version: 66.07.10.p01
glider: 574
mission: 4
dive: 80
start: 10 8 112 17 29 49
data:
$ID,574
$MISSION,4
$DIVE,80
$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,-5661.7241
$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,31
$R_STBD_OVSHOOT,66
$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,59
$GPS1,081012,171605,-4328.802,-819.430,53,1.7,54,-21.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-70.3
$GPS2,081012,172855,-4328.779,-819.304,26,1.8,27,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.142,-0.187
$KALMAN_X,-54514.7,18.8,366.3,95200.8,-4096.2
$KALMAN_Y,-7654.8,154.4,46.1,-61372.1,-507.2
$MHEAD_RNG_PITCHd_Wd,163.8,20802,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.65,0.000,2,0.000,0.000,65,1932,2933,0,0,0,0,0,0
$GC,89,-0.52,-145.9,3.2,-2.1,10,121,12.60,2.05,-11.05,0.000,4,0.277,0.068,2825,3188,3424,0,0,0,0,0,0
$GC,240,-0.52,-145.9,20.1,-9.7,35,248,0.05,2.05,0.00,0.000,6,0.147,0.051,2842,1924,3424,0,0,0,0,0,0
$GC,321,-0.48,-145.9,28.0,-9.4,48,328,0.00,0.30,0.00,0.000,4,0.000,0.069,2842,1714,3424,0,0,0,0,0,0
$GC,377,-0.45,-145.9,33.7,-10.7,57,382,0.05,0.25,0.00,0.000,6,0.155,0.057,2860,1891,3424,0,0,0,0,0,0
$GC,613,-0.47,-145.9,51.3,-5.8,98,619,0.00,0.32,0.00,0.000,4,0.000,0.066,2860,1676,3424,0,0,0,0,0,0
$GC,691,-0.50,-145.9,57.4,-9.0,111,696,0.00,0.35,0.00,0.000,6,0.000,0.050,2860,1922,3424,0,0,0,0,0,0
$GC,924,-0.53,-145.9,74.0,-7.2,152,929,0.00,0.55,0.00,0.000,4,0.000,0.060,2860,1568,3424,0,0,0,0,0,0
$GC,1056,-0.53,-145.9,87.7,-12.9,175,1061,0.00,0.50,0.00,0.000,6,0.000,0.044,2858,1913,3424,0,0,0,0,0,0
$GC,1387,-0.53,-145.9,119.5,-9.1,216,1391,0.00,0.47,0.00,0.000,4,0.000,0.060,2858,1605,3424,0,0,0,0,0,0
$GC,1470,-0.55,-145.9,126.9,-7.6,223,1476,0.08,0.47,0.00,0.000,6,0.125,0.045,2822,1927,3424,0,0,0,0,0,0
$GC,1797,-0.48,-145.9,165.7,-12.0,254,1801,0.12,0.93,0.00,0.000,4,0.161,0.059,2855,1356,3424,0,0,0,0,0,0
$GC,1879,-0.48,-145.9,174.2,-8.5,261,1885,0.00,0.85,0.00,0.000,6,0.000,0.041,2853,1904,3424,0,0,0,0,0,0
$GC,2204,-0.48,-145.9,204.8,-9.4,292,2208,0.00,0.62,0.00,0.000,4,0.000,0.059,2853,1507,3424,0,0,0,0,0,0
$GC,2285,-0.48,-145.9,212.3,-9.7,299,2289,0.00,0.60,0.00,0.000,6,0.000,0.044,2851,1910,3424,0,0,0,0,0,0
$GC,2616,-0.48,-145.9,244.2,-9.8,330,2620,0.00,0.60,0.00,0.000,4,0.000,0.058,2851,1521,3424,0,0,0,0,0,0
$GC,2687,-0.48,-145.9,251.5,-9.3,336,2692,0.00,0.60,0.00,0.000,6,0.000,0.043,2850,1914,3424,0,0,0,0,0,0
$GC,3014,-0.48,-145.9,282.8,-9.4,352,3017,0.00,0.80,0.00,0.000,4,0.000,0.057,2850,1406,3424,0,0,0,0,0,0
$GC,3096,-0.48,-145.9,291.1,-9.6,355,3102,0.00,0.77,0.00,0.000,6,0.000,0.041,2847,1914,3424,0,0,0,0,0,0
$GC,3414,-0.48,-145.9,320.2,-9.0,371,3417,0.00,0.73,0.00,0.000,4,0.000,0.057,2848,1453,3424,0,0,0,0,0,0
$GC,3490,-0.48,-145.9,327.3,-8.9,374,3494,0.00,0.70,0.00,0.000,6,0.000,0.041,2845,1914,3424,0,0,0,0,0,0
$GC,3812,-0.48,-145.9,354.7,-8.3,390,3815,0.00,0.68,0.00,0.000,4,0.000,0.056,2845,1480,3424,0,0,0,0,0,0
$GC,3871,-0.48,-145.9,360.2,-8.2,392,3879,0.00,0.68,0.00,0.000,6,0.000,0.041,2843,1923,3425,0,0,0,0,0,0
$GC,4187,-0.48,-145.9,387.5,-8.8,408,4191,0.00,1.33,0.00,0.000,4,0.000,0.059,2843,1095,3425,0,0,0,0,0,0
$GC,4287,-0.48,-145.9,396.9,-9.1,412,4292,0.08,1.27,0.00,0.000,6,0.189,0.039,2856,1915,3425,0,0,0,0,0,0
$GC,4609,-0.52,-145.9,422.8,-8.0,428,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1915,3425,0,0,0,0,0,0
$GC,4920,-0.55,-145.9,448.7,-8.6,443,4922,0.08,0.00,0.00,0.000,6,0.129,0.000,2823,1916,3425,0,0,0,0,0,0
$GC,5228,-0.50,-145.9,481.0,-10.7,458,5232,0.10,0.52,0.00,0.000,4,0.168,0.059,2848,1576,3425,0,0,0,0,0,0
$GC,5309,-0.50,-145.9,488.5,-8.3,461,5315,0.00,0.52,0.00,0.000,6,0.000,0.044,2848,1929,3425,0,0,0,0,0,0
$GC,5644,-0.50,-145.9,514.1,-7.6,475,5647,0.00,1.05,0.00,0.000,4,0.000,0.057,2848,1268,3425,0,0,0,0,0,0
$GC,5749,-0.52,-145.9,522.9,-8.4,478,5753,0.00,1.00,0.00,0.000,6,0.000,0.040,2844,1914,3425,0,0,0,0,0,0
$GC,6084,-0.52,-145.9,553.1,-9.3,489,6088,0.00,0.60,0.00,0.000,4,0.000,0.057,2844,1525,3425,0,0,0,0,0,0
$GC,6172,-0.52,-145.9,561.7,-9.5,491,6176,0.00,0.60,0.00,0.000,6,0.000,0.044,2842,1919,3424,0,0,0,0,0,0
$GC,6490,-0.52,-145.9,591.8,-9.5,502,6493,0.00,1.20,0.00,0.000,4,0.000,0.058,2842,1167,3424,0,0,0,0,0,0
$GC,6594,-0.52,-145.9,601.8,-8.6,505,6599,0.00,1.15,0.00,0.000,6,0.000,0.040,2838,1906,3424,0,0,0,0,0,0
$GC,6930,-0.52,-145.9,632.5,-9.0,516,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1907,3423,0,0,0,0,0,0
$GC,7236,-0.52,-145.9,658.2,-8.1,526,7240,0.00,0.82,0.00,0.000,4,0.000,0.057,2838,1384,3423,0,0,0,0,0,0
$GC,7324,-0.52,-145.9,665.1,-7.7,528,7329,0.00,0.82,0.00,0.000,6,0.000,0.042,2836,1917,3422,0,0,0,0,0,0
$GC,7643,-0.52,-145.9,688.7,-7.1,539,7646,0.00,0.70,0.00,0.000,4,0.000,0.057,2836,1469,3422,0,0,0,0,0,0
$GC,7714,-0.52,-145.9,693.8,-6.8,541,7718,0.00,0.70,0.00,0.000,6,0.000,0.043,2834,1926,3422,0,0,0,0,0,0
$GC,8049,-0.52,-145.9,716.1,-6.7,552,8053,0.00,1.00,0.00,0.000,4,0.000,0.057,2834,1297,3421,0,0,0,0,0,0
$GC,8143,-0.52,-145.9,722.7,-7.1,554,8149,0.00,0.95,0.00,0.000,6,0.000,0.040,2831,1911,3421,0,0,0,0,0,0
$GC,8456,-0.52,-145.9,745.3,-7.3,565,8460,0.00,1.02,0.00,0.000,4,0.000,0.057,2830,1266,3420,0,0,0,0,0,0
$GC,8557,-0.52,-145.9,753.0,-7.3,568,8562,0.03,0.98,0.00,0.000,6,0.178,0.040,2836,1910,3420,0,0,0,0,0,0
$GC,8897,-0.52,-145.9,777.7,-7.5,579,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1910,3419,0,0,0,0,0,0
$GC,9203,-0.52,-145.9,801.5,-7.8,589,9207,0.00,0.95,0.00,0.000,4,0.000,0.055,2836,1308,3418,0,0,0,0,0,0
$GC,9297,-0.52,-145.9,809.1,-7.4,591,9303,0.00,0.95,0.00,0.000,6,0.000,0.041,2833,1923,3418,0,0,0,0,0,0
$GC,9609,-0.52,-145.9,834.4,-8.2,602,9613,0.00,0.77,0.00,0.000,4,0.000,0.056,2833,1428,3417,0,0,0,0,0,0
$GC,9697,-0.52,-145.9,841.9,-8.3,604,9702,0.00,0.75,0.00,0.000,6,0.000,0.041,2830,1917,3417,0,0,0,0,0,0
$GC,10015,-0.52,-145.9,870.1,-9.1,615,10019,0.00,0.47,0.00,0.000,4,0.000,0.058,2830,1598,3416,0,0,0,0,0,0
$GC,10103,-0.52,-145.9,878.4,-10.0,617,10108,0.05,0.47,0.00,0.000,6,0.224,0.046,2840,1918,3416,0,0,0,0,0,0
$GC,10421,-0.52,-145.9,904.2,-8.0,628,10424,0.00,1.08,0.00,0.000,4,0.000,0.056,2840,1238,3416,0,0,0,0,0,0
$GC,10514,-0.54,-145.9,911.9,-8.2,630,10521,0.00,1.05,0.00,0.000,6,0.000,0.039,2837,1916,3416,0,0,0,0,0,0
$GC,10827,-0.54,-145.9,937.4,-8.3,641,10831,0.00,0.30,0.00,0.000,4,0.000,0.063,2837,1702,3415,0,0,0,0,0,0
$GC,10928,-0.54,-145.9,945.6,-8.1,644,10932,0.00,0.30,0.00,0.000,6,0.000,0.054,2837,1922,3415,0,0,0,0,0,0
$GC,11268,-0.54,-145.9,972.8,-8.1,655,11271,0.00,0.50,0.00,0.000,4,0.000,0.057,2837,1587,3415,0,0,0,0,0,0
$GC,11339,-0.54,-145.9,978.8,-8.2,657,11343,0.00,0.50,0.00,0.000,6,0.000,0.046,2836,1922,3415,0,0,0,0,0,0
$STATE,11614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11614,begin apogee
$GC,11618,-0.19,0.0,1000.3,7.8,666,11742,0.38,0.00,121.70,1.444,6,0.138,0.000,2950,1633,2827,0,0,0,0,0,0
$STATE,11743,end apogee,CONTROL_FINISHED_OK
$STATE,11743,begin climb
$GC,11745,0.52,145.9,1004.6,0.0,670,11878,0.73,1.12,127.38,1.444,4,0.089,0.058,3183,973,2231,0,0,0,0,0,0
$GC,11922,0.33,145.9,1001.4,8.2,675,11928,0.22,1.15,0.00,0.000,6,0.175,0.037,3125,1660,2228,0,0,0,0,0,0
$GC,12253,0.29,183.4,980.6,6.1,686,12289,0.05,0.52,32.80,1.356,4,0.233,0.046,3113,1988,2079,0,0,0,0,0,0
$GC,12380,0.29,218.1,972.7,6.2,690,12414,0.00,0.52,31.10,1.336,6,0.000,0.057,3114,1661,1937,0,0,0,0,0,0
$GC,12750,0.33,255.6,950.2,6.1,702,12788,0.00,0.40,33.40,1.347,4,0.000,0.047,3114,1915,1785,0,0,0,0,0,0
$GC,12839,0.40,275.7,944.5,6.7,704,12863,0.08,0.45,18.88,1.278,6,0.122,0.059,3144,1640,1703,0,0,0,0,0,0
$GC,13181,0.40,275.7,918.8,7.4,716,13185,0.00,0.32,0.00,0.000,4,0.000,0.068,3144,1424,1697,0,0,0,0,0,0
$GC,13230,0.40,285.5,915.0,7.1,717,13243,0.00,0.32,9.62,1.167,6,0.000,0.050,3145,1644,1662,0,0,0,0,0,0
$GC,13549,0.42,295.1,892.5,7.1,727,13560,0.00,0.00,9.82,1.164,6,0.000,0.000,3144,1644,1624,0,0,0,0,0,0
$GC,13855,0.45,319.9,872.1,6.6,737,13885,0.00,0.68,23.80,1.291,4,0.000,0.063,3145,1251,1521,0,0,0,0,0,0
$GC,13935,0.51,367.4,867.0,5.8,739,13986,0.05,0.62,44.22,1.307,6,0.075,0.041,3175,1666,1329,0,0,0,0,0,0
$GC,14320,0.51,367.4,832.7,9.3,752,14324,0.00,0.55,0.00,0.000,4,0.000,0.064,3175,1323,1320,0,0,0,0,0,0
$GC,14387,0.51,367.4,826.6,9.0,754,14391,0.00,0.47,0.00,0.000,6,0.000,0.044,3175,1649,1320,0,0,0,0,0,0
$GC,14727,0.51,367.4,796.1,8.9,765,14731,0.00,0.35,0.00,0.000,4,0.000,0.068,3174,1417,1319,0,0,0,0,0,0
$GC,14795,0.53,367.4,790.0,8.9,767,14799,0.00,0.30,0.00,0.000,6,0.000,0.052,3175,1629,1319,0,0,0,0,0,0
$GC,15135,0.53,367.4,759.2,9.3,778,15138,0.00,0.40,0.00,0.000,4,0.000,0.067,3175,1372,1318,0,0,0,0,0,0
$GC,15195,0.55,367.4,753.4,10.4,779,15201,0.00,0.45,0.00,0.000,6,0.000,0.047,3175,1672,1318,0,0,0,0,0,0
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$STATE,23117,end climb,SURFACE_DEPTH_REACHED
$STATE,23117,begin surface coast
$FINISH,1.3,1.025606
$STATE,23154,end surface coast,CONTROL_FINISHED_OK
$STATE,23154,begin surface
$SM_CCo,23229,0.00,0.000,0,0,1202,398.85
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$IRIDIUM_FIX,-4314.46,-820.40,081012,171736
$TT8_MAMPS,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,21.583
$10V_AH,10.2,19.177
$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
$DEVICE_SECS,23.650,70.200,476.700,0.000,0.000,54.801,78.189,427.300,0.250,0.000,30.208,3390.569,15495.481,566.291,4391.405,148.777,33.354,2113.291,0.000,3731.480,0.000,2.834,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,908.544,1595.651,864.517,128.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,76969,1314
$CAP_FILE_SIZE,217680,0
$CFSIZE,2097086464,2082209792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,081012,235805,-4331.289,-817.379,34,1.1,35,-21.2