version: 66.07.10.p01
glider: 574
mission: 4
dive: 138
start: 10 24 112 6 26 29
data:
$ID,574
$MISSION,4
$DIVE,138
$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,-5852.8203
$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,32
$R_STBD_OVSHOOT,38
$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,117
$GPS1,241012,061805,-4225.439,-752.941,24,1.7,25,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.1
$GPS2,241012,062535,-4225.359,-752.924,30,1.1,31,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.187,0.142
$KALMAN_X,-231729.0,335.8,1437.8,306837.0,-11186.2
$KALMAN_Y,136661.0,184.7,102.1,-88338.0,4301.1
$MHEAD_RNG_PITCHd_Wd,74.4,65261,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-60.58,0.000,2,0.000,0.000,67,1909,2434,0,0,0,0,0,0
$GC,90,-0.52,-145.9,3.1,-1.2,10,145,12.43,2.22,-35.45,0.000,4,0.269,0.077,2834,578,3422,0,0,0,0,0,0
$GC,201,-0.49,-145.9,10.6,-10.1,28,209,0.05,2.12,0.00,0.000,6,0.155,0.041,2845,1908,3424,0,0,0,0,0,0
$GC,281,-0.49,-145.9,17.6,-8.5,41,288,0.00,0.35,0.00,0.000,4,0.000,0.053,2844,2166,3424,0,0,0,0,0,0
$GC,314,-0.49,-145.9,20.4,-8.8,46,321,0.00,0.40,0.00,0.000,6,0.000,0.059,2844,1907,3424,0,0,0,0,0,0
$GC,393,-0.49,-145.9,27.1,-8.4,59,400,0.00,0.68,0.00,0.000,4,0.000,0.062,2844,1480,3424,0,0,0,0,0,0
$GC,458,-0.49,-145.9,33.2,-9.1,70,466,0.00,0.68,0.00,0.000,6,0.000,0.044,2842,1918,3424,0,0,0,0,0,0
$GC,697,-0.49,-145.9,54.0,-9.1,111,702,0.00,1.12,0.00,0.000,4,0.000,0.060,2842,1231,3425,0,0,0,0,0,0
$GC,767,-0.49,-145.9,60.3,-9.2,123,773,0.00,1.05,0.00,0.000,6,0.000,0.041,2837,1907,3424,0,0,0,0,0,0
$GC,1111,-0.49,-145.9,91.8,-8.9,184,1116,0.03,1.35,0.00,0.000,4,0.278,0.060,2847,1088,3425,0,0,0,0,0,0
$GC,1180,-0.49,-145.9,97.8,-8.7,196,1185,0.00,1.27,0.00,0.000,6,0.000,0.039,2843,1908,3425,0,0,0,0,0,0
$GC,1504,-0.49,-145.9,123.7,-8.2,220,1508,0.00,0.32,0.00,0.000,4,0.000,0.062,2843,1690,3425,0,0,0,0,0,0
$GC,1565,-0.49,-145.9,128.7,-7.8,223,1570,0.00,0.35,0.00,0.000,6,0.000,0.049,2842,1932,3425,0,0,0,0,0,0
$GC,1885,-0.49,-145.9,155.0,-8.8,244,1889,0.00,2.33,0.00,0.000,4,0.000,0.063,2842,502,3425,0,0,0,0,0,0
$GC,1951,-0.52,-145.9,161.7,-9.7,248,1955,0.00,2.17,0.00,0.000,6,0.000,0.037,2838,1896,3425,0,0,0,0,0,0
$GC,2277,-0.52,-145.9,190.0,-8.3,269,2281,0.00,0.25,0.00,0.000,4,0.000,0.057,2836,2101,3425,0,0,0,0,0,0
$GC,2331,-0.52,-145.9,195.0,-8.3,272,2334,0.00,0.30,0.00,0.000,6,0.000,0.057,2836,1900,3425,0,0,0,0,0,0
$GC,2654,-0.52,-145.9,221.0,-8.6,293,2658,0.00,0.40,0.00,0.000,4,0.000,0.058,2837,1618,3425,0,0,0,0,0,0
$GC,2725,-0.52,-145.9,227.5,-9.0,297,2730,0.00,0.47,0.00,0.000,6,0.000,0.042,2836,1936,3425,0,0,0,0,0,0
$GC,3051,-0.52,-145.9,256.3,-9.6,317,3055,0.00,2.25,0.00,0.000,4,0.000,0.059,2836,520,3425,0,0,0,0,0,0
$GC,3105,-0.52,-145.9,262.5,-10.7,319,3111,0.00,2.15,0.00,0.000,6,0.000,0.034,2835,1910,3425,0,0,0,0,0,0
$GC,3423,-0.52,-145.9,296.1,-10.7,335,3427,0.00,0.52,0.00,0.000,4,0.000,0.052,2835,1559,3425,0,0,0,0,0,0
$GC,3477,-0.52,-145.9,302.3,-10.8,337,3481,0.00,0.55,0.00,0.000,6,0.000,0.039,2833,1932,3425,0,0,0,0,0,0
$GC,3800,-0.52,-145.9,334.0,-9.7,353,3804,0.00,2.20,0.00,0.000,4,0.000,0.057,2833,550,3425,0,0,0,0,0,0
$GC,3861,-0.52,-145.9,340.5,-9.3,355,3868,0.05,2.08,0.00,0.000,6,0.146,0.033,2843,1898,3425,0,0,0,0,0,0
$GC,4179,-0.55,-145.9,365.5,-7.5,371,4183,0.00,0.43,0.00,0.000,4,0.000,0.054,2843,1610,3425,0,0,0,0,0,0
$GC,4229,-0.58,-145.9,369.6,-7.9,373,4233,0.00,0.47,0.00,0.000,6,0.000,0.042,2843,1931,3426,0,0,0,0,0,0
$GC,4558,-0.58,-145.9,394.4,-7.6,389,4561,0.00,1.15,0.00,0.000,4,0.000,0.054,2843,1211,3426,0,0,0,0,0,0
$GC,4618,-0.60,-145.9,399.3,-7.5,391,4625,0.05,1.08,0.00,0.000,6,0.168,0.035,2812,1910,3425,0,0,0,0,0,0
$GC,4952,-0.57,-145.9,429.0,-8.9,403,4956,0.05,1.02,0.00,0.000,4,0.213,0.054,2824,1273,3425,0,0,0,0,0,0
$GC,5022,-0.57,-145.9,435.1,-7.7,405,5027,0.00,1.00,0.00,0.000,6,0.000,0.039,2821,1915,3425,0,0,0,0,0,0
$GC,5358,-0.57,-145.9,460.7,-7.5,416,5361,0.00,1.30,0.00,0.000,4,0.000,0.055,2821,1104,3425,0,0,0,0,0,0
$GC,5435,-0.57,-145.9,466.7,-7.4,418,5439,0.00,1.27,0.00,0.000,6,0.000,0.037,2815,1930,3425,0,0,0,0,0,0
$GC,5765,-0.54,-145.9,491.9,-7.9,429,5769,0.08,0.85,0.00,0.000,4,0.193,0.053,2833,1397,3425,0,0,0,0,0,0
$GC,5825,-0.54,-145.9,496.5,-7.3,430,5830,0.00,0.80,0.00,0.000,6,0.000,0.040,2829,1920,3424,0,0,0,0,0,0
$GC,6137,-0.54,-145.9,521.8,-8.7,441,6141,0.00,1.88,0.00,0.000,4,0.000,0.058,2830,732,3424,0,0,0,0,0,0
$GC,6197,-0.54,-145.9,527.8,-10.0,442,6203,0.00,1.80,0.00,0.000,6,0.000,0.036,2825,1894,3424,0,0,0,0,0,0
$GC,6510,-0.54,-145.9,559.4,-10.4,453,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1895,3424,0,0,0,0,0,0
$GC,6817,-0.54,-145.9,589.8,-9.5,463,6820,0.00,0.43,0.00,0.000,4,0.000,0.054,2824,1608,3425,0,0,0,0,0,0
$GC,6872,-0.54,-145.9,595.2,-9.8,464,6876,0.00,0.47,0.00,0.000,6,0.000,0.045,2824,1930,3423,0,0,0,0,0,0
$GC,7190,-0.54,-145.9,623.3,-8.3,475,7193,0.00,1.52,0.00,0.000,4,0.000,0.052,2824,978,3423,0,0,0,0,0,0
$GC,7257,-0.54,-145.9,628.8,-7.7,477,7261,0.00,1.45,0.00,0.000,6,0.000,0.038,2821,1910,3423,0,0,0,0,0,0
$GC,7597,-0.54,-145.9,654.5,-7.6,488,7601,0.05,0.50,0.00,0.000,4,0.235,0.052,2833,1585,3423,0,0,0,0,0,0
$GC,7651,-0.56,-145.9,658.2,-7.0,489,7655,0.00,0.52,0.00,0.000,6,0.000,0.043,2831,1933,3423,0,0,0,0,0,0
$GC,7970,-0.59,-145.9,679.0,-6.5,500,7974,0.00,1.62,0.00,0.000,4,0.000,0.053,2831,920,3423,0,0,0,0,0,0
$GC,8038,-0.62,-145.9,683.7,-6.7,502,8042,0.00,1.52,0.00,0.000,6,0.000,0.037,2825,1901,3423,0,0,0,0,0,0
$GC,8379,-0.62,-145.9,706.9,-6.6,513,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1902,3423,0,0,0,0,0,0
$GC,8685,-0.62,-145.9,729.0,-7.1,523,8689,0.00,0.52,0.00,0.000,4,0.000,0.054,2825,1554,3423,0,0,0,0,0,0
$GC,8745,-0.62,-145.9,733.7,-7.3,524,8751,0.00,0.57,0.00,0.000,6,0.000,0.044,2824,1929,3423,0,0,0,0,0,0
$GC,9058,-0.62,-145.9,758.2,-8.1,535,9061,0.00,1.60,0.00,0.000,4,0.000,0.054,2824,934,3423,0,0,0,0,0,0
$GC,9134,-0.62,-145.9,765.2,-9.2,537,9139,0.00,1.55,0.00,0.000,6,0.000,0.041,2823,1913,3423,0,0,0,0,0,0
$GC,9464,-0.62,-145.9,794.5,-9.0,548,9468,0.00,1.02,0.00,0.000,4,0.000,0.052,2823,1262,3422,0,0,0,0,0,0
$GC,9532,-0.62,-145.9,800.3,-8.6,550,9535,0.00,1.00,0.00,0.000,6,0.000,0.041,2823,1910,3422,0,0,0,0,0,0
$GC,9871,-0.62,-145.9,828.8,-8.3,561,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1910,3423,0,0,0,0,0,0
$GC,10178,-0.62,-145.9,856.5,-9.8,571,10181,0.00,0.57,0.00,0.000,4,0.000,0.052,2823,1532,3423,0,0,0,0,0,0
$GC,10221,-0.64,-145.9,861.1,-10.0,572,10226,0.00,0.60,0.00,0.000,6,0.000,0.046,2823,1917,3422,0,0,0,0,0,0
$GC,10551,-0.64,-145.9,894.5,-10.6,583,10554,0.00,1.77,0.00,0.000,4,0.000,0.054,2822,796,3422,0,0,0,0,0,0
$GC,10619,-0.67,-145.9,901.9,-11.1,585,10623,0.08,1.70,0.00,0.000,6,0.138,0.041,2793,1910,3422,0,0,0,0,0,0
$GC,10958,-0.61,-145.9,943.2,-11.9,596,10962,0.10,0.43,0.00,0.000,4,0.184,0.057,2818,1638,3422,0,0,0,0,0,0
$GC,11018,-0.61,-145.9,949.5,-9.7,597,11024,0.00,0.45,0.00,0.000,6,0.000,0.049,2817,1933,3423,0,0,0,0,0,0
$GC,11330,-0.61,-145.9,973.7,-7.5,608,11334,0.00,1.92,0.00,0.000,4,0.000,0.056,2817,707,3423,0,0,0,0,0,0
$GC,11402,-0.61,-145.9,979.2,-7.2,610,11407,0.00,1.88,0.00,0.000,6,0.000,0.039,2811,1906,3423,0,0,0,0,0,0
$STATE,11676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11676,begin apogee
$GC,11680,-0.19,0.0,1000.3,7.9,619,11808,0.45,0.00,125.30,1.572,6,0.135,0.000,2947,1649,2827,0,0,0,0,0,0
$STATE,11809,end apogee,CONTROL_FINISHED_OK
$STATE,11809,begin climb
$GC,11810,0.52,145.9,1004.5,0.0,623,11948,0.70,1.62,130.45,1.540,4,0.080,0.046,3177,2546,2232,0,0,0,0,0,0
$GC,12028,0.34,145.9,999.9,8.3,630,12032,0.20,1.50,0.00,0.000,6,0.174,0.050,3123,1671,2227,0,0,0,0,0,0
$GC,12368,0.28,213.4,980.8,5.1,641,12433,0.08,0.45,59.33,1.518,4,0.220,0.049,3108,1948,1956,0,0,0,0,0,0
$GC,12495,0.31,265.9,974.1,5.6,645,12547,0.00,0.50,47.95,1.500,6,0.000,0.058,3108,1648,1742,0,0,0,0,0,0
$GC,12860,0.49,301.6,952.9,6.2,657,12900,0.17,1.95,32.25,1.480,4,0.090,0.066,3173,542,1596,0,0,0,0,0,0
$GC,12938,0.45,301.6,947.0,7.6,659,12942,0.00,1.83,0.00,0.000,6,0.000,0.038,3173,1653,1593,0,0,0,0,0,0
$GC,13262,0.41,301.6,916.6,9.7,670,13264,0.10,0.00,0.00,0.000,6,0.190,0.000,3152,1665,1590,0,0,0,0,0,0
$GC,13568,0.41,301.6,889.8,8.8,680,13572,0.00,0.47,0.00,0.000,4,0.000,0.065,3152,1361,1589,0,0,0,0,0,0
$GC,13611,0.41,301.6,885.8,9.4,681,13615,0.00,0.47,0.00,0.000,6,0.000,0.044,3152,1670,1588,0,0,0,0,0,0
$GC,13940,0.41,301.6,856.5,8.8,692,13944,0.00,0.75,0.00,0.000,4,0.000,0.045,3152,2171,1587,0,0,0,0,0,0
$GC,13995,0.41,301.6,851.2,9.3,693,13999,0.00,0.85,0.00,0.000,6,0.000,0.054,3153,1649,1587,0,0,0,0,0,0
$GC,14313,0.41,301.6,822.3,9.0,704,14317,0.00,0.38,0.00,0.000,4,0.000,0.068,3154,1400,1587,0,0,0,0,0,0
$GC,14368,0.41,301.6,817.5,7.7,705,14372,0.00,0.35,0.00,0.000,6,0.000,0.049,3154,1649,1586,0,0,0,0,0,0
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$STATE,23001,end climb,SURFACE_DEPTH_REACHED
$STATE,23001,begin surface coast
$FINISH,1.5,1.026368
$STATE,23038,end surface coast,CONTROL_FINISHED_OK
$STATE,23038,begin surface
$SM_CCo,23114,0.00,0.000,0,0,1046,436.87
$SM_GC,2.32,8.68,0.00,0.00,0.062,0.000,0.000,92,1932,1046,-9.08,0.54,436.87
$IRIDIUM_FIX,-4212.81,-757.08,231012,232304
$TT8_MAMPS,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.7,33.984
$10V_AH,10.2,27.341
$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,23.500,98.350,517.000,0.000,0.000,28.873,36.759,254.401,0.250,0.000,33.631,3046.011,15995.801,606.790,3734.863,172.653,33.360,2083.205,0.000,3353.090,0.000,2.832,0.000
$DEVICE_MAMPS,278.460,77.265,1572.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,783.001,1346.040,798.415,100.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,70251,1206
$CAP_FILE_SIZE,207828,0
$CFSIZE,2097086464,2074607616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,241012,125253,-4220.843,-751.727,37,1.2,37,-21.8