version: 66.07.10.p01
glider: 574
mission: 4
dive: 134
start: 10 23 112 4 15 28
data:
$ID,574
$MISSION,4
$DIVE,134
$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,-5839.5728
$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,48
$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,113
$GPS1,231012,040705,-4239.000,-751.436,28,2.0,28,-21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-73.2
$GPS2,231012,041434,-4239.038,-751.515,21,1.9,31,-21.7
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.146,0.184
$KALMAN_X,-210809.4,491.2,237.6,288870.5,-9451.1
$KALMAN_Y,126739.4,-955.2,-776.3,-101685.5,6470.7
$MHEAD_RNG_PITCHd_Wd,60.2,84311,-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,25,-0.52,-145.9,0.0,0.0,0,99,0.00,0.00,-72.50,0.000,2,0.000,0.000,70,1930,2758,0,0,0,0,0,0
$GC,102,-0.52,-145.9,3.1,-1.5,12,139,12.30,0.00,-17.88,0.000,6,0.266,0.000,2841,1929,3423,0,0,0,0,0,0
$GC,212,-0.52,-145.9,14.0,-9.8,30,219,0.00,0.70,0.00,0.000,4,0.000,0.058,2841,1490,3424,0,0,0,0,0,0
$GC,373,-0.52,-145.9,27.3,-8.4,57,381,0.00,0.65,0.00,0.000,6,0.000,0.047,2839,1910,3424,0,0,0,0,0,0
$GC,450,-0.52,-145.9,33.5,-8.0,70,457,0.00,0.35,0.00,0.000,4,0.000,0.060,2839,1681,3424,0,0,0,0,0,0
$GC,505,-0.52,-145.9,37.8,-8.1,79,510,0.00,0.35,0.00,0.000,6,0.000,0.050,2838,1924,3424,0,0,0,0,0,0
$GC,739,-0.52,-145.9,56.4,-7.5,120,746,0.00,1.23,0.00,0.000,4,0.000,0.057,2837,1168,3424,0,0,0,0,0,0
$GC,798,-0.52,-145.9,60.9,-7.8,130,803,0.00,1.15,0.00,0.000,6,0.000,0.041,2833,1906,3424,0,0,0,0,0,0
$GC,1139,-0.52,-145.9,88.0,-8.3,191,1143,0.00,1.65,0.00,0.000,4,0.000,0.061,2833,873,3424,0,0,0,0,0,0
$GC,1202,-0.52,-145.9,93.6,-9.4,202,1207,0.05,1.62,0.00,0.000,6,0.222,0.041,2839,1907,3424,0,0,0,0,0,0
$GC,1527,-0.52,-145.9,124.8,-10.1,231,1531,0.00,1.02,0.00,0.000,4,0.000,0.058,2839,1268,3424,0,0,0,0,0,0
$GC,1597,-0.52,-145.9,132.0,-10.1,235,1601,0.00,1.00,0.00,0.000,6,0.000,0.041,2837,1915,3424,0,0,0,0,0,0
$GC,1927,-0.52,-145.9,164.9,-9.5,256,1931,0.00,2.03,0.00,0.000,4,0.000,0.063,2837,659,3424,0,0,0,0,0,0
$GC,1987,-0.52,-145.9,171.1,-9.8,259,1994,0.00,1.95,0.00,0.000,6,0.000,0.037,2829,1909,3424,0,0,0,0,0,0
$GC,2308,-0.52,-145.9,200.2,-8.4,280,2312,0.00,0.80,0.00,0.000,4,0.000,0.056,2830,1405,3424,0,0,0,0,0,0
$GC,2368,-0.52,-145.9,205.6,-8.2,283,2375,0.08,0.80,0.00,0.000,6,0.184,0.039,2845,1929,3424,0,0,0,0,0,0
$GC,2690,-0.54,-145.9,227.4,-7.3,304,2694,0.00,1.98,0.00,0.000,4,0.000,0.061,2845,700,3425,0,0,0,0,0,0
$GC,2744,-0.57,-145.9,232.1,-8.5,307,2748,0.00,1.83,0.00,0.000,6,0.000,0.036,2838,1911,3425,0,0,0,0,0,0
$GC,3064,-0.57,-145.9,268.9,-11.8,325,3067,0.00,0.65,0.00,0.000,4,0.000,0.054,2838,1493,3425,0,0,0,0,0,0
$GC,3124,-0.57,-145.9,276.4,-11.3,327,3129,0.00,0.65,0.00,0.000,6,0.000,0.039,2836,1925,3425,0,0,0,0,0,0
$GC,3441,-0.57,-145.9,307.2,-9.7,343,3445,0.00,1.52,0.00,0.000,4,0.000,0.057,2836,980,3425,0,0,0,0,0,0
$GC,3501,-0.57,-145.9,313.6,-10.0,345,3508,0.00,1.45,0.00,0.000,6,0.000,0.036,2831,1913,3425,0,0,0,0,0,0
$GC,3820,-0.57,-145.9,344.0,-10.5,361,3824,0.00,1.50,0.00,0.000,4,0.000,0.057,2831,976,3425,0,0,0,0,0,0
$GC,3891,-0.57,-145.9,352.1,-10.6,364,3896,0.00,1.45,0.00,0.000,6,0.000,0.035,2826,1913,3425,0,0,0,0,0,0
$GC,4219,-0.57,-145.9,385.8,-10.4,380,4222,0.00,0.88,0.00,0.000,4,0.000,0.054,2826,1360,3425,0,0,0,0,0,0
$GC,4268,-0.57,-145.9,391.2,-10.6,382,4272,0.00,0.85,0.00,0.000,6,0.000,0.037,2823,1917,3425,0,0,0,0,0,0
$GC,4582,-0.57,-145.9,426.3,-11.7,394,4586,0.00,1.88,0.00,0.000,4,0.000,0.057,2823,718,3425,0,0,0,0,0,0
$GC,4650,-0.57,-145.9,435.2,-12.6,396,4653,0.00,1.80,0.00,0.000,6,0.000,0.035,2816,1909,3425,0,0,0,0,0,0
$GC,4989,-0.57,-145.9,480.7,-12.9,407,4993,0.00,1.12,0.00,0.000,4,0.000,0.054,2816,1198,3425,0,0,0,0,0,0
$GC,5050,-0.54,-145.9,488.0,-11.1,408,5056,0.10,1.12,0.00,0.000,6,0.171,0.036,2837,1927,3425,0,0,0,0,0,0
$GC,5363,-0.56,-145.9,515.6,-8.2,419,5367,0.00,0.80,0.00,0.000,4,0.000,0.054,2837,1417,3425,0,0,0,0,0,0
$GC,5419,-0.56,-145.9,519.8,-7.7,420,5422,0.00,0.75,0.00,0.000,6,0.000,0.041,2836,1911,3425,0,0,0,0,0,0
$GC,5737,-0.58,-145.9,541.1,-6.7,431,5741,0.00,2.25,0.00,0.000,4,0.000,0.060,2836,508,3425,0,0,0,0,0,0
$GC,5800,-0.61,-145.9,545.6,-7.2,433,5804,0.00,2.12,0.00,0.000,6,0.000,0.037,2828,1913,3425,0,0,0,0,0,0
$GC,6134,-0.61,-145.9,571.4,-7.9,444,6137,0.00,0.60,0.00,0.000,4,0.000,0.054,2828,1522,3425,0,0,0,0,0,0
$GC,6201,-0.61,-145.9,576.9,-8.2,446,6205,0.00,0.60,0.00,0.000,6,0.000,0.043,2825,1925,3425,0,0,0,0,0,0
$GC,6541,-0.61,-145.9,606.5,-9.2,457,6545,0.00,2.28,0.00,0.000,4,0.000,0.059,2825,507,3424,0,0,0,0,0,0
$GC,6611,-0.61,-145.9,613.7,-10.3,459,6617,0.00,2.17,0.00,0.000,6,0.000,0.037,2817,1908,3423,0,0,0,0,0,0
$GC,6942,-0.59,-145.9,641.2,-7.9,470,6945,0.00,0.43,0.00,0.000,4,0.000,0.056,2817,1624,3423,0,0,0,0,0,0
$GC,7002,-0.59,-145.9,645.5,-7.1,471,7008,0.00,0.45,0.00,0.000,6,0.000,0.045,2816,1925,3423,0,0,0,0,0,0
$GC,7315,-0.59,-145.9,667.0,-7.0,482,7318,0.00,1.05,0.00,0.000,4,0.000,0.054,2816,1266,3423,0,0,0,0,0,0
$GC,7369,-0.57,-145.9,671.4,-8.0,483,7374,0.00,1.00,0.00,0.000,6,0.000,0.037,2813,1913,3422,0,0,0,0,0,0
$GC,7688,-0.55,-145.9,698.5,-9.1,494,7693,0.10,0.52,0.00,0.000,4,0.183,0.054,2838,1571,3422,0,0,0,0,0,0
$GC,7748,-0.58,-145.9,703.5,-8.1,495,7754,0.00,0.52,0.00,0.000,6,0.000,0.043,2837,1923,3422,0,0,0,0,0,0
$GC,8061,-0.61,-145.9,731.3,-9.3,506,8065,0.08,1.92,0.00,0.000,4,0.134,0.057,2807,722,3422,0,0,0,0,0,0
$GC,8128,-0.61,-145.9,739.0,-11.6,508,8131,0.00,1.80,0.00,0.000,6,0.000,0.037,2799,1900,3421,0,0,0,0,0,0
$GC,8468,-0.55,-145.9,782.6,-13.3,519,8472,0.12,0.45,0.00,0.000,4,0.177,0.057,2833,1612,3421,0,0,0,0,0,0
$GC,8522,-0.58,-145.9,788.9,-10.3,520,8526,0.00,0.47,0.00,0.000,6,0.000,0.045,2831,1928,3421,0,0,0,0,0,0
$GC,8840,-0.60,-145.9,821.9,-10.1,531,8844,0.00,2.17,0.00,0.000,4,0.000,0.057,2831,568,3421,0,0,0,0,0,0
$GC,8903,-0.62,-145.9,828.3,-10.4,533,8907,0.00,2.05,0.00,0.000,6,0.000,0.037,2823,1903,3421,0,0,0,0,0,0
$GC,9242,-0.62,-145.9,863.4,-10.7,544,9246,0.00,1.02,0.00,0.000,4,0.000,0.054,2824,1257,3420,0,0,0,0,0,0
$GC,9310,-0.62,-145.9,870.7,-10.6,546,9313,0.00,1.02,0.00,0.000,6,0.000,0.041,2820,1918,3420,0,0,0,0,0,0
$GC,9649,-0.62,-145.9,905.1,-9.8,557,9653,0.00,1.15,0.00,0.000,4,0.000,0.054,2820,1196,3420,0,0,0,0,0,0
$GC,9726,-0.62,-145.9,912.6,-9.7,559,9731,0.00,1.12,0.00,0.000,6,0.000,0.040,2817,1913,3420,0,0,0,0,0,0
$GC,10056,-0.62,-145.9,942.2,-8.9,570,10060,0.00,1.30,0.00,0.000,4,0.000,0.054,2817,1094,3420,0,0,0,0,0,0
$GC,10123,-0.62,-145.9,948.2,-8.9,572,10127,0.00,1.27,0.00,0.000,6,0.000,0.040,2812,1915,3420,0,0,0,0,0,0
$GC,10463,-0.62,-145.9,980.9,-10.2,583,10467,0.00,0.68,0.00,0.000,4,0.000,0.054,2812,1474,3420,0,0,0,0,0,0
$GC,10534,-0.62,-145.9,988.3,-9.9,585,10539,0.00,0.70,0.00,0.000,6,0.000,0.043,2809,1926,3419,0,0,0,0,0,0
$STATE,10656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10656,begin apogee
$GC,10660,-0.19,0.0,1000.9,10.8,589,10787,0.45,0.00,123.47,1.531,6,0.136,0.000,2946,1643,2827,0,0,0,0,0,0
$STATE,10788,end apogee,CONTROL_FINISHED_OK
$STATE,10788,begin climb
$GC,10789,0.52,145.9,1008.8,0.0,593,10926,0.70,2.35,128.93,1.499,4,0.086,0.046,3172,2984,2231,0,0,0,0,0,0
$GC,11010,0.34,244.7,1011.5,4.0,600,11107,0.22,2.22,89.78,1.476,6,0.188,0.047,3130,1660,1829,0,0,0,0,0,0
$GC,11430,0.34,286.4,990.0,6.0,614,11471,0.00,1.08,36.92,1.440,4,0.000,0.061,3130,1047,1659,0,0,0,0,0,0
$GC,11523,0.38,286.4,983.4,8.3,617,11527,0.00,0.98,0.00,0.000,6,0.000,0.038,3129,1654,1655,0,0,0,0,0,0
$GC,11863,0.43,286.4,958.6,7.4,628,11867,0.08,1.02,0.00,0.000,4,0.129,0.043,3159,2310,1652,0,0,0,0,0,0
$GC,11922,0.40,286.4,953.1,9.3,629,11929,0.08,1.10,0.00,0.000,6,0.207,0.052,3144,1638,1651,0,0,0,0,0,0
$GC,12235,0.40,286.4,927.9,7.8,640,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1638,1651,0,0,0,0,0,0
$GC,12542,0.40,291.8,905.5,7.2,650,12549,0.00,0.00,5.12,1.042,6,0.000,0.000,3144,1638,1636,0,0,0,0,0,0
$GC,12848,0.42,313.5,883.7,6.7,660,12873,0.00,0.50,21.17,1.388,4,0.000,0.041,3144,1997,1548,0,0,0,0,0,0
$GC,12930,0.45,362.2,878.9,5.7,662,12980,0.00,0.57,45.40,1.426,6,0.000,0.058,3144,1643,1350,0,0,0,0,0,0
$GC,13316,0.53,412.8,857.1,5.7,675,13366,0.12,0.55,45.78,1.401,4,0.096,0.059,3193,1281,1145,0,0,0,0,0,0
$GC,13415,0.53,412.8,848.6,8.8,678,13419,0.00,0.60,0.00,0.000,6,0.000,0.042,3193,1660,1141,0,0,0,0,0,0
$GC,13750,0.53,412.8,816.6,9.8,689,13753,0.00,0.75,0.00,0.000,4,0.000,0.063,3193,1196,1137,0,0,0,0,0,0
$GC,13798,0.53,412.8,811.5,9.7,690,13803,0.00,0.73,0.00,0.000,6,0.000,0.041,3193,1653,1136,0,0,0,0,0,0
$GC,14122,0.53,412.8,778.6,10.4,701,14126,0.00,0.43,0.00,0.000,4,0.000,0.064,3194,1385,1136,0,0,0,0,0,0
$GC,14164,0.53,412.8,773.9,10.7,702,14169,0.00,0.40,0.00,0.000,6,0.000,0.045,3194,1659,1135,0,0,0,0,0,0
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$STATE,22204,end climb,SURFACE_DEPTH_REACHED
$STATE,22204,begin surface coast
$FINISH,1.4,1.011797
$STATE,22235,end surface coast,CONTROL_FINISHED_OK
$STATE,22235,begin surface
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$HUMID,46.18
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.9,33.075
$10V_AH,10.2,26.794
$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
$DEVICE_SECS,23.175,102.275,496.575,0.000,0.000,27.165,38.664,259.362,0.250,0.000,32.918,2976.972,15340.960,578.222,3699.985,159.700,33.352,2036.911,0.000,3303.427,0.000,2.833,0.000
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$MEM,354280
$DATA_FILE_SIZE,70293,1180
$CAP_FILE_SIZE,202643,0
$CFSIZE,2097086464,2075131904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231012,102856,-4235.606,-752.484,65,1.5,66,-21.7