version: 66.07.10.p01
glider: 574
mission: 4
dive: 142
start: 10 25 112 9 11 18
data:
$ID,574
$MISSION,4
$DIVE,142
$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,-5865.8677
$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,33
$R_STBD_OVSHOOT,47
$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,121
$GPS1,251012,090235,-4210.760,-743.819,25,1.6,26,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-72.5
$GPS2,251012,091024,-4210.735,-743.801,52,0.9,53,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP8n
$TGT_LATLONG,-4200.000,-720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,0.080
$KALMAN_X,-240326.9,432.7,1030.8,328118.0,-5991.8
$KALMAN_Y,152051.2,103.8,-551.6,-75882.1,5896.6
$MHEAD_RNG_PITCHd_Wd,91.9,38318,-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,-145.9,0.0,0.0,0,76,0.00,0.00,-49.10,0.000,2,0.000,0.000,66,1919,2388,0,0,0,0,0,0
$GC,78,-0.52,-145.9,3.1,-1.1,8,134,12.75,0.73,-35.83,0.000,4,0.277,0.094,2833,1468,3419,0,0,0,0,0,0
$GC,165,-0.49,-145.9,8.1,-8.5,22,173,0.05,0.68,0.00,0.000,6,0.168,0.040,2847,1906,3419,0,0,0,0,0,0
$GC,246,-0.49,-145.9,14.7,-7.0,35,252,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1906,3420,0,0,0,0,0,0
$GC,325,-0.49,-145.9,20.4,-7.7,48,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1906,3420,0,0,0,0,0,0
$GC,404,-0.49,-145.9,27.3,-9.0,61,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1906,3420,0,0,0,0,0,0
$GC,480,-0.51,-145.9,34.1,-8.8,74,487,0.00,0.30,0.00,0.000,4,0.000,0.061,2847,1695,3421,0,0,0,0,0,0
$GC,546,-0.51,-145.9,39.0,-7.8,85,551,0.00,0.32,0.00,0.000,6,0.000,0.047,2847,1936,3421,0,0,0,0,0,0
$GC,780,-0.51,-145.9,58.4,-7.6,126,787,0.00,1.67,0.00,0.000,4,0.000,0.058,2847,916,3421,0,0,0,0,0,0
$GC,867,-0.53,-145.9,65.2,-8.0,141,873,0.00,1.52,0.00,0.000,6,0.000,0.034,2842,1896,3421,0,0,0,0,0,0
$GC,1210,-0.53,-145.9,93.5,-8.3,202,1215,0.00,0.32,0.00,0.000,4,0.000,0.057,2842,1668,3421,0,0,0,0,0,0
$GC,1279,-0.53,-145.9,99.4,-8.6,214,1284,0.00,0.35,0.00,0.000,6,0.000,0.044,2841,1930,3421,0,0,0,0,0,0
$GC,1603,-0.53,-145.9,126.6,-8.2,236,1607,0.00,1.48,0.00,0.000,4,0.000,0.055,2841,1014,3422,0,0,0,0,0,0
$GC,1680,-0.53,-145.9,133.4,-8.2,240,1689,0.00,1.38,0.00,0.000,6,0.000,0.032,2837,1897,3422,0,0,0,0,0,0
$GC,2002,-0.53,-145.9,156.6,-6.6,261,2006,0.00,0.25,0.00,0.000,4,0.000,0.061,2837,1721,3422,0,0,0,0,0,0
$GC,2096,-0.53,-145.9,163.2,-6.6,266,2104,0.00,0.30,0.00,0.000,6,0.000,0.045,2836,1941,3422,0,0,0,0,0,0
$GC,2417,-0.53,-145.9,183.6,-6.8,287,2421,0.00,1.90,0.00,0.000,4,0.000,0.055,2835,748,3422,0,0,0,0,0,0
$GC,2490,-0.53,-145.9,189.4,-8.0,291,2494,0.00,1.75,0.00,0.000,6,0.000,0.033,2831,1903,3422,0,0,0,0,0,0
$GC,2815,-0.53,-145.9,215.6,-8.6,312,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1903,3422,0,0,0,0,0,0
$GC,3126,-0.53,-145.9,243.9,-9.5,332,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1903,3422,0,0,0,0,0,0
$GC,3436,-0.53,-145.9,275.2,-10.3,348,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1903,3422,0,0,0,0,0,0
$GC,3747,-0.53,-145.9,307.2,-10.1,363,3751,0.00,0.65,0.00,0.000,4,0.000,0.051,2831,1483,3422,0,0,0,0,0,0
$GC,3815,-0.53,-145.9,314.4,-9.6,366,3818,0.00,0.65,0.00,0.000,6,0.000,0.038,2830,1926,3422,0,0,0,0,0,0
$GC,4146,-0.53,-145.9,346.6,-9.8,382,4150,0.00,2.08,0.00,0.000,4,0.000,0.054,2830,608,3422,0,0,0,0,0,0
$GC,4210,-0.53,-145.9,353.0,-10.2,385,4215,0.08,1.98,0.00,0.000,6,0.189,0.032,2840,1913,3422,0,0,0,0,0,0
$GC,4545,-0.56,-145.9,382.7,-8.7,401,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1913,3422,0,0,0,0,0,0
$GC,4861,-0.58,-145.9,408.6,-7.9,415,4865,0.00,0.38,0.00,0.000,4,0.000,0.056,2840,1655,3422,0,0,0,0,0,0
$GC,4910,-0.60,-145.9,412.7,-8.0,416,4915,0.05,0.40,0.00,0.000,6,0.165,0.044,2813,1934,3421,0,0,0,0,0,0
$GC,5234,-0.57,-145.9,443.6,-9.9,427,5238,0.05,1.60,0.00,0.000,4,0.216,0.054,2825,943,3421,0,0,0,0,0,0
$GC,5310,-0.57,-145.9,451.2,-9.3,429,5315,0.00,1.50,0.00,0.000,6,0.000,0.034,2819,1909,3421,0,0,0,0,0,0
$GC,5640,-0.57,-145.9,481.4,-9.1,440,5643,0.00,0.35,0.00,0.000,4,0.000,0.055,2819,1665,3421,0,0,0,0,0,0
$GC,5689,-0.55,-145.9,486.1,-9.7,441,5694,0.08,0.38,0.00,0.000,6,0.192,0.043,2836,1933,3421,0,0,0,0,0,0
$GC,6013,-0.57,-145.9,512.8,-8.1,452,6017,0.00,1.35,0.00,0.000,4,0.000,0.051,2836,1087,3421,0,0,0,0,0,0
$GC,6090,-0.57,-145.9,519.6,-9.2,454,6095,0.00,1.25,0.00,0.000,6,0.000,0.033,2831,1898,3420,0,0,0,0,0,0
$GC,6420,-0.57,-145.9,546.2,-7.9,465,6423,0.00,1.33,0.00,0.000,4,0.000,0.052,2831,1061,3420,0,0,0,0,0,0
$GC,6497,-0.57,-145.9,552.6,-7.4,467,6501,0.00,1.33,0.00,0.000,6,0.000,0.034,2827,1920,3420,0,0,0,0,0,0
$GC,6826,-0.57,-145.9,578.3,-7.7,478,6830,0.00,0.50,0.00,0.000,4,0.000,0.052,2827,1581,3420,0,0,0,0,0,0
$GC,6886,-0.57,-145.9,583.1,-7.6,479,6892,0.00,0.50,0.00,0.000,6,0.000,0.038,2825,1927,3419,0,0,0,0,0,0
$GC,7199,-0.57,-145.9,607.2,-7.8,490,7203,0.00,1.77,0.00,0.000,4,0.000,0.052,2825,823,3419,0,0,0,0,0,0
$GC,7281,-0.57,-145.9,614.2,-8.2,492,7286,0.00,1.65,0.00,0.000,6,0.000,0.032,2820,1896,3419,0,0,0,0,0,0
$GC,7605,-0.57,-145.9,642.2,-9.0,503,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1896,3418,0,0,0,0,0,0
$GC,7912,-0.57,-145.9,670.6,-9.5,513,7915,0.00,0.73,0.00,0.000,4,0.000,0.050,2819,1431,3417,0,0,0,0,0,0
$GC,7983,-0.57,-145.9,677.4,-8.8,515,7987,0.00,0.75,0.00,0.000,6,0.000,0.036,2816,1926,3418,0,0,0,0,0,0
$GC,8318,-0.57,-145.9,706.9,-8.6,526,8322,0.00,1.30,0.00,0.000,4,0.000,0.050,2816,1108,3417,0,0,0,0,0,0
$GC,8394,-0.57,-145.9,714.1,-9.3,528,8400,0.08,1.25,0.00,0.000,6,0.194,0.033,2829,1921,3417,0,0,0,0,0,0
$GC,8724,-0.57,-145.9,741.2,-8.1,539,8728,0.00,0.35,0.00,0.000,4,0.000,0.054,2829,1669,3417,0,0,0,0,0,0
$GC,8806,-0.57,-145.9,747.9,-8.0,541,8810,0.00,0.38,0.00,0.000,6,0.000,0.045,2829,1930,3417,0,0,0,0,0,0
$GC,9130,-0.59,-145.9,773.2,-8.2,552,9134,0.00,1.65,0.00,0.000,4,0.000,0.050,2828,898,3417,0,0,0,0,0,0
$GC,9201,-0.59,-145.9,779.4,-8.7,554,9206,0.00,1.58,0.00,0.000,6,0.000,0.032,2822,1908,3417,0,0,0,0,0,0
$GC,9537,-0.59,-145.9,807.2,-8.2,565,9540,0.00,0.52,0.00,0.000,4,0.000,0.050,2822,1549,3417,0,0,0,0,0,0
$GC,9597,-0.59,-145.9,812.2,-8.7,566,9602,0.00,0.57,0.00,0.000,6,0.000,0.038,2821,1939,3417,0,0,0,0,0,0
$GC,9909,-0.59,-145.9,835.6,-7.2,577,9913,0.00,0.82,0.00,0.000,4,0.000,0.049,2821,1407,3417,0,0,0,0,0,0
$GC,9986,-0.59,-145.9,841.2,-7.4,579,9991,0.00,0.77,0.00,0.000,6,0.000,0.034,2819,1922,3416,0,0,0,0,0,0
$GC,10316,-0.59,-145.9,865.3,-7.6,590,10320,0.00,0.95,0.00,0.000,4,0.000,0.050,2818,1319,3416,0,0,0,0,0,0
$GC,10387,-0.59,-145.9,871.1,-7.7,592,10392,0.00,0.90,0.00,0.000,6,0.000,0.034,2815,1907,3416,0,0,0,0,0,0
$GC,10722,-0.59,-145.9,899.0,-8.8,603,10726,0.00,0.82,0.00,0.000,4,0.000,0.050,2815,1378,3416,0,0,0,0,0,0
$GC,10790,-0.59,-145.9,905.0,-8.9,605,10793,0.00,0.80,0.00,0.000,6,0.000,0.038,2811,1908,3416,0,0,0,0,0,0
$GC,11130,-0.59,-145.9,935.9,-8.8,616,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1909,3416,0,0,0,0,0,0
$GC,11436,-0.59,-145.9,961.6,-8.2,626,11439,0.00,1.62,0.00,0.000,4,0.000,0.054,2812,901,3416,0,0,0,0,0,0
$GC,11524,-0.59,-145.9,969.1,-8.0,628,11529,0.00,1.58,0.00,0.000,6,0.000,0.035,2806,1915,3416,0,0,0,0,0,0
$GC,11842,-0.59,-145.9,995.9,-8.9,639,11847,0.05,1.05,0.00,0.000,4,0.236,0.051,2817,1257,3416,0,0,0,0,0,0
$STATE,11891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11891,begin apogee
$GC,11895,-0.19,0.0,1000.3,8.6,640,12022,0.40,0.00,123.55,1.562,6,0.140,0.000,2942,1659,2826,0,0,0,0,0,0
$STATE,12023,end apogee,CONTROL_FINISHED_OK
$STATE,12023,begin climb
$GC,12024,0.52,145.9,1005.3,0.0,644,12161,0.75,1.23,130.52,1.526,4,0.080,0.040,3182,2395,2232,0,0,0,0,0,0
$GC,12228,0.32,167.9,1004.8,6.7,651,12254,0.25,1.25,20.88,1.436,6,0.173,0.047,3122,1658,2141,0,0,0,0,0,0
$GC,12589,0.29,246.1,987.2,4.7,663,12664,0.00,0.73,69.93,1.507,4,0.000,0.036,3122,2107,1822,0,0,0,0,0,0
$GC,12708,0.29,300.6,980.8,5.5,666,12764,0.00,0.80,50.58,1.487,6,0.000,0.050,3122,1639,1600,0,0,0,0,0,0
$GC,13083,0.36,332.0,958.0,6.3,679,13113,0.00,0.00,28.45,1.463,6,0.000,0.000,3123,1639,1473,0,0,0,0,0,0
$GC,13419,0.61,332.0,932.7,8.0,690,13423,0.25,1.20,0.00,0.000,4,0.087,0.057,3209,907,1466,0,0,0,0,0,0
$GC,13479,0.52,332.0,926.8,10.4,691,13485,0.08,1.20,0.00,0.000,6,0.166,0.036,3188,1676,1466,0,0,0,0,0,0
$GC,13792,0.47,332.0,892.7,11.3,702,13796,0.08,0.68,0.00,0.000,4,0.214,0.043,3173,2118,1465,0,0,0,0,0,0
$GC,13846,0.45,332.0,886.9,9.9,703,13851,0.03,0.77,0.00,0.000,6,0.301,0.051,3163,1639,1465,0,0,0,0,0,0
$GC,14164,0.45,332.0,858.2,8.6,714,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1639,1465,0,0,0,0,0,0
$GC,14470,0.45,335.1,834.4,7.3,724,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1639,1465,0,0,0,0,0,0
$GC,14776,0.45,343.2,812.6,7.1,734,14790,0.00,0.68,10.40,1.297,4,0.000,0.038,3163,2081,1427,0,0,0,0,0,0
$GC,14842,0.45,343.2,807.7,7.7,736,14846,0.00,0.68,0.00,0.000,6,0.000,0.054,3163,1655,1427,0,0,0,0,0,0
$GC,15182,0.45,343.2,780.9,8.2,747,15186,0.00,0.25,0.00,0.000,4,0.000,0.054,3163,1845,1426,0,0,0,0,0,0
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$STATE,22996,end climb,SURFACE_DEPTH_REACHED
$STATE,22996,begin surface coast
$FINISH,1.6,1.018704
$STATE,23021,end surface coast,CONTROL_FINISHED_OK
$STATE,23022,begin surface
$SM_CCo,23097,0.00,0.000,0,0,613,543.09
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$IRIDIUM_FIX,-4201.18,-749.71,251012,020242
$TT8_MAMPS,0.026964
$HUMID,46.61
$INTERNAL_PRESSURE,8.99896
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.7,34.931
$10V_AH,10.2,27.884
$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
$DEVICE_SECS,24.550,79.150,611.975,0.000,0.000,27.844,40.516,247.361,0.250,0.000,54.938,2970.492,16121.903,688.214,3622.620,157.536,33.362,2115.938,0.000,3208.251,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.399,1259.908,775.167,94.319,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,70171,1180
$CAP_FILE_SIZE,200134,0
$CFSIZE,2097086464,2074083328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251012,153729,-4207.924,-740.223,41,1.1,42,-21.9