version: 66.07.10.p01
glider: 574
mission: 4
dive: 81
start: 10 9 112 0 7 24
data:
$ID,574
$MISSION,4
$DIVE,81
$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,-5664.9595
$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,43
$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,60
$GPS1,081012,235805,-4331.289,-817.379,34,1.1,35,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-67.5
$GPS2,091012,000630,-4331.260,-817.346,16,1.9,16,-21.2
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP4s
$TGT_LATLONG,-4340.000,-820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.133,-0.193
$KALMAN_X,-56104.9,199.2,657.3,98977.2,-4509.9
$KALMAN_Y,-6938.2,81.9,-138.5,-66431.4,1087.4
$MHEAD_RNG_PITCHd_Wd,166.7,16572,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-65.85,0.000,2,0.000,0.000,66,1915,2819,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.2,-2.0,11,127,12.68,2.20,-13.55,0.000,4,0.279,0.062,2829,3312,3423,0,0,0,0,0,0
$GC,247,-0.55,-145.9,24.8,-10.5,36,254,0.00,2.25,0.00,0.000,6,0.000,0.050,2829,1915,3424,0,0,0,0,0,0
$GC,326,-0.48,-145.9,34.6,-12.8,49,331,0.10,0.85,0.00,0.000,4,0.176,0.063,2854,1390,3424,0,0,0,0,0,0
$GC,420,-0.51,-145.9,44.5,-9.4,65,425,0.00,0.80,0.00,0.000,6,0.000,0.041,2852,1912,3424,0,0,0,0,0,0
$GC,656,-0.51,-145.9,63.9,-8.8,106,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1912,3424,0,0,0,0,0,0
$GC,1002,-0.51,-145.9,95.3,-7.8,167,1007,0.00,0.38,0.00,0.000,4,0.000,0.062,2852,1657,3424,0,0,0,0,0,0
$GC,1094,-0.51,-145.9,102.4,-8.0,181,1098,0.00,0.38,0.00,0.000,6,0.000,0.049,2852,1920,3425,0,0,0,0,0,0
$GC,1425,-0.51,-145.9,132.0,-9.6,212,1429,0.00,0.77,0.00,0.000,4,0.000,0.057,2852,1428,3424,0,0,0,0,0,0
$GC,1508,-0.51,-145.9,140.2,-9.5,219,1514,0.00,0.75,0.00,0.000,6,0.000,0.041,2850,1915,3424,0,0,0,0,0,0
$GC,1833,-0.51,-145.9,171.2,-9.4,250,1836,0.00,0.52,0.00,0.000,4,0.000,0.059,2850,1566,3424,0,0,0,0,0,0
$GC,1904,-0.51,-145.9,177.8,-8.5,256,1912,0.00,0.52,0.00,0.000,6,0.000,0.043,2849,1916,3424,0,0,0,0,0,0
$GC,2231,-0.51,-145.9,206.9,-9.0,287,2234,0.00,0.43,0.00,0.000,4,0.000,0.059,2849,1630,3424,0,0,0,0,0,0
$GC,2302,-0.51,-145.9,213.8,-9.2,293,2304,0.00,0.43,0.00,0.000,6,0.000,0.044,2849,1921,3424,0,0,0,0,0,0
$GC,2625,-0.51,-145.9,242.4,-9.2,323,2628,0.00,0.62,0.00,0.000,4,0.000,0.057,2849,1514,3424,0,0,0,0,0,0
$GC,2707,-0.51,-145.9,250.1,-9.5,330,2715,0.00,0.60,0.00,0.000,6,0.000,0.041,2847,1912,3425,0,0,0,0,0,0
$GC,3023,-0.51,-145.9,278.5,-8.9,346,3026,0.00,0.45,0.00,0.000,4,0.000,0.058,2847,1606,3425,0,0,0,0,0,0
$GC,3094,-0.51,-145.9,285.1,-9.1,349,3099,0.00,0.47,0.00,0.000,6,0.000,0.044,2846,1929,3425,0,0,0,0,0,0
$GC,3423,-0.51,-145.9,315.5,-9.4,365,3427,0.00,0.85,0.00,0.000,4,0.000,0.057,2846,1386,3425,0,0,0,0,0,0
$GC,3505,-0.51,-145.9,324.0,-10.3,368,3514,0.00,0.80,0.00,0.000,6,0.000,0.040,2843,1906,3425,0,0,0,0,0,0
$GC,3821,-0.51,-145.9,354.4,-9.7,384,3825,0.00,0.57,0.00,0.000,4,0.000,0.056,2843,1530,3425,0,0,0,0,0,0
$GC,3966,-0.51,-145.9,370.5,-11.5,390,3971,0.00,0.60,0.00,0.000,6,0.000,0.041,2841,1929,3425,0,0,0,0,0,0
$GC,4288,-0.51,-145.9,404.7,-10.8,406,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1929,3425,0,0,0,0,0,0
$GC,4599,-0.51,-145.9,434.9,-9.0,421,4602,0.00,1.67,0.00,0.000,4,0.000,0.060,2841,870,3426,0,0,0,0,0,0
$GC,4691,-0.51,-145.9,443.0,-8.3,425,4695,0.00,1.60,0.00,0.000,6,0.000,0.038,2837,1904,3426,0,0,0,0,0,0
$GC,5025,-0.51,-145.9,470.2,-8.2,441,5029,0.00,1.15,0.00,0.000,4,0.000,0.057,2837,1184,3426,0,0,0,0,0,0
$GC,5117,-0.51,-145.9,477.9,-8.7,445,5120,0.00,1.10,0.00,0.000,6,0.000,0.040,2834,1908,3427,0,0,0,0,0,0
$GC,5458,-0.51,-145.9,510.7,-9.8,460,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1908,3426,0,0,0,0,0,0
$GC,5764,-0.51,-145.9,542.8,-10.7,470,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1908,3427,0,0,0,0,0,0
$GC,6070,-0.51,-145.9,577.0,-11.2,480,6074,0.00,0.57,0.00,0.000,4,0.000,0.057,2834,1532,3426,0,0,0,0,0,0
$GC,6152,-0.51,-145.9,586.2,-11.5,482,6157,0.00,0.60,0.00,0.000,6,0.000,0.041,2832,1929,3426,0,0,0,0,0,0
$GC,6476,-0.51,-145.9,621.7,-11.0,493,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1929,3426,0,0,0,0,0,0
$GC,6782,-0.51,-145.9,653.8,-10.3,503,6786,0.03,0.85,0.00,0.000,4,0.286,0.056,2841,1393,3425,0,0,0,0,0,0
$GC,6870,-0.51,-145.9,662.4,-9.7,505,6874,0.00,0.80,0.00,0.000,6,0.000,0.039,2839,1919,3425,0,0,0,0,0,0
$GC,7188,-0.51,-145.9,693.5,-10.2,516,7192,0.00,0.75,0.00,0.000,4,0.000,0.054,2839,1437,3425,0,0,0,0,0,0
$GC,7265,-0.51,-145.9,701.5,-9.9,518,7269,0.00,0.73,0.00,0.000,6,0.000,0.040,2837,1915,3425,0,0,0,0,0,0
$GC,7594,-0.51,-145.9,734.0,-9.8,529,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1915,3425,0,0,0,0,0,0
$GC,7900,-0.51,-145.9,764.9,-10.2,539,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1916,3424,0,0,0,0,0,0
$GC,8207,-0.51,-145.9,795.4,-9.7,549,8210,0.00,0.35,0.00,0.000,4,0.000,0.059,2837,1674,3423,0,0,0,0,0,0
$GC,8277,-0.51,-145.9,802.3,-9.1,551,8280,0.00,0.35,0.00,0.000,6,0.000,0.050,2836,1914,3423,0,0,0,0,0,0
$GC,8608,-0.51,-145.9,833.1,-9.4,562,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1914,3423,0,0,0,0,0,0
$GC,8915,-0.51,-145.9,863.7,-10.4,572,8919,0.00,0.73,0.00,0.000,4,0.000,0.054,2836,1450,3423,0,0,0,0,0,0
$GC,8991,-0.51,-145.9,871.5,-10.0,574,8996,0.00,0.70,0.00,0.000,6,0.000,0.042,2834,1910,3422,0,0,0,0,0,0
$GC,9321,-0.51,-145.9,903.5,-9.7,585,9324,0.00,0.57,0.00,0.000,4,0.000,0.055,2834,1533,3422,0,0,0,0,0,0
$GC,9408,-0.51,-145.9,912.2,-10.5,587,9412,0.00,0.57,0.00,0.000,6,0.000,0.044,2832,1914,3422,0,0,0,0,0,0
$GC,9726,-0.51,-145.9,943.1,-9.7,598,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1915,3422,0,0,0,0,0,0
$GC,10032,-0.51,-145.9,972.1,-9.1,608,10036,0.00,0.35,0.00,0.000,4,0.000,0.060,2832,1674,3422,0,0,0,0,0,0
$GC,10115,-0.51,-145.9,979.6,-9.0,610,10117,0.00,0.35,0.00,0.000,6,0.000,0.050,2832,1918,3422,0,0,0,0,0,0
$STATE,10373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10373,begin apogee
$GC,10377,-0.19,0.0,1001.8,8.7,619,10503,0.38,0.00,123.15,1.453,6,0.137,0.000,2946,1630,2827,0,0,0,0,0,0
$STATE,10504,end apogee,CONTROL_FINISHED_OK
$STATE,10504,begin climb
$GC,10505,0.52,145.9,1006.8,0.0,623,10641,0.70,1.98,126.45,1.426,4,0.085,0.063,3179,549,2231,0,0,0,0,0,0
$GC,10726,0.36,145.9,1000.8,9.3,630,10730,0.20,1.75,0.00,0.000,6,0.178,0.037,3132,1639,2227,0,0,0,0,0,0
$GC,11066,0.31,172.6,978.6,6.5,641,11098,0.08,1.52,23.55,1.325,4,0.216,0.044,3116,2571,2122,0,0,0,0,0,0
$GC,11186,0.31,203.8,970.7,6.3,644,11218,0.00,1.52,28.38,1.351,6,0.000,0.048,3117,1652,1995,0,0,0,0,0,0
$GC,11531,0.31,250.0,949.6,5.8,656,11576,0.00,0.73,40.83,1.351,4,0.000,0.038,3117,2135,1807,0,0,0,0,0,0
$GC,11649,0.35,283.0,942.1,6.3,659,11684,0.00,0.82,30.25,1.325,6,0.000,0.053,3118,1640,1672,0,0,0,0,0,0
$GC,11997,0.44,317.2,920.5,6.2,671,12032,0.10,0.95,30.35,1.321,4,0.107,0.039,3159,2258,1535,0,0,0,0,0,0
$GC,12094,0.44,317.2,912.3,8.9,674,12098,0.00,1.00,0.00,0.000,6,0.000,0.054,3160,1649,1531,0,0,0,0,0,0
$GC,12434,0.44,317.2,882.8,8.8,685,12438,0.00,0.55,0.00,0.000,4,0.000,0.063,3160,1301,1528,0,0,0,0,0,0
$GC,12501,0.44,317.2,876.9,9.3,687,12505,0.00,0.52,0.00,0.000,6,0.000,0.043,3160,1664,1528,0,0,0,0,0,0
$GC,12841,0.44,317.2,848.9,7.9,698,12845,0.00,0.73,0.00,0.000,4,0.000,0.066,3160,1210,1527,0,0,0,0,0,0
$GC,12901,0.46,317.2,844.2,7.8,699,12907,0.00,0.68,0.00,0.000,6,0.000,0.041,3159,1656,1527,0,0,0,0,0,0
$GC,13213,0.46,317.2,819.9,7.8,710,13217,0.00,0.50,0.00,0.000,4,0.000,0.065,3160,1335,1526,0,0,0,0,0,0
$GC,13269,0.46,317.2,815.6,8.2,711,13273,0.00,0.45,0.00,0.000,6,0.000,0.046,3159,1649,1526,0,0,0,0,0,0
$GC,13586,0.46,317.2,790.8,7.8,722,13588,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1648,1526,0,0,0,0,0,0
$GC,13893,0.46,317.2,767.2,7.6,732,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1649,1526,0,0,0,0,0,0
$GC,14199,0.46,317.2,743.6,7.7,742,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1648,1526,0,0,0,0,0,0
$GC,14505,0.46,317.2,720.2,7.6,752,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1649,1526,0,0,0,0,0,0
$GC,14812,0.46,321.9,697.5,7.2,762,14818,0.00,0.00,4.62,0.835,6,0.000,0.000,3160,1648,1513,0,0,0,0,0,0
$GC,15118,0.48,334.6,675.6,7.0,772,15133,0.00,0.00,12.98,1.128,6,0.000,0.000,3160,1648,1462,0,0,0,0,0,0
$GC,15424,0.52,340.4,653.8,7.2,782,15434,0.05,0.00,6.65,0.984,6,0.173,0.000,3186,1649,1439,0,0,0,0,0,0
$GC,15730,0.50,340.4,626.0,9.3,792,15732,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1649,1438,0,0,0,0,0,0
$GC,16037,0.47,340.4,596.1,10.0,802,16041,0.08,0.35,0.00,0.000,4,0.199,0.070,3172,1428,1438,0,0,0,0,0,0
$GC,16085,0.47,340.4,591.6,8.7,803,16087,0.00,0.32,0.00,0.000,6,0.000,0.052,3172,1648,1438,0,0,0,0,0,0
$GC,16404,0.47,340.4,564.9,8.3,814,16406,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1648,1438,0,0,0,0,0,0
$GC,16711,0.47,340.4,539.6,7.9,824,16714,0.00,0.70,0.00,0.000,4,0.000,0.045,3172,2117,1438,0,0,0,0,0,0
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$STATE,22928,end climb,SURFACE_DEPTH_REACHED
$STATE,22928,begin surface coast
$FINISH,1.2,1.026893
$STATE,22959,end surface coast,CONTROL_FINISHED_OK
$STATE,22959,begin surface
$SM_CCo,23034,0.00,0.000,0,0,1328,367.45
$SM_GC,2.40,8.45,0.00,0.00,0.057,0.000,0.000,94,1904,1328,-9.08,-0.25,367.45
$IRIDIUM_FIX,-4311.50,-819.97,081012,171715
$TT8_MAMPS,0.026964
$HUMID,44.64
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,21.779
$10V_AH,10.2,19.326
$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,23.175,51.525,455.650,0.000,0.000,29.191,42.082,319.403,0.250,0.000,19.618,3309.094,15624.069,521.843,3921.754,151.665,33.353,1915.465,0.000,3490.094,0.000,3.184,0.000
$DEVICE_MAMPS,286.110,70.380,1452.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.649,1605.573,878.255,118.025,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,76936,1311
$CAP_FILE_SIZE,190158,0
$CFSIZE,2097086464,2082111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,091012,063259,-4333.761,-815.446,68,2.0,69,-21.2