version: 66.07.10.p01
glider: 574
mission: 4
dive: 464
start: 1 7 113 9 45 51
data:
$ID,574
$MISSION,4
$DIVE,464
$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,520
$T_MISSION,550
$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,120
$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,2
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-7304.5601
$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,2985
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,25
$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,443
$GPS1,070113,094405,-4112.733,-504.142,42,0.8,42,-22.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.5
$GPS2,070113,094530,-4112.729,-504.140,20,0.9,20,-22.5
$SPEED_LIMITS,0.111,0.202
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4105.000,-400.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,103.4,90673,-13.7,-6.410
$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,-0.69,-116.8,0.0,0.0,0,57,0.00,0.00,-30.23,0.000,2,0.000,0.000,69,1742,1832,0,0,0,0,0,0
$GC,60,-0.69,-116.8,3.1,-1.0,5,140,12.52,2.33,-60.47,0.000,4,0.259,0.074,2750,350,3300,0,0,0,0,0,0
$GC,208,-0.60,-116.8,12.7,-13.7,29,216,0.12,2.22,0.00,0.000,6,0.126,0.040,2783,1743,3301,0,0,0,0,0,0
$GC,290,-0.67,-116.8,21.7,-10.7,42,297,0.00,1.50,0.00,0.000,4,0.000,0.052,2782,2683,3301,0,0,0,0,0,0
$GC,352,-0.79,-116.8,28.5,-11.2,52,360,0.12,1.50,0.00,0.000,6,0.053,0.049,2719,1754,3302,0,0,0,0,0,0
$GC,432,-0.72,-116.8,36.9,-10.6,65,438,0.12,1.15,0.00,0.000,4,0.162,0.060,2752,1054,3302,0,0,0,0,0,0
$GC,485,-0.72,-116.8,42.5,-9.9,74,492,0.00,1.10,0.00,0.000,6,0.000,0.035,2748,1768,3301,0,0,0,0,0,0
$GC,718,-0.72,-116.8,66.0,-9.3,109,722,0.00,0.45,0.00,0.000,4,0.000,0.048,2746,2094,3302,0,0,0,0,0,0
$GC,774,-0.74,-116.8,71.9,-10.7,114,778,0.00,0.55,0.00,0.000,6,0.000,0.050,2746,1735,3301,0,0,0,0,0,0
$GC,1111,-0.74,-116.8,101.9,-8.4,145,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1735,3302,0,0,0,0,0,0
$GC,1424,-0.74,-116.8,130.2,-9.4,165,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1734,3303,0,0,0,0,0,0
$GC,1736,-0.74,-116.8,160.3,-9.7,185,1740,0.00,0.82,0.00,0.000,4,0.000,0.041,2743,2283,3303,0,0,0,0,0,0
$GC,1797,-0.76,-116.8,166.6,-9.7,188,1805,0.00,0.82,0.00,0.000,6,0.000,0.046,2743,1752,3303,0,0,0,0,0,0
$GC,2119,-0.76,-116.8,198.7,-10.2,209,2122,0.00,0.55,0.00,0.000,4,0.000,0.042,2744,2137,3303,0,0,0,0,0,0
$GC,2190,-0.76,-116.8,206.0,-9.6,213,2195,0.00,0.62,0.00,0.000,6,0.000,0.050,2743,1743,3303,0,0,0,0,0,0
$GC,2520,-0.76,-116.8,236.6,-9.0,229,2524,0.00,1.12,0.00,0.000,4,0.000,0.044,2742,2469,3303,0,0,0,0,0,0
$GC,2591,-0.79,-116.8,243.0,-9.2,232,2594,0.00,1.12,0.00,0.000,6,0.000,0.047,2742,1758,3303,0,0,0,0,0,0
$GC,2925,-0.79,-116.8,272.8,-8.6,248,2928,0.00,0.52,0.00,0.000,4,0.000,0.043,2742,2119,3304,0,0,0,0,0,0
$GC,2993,-0.81,-116.8,278.8,-8.4,251,2997,0.00,0.57,0.00,0.000,6,0.000,0.052,2742,1747,3304,0,0,0,0,0,0
$GC,3336,-0.83,-116.8,309.0,-9.0,266,3340,0.08,0.73,0.00,0.000,4,0.126,0.043,2702,2225,3305,0,0,0,0,0,0
$GC,3392,-0.76,-116.8,314.4,-10.2,267,3396,0.10,0.75,0.00,0.000,6,0.131,0.048,2735,1742,3305,0,0,0,0,0,0
$GC,3709,-0.76,-116.8,344.2,-9.5,278,3713,0.00,0.80,0.00,0.000,4,0.000,0.057,2735,1239,3304,0,0,0,0,0,0
$GC,3765,-0.78,-116.8,349.7,-9.6,279,3768,0.00,0.77,0.00,0.000,6,0.000,0.037,2732,1752,3304,0,0,0,0,0,0
$GC,4083,-0.78,-116.8,380.6,-9.8,290,4087,0.00,0.65,0.00,0.000,4,0.000,0.053,2732,1339,3304,0,0,0,0,0,0
$GC,4143,-0.78,-116.8,386.8,-9.8,291,4149,0.00,0.65,0.00,0.000,6,0.000,0.038,2730,1762,3304,0,0,0,0,0,0
$GC,4456,-0.78,-116.8,419.3,-10.7,302,4460,0.00,1.10,0.00,0.000,4,0.000,0.046,2727,2479,3304,0,0,0,0,0,0
$GC,4516,-0.78,-116.8,426.0,-11.1,303,4522,0.00,1.15,0.00,0.000,6,0.000,0.045,2727,1747,3304,0,0,0,0,0,0
$GC,4830,-0.78,-116.8,458.7,-10.4,314,4834,0.00,0.68,0.00,0.000,4,0.000,0.057,2727,1317,3304,0,0,0,0,0,0
$GC,4886,-0.78,-116.8,464.7,-10.6,315,4890,0.00,0.65,0.00,0.000,6,0.000,0.041,2725,1746,3304,0,0,0,0,0,0
$GC,5204,-0.78,-116.8,497.7,-10.2,326,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1746,3304,0,0,0,0,0,0
$GC,5510,-0.78,-116.8,526.7,-9.2,336,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1746,3304,0,0,0,0,0,0
$GC,5817,-0.78,-116.8,553.7,-8.6,346,5820,0.00,0.52,0.00,0.000,4,0.000,0.055,2725,1414,3303,0,0,0,0,0,0
$GC,5860,-0.78,-116.8,557.7,-8.5,347,5864,0.00,0.52,0.00,0.000,6,0.000,0.042,2724,1760,3303,0,0,0,0,0,0
$GC,6190,-0.78,-116.8,585.0,-8.2,358,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1761,3303,0,0,0,0,0,0
$GC,6496,-0.78,-116.8,611.1,-8.7,368,6500,0.00,1.27,0.00,0.000,4,0.000,0.057,2723,991,3303,0,0,0,0,0,0
$GC,6545,-0.78,-116.8,615.8,-10.1,369,6550,0.00,1.15,0.00,0.000,6,0.000,0.035,2719,1735,3302,0,0,0,0,0,0
$GC,6870,-0.78,-116.8,645.7,-9.4,380,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1735,3303,0,0,0,0,0,0
$GC,7177,-0.76,-116.8,675.3,-9.9,390,7178,0.08,0.00,0.00,0.000,6,0.192,0.000,2737,1737,3302,0,0,0,0,0,0
$GC,7483,-0.79,-116.8,704.7,-9.5,400,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1737,3302,0,0,0,0,0,0
$GC,7789,-0.82,-116.8,732.7,-8.9,410,7793,0.00,2.00,0.00,0.000,4,0.000,0.060,2737,527,3302,0,0,0,0,0,0
$GC,7867,-0.87,-116.8,739.9,-8.9,412,7871,0.08,1.92,0.00,0.000,6,0.124,0.037,2699,1753,3302,0,0,0,0,0,0
$GC,8196,-0.84,-116.8,770.5,-9.5,423,8200,0.05,0.98,0.00,0.000,4,0.233,0.054,2712,1161,3301,0,0,0,0,0,0
$GC,8251,-0.84,-116.8,776.0,-9.5,424,8255,0.00,0.90,0.00,0.000,6,0.000,0.039,2710,1744,3301,0,0,0,0,0,0
$GC,8570,-0.81,-116.8,806.5,-10.0,435,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1744,3301,0,0,0,0,0,0
$GC,8876,-0.79,-116.8,837.5,-10.3,445,8878,0.08,0.00,0.00,0.000,6,0.194,0.000,2728,1745,3301,0,0,0,0,0,0
$GC,9182,-0.79,-116.8,869.3,-10.4,455,9186,0.00,2.33,0.00,0.000,4,0.000,0.060,2729,343,3301,0,0,0,0,0,0
$GC,9260,-0.82,-116.8,877.7,-10.7,457,9264,0.00,2.20,0.00,0.000,6,0.000,0.035,2728,1761,3301,0,0,0,0,0,0
$GC,9584,-0.84,-116.8,911.0,-10.3,468,9588,0.00,0.62,0.00,0.000,4,0.000,0.046,2728,2194,3301,0,0,0,0,0,0
$GC,9640,-0.87,-116.8,917.0,-10.5,469,9644,0.05,0.70,0.00,0.000,6,0.079,0.047,2699,1742,3300,0,0,0,0,0,0
$GC,9958,-0.84,-116.8,949.6,-10.2,480,9963,0.05,0.43,0.00,0.000,4,0.217,0.057,2712,1462,3300,0,0,0,0,0,0
$GC,10041,-0.86,-116.8,958.1,-9.7,482,10045,0.00,0.45,0.00,0.000,6,0.000,0.044,2711,1761,3301,0,0,0,0,0,0
$GC,10365,-0.86,-116.8,988.5,-9.5,493,10369,0.00,2.05,0.00,0.000,4,0.000,0.056,2711,505,3301,0,0,0,0,0,0
$GC,10414,-0.84,-116.8,993.3,-10.0,494,10418,0.00,1.92,0.00,0.000,6,0.000,0.035,2703,1728,3301,0,0,0,0,0,0
$STATE,10492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10492,begin apogee
$GC,10498,-0.25,0.0,1000.2,9.1,497,10605,0.65,0.00,104.12,1.483,6,0.129,0.000,2897,1610,2827,0,0,0,0,0,0
$STATE,10606,end apogee,CONTROL_FINISHED_OK
$STATE,10606,begin climb
$GC,10608,0.69,116.8,1007.3,0.0,500,10721,0.90,0.00,108.75,1.464,6,0.073,0.000,3201,1611,2351,0,0,0,0,0,0
$GC,11007,0.45,389.8,1026.8,-3.7,513,11271,0.28,2.53,257.45,1.470,4,0.188,0.042,3133,3019,1236,0,0,0,0,0,0
$GC,11524,0.67,389.8,991.4,8.9,528,11529,0.20,2.22,0.00,0.000,6,0.087,0.045,3202,1631,1229,0,0,0,0,0,0
$GC,11842,0.67,389.8,962.6,9.0,539,11846,0.00,2.20,0.00,0.000,4,0.000,0.045,3202,3024,1227,0,0,0,0,0,0
$GC,11919,0.67,389.8,955.5,8.3,541,11924,0.00,2.28,0.00,0.000,6,0.000,0.046,3210,1618,1226,0,0,0,0,0,0
$GC,12249,0.67,389.8,926.7,8.7,552,12253,0.00,0.60,0.00,0.000,4,0.000,0.063,3211,1240,1225,0,0,0,0,0,0
$GC,12294,0.65,389.8,923.0,8.4,553,12298,0.03,0.57,0.00,0.000,6,0.177,0.041,3202,1639,1225,0,0,0,0,0,0
$GC,12622,0.65,389.8,896.0,8.1,564,12626,0.00,0.80,0.00,0.000,4,0.000,0.042,3202,2173,1225,0,0,0,0,0,0
$GC,12672,0.65,389.8,891.9,8.0,565,12676,0.00,0.93,0.00,0.000,6,0.000,0.051,3202,1604,1225,0,0,0,0,0,0
$GC,12996,0.65,389.8,865.7,8.0,576,13000,0.00,0.60,0.00,0.000,4,0.000,0.042,3202,2012,1224,0,0,0,0,0,0
$GC,13064,0.65,389.8,860.0,8.5,578,13068,0.00,0.62,0.00,0.000,6,0.000,0.055,3202,1621,1225,0,0,0,0,0,0
$GC,13405,0.65,389.8,831.7,8.4,589,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,1621,1224,0,0,0,0,0,0
$GC,13711,0.65,389.8,805.5,8.7,599,13714,0.00,1.60,0.00,0.000,4,0.000,0.042,3202,2628,1224,0,0,0,0,0,0
$GC,13779,0.65,389.8,799.5,8.7,601,13783,0.00,1.62,0.00,0.000,6,0.000,0.049,3205,1622,1224,0,0,0,0,0,0
$GC,14119,0.65,389.8,769.3,9.0,612,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1622,1223,0,0,0,0,0,0
$GC,14425,0.65,389.8,742.5,8.5,622,14429,0.00,0.45,0.00,0.000,4,0.000,0.047,3204,1933,1223,0,0,0,0,0,0
$GC,14497,0.65,389.8,736.4,7.9,624,14501,0.00,0.52,0.00,0.000,6,0.000,0.056,3206,1613,1224,0,0,0,0,0,0
$GC,14833,0.65,389.8,709.3,8.1,635,14836,0.00,1.75,0.00,0.000,4,0.000,0.044,3206,2725,1223,0,0,0,0,0,0
$GC,14894,0.61,389.8,704.4,7.7,636,14900,0.08,1.80,0.00,0.000,6,0.148,0.047,3190,1619,1223,0,0,0,0,0,0
$GC,15207,0.64,389.8,681.1,7.4,647,15210,0.00,1.02,0.00,0.000,4,0.000,0.042,3190,2279,1223,0,0,0,0,0,0
$GC,15279,0.67,389.8,675.6,7.0,649,15283,0.00,1.05,0.00,0.000,6,0.000,0.051,3190,1626,1223,0,0,0,0,0,0
$GC,15615,0.70,389.8,651.2,7.2,660,15619,0.08,2.20,0.00,0.000,4,0.129,0.046,3226,3006,1223,0,0,0,0,0,0
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$STATE,23355,end climb,SURFACE_DEPTH_REACHED
$STATE,23355,begin surface coast
$FINISH,1.8,1.025993
$STATE,23429,end surface coast,CONTROL_FINISHED_OK
$STATE,23429,begin surface
$SM_CCo,23507,0.00,0.000,0,0,807,495.50
$SM_GC,2.89,8.68,0.00,0.00,0.047,0.000,0.000,82,1766,807,-9.02,0.48,495.50
$IRIDIUM_FIX,-4057.83,-506.74,060113,141448
$TT8_MAMPS,0.026964
$HUMID,49.29
$INTERNAL_PRESSURE,9.09662
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,21.4,111.480
$10V_AH,9.8,65.623
$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,25.200,110.525,522.525,0.000,0.000,0.000,0.000,0.000,0.250,0.000,22.774,2892.214,16721.926,597.785,3154.683,216.452,0.000,2018.508,0.000,3104.252,0.000,2.830,0.000
$DEVICE_MAMPS,258.570,74.205,1483.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.089,1065.129,753.611,91.533,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,66946,1108
$CAP_FILE_SIZE,194950,0
$CFSIZE,2097086464,2031091712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070113,161853,-4112.271,-503.727,40,1.1,40,-22.5