9,72.5,-9.1,138,850,0.00,0.45,0.00,0.000,4,0.000,0.060,2865,1612,3425,0,0,0,0,0,0
$GC,921,-0.50,-145.9,79.3,-8.9,151,926,0.00,0.45,0.00,0.000,6,0.000,0.047,2865,1922,3425,0,0,0,0,0,0
$GC,1265,-0.53,-145.9,110.8,-9.3,202,1269,0.08,0.52,0.00,0.000,4,0.126,0.059,2830,1584,3425,0,0,0,0,0,0
$GC,1345,-0.46,-145.9,119.6,-11.6,209,1349,0.10,0.47,0.00,0.000,6,0.141,0.045,2860,1915,3425,0,0,0,0,0,0
$GC,1676,-0.46,-145.9,150.7,-9.2,240,1680,0.00,0.50,0.00,0.000,4,0.000,0.057,2860,1583,3425,0,0,0,0,0,0
$GC,1744,-0.46,-145.9,157.3,-9.8,246,1748,0.00,0.47,0.00,0.000,6,0.000,0.044,2860,1915,3425,0,0,0,0,0,0
$GC,2076,-0.46,-145.9,188.5,-9.6,277,2079,0.00,0.52,0.00,0.000,4,0.000,0.057,2860,1571,3425,0,0,0,0,0,0
$GC,2147,-0.46,-145.9,195.2,-9.4,283,2150,0.00,0.50,0.00,0.000,6,0.000,0.044,2858,1917,3425,0,0,0,0,0,0
$GC,2476,-0.46,-145.9,228.0,-10.5,314,2480,0.00,0.50,0.00,0.000,4,0.000,0.057,2859,1585,3425,0,0,0,0,0,0
$GC,2544,-0.46,-145.9,235.1,-10.7,320,2548,0.00,0.47,0.00,0.000,6,0.000,0.044,2858,1915,3425,0,0,0,0,0,0
$GC,2881,-0.46,-145.9,269.3,-10.0,343,2884,0.00,0.52,0.00,0.000,4,0.000,0.057,2858,1567,3425,0,0,0,0,0,0
$GC,2958,-0.46,-145.9,277.8,-10.4,346,2962,0.00,0.52,0.00,0.000,6,0.000,0.044,2857,1919,3425,0,0,0,0,0,0
$GC,3279,-0.46,-145.9,310.8,-10.3,362,3282,0.00,1.10,0.00,0.000,4,0.000,0.056,2857,1223,3425,0,0,0,0,0,0
$GC,3369,-0.48,-145.9,320.5,-10.0,366,3373,0.00,1.05,0.00,0.000,6,0.000,0.038,2852,1915,3425,0,0,0,0,0,0
$GC,3701,-0.48,-145.9,352.2,-9.0,382,3705,0.00,0.55,0.00,0.000,4,0.000,0.056,2852,1553,3426,0,0,0,0,0,0
$GC,3771,-0.48,-145.9,358.1,-8.1,385,3775,0.00,0.52,0.00,0.000,6,0.000,0.042,2851,1919,3426,0,0,0,0,0,0
$GC,4104,-0.48,-145.9,388.9,-9.2,401,4108,0.00,0.28,0.00,0.000,4,0.000,0.061,2851,1721,3425,0,0,0,0,0,0
$GC,4159,-0.48,-145.9,394.2,-9.3,403,4161,0.00,0.28,0.00,0.000,6,0.000,0.051,2851,1922,3426,0,0,0,0,0,0
$GC,4478,-0.48,-145.9,423.4,-9.3,419,4482,0.00,0.55,0.00,0.000,4,0.000,0.055,2851,1560,3426,0,0,0,0,0,0
$GC,4538,-0.48,-145.9,429.6,-9.5,421,4544,0.00,0.52,0.00,0.000,6,0.000,0.042,2850,1916,3426,0,0,0,0,0,0
$GC,4855,-0.48,-145.9,459.8,-9.9,437,4859,0.00,0.55,0.00,0.000,4,0.000,0.056,2850,1551,3426,0,0,0,0,0,0
$GC,4927,-0.48,-145.9,467.1,-9.0,440,4931,0.00,0.55,0.00,0.000,6,0.000,0.042,2849,1922,3426,0,0,0,0,0,0
$GC,5254,-0.48,-145.9,498.6,-9.6,456,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1922,3425,0,0,0,0,0,0
$GC,5580,-0.48,-145.9,529.6,-9.4,467,5584,0.00,0.80,0.00,0.000,4,0.000,0.055,2849,1406,3424,0,0,0,0,0,0
$GC,5662,-0.48,-145.9,537.3,-9.0,469,5667,0.00,0.77,0.00,0.000,6,0.000,0.038,2846,1918,3424,0,0,0,0,0,0
$GC,5986,-0.48,-145.9,564.8,-8.4,480,5990,0.00,0.30,0.00,0.000,4,0.000,0.062,2847,1707,3424,0,0,0,0,0,0
$GC,6057,-0.48,-145.9,570.8,-7.6,482,6061,0.00,0.30,0.00,0.000,6,0.000,0.050,2846,1925,3424,0,0,0,0,0,0
$GC,6392,-0.48,-145.9,597.5,-8.1,493,6395,0.00,0.45,0.00,0.000,4,0.000,0.057,2846,1624,3423,0,0,0,0,0,0
$GC,6480,-0.48,-145.9,605.2,-8.8,495,6484,0.00,0.43,0.00,0.000,6,0.000,0.044,2844,1915,3423,0,0,0,0,0,0
$GC,6798,-0.48,-145.9,634.9,-9.5,506,6801,0.00,0.38,0.00,0.000,4,0.000,0.058,2844,1657,3423,0,0,0,0,0,0
$GC,6869,-0.48,-145.9,642.0,-9.3,508,6873,0.00,0.38,0.00,0.000,6,0.000,0.047,2843,1919,3422,0,0,0,0,0,0
$GC,7203,-0.48,-145.9,674.0,-9.7,519,7207,0.00,0.65,0.00,0.000,4,0.000,0.054,2843,1496,3422,0,0,0,0,0,0
$GC,7285,-0.48,-145.9,682.3,-9.5,521,7290,0.00,0.62,0.00,0.000,6,0.000,0.041,2841,1914,3422,0,0,0,0,0,0
$GC,7609,-0.48,-145.9,713.1,-9.4,532,7611,0.03,0.00,0.00,0.000,6,0.278,0.000,2850,1914,3421,0,0,0,0,0,0
$GC,7916,-0.51,-145.9,739.0,-8.4,542,7919,0.00,1.15,0.00,0.000,4,0.000,0.054,2851,1178,3420,0,0,0,0,0,0
$GC,8021,-0.55,-145.9,748.0,-7.9,545,8026,0.00,1.12,0.00,0.000,6,0.000,0.037,2849,1913,3420,0,0,0,0,0,0
$GC,8357,-0.57,-145.9,775.4,-8.3,556,8358,0.08,0.00,0.00,0.000,6,0.131,0.000,2816,1917,3419,0,0,0,0,0,0
$GC,8663,-0.52,-145.9,807.8,-10.8,566,8665,0.10,0.00,0.00,0.000,6,0.176,0.000,2842,1918,3418,0,0,0,0,0,0
$GC,8969,-0.52,-145.9,833.8,-8.4,576,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1917,3417,0,0,0,0,0,0
$GC,9275,-0.52,-145.9,857.1,-7.4,586,9279,0.00,0.32,0.00,0.000,4,0.000,0.060,2842,1686,3416,0,0,0,0,0,0
$GC,9347,-0.52,-145.9,862.5,-6.9,588,9351,0.00,0.35,0.00,0.000,6,0.000,0.050,2841,1931,3416,0,0,0,0,0,0
$GC,9681,-0.52,-145.9,887.4,-7.6,599,9685,0.00,0.55,0.00,0.000,4,0.000,0.054,2841,1565,3416,0,0,0,0,0,0
$GC,9749,-0.52,-145.9,892.8,-7.8,601,9752,0.00,0.50,0.00,0.000,6,0.000,0.044,2839,1916,3416,0,0,0,0,0,0
$GC,10088,-0.52,-145.9,923.2,-9.2,612,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1916,3415,0,0,0,0,0,0
$GC,10395,-0.52,-145.9,949.6,-8.4,622,10398,0.00,1.10,0.00,0.000,4,0.000,0.054,2839,1216,3415,0,0,0,0,0,0
$GC,10495,-0.52,-145.9,958.4,-8.2,625,10499,0.00,1.05,0.00,0.000,6,0.000,0.039,2836,1908,3415,0,0,0,0,0,0
$GC,10835,-0.52,-145.9,986.6,-8.1,636,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1908,3414,0,0,0,0,0,0
$STATE,11020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11021,begin apogee
$GC,11024,-0.19,0.0,1001.7,8.4,642,11149,0.38,0.00,121.55,1.442,6,0.135,0.000,2952,1635,2827,0,0,0,0,0,0
$STATE,11150,end apogee,CONTROL_FINISHED_OK
$STATE,11150,begin climb
$GC,11151,0.52,145.9,1007.5,0.0,646,11284,0.73,0.62,126.70,1.413,4,0.090,0.055,3183,1271,2231,0,0,0,0,0,0
$GC,11328,0.34,196.0,1007.3,5.7,652,11380,0.22,0.62,45.78,1.371,6,0.181,0.039,3129,1665,2026,0,0,0,0,0,0
$GC,11692,0.34,252.3,987.3,5.5,664,11746,0.00,0.32,49.58,1.366,4,0.000,0.048,3130,1872,1797,0,0,0,0,0,0
$GC,11808,0.38,303.6,980.7,5.7,667,11858,0.00,0.38,46.58,1.353,6,0.000,0.059,3129,1652,1589,0,0,0,0,0,0
$GC,12188,0.45,368.5,960.5,5.2,680,12252,0.10,0.47,58.80,1.362,4,0.107,0.058,3166,1367,1323,0,0,0,0,0,0
$GC,12348,0.49,387.5,949.2,6.8,685,12369,0.00,0.40,17.38,1.273,6,0.000,0.045,3166,1642,1247,0,0,0,0,0,0
$GC,12681,0.55,387.5,923.0,8.2,696,12686,0.08,1.27,0.00,0.000,4,0.133,0.064,3196,885,1241,0,0,0,0,0,0
$GC,12758,0.55,387.5,915.1,10.3,698,12762,0.00,1.20,0.00,0.000,6,0.000,0.035,3197,1647,1240,0,0,0,0,0,0
$GC,13087,0.55,387.5,879.2,11.4,709,13091,0.00,1.17,0.00,0.000,4,0.000,0.062,3199,938,1239,0,0,0,0,0,0
$GC,13164,0.55,387.5,870.4,11.3,711,13169,0.00,1.12,0.00,0.000,6,0.000,0.035,3199,1658,1238,0,0,0,0,0,0
$GC,13494,0.52,387.5,832.9,11.4,722,13498,0.05,1.10,0.00,0.000,4,0.222,0.063,3188,985,1238,0,0,0,0,0,0
$GC,13565,0.52,387.5,824.6,11.5,724,13570,0.00,1.05,0.00,0.000,6,0.000,0.037,3188,1661,1237,0,0,0,0,0,0
$GC,13900,0.52,387.5,789.3,10.0,735,13904,0.00,0.68,0.00,0.000,4,0.000,0.062,3187,1245,1237,0,0,0,0,0,0
$GC,13968,0.52,387.5,782.5,9.8,737,13971,0.00,0.60,0.00,0.000,6,0.000,0.041,3188,1661,1237,0,0,0,0,0,0
$GC,14307,0.52,387.5,749.3,9.9,748,14311,0.00,1.15,0.00,0.000,4,0.000,0.066,3188,952,1236,0,0,0,0,0,0
$GC,14378,0.52,387.5,742.1,10.5,750,14383,0.00,1.08,0.00,0.000,6,0.000,0.038,3188,1642,1237,0,0,0,0,0,0
$GC,14714,0.52,387.5,710.1,9.3,761,14717,0.00,0.62,0.00,0.000,4,0.000,0.066,3188,1256,1236,0,0,0,0,0,0
$GC,14781,0.52,387.5,703.9,9.2,763,14784,0.00,0.57,0.00,0.000,6,0.000,0.044,3187,1653,1237,0,0,0,0,0,0
$GC,15120,0.52,387.5,670.9,9.7,774,15124,0.00,0.75,0.00,0.000,4,0.000,0.066,3187,1180,1236,0,0,0,0,0,0
$GC,15188,0.52,387.5,664.3,10.0,776,15191,0.00,0.70,0.00,0.000,6,0.000,0.041,3187,1653,1236,0,0,0,0,0,0
$GC,15527,0.52,387.5,632.9,9.4,787,15531,0.00,1.17,0.00,0.000,4,0.000,0.065,3187,931,1236,0,0,0,0,0,0
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$STATE,21779,end climb,SURFACE_DEPTH_REACHED
$STATE,21780,begin surface coast
$FINISH,1.6,1.026716
$STATE,21793,end surface coast,CONTROL_FINISHED_OK
$STATE,21793,begin surface
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$IRIDIUM_FIX,-4227.40,-840.54,031012,121244
$TT8_MAMPS,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.7,7.3
$24V_AH,23.4,17.995
$10V_AH,10.3,16.375
$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
$DEVICE_SECS,23.300,63.400,466.350,0.000,0.000,29.664,37.135,359.283,0.500,0.000,20.238,3277.661,14349.229,542.477,4061.042,168.970,33.359,2019.362,0.000,3599.507,0.000,5.468,0.000
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$SENSOR_SECS,876.156,1546.814,834.329,124.408,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,73551,1264
$CAP_FILE_SIZE,204170,0
$CFSIZE,2097086464,2084569088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041012,011005,-4251.020,-838.537,27,1.0,28,-21.5