version: 66.07.10.p01
glider: 574
mission: 4
dive: 123
start: 10 20 112 4 31 37
data:
$ID,574
$MISSION,4
$DIVE,123
$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,-5803.1895
$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,30
$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,102
$GPS1,201012,042259,-4248.659,-752.932,42,1.3,42,-21.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.6
$GPS2,201012,043043,-4248.652,-752.973,16,1.2,18,-21.6
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP6s
$TGT_LATLONG,-4340.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.116,-0.204
$KALMAN_X,-162071.9,542.4,1720.0,236624.9,-12455.6
$KALMAN_Y,93437.3,-22.3,-541.7,-87384.8,6034.3
$MHEAD_RNG_PITCHd_Wd,172.1,104855,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-65.62,0.000,2,0.000,0.000,66,1920,2609,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.2,-1.3,11,139,12.50,2.35,-23.77,0.000,4,0.272,0.076,2831,510,3424,0,0,0,0,0,0
$GC,282,-0.50,-145.9,22.9,-10.8,42,290,0.08,2.15,0.00,0.000,6,0.146,0.037,2848,1871,3425,0,0,0,0,0,0
$GC,362,-0.50,-145.9,30.6,-9.7,55,367,0.00,0.68,0.00,0.000,4,0.000,0.044,2847,2331,3425,0,0,0,0,0,0
$GC,421,-0.52,-145.9,36.3,-9.3,65,426,0.00,0.65,0.00,0.000,6,0.000,0.051,2847,1914,3425,0,0,0,0,0,0
$GC,656,-0.52,-145.9,57.9,-8.6,106,663,0.00,1.23,0.00,0.000,4,0.000,0.061,2846,1147,3425,0,0,0,0,0,0
$GC,753,-0.52,-145.9,67.3,-9.9,123,759,0.00,1.20,0.00,0.000,6,0.000,0.037,2842,1921,3425,0,0,0,0,0,0
$GC,1097,-0.52,-145.9,98.7,-9.4,184,1102,0.00,0.85,0.00,0.000,4,0.000,0.056,2842,1391,3425,0,0,0,0,0,0
$GC,1184,-0.52,-145.9,106.7,-9.4,191,1188,0.00,0.80,0.00,0.000,6,0.000,0.034,2838,1927,3425,0,0,0,0,0,0
$GC,1515,-0.52,-145.9,137.4,-9.1,212,1518,0.00,1.05,0.00,0.000,4,0.000,0.055,2838,1270,3425,0,0,0,0,0,0
$GC,1604,-0.52,-145.9,146.0,-10.2,217,1608,0.00,1.00,0.00,0.000,6,0.000,0.036,2836,1915,3425,0,0,0,0,0,0
$GC,1930,-0.52,-145.9,176.1,-9.3,238,1933,0.00,0.82,0.00,0.000,4,0.000,0.056,2836,1392,3425,0,0,0,0,0,0
$GC,2018,-0.52,-145.9,184.1,-9.2,243,2021,0.00,0.77,0.00,0.000,6,0.000,0.037,2833,1911,3425,0,0,0,0,0,0
$GC,2349,-0.52,-145.9,215.1,-9.4,264,2352,0.00,0.88,0.00,0.000,4,0.000,0.056,2833,1362,3425,0,0,0,0,0,0
$GC,2437,-0.52,-145.9,224.0,-9.8,269,2441,0.00,0.85,0.00,0.000,6,0.000,0.036,2829,1918,3425,0,0,0,0,0,0
$GC,2772,-0.50,-145.9,255.2,-9.6,290,2776,0.08,1.05,0.00,0.000,4,0.192,0.057,2847,1267,3425,0,0,0,0,0,0
$GC,2862,-0.53,-145.9,263.1,-8.4,294,2866,0.00,0.98,0.00,0.000,6,0.000,0.037,2844,1910,3426,0,0,0,0,0,0
$GC,3194,-0.53,-145.9,292.4,-9.0,310,3197,0.00,0.93,0.00,0.000,4,0.000,0.056,2844,1321,3425,0,0,0,0,0,0
$GC,3289,-0.55,-145.9,301.4,-9.4,314,3293,0.00,0.93,0.00,0.000,6,0.000,0.038,2840,1921,3425,0,0,0,0,0,0
$GC,3616,-0.55,-145.9,330.6,-8.8,330,3619,0.00,0.35,0.00,0.000,4,0.000,0.059,2840,1677,3425,0,0,0,0,0,0
$GC,3731,-0.55,-145.9,340.6,-8.4,335,3735,0.00,0.32,0.00,0.000,6,0.000,0.047,2838,1918,3425,0,0,0,0,0,0
$GC,4065,-0.55,-145.9,370.0,-9.0,351,4068,0.00,1.33,0.00,0.000,4,0.000,0.057,2838,1084,3425,0,0,0,0,0,0
$GC,4159,-0.55,-145.9,379.3,-9.4,355,4164,0.00,1.27,0.00,0.000,6,0.000,0.037,2835,1906,3425,0,0,0,0,0,0
$GC,4475,-0.55,-145.9,410.0,-10.2,369,4479,0.00,0.90,0.00,0.000,4,0.000,0.056,2835,1330,3425,0,0,0,0,0,0
$GC,4568,-0.55,-145.9,419.6,-9.8,371,4574,0.00,0.90,0.00,0.000,6,0.000,0.038,2832,1917,3425,0,0,0,0,0,0
$GC,4881,-0.55,-145.9,452.1,-10.5,382,4885,0.00,1.65,0.00,0.000,4,0.000,0.057,2832,886,3425,0,0,0,0,0,0
$GC,4975,-0.55,-145.9,462.0,-10.3,384,4981,0.00,1.60,0.00,0.000,6,0.000,0.036,2825,1911,3425,0,0,0,0,0,0
$GC,5288,-0.55,-145.9,495.5,-11.0,395,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1911,3425,0,0,0,0,0,0
$GC,5594,-0.55,-145.9,529.3,-11.2,405,5598,0.00,0.60,0.00,0.000,4,0.000,0.054,2825,1522,3425,0,0,0,0,0,0
$GC,5676,-0.55,-145.9,538.8,-11.3,407,5681,0.00,0.62,0.00,0.000,6,0.000,0.042,2823,1930,3425,0,0,0,0,0,0
$GC,6000,-0.55,-145.9,575.3,-11.2,418,6004,0.00,1.27,0.00,0.000,4,0.000,0.055,2823,1130,3425,0,0,0,0,0,0
$GC,6101,-0.55,-145.9,586.3,-10.3,421,6105,0.03,1.20,0.00,0.000,6,0.178,0.037,2827,1917,3424,0,0,0,0,0,0
$GC,6440,-0.55,-145.9,619.6,-9.5,432,6444,0.00,0.82,0.00,0.000,4,0.000,0.054,2827,1389,3424,0,0,0,0,0,0
$GC,6551,-0.55,-145.9,629.8,-8.9,435,6555,0.00,0.82,0.00,0.000,6,0.000,0.038,2824,1928,3423,0,0,0,0,0,0
$GC,6880,-0.55,-145.9,657.7,-8.3,446,6884,0.00,1.08,0.00,0.000,4,0.000,0.053,2824,1248,3422,0,0,0,0,0,0
$GC,6968,-0.55,-145.9,664.9,-8.6,448,6973,0.00,1.02,0.00,0.000,6,0.000,0.035,2820,1918,3422,0,0,0,0,0,0
$GC,7287,-0.53,-145.9,691.1,-8.1,459,7289,0.08,0.00,0.00,0.000,6,0.196,0.000,2837,1919,3421,0,0,0,0,0,0
$GC,7594,-0.55,-145.9,712.3,-7.1,469,7597,0.00,1.67,0.00,0.000,4,0.000,0.055,2837,869,3422,0,0,0,0,0,0
$GC,7699,-0.58,-145.9,720.6,-7.4,472,7704,0.00,1.60,0.00,0.000,6,0.000,0.034,2834,1907,3421,0,0,0,0,0,0
$GC,8034,-0.58,-145.9,748.4,-8.4,483,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1907,3420,0,0,0,0,0,0
$GC,8340,-0.58,-145.9,774.5,-8.6,493,8344,0.00,0.32,0.00,0.000,4,0.000,0.057,2833,1683,3419,0,0,0,0,0,0
$GC,8417,-0.60,-145.9,781.5,-8.7,495,8422,0.00,0.35,0.00,0.000,6,0.000,0.045,2832,1932,3419,0,0,0,0,0,0
$GC,8746,-0.60,-145.9,809.9,-8.6,506,8750,0.00,1.20,0.00,0.000,4,0.000,0.052,2832,1177,3418,0,0,0,0,0,0
$GC,8848,-0.62,-145.9,818.7,-8.5,509,8851,0.00,1.10,0.00,0.000,6,0.000,0.036,2827,1901,3418,0,0,0,0,0,0
$GC,9188,-0.62,-145.9,849.5,-9.1,520,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1901,3417,0,0,0,0,0,0
$GC,9494,-0.62,-145.9,877.1,-8.9,530,9498,0.00,0.82,0.00,0.000,4,0.000,0.052,2828,1373,3416,0,0,0,0,0,0
$GC,9587,-0.62,-145.9,886.0,-10.1,532,9593,0.00,0.85,0.00,0.000,6,0.000,0.037,2825,1925,3416,0,0,0,0,0,0
$GC,9900,-0.62,-145.9,915.4,-9.6,543,9904,0.00,0.70,0.00,0.000,4,0.000,0.053,2825,1473,3415,0,0,0,0,0,0
$GC,9993,-0.62,-145.9,924.6,-9.6,545,9999,0.00,0.68,0.00,0.000,6,0.000,0.039,2823,1916,3415,0,0,0,0,0,0
$GC,10306,-0.62,-145.9,955.4,-10.0,556,10310,0.00,0.32,0.00,0.000,4,0.000,0.057,2823,1690,3415,0,0,0,0,0,0
$GC,10394,-0.62,-145.9,964.1,-9.1,558,10398,0.00,0.32,0.00,0.000,6,0.000,0.049,2822,1918,3415,0,0,0,0,0,0
$GC,10711,-0.62,-145.9,994.2,-9.4,569,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1918,3414,0,0,0,0,0,0
$STATE,10772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10773,begin apogee
$GC,10777,-0.19,0.0,1000.2,9.5,571,10902,0.43,0.00,122.30,1.510,6,0.140,0.000,2950,1644,2828,0,0,0,0,0,0
$STATE,10903,end apogee,CONTROL_FINISHED_OK
$STATE,10903,begin climb
$GC,10904,0.52,145.9,1006.8,0.0,575,11038,0.68,0.00,128.85,1.490,6,0.084,0.000,3173,1644,2232,0,0,0,0,0,0
$GC,11332,0.37,158.3,991.3,7.0,589,11347,0.15,0.95,11.00,1.318,4,0.184,0.037,3138,2255,2182,0,0,0,0,0,0
$GC,11476,0.29,184.6,982.4,6.5,593,11507,0.10,1.00,24.55,1.418,6,0.156,0.050,3112,1638,2074,0,0,0,0,0,0
$GC,11830,0.29,219.3,961.5,6.2,605,11865,0.00,0.82,31.15,1.429,4,0.000,0.036,3111,2178,1932,0,0,0,0,0,0
$GC,11922,0.29,231.6,955.3,7.0,608,11938,0.00,0.85,12.07,1.306,6,0.000,0.051,3113,1655,1882,0,0,0,0,0,0
$GC,12257,0.33,241.4,931.7,7.1,619,12268,0.00,0.00,9.60,1.255,6,0.000,0.000,3113,1655,1842,0,0,0,0,0,0
$GC,12563,0.38,261.7,910.4,6.7,629,12585,0.08,0.00,19.40,1.366,6,0.125,0.000,3145,1654,1760,0,0,0,0,0,0
$GC,12868,0.38,261.7,886.0,8.0,639,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1654,1756,0,0,0,0,0,0
$GC,13174,0.38,261.7,860.6,8.5,649,13178,0.00,0.40,0.00,0.000,4,0.000,0.046,3145,1939,1754,0,0,0,0,0,0
$GC,13242,0.38,261.7,854.8,8.5,651,13245,0.00,0.45,0.00,0.000,6,0.000,0.060,3145,1645,1754,0,0,0,0,0,0
$GC,13581,0.38,261.7,823.4,9.3,662,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1646,1753,0,0,0,0,0,0
$GC,13888,0.38,261.7,794.2,9.7,672,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1645,1753,0,0,0,0,0,0
$GC,14194,0.38,261.7,764.7,9.4,682,14198,0.00,0.65,0.00,0.000,4,0.000,0.042,3145,2083,1753,0,0,0,0,0,0
$GC,14249,0.38,261.7,759.5,9.0,683,14253,0.00,0.68,0.00,0.000,6,0.000,0.055,3146,1655,1753,0,0,0,0,0,0
$GC,14567,0.38,261.7,731.1,9.0,694,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1655,1752,0,0,0,0,0,0
$GC,14873,0.38,261.7,704.9,8.4,704,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1655,1753,0,0,0,0,0,0
$GC,15179,0.38,268.4,681.6,7.2,714,15189,0.00,0.28,6.35,1.043,4,0.000,0.060,3146,1436,1732,0,0,0,0,0,0
$GC,15250,0.38,287.9,676.7,6.7,716,15272,0.00,0.32,18.83,1.268,6,0.000,0.049,3146,1660,1653,0,0,0,0,0,0
$GC,15578,0.39,341.5,657.2,5.6,726,15629,0.00,0.00,48.70,1.305,6,0.000,0.000,3145,1660,1434,0,0,0,0,0,0
$GC,15915,0.44,390.0,638.5,5.7,737,15961,0.00,0.00,43.92,1.280,6,0.000,0.000,3146,1660,1235,0,0,0,0,0,0
$GC,16251,0.63,418.6,617.8,6.4,748,16282,0.20,0.68,25.88,1.229,4,0.106,0.038,3210,2086,1120,0,0,0,0,0,0
$GC,16316,0.78,418.6,612.4,8.5,750,16320,0.12,0.73,0.00,0.000,6,0.058,0.056,3267,1647,1118,0,0,0,0,0,0
$GC,16656,0.64,418.6,562.7,15.4,761,16660,0.17,1.62,0.00,0.000,4,0.177,0.063,3229,651,1114,0,0,0,0,0,0
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$STATE,21870,end climb,SURFACE_DEPTH_REACHED
$STATE,21870,begin surface coast
$FINISH,1.6,1.000889
$STATE,21907,end surface coast,CONTROL_FINISHED_OK
$STATE,21907,begin surface
$SM_CCo,21983,0.00,0.000,0,0,1109,421.17
$SM_GC,2.54,8.60,0.00,0.00,0.060,0.000,0.000,87,1922,1109,-9.10,0.25,421.17
$IRIDIUM_FIX,-4230.32,-750.80,191012,212119
$TT8_MAMPS,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.9,30.760
$10V_AH,10.2,25.272
$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,23.550,63.125,502.600,0.000,0.000,28.514,37.931,279.315,0.250,0.000,20.534,2840.224,15391.743,597.261,3467.293,141.022,33.360,1907.514,0.000,3066.570,0.000,2.835,0.000
$DEVICE_MAMPS,272.340,75.735,1510.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.778,1223.624,740.316,92.122,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,66992,1130
$CAP_FILE_SIZE,182333,0
$CFSIZE,2097086464,2076606464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,201012,103910,-4250.143,-754.021,32,1.2,38,-21.6