version: 66.07.10.p01
glider: 574
mission: 4
dive: 118
start: 10 18 112 19 29 12
data:
$ID,574
$MISSION,4
$DIVE,118
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5786.5327
$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,25
$R_STBD_OVSHOOT,32
$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,97
$GPS1,181012,192105,-4245.005,-751.376,29,0.9,29,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-67.8
$GPS2,181012,192818,-4244.984,-751.424,18,1.0,19,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,-0.088
$KALMAN_X,-136469.7,47.6,319.8,215033.8,-7889.1
$KALMAN_Y,81494.2,-532.8,-903.7,-67751.7,7211.6
$MHEAD_RNG_PITCHd_Wd,133.7,110244,-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,-145.9,0.0,0.0,0,93,0.00,0.00,-65.80,0.000,2,0.000,0.000,66,1913,2070,0,0,0,0,0,0
$GC,95,-0.52,-145.9,3.1,-1.1,11,168,12.50,2.30,-53.60,0.000,4,0.272,0.067,2824,3319,3422,0,0,0,0,0,0
$GC,269,-0.52,-145.9,15.3,-9.7,40,277,0.05,2.28,0.00,0.000,6,0.132,0.055,2843,1925,3423,0,0,0,0,0,0
$GC,349,-0.52,-145.9,23.0,-9.8,53,357,0.00,1.00,0.00,0.000,4,0.000,0.065,2843,1302,3424,0,0,0,0,0,0
$GC,435,-0.52,-145.9,31.2,-9.1,67,440,0.00,0.98,0.00,0.000,6,0.000,0.046,2841,1917,3424,0,0,0,0,0,0
$GC,668,-0.52,-145.9,54.1,-9.6,108,676,0.00,0.43,0.00,0.000,4,0.000,0.063,2840,1646,3424,0,0,0,0,0,0
$GC,735,-0.52,-145.9,60.1,-9.2,119,739,0.00,0.40,0.00,0.000,6,0.000,0.051,2838,1922,3423,0,0,0,0,0,0
$GC,1078,-0.52,-145.9,95.7,-10.4,180,1085,0.00,1.77,0.00,0.000,4,0.000,0.065,2838,849,3424,0,0,0,0,0,0
$GC,1166,-0.52,-145.9,104.4,-10.4,191,1170,0.00,1.67,0.00,0.000,6,0.000,0.044,2832,1923,3424,0,0,0,0,0,0
$GC,1497,-0.50,-145.9,135.0,-8.6,212,1501,0.08,0.57,0.00,0.000,4,0.194,0.063,2850,1567,3424,0,0,0,0,0,0
$GC,1568,-0.52,-145.9,140.4,-7.0,216,1573,0.00,0.55,0.00,0.000,6,0.000,0.047,2849,1922,3424,0,0,0,0,0,0
$GC,1895,-0.52,-145.9,161.0,-5.8,237,1899,0.00,1.33,0.00,0.000,4,0.000,0.064,2849,1110,3425,0,0,0,0,0,0
$GC,1984,-0.54,-145.9,166.4,-5.4,242,1988,0.00,1.25,0.00,0.000,6,0.000,0.043,2844,1910,3424,0,0,0,0,0,0
$GC,2311,-0.54,-145.9,183.6,-5.4,263,2314,0.00,0.62,0.00,0.000,4,0.000,0.060,2844,1518,3425,0,0,0,0,0,0
$GC,2366,-0.54,-145.9,186.9,-5.4,266,2370,0.00,0.62,0.00,0.000,6,0.000,0.045,2842,1923,3425,0,0,0,0,0,0
$GC,2692,-0.54,-145.9,204.8,-5.7,287,2696,0.00,0.68,0.00,0.000,4,0.000,0.060,2842,1490,3424,0,0,0,0,0,0
$GC,2769,-0.54,-145.9,209.5,-5.6,291,2775,0.00,0.68,0.00,0.000,6,0.000,0.044,2839,1925,3425,0,0,0,0,0,0
$GC,3090,-0.54,-145.9,227.4,-5.9,312,3094,0.00,1.02,0.00,0.000,4,0.000,0.060,2839,1283,3424,0,0,0,0,0,0
$GC,3178,-0.54,-145.9,233.7,-7.5,317,3183,0.00,1.00,0.00,0.000,6,0.000,0.042,2835,1917,3424,0,0,0,0,0,0
$GC,3515,-0.54,-145.9,259.0,-8.4,337,3518,0.00,0.82,0.00,0.000,4,0.000,0.061,2836,1397,3425,0,0,0,0,0,0
$GC,3592,-0.54,-145.9,266.2,-9.0,340,3596,0.00,0.82,0.00,0.000,6,0.000,0.043,2832,1926,3425,0,0,0,0,0,0
$GC,3913,-0.54,-145.9,298.2,-10.6,356,3917,0.00,0.55,0.00,0.000,4,0.000,0.061,2832,1574,3424,0,0,0,0,0,0
$GC,4003,-0.54,-145.9,308.4,-11.2,360,4007,0.00,0.50,0.00,0.000,6,0.000,0.047,2830,1912,3424,0,0,0,0,0,0
$GC,4335,-0.54,-145.9,339.6,-8.9,376,4339,0.00,0.85,0.00,0.000,4,0.000,0.060,2830,1379,3425,0,0,0,0,0,0
$GC,4412,-0.54,-145.9,346.3,-8.6,379,4417,0.00,0.82,0.00,0.000,6,0.000,0.041,2826,1915,3425,0,0,0,0,0,0
$GC,4736,-0.54,-145.9,369.9,-6.9,395,4740,0.00,1.58,0.00,0.000,4,0.000,0.063,2827,950,3424,0,0,0,0,0,0
$GC,4829,-0.54,-145.9,376.9,-7.8,399,4833,0.03,1.48,0.00,0.000,6,0.181,0.040,2830,1900,3425,0,0,0,0,0,0
$GC,5163,-0.54,-145.9,401.4,-7.2,415,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1900,3425,0,0,0,0,0,0
$GC,5469,-0.54,-145.9,425.8,-8.1,430,5473,0.00,0.45,0.00,0.000,4,0.000,0.063,2830,1606,3425,0,0,0,0,0,0
$GC,5546,-0.54,-145.9,432.2,-8.0,433,5550,0.00,0.47,0.00,0.000,6,0.000,0.045,2829,1923,3424,0,0,0,0,0,0
$GC,5869,-0.54,-145.9,456.9,-8.0,449,5873,0.00,1.33,0.00,0.000,4,0.000,0.060,2829,1104,3425,0,0,0,0,0,0
$GC,5963,-0.54,-145.9,465.2,-8.7,453,5968,0.00,1.25,0.00,0.000,6,0.000,0.039,2823,1907,3424,0,0,0,0,0,0
$GC,6293,-0.52,-145.9,493.7,-9.3,469,6295,0.08,0.00,0.00,0.000,6,0.197,0.000,2840,1909,3424,0,0,0,0,0,0
$GC,6618,-0.54,-145.9,521.0,-8.1,481,6622,0.00,0.90,0.00,0.000,4,0.000,0.058,2840,1337,3424,0,0,0,0,0,0
$GC,6701,-0.56,-145.9,528.0,-7.7,483,6706,0.00,0.90,0.00,0.000,6,0.000,0.039,2837,1918,3424,0,0,0,0,0,0
$GC,7025,-0.56,-145.9,553.2,-7.8,494,7029,0.00,1.08,0.00,0.000,4,0.000,0.058,2837,1247,3424,0,0,0,0,0,0
$GC,7113,-0.56,-145.9,560.2,-8.0,496,7117,0.00,1.05,0.00,0.000,6,0.000,0.039,2833,1925,3423,0,0,0,0,0,0
$GC,7432,-0.56,-145.9,582.9,-7.2,507,7435,0.00,1.08,0.00,0.000,4,0.000,0.057,2833,1247,3423,0,0,0,0,0,0
$GC,7526,-0.56,-145.9,589.5,-6.6,509,7532,0.00,1.05,0.00,0.000,6,0.000,0.040,2829,1919,3423,0,0,0,0,0,0
$GC,7839,-0.56,-145.9,609.3,-6.2,520,7842,0.00,0.70,0.00,0.000,4,0.000,0.057,2829,1473,3422,0,0,0,0,0,0
$GC,7921,-0.56,-145.9,614.7,-6.6,522,7926,0.00,0.70,0.00,0.000,6,0.000,0.041,2826,1927,3422,0,0,0,0,0,0
$GC,8246,-0.56,-145.9,632.7,-5.0,533,8249,0.00,1.02,0.00,0.000,4,0.000,0.058,2826,1290,3422,0,0,0,0,0,0
$GC,8328,-0.56,-145.9,637.6,-5.3,535,8333,0.00,0.98,0.00,0.000,6,0.000,0.041,2822,1912,3422,0,0,0,0,0,0
$GC,8653,-0.54,-145.9,658.8,-7.4,546,8657,0.00,0.90,0.00,0.000,4,0.000,0.057,2823,1351,3422,0,0,0,0,0,0
$GC,8730,-0.54,-145.9,665.4,-8.1,548,8735,0.08,0.90,0.00,0.000,6,0.190,0.043,2836,1926,3422,0,0,0,0,0,0
$GC,9059,-0.56,-145.9,692.1,-9.0,559,9063,0.00,0.77,0.00,0.000,4,0.000,0.059,2836,1438,3422,0,0,0,0,0,0
$GC,9131,-0.60,-145.9,699.4,-10.7,561,9135,0.00,0.75,0.00,0.000,6,0.000,0.045,2835,1918,3421,0,0,0,0,0,0
$GC,9466,-0.60,-145.9,736.8,-11.6,572,9469,0.00,0.38,0.00,0.000,4,0.000,0.063,2835,1669,3421,0,0,0,0,0,0
$GC,9533,-0.62,-145.9,744.9,-12.0,574,9538,0.03,0.35,0.00,0.000,6,0.111,0.054,2813,1916,3421,0,0,0,0,0,0
$GC,9874,-0.59,-145.9,790.3,-12.6,585,9877,0.00,1.67,0.00,0.000,4,0.000,0.060,2813,866,3421,0,0,0,0,0,0
$GC,9984,-0.56,-145.9,804.6,-12.5,588,9990,0.05,1.62,0.00,0.000,6,0.158,0.042,2823,1899,3421,0,0,0,0,0,0
$GC,10314,-0.56,-145.9,843.1,-12.1,599,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1898,3421,0,0,0,0,0,0
$GC,10620,-0.56,-145.9,879.6,-11.2,609,10624,0.00,0.70,0.00,0.000,4,0.000,0.050,2821,2375,3421,0,0,0,0,0,0
$GC,10688,-0.59,-145.9,886.4,-9.3,611,10692,0.00,0.73,0.00,0.000,6,0.000,0.053,2820,1904,3421,0,0,0,0,0,0
$GC,11028,-0.59,-145.9,918.7,-9.3,622,11031,0.00,1.60,0.00,0.000,4,0.000,0.059,2821,905,3420,0,0,0,0,0,0
$GC,11129,-0.59,-145.9,926.0,-6.1,625,11133,0.00,1.58,0.00,0.000,6,0.000,0.043,2814,1908,3420,0,0,0,0,0,0
$GC,11470,-0.57,-145.9,952.5,-7.9,636,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1908,3420,0,0,0,0,0,0
$GC,11775,-0.57,-145.9,976.0,-7.8,646,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1908,3420,0,0,0,0,0,0
$GC,12082,-0.57,-145.9,998.5,-7.0,656,12086,0.00,0.95,0.00,0.000,4,0.000,0.058,2814,1315,3420,0,0,0,0,0,0
$STATE,12102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12102,begin apogee
$GC,12106,-0.19,0.0,1000.2,7.5,656,12237,0.43,0.00,124.60,1.571,6,0.141,0.000,2945,1675,2828,0,0,0,0,0,0
$STATE,12238,end apogee,CONTROL_FINISHED_OK
$STATE,12238,begin climb
$GC,12239,0.52,145.9,1002.7,0.0,661,12374,0.70,0.00,130.27,1.506,6,0.082,0.000,3175,1675,2232,0,0,0,0,0,0
$GC,12667,0.36,145.9,970.3,11.5,675,12672,0.17,0.90,0.00,0.000,4,0.187,0.067,3137,1154,2225,0,0,0,0,0,0
$GC,12738,0.29,145.9,961.8,13.0,677,12743,0.12,0.80,0.00,0.000,6,0.177,0.045,3107,1653,2225,0,0,0,0,0,0
$GC,13073,0.29,145.9,926.8,10.4,688,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1653,2224,0,0,0,0,0,0
$GC,13379,0.29,145.9,897.1,8.6,698,13383,0.00,1.40,0.00,0.000,4,0.000,0.049,3107,2532,2224,0,0,0,0,0,0
$GC,13506,0.26,145.9,884.0,10.9,701,13512,0.00,1.42,0.00,0.000,6,0.000,0.054,3111,1655,2224,0,0,0,0,0,0
$GC,13819,0.26,145.9,851.0,11.4,712,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1655,2224,0,0,0,0,0,0
$GC,14125,0.23,145.9,818.7,11.7,722,14130,0.10,0.57,0.00,0.000,4,0.200,0.069,3090,1300,2224,0,0,0,0,0,0
$GC,14248,0.26,145.9,807.1,9.6,725,14252,0.00,0.55,0.00,0.000,6,0.000,0.047,3090,1652,2224,0,0,0,0,0,0
$GC,14566,0.29,162.2,785.3,6.9,736,14586,0.00,1.33,13.93,1.288,4,0.000,0.049,3089,2472,2165,0,0,0,0,0,0
$GC,14681,0.29,208.6,777.4,5.8,739,14728,0.00,1.33,41.40,1.375,6,0.000,0.054,3092,1653,1975,0,0,0,0,0,0
$GC,15035,0.42,306.3,761.8,4.1,751,15126,0.17,0.88,85.18,1.385,4,0.085,0.064,3166,1125,1578,0,0,0,0,0,0
$GC,15204,0.42,306.3,747.8,8.8,756,15209,0.08,0.88,0.00,0.000,6,0.190,0.043,3151,1660,1574,0,0,0,0,0,0
$GC,15533,0.45,306.3,720.4,8.5,767,15537,0.00,0.35,0.00,0.000,4,0.000,0.071,3151,1438,1569,0,0,0,0,0,0
$GC,15589,0.47,306.3,715.2,8.8,768,15593,0.00,0.30,0.00,0.000,6,0.000,0.055,3151,1639,1568,0,0,0,0,0,0
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$STATE,22930,end climb,SURFACE_DEPTH_REACHED
$STATE,22930,begin surface coast
$FINISH,1.7,1.015881
$STATE,22968,end surface coast,CONTROL_FINISHED_OK
$STATE,22968,begin surface
$SM_CCo,23044,0.00,0.000,0,0,799,497.46
$SM_GC,2.53,8.73,0.00,0.00,0.063,0.000,0.000,92,1919,799,-9.09,0.17,497.46
$IRIDIUM_FIX,-4227.40,-752.90,181012,080830
$TT8_MAMPS,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,9.01849
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.8,29.594
$10V_AH,10.2,24.567
$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
$DEVICE_SECS,23.875,86.225,562.250,0.000,0.000,31.630,38.756,251.221,0.250,0.000,21.136,3072.994,15702.253,638.360,3906.426,152.378,33.358,2156.046,0.000,3515.953,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.816,1448.110,798.219,85.724,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,73453,1200
$CAP_FILE_SIZE,209195,0
$CFSIZE,2097086464,2077229056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191012,015459,-4244.385,-749.704,70,1.0,71,-21.6