version: 66.07.10.p01
glider: 574
mission: 4
dive: 73
start: 10 6 112 19 33 18
data:
$ID,574
$MISSION,4
$DIVE,73
$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,-5639.1938
$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,23
$R_STBD_OVSHOOT,45
$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,52
$GPS1,061012,192335,-4313.487,-824.404,30,1.3,31,-21.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-74.8
$GPS2,061012,193224,-4313.517,-824.527,15,1.4,15,-21.4
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.191,-0.136
$KALMAN_X,-35278.0,-5.5,752.7,68517.6,-4787.2
$KALMAN_Y,-10625.8,16.5,185.4,-30137.2,721.6
$MHEAD_RNG_PITCHd_Wd,146.9,49421,-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,-145.9,0.0,0.0,0,75,0.00,0.00,-48.62,0.000,2,0.000,0.000,67,1916,2734,0,0,0,0,0,0
$GC,77,-0.52,-145.9,3.0,-1.6,8,115,12.45,2.33,-19.05,0.000,4,0.274,0.079,2835,502,3423,0,0,0,0,0,0
$GC,205,-0.50,-145.9,16.6,-10.3,29,213,0.05,2.22,0.00,0.000,6,0.155,0.043,2844,1894,3423,0,0,0,0,0,0
$GC,286,-0.48,-145.9,24.8,-10.0,42,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1894,3423,0,0,0,0,0,0
$GC,365,-0.45,-145.9,32.9,-10.1,55,370,0.08,0.30,0.00,0.000,4,0.196,0.060,2862,2111,3424,0,0,0,0,0,0
$GC,425,-0.48,-145.9,38.3,-8.8,65,430,0.00,0.32,0.00,0.000,6,0.000,0.067,2863,1903,3424,0,0,0,0,0,0
$GC,659,-0.50,-145.9,59.7,-8.8,106,666,0.00,0.62,0.00,0.000,4,0.000,0.066,2862,1507,3424,0,0,0,0,0,0
$GC,731,-0.53,-145.9,65.9,-9.1,118,737,0.03,0.65,0.00,0.000,6,0.103,0.047,2835,1934,3424,0,0,0,0,0,0
$GC,1082,-0.49,-145.9,102.8,-10.5,178,1086,0.08,0.98,0.00,0.000,4,0.194,0.063,2851,1338,3424,0,0,0,0,0,0
$GC,1164,-0.49,-145.9,110.8,-9.1,185,1170,0.00,0.90,0.00,0.000,6,0.000,0.043,2849,1911,3424,0,0,0,0,0,0
$GC,1491,-0.49,-145.9,141.4,-9.3,216,1494,0.00,0.47,0.00,0.000,4,0.000,0.063,2849,1603,3424,0,0,0,0,0,0
$GC,1572,-0.49,-145.9,149.1,-9.9,223,1575,0.00,0.45,0.00,0.000,6,0.000,0.047,2847,1911,3424,0,0,0,0,0,0
$GC,1901,-0.49,-145.9,180.7,-9.0,254,1905,0.00,0.73,0.00,0.000,4,0.000,0.060,2847,1456,3424,0,0,0,0,0,0
$GC,1982,-0.49,-145.9,188.1,-9.5,261,1986,0.00,0.70,0.00,0.000,6,0.000,0.044,2844,1918,3424,0,0,0,0,0,0
$GC,2313,-0.49,-145.9,220.3,-9.5,292,2317,0.00,0.65,0.00,0.000,4,0.000,0.061,2845,1508,3424,0,0,0,0,0,0
$GC,2394,-0.49,-145.9,228.2,-9.8,299,2398,0.00,0.60,0.00,0.000,6,0.000,0.046,2842,1909,3424,0,0,0,0,0,0
$GC,2733,-0.49,-145.9,263.6,-11.0,325,2737,0.00,0.65,0.00,0.000,4,0.000,0.061,2841,1497,3424,0,0,0,0,0,0
$GC,2816,-0.49,-145.9,272.9,-10.5,328,2823,0.00,0.65,0.00,0.000,6,0.000,0.044,2839,1921,3424,0,0,0,0,0,0
$GC,3132,-0.47,-145.9,306.8,-10.7,344,3136,0.08,0.75,0.00,0.000,4,0.203,0.060,2855,1454,3424,0,0,0,0,0,0
$GC,3203,-0.49,-145.9,313.8,-9.5,347,3207,0.00,0.70,0.00,0.000,6,0.000,0.042,2853,1915,3425,0,0,0,0,0,0
$GC,3532,-0.51,-145.9,343.9,-9.1,363,3536,0.00,0.60,0.00,0.000,4,0.000,0.060,2853,1526,3425,0,0,0,0,0,0
$GC,3609,-0.51,-145.9,351.1,-9.1,366,3613,0.00,0.60,0.00,0.000,6,0.000,0.044,2851,1919,3425,0,0,0,0,0,0
$GC,3930,-0.51,-145.9,379.8,-9.1,382,3934,0.00,0.93,0.00,0.000,4,0.000,0.060,2851,1331,3425,0,0,0,0,0,0
$GC,4014,-0.53,-145.9,387.5,-9.0,385,4020,0.00,0.90,0.00,0.000,6,0.000,0.041,2849,1912,3425,0,0,0,0,0,0
$GC,4332,-0.53,-145.9,414.0,-8.3,401,4335,0.00,0.68,0.00,0.000,4,0.000,0.059,2849,1481,3425,0,0,0,0,0,0
$GC,4408,-0.53,-145.9,420.8,-8.0,404,4413,0.00,0.68,0.00,0.000,6,0.000,0.043,2846,1921,3425,0,0,0,0,0,0
$GC,4730,-0.53,-145.9,444.5,-6.9,420,4734,0.00,0.80,0.00,0.000,4,0.000,0.058,2846,1407,3425,0,0,0,0,0,0
$GC,4824,-0.53,-145.9,451.6,-7.4,424,4828,0.00,0.77,0.00,0.000,6,0.000,0.042,2842,1912,3425,0,0,0,0,0,0
$GC,5151,-0.53,-145.9,477.0,-7.6,440,5154,0.00,0.88,0.00,0.000,4,0.000,0.059,2843,1361,3424,0,0,0,0,0,0
$GC,5222,-0.53,-145.9,482.8,-7.6,443,5227,0.00,0.85,0.00,0.000,6,0.000,0.041,2839,1911,3424,0,0,0,0,0,0
$GC,5538,-0.53,-145.9,507.5,-7.9,457,5542,0.00,0.28,0.00,0.000,4,0.000,0.067,2839,1714,3424,0,0,0,0,0,0
$GC,5643,-0.53,-145.9,515.7,-7.4,460,5647,0.00,0.30,0.00,0.000,6,0.000,0.053,2838,1922,3424,0,0,0,0,0,0
$GC,5978,-0.53,-145.9,542.0,-8.0,471,5981,0.00,0.73,0.00,0.000,4,0.000,0.060,2838,1459,3424,0,0,0,0,0,0
$GC,6060,-0.53,-145.9,548.8,-8.3,473,6064,0.00,0.70,0.00,0.000,6,0.000,0.044,2836,1913,3424,0,0,0,0,0,0
$GC,6384,-0.53,-145.9,576.1,-8.6,484,6387,0.00,0.88,0.00,0.000,4,0.000,0.059,2836,1362,3424,0,0,0,0,0,0
$GC,6471,-0.53,-145.9,584.0,-8.6,486,6476,0.00,0.85,0.00,0.000,6,0.000,0.042,2832,1913,3424,0,0,0,0,0,0
$GC,6790,-0.53,-145.9,613.3,-9.3,497,6793,0.00,0.43,0.00,0.000,4,0.000,0.062,2833,1634,3423,0,0,0,0,0,0
$GC,6849,-0.53,-145.9,619.2,-10.0,498,6852,0.00,0.43,0.00,0.000,6,0.000,0.048,2831,1919,3423,0,0,0,0,0,0
$GC,7158,-0.51,-145.9,649.1,-10.0,508,7162,0.03,1.00,0.00,0.000,4,0.281,0.060,2841,1302,3423,0,0,0,0,0,0
$GC,7251,-0.51,-145.9,657.9,-8.2,510,7257,0.00,0.95,0.00,0.000,6,0.000,0.041,2838,1914,3423,0,0,0,0,0,0
$GC,7563,-0.51,-145.9,685.4,-8.7,521,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1914,3422,0,0,0,0,0,0
$GC,7870,-0.51,-145.9,710.8,-8.0,531,7873,0.00,0.28,0.00,0.000,4,0.000,0.067,2838,1722,3421,0,0,0,0,0,0
$GC,7937,-0.51,-145.9,716.1,-7.3,533,7941,0.00,0.28,0.00,0.000,6,0.000,0.056,2837,1922,3422,0,0,0,0,0,0
$GC,8277,-0.51,-145.9,742.9,-7.8,544,8280,0.00,0.47,0.00,0.000,4,0.000,0.061,2836,1607,3421,0,0,0,0,0,0
$GC,8353,-0.51,-145.9,749.5,-8.5,546,8357,0.00,0.47,0.00,0.000,6,0.000,0.048,2835,1923,3421,0,0,0,0,0,0
$GC,8682,-0.51,-145.9,777.0,-8.7,557,8686,0.00,0.77,0.00,0.000,4,0.000,0.060,2835,1434,3420,0,0,0,0,0,0
$GC,8793,-0.51,-145.9,787.0,-9.2,560,8797,0.00,0.75,0.00,0.000,6,0.000,0.044,2831,1920,3420,0,0,0,0,0,0
$GC,9122,-0.51,-145.9,815.7,-8.7,571,9126,0.00,0.50,0.00,0.000,4,0.000,0.060,2831,1589,3419,0,0,0,0,0,0
$GC,9199,-0.51,-145.9,822.9,-8.9,573,9203,0.05,0.50,0.00,0.000,6,0.230,0.047,2841,1919,3419,0,0,0,0,0,0
$GC,9528,-0.54,-145.9,850.9,-8.8,584,9532,0.00,0.62,0.00,0.000,4,0.000,0.060,2841,1511,3418,0,0,0,0,0,0
$GC,9611,-0.56,-145.9,858.5,-9.9,586,9615,0.00,0.62,0.00,0.000,6,0.000,0.046,2839,1915,3418,0,0,0,0,0,0
$GC,9934,-0.56,-145.9,889.4,-9.6,597,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1915,3417,0,0,0,0,0,0
$GC,10241,-0.58,-145.9,920.4,-10.2,607,10245,0.00,0.40,0.00,0.000,4,0.000,0.062,2839,1648,3417,0,0,0,0,0,0
$GC,10318,-0.60,-145.9,928.2,-9.7,609,10323,0.05,0.40,0.00,0.000,6,0.172,0.051,2814,1919,3417,0,0,0,0,0,0
$GC,10647,-0.56,-145.9,963.8,-10.9,620,10651,0.05,0.47,0.00,0.000,4,0.217,0.063,2825,1612,3416,0,0,0,0,0,0
$GC,10729,-0.56,-145.9,972.1,-8.9,622,10731,0.00,0.45,0.00,0.000,6,0.000,0.049,2824,1907,3416,0,0,0,0,0,0
$STATE,11049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11049,begin apogee
$GC,11053,-0.19,0.0,1003.0,9.9,633,11178,0.40,0.00,122.55,1.473,6,0.139,0.000,2946,1640,2827,0,0,0,0,0,0
$STATE,11179,end apogee,CONTROL_FINISHED_OK
$STATE,11179,begin climb
$GC,11180,0.52,145.9,1008.7,0.0,637,11316,0.70,2.55,126.65,1.431,4,0.089,0.072,3174,258,2232,0,0,0,0,0,0
$GC,11416,0.36,145.9,1003.0,8.2,644,11421,0.12,2.33,0.00,0.000,6,0.170,0.042,3133,1646,2227,0,0,0,0,0,0
$GC,11740,0.30,187.5,984.5,6.0,655,11781,0.08,1.10,36.65,1.398,4,0.222,0.046,3116,2307,2062,0,0,0,0,0,0
$GC,11853,0.30,217.4,977.2,6.4,658,11884,0.00,1.10,27.25,1.383,6,0.000,0.054,3117,1654,1940,0,0,0,0,0,0
$GC,12197,0.34,247.6,955.4,6.4,670,12227,0.00,0.00,27.25,1.374,6,0.000,0.000,3117,1654,1817,0,0,0,0,0,0
$GC,12533,0.39,282.8,934.5,6.2,681,12569,0.05,0.75,31.80,1.378,4,0.167,0.046,3143,2107,1674,0,0,0,0,0,0
$GC,12635,0.41,282.8,926.5,7.8,684,12640,0.00,0.77,0.00,0.000,6,0.000,0.059,3144,1651,1670,0,0,0,0,0,0
$GC,12965,0.41,290.1,901.9,7.2,695,12974,0.00,0.00,7.03,1.103,6,0.000,0.000,3144,1651,1644,0,0,0,0,0,0
$GC,13272,0.44,319.4,880.5,6.4,705,13303,0.00,0.62,27.55,1.349,4,0.000,0.047,3144,2033,1525,0,0,0,0,0,0
$GC,13353,0.48,331.5,874.8,7.0,707,13369,0.05,0.65,12.45,1.235,6,0.080,0.060,3171,1650,1474,0,0,0,0,0,0
$GC,13675,0.48,331.5,843.2,10.0,718,13679,0.00,0.32,0.00,0.000,4,0.000,0.071,3171,1439,1470,0,0,0,0,0,0
$GC,13730,0.48,331.5,837.6,9.6,719,13734,0.00,0.32,0.00,0.000,6,0.000,0.054,3171,1656,1470,0,0,0,0,0,0
$GC,14048,0.48,331.5,804.4,10.3,730,14051,0.00,0.55,0.00,0.000,4,0.000,0.068,3171,1313,1469,0,0,0,0,0,0
$GC,14119,0.48,331.5,797.1,9.3,732,14123,0.00,0.55,0.00,0.000,6,0.000,0.048,3171,1667,1468,0,0,0,0,0,0
$GC,14453,0.48,331.5,764.3,9.7,743,14457,0.00,0.73,0.00,0.000,4,0.000,0.069,3171,1216,1468,0,0,0,0,0,0
$GC,14524,0.48,331.5,757.4,9.3,745,14529,0.00,0.68,0.00,0.000,6,0.000,0.047,3171,1650,1468,0,0,0,0,0,0
$GC,14859,0.48,331.5,727.2,9.1,756,14863,0.00,0.47,0.00,0.000,4,0.000,0.070,3171,1351,1468,0,0,0,0,0,0
$GC,14913,0.48,331.5,722.2,8.7,757,14917,0.00,0.47,0.00,0.000,6,0.000,0.051,3171,1657,1467,0,0,0,0,0,0
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$STATE,23164,end climb,SURFACE_DEPTH_REACHED
$STATE,23164,begin surface coast
$FINISH,1.4,1.018327
$STATE,23201,end surface coast,CONTROL_FINISHED_OK
$STATE,23201,begin surface
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$SM_GC,2.79,8.40,0.00,0.00,0.057,0.000,0.000,91,1934,1468,-9.09,0.59,333.11
$IRIDIUM_FIX,-4256.74,-829.51,061012,121214
$TT8_MAMPS,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.3,20.193
$10V_AH,10.3,18.099
$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
$DEVICE_SECS,22.925,56.200,419.175,0.000,0.000,28.900,41.236,338.896,0.250,0.000,18.338,3435.693,15541.907,495.542,4181.910,139.148,33.359,1960.816,0.000,3710.346,0.000,2.834,0.000
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$SENSOR_SECS,932.135,1691.109,888.385,135.829,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,80248,1343
$CAP_FILE_SIZE,202148,0
$CFSIZE,2097086464,2083127296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,071012,020229,-4315.423,-823.602,42,1.3,43,-21.3