version: 66.07.10.p01
glider: 574
mission: 4
dive: 115
start: 10 18 112 4 24 58
data:
$ID,574
$MISSION,4
$DIVE,115
$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,-5776.5889
$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,26
$R_STBD_OVSHOOT,55
$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,94
$GPS1,181012,041605,-4240.317,-751.642,29,0.9,29,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-69.5
$GPS2,181012,042404,-4240.285,-751.695,21,0.9,38,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.021,-0.234
$KALMAN_X,-125581.1,-427.0,-1702.8,206271.5,849.2
$KALMAN_Y,73275.1,88.2,-163.5,-52205.3,2676.7
$MHEAD_RNG_PITCHd_Wd,196.6,118464,-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,-54.10,0.000,2,0.000,0.000,66,1925,2466,0,0,0,0,0,0
$GC,83,-0.52,-145.9,3.0,-1.4,9,133,12.52,2.22,-30.77,0.000,4,0.273,0.068,2826,3303,3420,0,0,0,0,0,0
$GC,234,-0.56,-145.9,16.6,-11.5,34,241,0.00,2.22,0.00,0.000,6,0.000,0.050,2826,1920,3421,0,0,0,0,0,0
$GC,314,-0.51,-145.9,24.1,-10.1,47,322,0.08,0.62,0.00,0.000,4,0.191,0.063,2843,1525,3422,0,0,0,0,0,0
$GC,404,-0.51,-145.9,31.8,-8.6,62,411,0.00,0.57,0.00,0.000,6,0.000,0.045,2842,1901,3422,0,0,0,0,0,0
$GC,642,-0.51,-145.9,53.1,-9.0,103,647,0.00,0.52,0.00,0.000,4,0.000,0.063,2842,1569,3422,0,0,0,0,0,0
$GC,728,-0.51,-145.9,62.0,-10.1,118,733,0.00,0.52,0.00,0.000,6,0.000,0.044,2840,1923,3422,0,0,0,0,0,0
$GC,1072,-0.51,-145.9,93.2,-8.5,179,1076,0.00,1.00,0.00,0.000,4,0.000,0.061,2840,1312,3422,0,0,0,0,0,0
$GC,1182,-0.51,-145.9,102.8,-7.7,195,1188,0.00,0.95,0.00,0.000,6,0.000,0.041,2837,1913,3422,0,0,0,0,0,0
$GC,1502,-0.51,-145.9,130.5,-8.5,216,1506,0.00,1.15,0.00,0.000,4,0.000,0.060,2837,1199,3422,0,0,0,0,0,0
$GC,1596,-0.51,-145.9,139.8,-10.3,221,1602,0.00,1.12,0.00,0.000,6,0.000,0.041,2833,1915,3422,0,0,0,0,0,0
$GC,1917,-0.49,-145.9,172.4,-10.4,242,1922,0.08,1.15,0.00,0.000,4,0.200,0.062,2851,1214,3422,0,0,0,0,0,0
$GC,2011,-0.49,-145.9,182.0,-9.2,247,2017,0.00,1.10,0.00,0.000,6,0.000,0.039,2850,1917,3422,0,0,0,0,0,0
$GC,2332,-0.51,-145.9,212.1,-9.1,268,2335,0.00,1.05,0.00,0.000,4,0.000,0.060,2850,1261,3422,0,0,0,0,0,0
$GC,2426,-0.51,-145.9,220.5,-7.2,273,2432,0.00,1.02,0.00,0.000,6,0.000,0.038,2847,1919,3422,0,0,0,0,0,0
$GC,2747,-0.51,-145.9,245.3,-7.3,294,2751,0.00,1.15,0.00,0.000,4,0.000,0.060,2846,1201,3422,0,0,0,0,0,0
$GC,2840,-0.51,-145.9,251.8,-6.9,299,2843,0.00,1.10,0.00,0.000,6,0.000,0.040,2843,1916,3422,0,0,0,0,0,0
$GC,3174,-0.51,-145.9,274.8,-7.2,315,3178,0.00,0.98,0.00,0.000,4,0.000,0.058,2843,1309,3422,0,0,0,0,0,0
$GC,3256,-0.51,-145.9,281.6,-7.9,318,3264,0.00,0.95,0.00,0.000,6,0.000,0.037,2839,1924,3422,0,0,0,0,0,0
$GC,3572,-0.51,-145.9,305.3,-6.5,334,3576,0.00,1.60,0.00,0.000,4,0.000,0.060,2838,937,3422,0,0,0,0,0,0
$GC,3655,-0.51,-145.9,312.4,-9.9,337,3662,0.00,1.52,0.00,0.000,6,0.000,0.035,2836,1918,3422,0,0,0,0,0,0
$GC,3973,-0.51,-145.9,340.1,-9.4,353,3977,0.00,0.68,0.00,0.000,4,0.000,0.057,2836,1487,3422,0,0,0,0,0,0
$GC,4045,-0.51,-145.9,347.1,-8.5,356,4049,0.00,0.65,0.00,0.000,6,0.000,0.037,2835,1924,3422,0,0,0,0,0,0
$GC,4372,-0.51,-145.9,378.3,-9.6,372,4375,0.00,1.05,0.00,0.000,4,0.000,0.058,2835,1270,3422,0,0,0,0,0,0
$GC,4466,-0.51,-145.9,387.7,-9.3,376,4470,0.00,1.00,0.00,0.000,6,0.000,0.035,2831,1922,3422,0,0,0,0,0,0
$GC,4793,-0.51,-145.9,420.4,-9.6,392,4796,0.00,0.85,0.00,0.000,4,0.000,0.057,2831,1385,3421,0,0,0,0,0,0
$GC,4883,-0.51,-145.9,428.8,-9.2,396,4888,0.03,0.80,0.00,0.000,6,0.184,0.037,2837,1923,3422,0,0,0,0,0,0
$GC,5216,-0.51,-145.9,453.9,-7.2,412,5219,0.00,0.62,0.00,0.000,4,0.000,0.057,2837,1525,3422,0,0,0,0,0,0
$GC,5333,-0.51,-145.9,462.5,-8.0,417,5337,0.00,0.60,0.00,0.000,6,0.000,0.039,2836,1923,3422,0,0,0,0,0,0
$GC,5662,-0.51,-145.9,483.1,-7.2,433,5666,0.00,1.15,0.00,0.000,4,0.000,0.057,2835,1204,3421,0,0,0,0,0,0
$GC,5762,-0.51,-145.9,490.4,-6.9,437,5766,0.00,1.10,0.00,0.000,6,0.000,0.036,2831,1917,3421,0,0,0,0,0,0
$GC,6102,-0.51,-145.9,514.5,-7.5,451,6106,0.00,0.35,0.00,0.000,4,0.000,0.061,2831,1681,3420,0,0,0,0,0,0
$GC,6197,-0.51,-145.9,522.4,-7.6,453,6202,0.00,0.32,0.00,0.000,6,0.000,0.047,2830,1920,3420,0,0,0,0,0,0
$GC,6509,-0.51,-145.9,551.2,-10.4,464,6513,0.05,1.40,0.00,0.000,4,0.233,0.055,2840,1052,3419,0,0,0,0,0,0
$GC,6613,-0.51,-145.9,560.6,-9.9,467,6618,0.00,1.33,0.00,0.000,6,0.000,0.034,2837,1905,3419,0,0,0,0,0,0
$GC,6948,-0.51,-145.9,588.1,-8.2,478,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1906,3418,0,0,0,0,0,0
$GC,7255,-0.51,-145.9,608.2,-6.5,488,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1905,3417,0,0,0,0,0,0
$GC,7561,-0.51,-145.9,625.1,-5.0,498,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1905,3417,0,0,0,0,0,0
$GC,7867,-0.51,-145.9,644.6,-7.5,508,7871,0.00,0.57,0.00,0.000,4,0.000,0.054,2836,1530,3416,0,0,0,0,0,0
$GC,7934,-0.51,-145.9,649.4,-6.8,510,7938,0.00,0.57,0.00,0.000,6,0.000,0.043,2834,1919,3416,0,0,0,0,0,0
$GC,8274,-0.51,-145.9,675.6,-7.7,521,8278,0.00,0.62,0.00,0.000,4,0.000,0.055,2834,1515,3416,0,0,0,0,0,0
$GC,8345,-0.53,-145.9,678.9,-3.5,523,8349,0.00,0.62,0.00,0.000,6,0.000,0.041,2832,1926,3416,0,0,0,0,0,0
$GC,8680,-0.53,-145.9,688.7,-0.6,534,8684,0.00,1.23,0.00,0.000,4,0.000,0.056,2832,1162,3415,0,0,0,0,0,0
$GC,8774,-0.53,-145.9,686.5,4.1,536,8780,0.00,1.17,0.00,0.000,6,0.000,0.041,2829,1908,3415,0,0,0,0,0,0
$STATE,8994,end dive,NO_VERTICAL_VELOCITY
$STATE,8994,begin apogee
$GC,8998,-0.19,0.0,685.8,0.0,544,9120,0.38,0.00,118.43,1.366,6,0.095,0.000,2955,1640,2827,0,0,0,0,0,0
$STATE,9120,end apogee,CONTROL_FINISHED_OK
$STATE,9120,begin climb
$GC,9122,0.52,145.9,685.9,0.0,548,9252,0.65,0.38,122.75,1.338,4,0.070,0.053,3180,1857,2232,0,0,0,0,0,0
$GC,9285,0.32,257.1,684.4,3.6,553,9389,0.25,0.35,98.32,1.316,6,0.190,0.065,3124,1659,1779,0,0,0,0,0,0
$GC,9701,0.36,257.1,647.3,8.5,567,9705,0.00,2.42,0.00,0.000,4,0.000,0.072,3126,237,1770,0,0,0,0,0,0
$GC,9790,0.42,257.1,638.9,10.1,569,9796,0.03,2.30,0.00,0.000,6,0.102,0.041,3148,1651,1768,0,0,0,0,0,0
$GC,10102,0.42,257.1,604.4,11.1,580,10106,0.00,0.50,0.00,0.000,4,0.000,0.050,3148,1993,1767,0,0,0,0,0,0
$GC,10140,0.42,257.1,600.2,10.3,581,10144,0.00,0.57,0.00,0.000,6,0.000,0.060,3151,1646,1767,0,0,0,0,0,0
$GC,10475,0.41,631.3,604.0,-5.4,592,10777,0.00,2.53,291.50,1.284,4,0.000,0.044,3148,3054,396,0,0,0,0,0,0
$GC,11029,0.72,631.3,585.1,7.5,609,11035,0.25,2.33,0.00,0.000,6,0.078,0.047,3238,1659,390,0,0,0,0,0,0
$GC,11354,1.04,631.3,537.7,20.8,620,11356,0.32,0.00,0.00,0.000,6,0.084,0.000,3349,1658,387,0,0,0,0,0,0
$GC,11674,0.86,631.3,449.5,24.6,633,11679,0.22,2.33,0.00,0.000,4,0.176,0.071,3294,239,387,0,0,0,0,0,0
$GC,11751,0.82,631.3,436.6,11.8,636,11760,0.05,2.28,0.00,0.000,6,0.168,0.045,3279,1655,386,0,0,0,0,0,0
$GC,12067,0.76,631.3,388.7,21.6,652,12071,0.08,1.58,0.00,0.000,4,0.208,0.068,3266,677,386,0,0,0,0,0,0
$GC,12128,0.73,631.3,377.1,19.5,654,12137,0.05,1.55,0.00,0.000,6,0.162,0.043,3251,1668,386,0,0,0,0,0,0
$GC,12444,0.73,631.3,333.5,12.4,670,12448,0.00,2.00,0.00,0.000,4,0.000,0.071,3253,450,385,0,0,0,0,0,0
$GC,12493,0.77,631.3,328.2,10.0,672,12498,0.00,1.88,0.00,0.000,6,0.000,0.040,3253,1646,386,0,0,0,0,0,0
$GC,12820,0.77,631.3,294.7,10.7,688,12824,0.00,0.68,0.00,0.000,4,0.000,0.067,3253,1234,385,0,0,0,0,0,0
$GC,12875,0.80,631.3,288.6,10.5,690,12880,0.00,0.68,0.00,0.000,6,0.000,0.041,3253,1676,386,0,0,0,0,0,0
$GC,13197,0.83,631.3,249.5,12.8,706,13201,0.08,1.95,0.00,0.000,4,0.130,0.070,3292,477,385,0,0,0,0,0,0
$GC,13251,0.80,631.3,241.5,15.8,709,13255,0.10,1.80,0.00,0.000,6,0.178,0.043,3269,1640,386,0,0,0,0,0,0
$GC,13580,0.80,631.3,193.8,13.0,730,13583,0.00,1.75,0.00,0.000,4,0.000,0.070,3269,571,386,0,0,0,0,0,0
$GC,13633,0.80,631.3,187.5,12.1,733,13636,0.00,1.65,0.00,0.000,6,0.000,0.041,3269,1661,385,0,0,0,0,0,0
$GC,13962,0.80,631.3,148.6,11.7,754,13965,0.00,0.85,0.00,0.000,4,0.000,0.067,3269,1142,385,0,0,0,0,0,0
$GC,14005,0.80,631.3,143.1,12.8,756,14013,0.00,0.80,0.00,0.000,6,0.000,0.042,3269,1662,386,0,0,0,0,0,0
$GC,14326,0.80,631.3,100.7,13.5,777,14330,0.00,1.00,0.00,0.000,4,0.000,0.068,3269,1046,385,0,0,0,0,0,0
$GC,14377,0.80,631.3,93.7,12.9,784,14383,0.00,0.93,0.00,0.000,6,0.000,0.042,3269,1652,386,0,0,0,0,0,0
$GC,14724,0.80,631.3,48.2,13.5,845,14729,0.00,1.85,0.00,0.000,4,0.000,0.072,3269,518,386,0,0,0,0,0,0
$GC,14775,0.80,631.3,41.3,12.5,854,14782,0.00,1.75,0.00,0.000,6,0.000,0.041,3269,1645,386,0,0,0,0,0,0
$GC,15017,0.80,631.3,12.0,14.3,895,15024,0.00,0.32,0.00,0.000,4,0.000,0.067,3269,1441,386,0,0,0,0,0,0
$GC,15044,0.80,631.3,8.3,14.1,899,15051,0.00,0.30,0.00,0.000,6,0.000,0.052,3269,1658,387,0,0,0,0,0,0
$STATE,15087,end climb,SURFACE_DEPTH_REACHED
$STATE,15087,begin surface coast
$FINISH,1.7,1.026762
$STATE,15113,end surface coast,CONTROL_FINISHED_OK
$STATE,15113,begin surface
$SM_CCo,15189,0.00,0.000,0,0,385,598.77
$SM_GC,2.47,8.77,0.00,0.00,0.060,0.000,0.000,86,1930,385,-9.11,0.40,598.77
$IRIDIUM_FIX,-4224.47,-752.90,171012,232302
$TT8_MAMPS,0.026964
$HUMID,46.53
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,23.0,28.866
$10V_AH,10.2,24.167
$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,23.975,79.350,631.000,0.000,0.000,28.046,40.197,280.127,0.000,0.000,40.599,2241.824,9477.413,634.689,3196.320,113.497,33.360,1814.744,0.000,2773.498,0.000,1.013,0.000
$DEVICE_MAMPS,273.105,71.910,1366.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.681,1293.203,575.123,85.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,56850,910
$CAP_FILE_SIZE,150978,0
$CFSIZE,2097086464,2077720576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,181012,083905,-4242.669,-751.871,26,1.1,26,-21.6