version: 66.07.10.p01
glider: 574
mission: 4
dive: 468
start: 1 8 113 11 49 51
data:
$ID,574
$MISSION,4
$DIVE,468
$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,-7316.1592
$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,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,447
$GPS1,080113,114805,-4109.721,-501.324,37,0.9,37,-22.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-69.9
$GPS2,080113,114930,-4109.724,-501.318,20,1.0,20,-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,106.7,86043,-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,-116.8,0.0,0.0,0,52,0.00,0.00,-25.15,0.000,2,0.000,0.000,69,1769,1629,0,0,0,0,0,0
$GC,55,-0.69,-116.8,3.0,-1.9,4,141,12.73,2.20,-67.10,0.000,4,0.264,0.064,2742,3123,3303,0,0,0,0,0,0
$GC,204,-0.65,-116.8,12.0,-11.3,28,212,0.10,2.20,0.00,0.000,6,0.129,0.047,2773,1761,3304,0,0,0,0,0,0
$GC,285,-0.71,-116.8,20.5,-10.4,41,292,0.00,1.55,0.00,0.000,4,0.000,0.063,2773,820,3304,0,0,0,0,0,0
$GC,348,-0.80,-116.8,27.0,-10.0,51,356,0.10,1.42,0.00,0.000,6,0.056,0.037,2714,1720,3304,0,0,0,0,0,0
$GC,427,-0.72,-116.8,35.8,-11.3,64,435,0.12,0.90,0.00,0.000,4,0.158,0.046,2745,2311,3304,0,0,0,0,0,0
$GC,476,-0.72,-116.8,41.3,-10.9,72,483,0.00,0.90,0.00,0.000,6,0.000,0.047,2745,1740,3304,0,0,0,0,0,0
$GC,713,-0.72,-116.8,67.1,-11.0,108,717,0.00,0.43,0.00,0.000,4,0.000,0.044,2743,2040,3305,0,0,0,0,0,0
$GC,759,-0.72,-116.8,72.1,-10.8,112,762,0.00,0.45,0.00,0.000,6,0.000,0.053,2743,1744,3304,0,0,0,0,0,0
$GC,1089,-0.76,-116.8,103.5,-9.0,142,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1744,3305,0,0,0,0,0,0
$GC,1403,-0.81,-116.8,133.0,-9.4,162,1407,0.05,0.65,0.00,0.000,4,0.171,0.057,2712,1338,3306,0,0,0,0,0,0
$GC,1447,-0.78,-116.8,137.7,-9.8,164,1455,0.08,0.65,0.00,0.000,6,0.129,0.038,2735,1769,3306,0,0,0,0,0,0
$GC,1769,-0.78,-116.8,167.5,-9.5,185,1773,0.00,0.57,0.00,0.000,4,0.000,0.054,2735,1403,3306,0,0,0,0,0,0
$GC,1813,-0.80,-116.8,172.1,-9.6,187,1818,0.00,0.52,0.00,0.000,6,0.000,0.042,2734,1757,3307,0,0,0,0,0,0
$GC,2146,-0.82,-116.8,204.4,-10.0,208,2150,0.00,1.23,0.00,0.000,4,0.000,0.046,2728,2546,3307,0,0,0,0,0,0
$GC,2216,-0.82,-116.8,211.8,-10.2,211,2220,0.00,1.25,0.00,0.000,6,0.000,0.045,2728,1757,3307,0,0,0,0,0,0
$GC,2549,-0.82,-116.8,247.1,-10.7,227,2553,0.00,1.15,0.00,0.000,4,0.000,0.056,2728,1043,3307,0,0,0,0,0,0
$GC,2604,-0.82,-116.8,253.2,-10.2,229,2608,0.00,1.10,0.00,0.000,6,0.000,0.037,2728,1747,3308,0,0,0,0,0,0
$GC,2926,-0.82,-116.8,285.4,-9.8,245,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1747,3308,0,0,0,0,0,0
$GC,3244,-0.82,-116.8,314.2,-8.9,258,3248,0.00,0.60,0.00,0.000,4,0.000,0.045,2726,2166,3307,0,0,0,0,0,0
$GC,3312,-0.82,-116.8,320.0,-8.2,260,3316,0.00,0.65,0.00,0.000,6,0.000,0.049,2725,1744,3308,0,0,0,0,0,0
$GC,3652,-0.82,-116.8,350.2,-8.9,271,3656,0.00,0.43,0.00,0.000,4,0.000,0.045,2725,2050,3308,0,0,0,0,0,0
$GC,3701,-0.82,-116.8,355.0,-9.4,272,3705,0.00,0.47,0.00,0.000,6,0.000,0.053,2725,1747,3308,0,0,0,0,0,0
$GC,4026,-0.85,-116.8,384.4,-9.5,283,4030,0.00,0.65,0.00,0.000,4,0.000,0.057,2725,1330,3308,0,0,0,0,0,0
$GC,4086,-0.85,-116.8,390.3,-9.7,284,4092,0.00,0.65,0.00,0.000,6,0.000,0.039,2723,1762,3308,0,0,0,0,0,0
$GC,4399,-0.85,-116.8,419.1,-9.1,295,4403,0.00,0.95,0.00,0.000,4,0.000,0.053,2723,1175,3308,0,0,0,0,0,0
$GC,4454,-0.85,-116.8,424.3,-9.4,296,4458,0.00,0.90,0.00,0.000,6,0.000,0.036,2719,1755,3308,0,0,0,0,0,0
$GC,4773,-0.83,-116.8,452.0,-8.8,307,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1755,3307,0,0,0,0,0,0
$GC,5079,-0.83,-116.8,479.4,-9.0,317,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1756,3307,0,0,0,0,0,0
$GC,5385,-0.83,-116.8,507.0,-9.0,327,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1755,3307,0,0,0,0,0,0
$GC,5692,-0.83,-116.8,534.5,-9.0,337,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1755,3306,0,0,0,0,0,0
$GC,5998,-0.83,-116.8,562.0,-9.0,347,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1755,3305,0,0,0,0,0,0
$GC,6304,-0.83,-116.8,591.1,-9.6,357,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1756,3304,0,0,0,0,0,0
$GC,6610,-0.83,-116.8,621.8,-10.2,367,6614,0.00,0.43,0.00,0.000,4,0.000,0.056,2720,1475,3304,0,0,0,0,0,0
$GC,6682,-0.83,-116.8,629.3,-9.8,369,6686,0.00,0.43,0.00,0.000,6,0.000,0.044,2717,1761,3303,0,0,0,0,0,0
$GC,7017,-0.83,-116.8,662.9,-10.3,380,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1761,3303,0,0,0,0,0,0
$GC,7324,-0.83,-116.8,692.5,-9.3,390,7328,0.00,0.80,0.00,0.000,4,0.000,0.054,2717,1272,3303,0,0,0,0,0,0
$GC,7392,-0.85,-116.8,698.7,-8.3,392,7396,0.00,0.73,0.00,0.000,6,0.000,0.041,2715,1743,3303,0,0,0,0,0,0
$GC,7733,-0.83,-116.8,728.7,-8.5,403,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1743,3302,0,0,0,0,0,0
$GC,8039,-0.80,-116.8,753.4,-7.9,413,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1743,3301,0,0,0,0,0,0
$GC,8345,-0.80,-116.8,778.5,-8.5,423,8349,0.00,0.62,0.00,0.000,4,0.000,0.055,2715,1356,3301,0,0,0,0,0,0
$GC,8389,-0.78,-116.8,782.4,-8.4,424,8393,0.03,0.60,0.00,0.000,6,0.184,0.041,2725,1754,3301,0,0,0,0,0,0
$GC,8718,-0.78,-116.8,811.0,-9.0,435,8721,0.00,0.95,0.00,0.000,4,0.000,0.054,2725,1170,3300,0,0,0,0,0,0
$GC,8778,-0.81,-116.8,816.8,-9.4,436,8784,0.00,0.90,0.00,0.000,6,0.000,0.040,2724,1751,3300,0,0,0,0,0,0
$GC,9091,-0.81,-116.8,847.5,-10.3,447,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1751,3300,0,0,0,0,0,0
$GC,9398,-0.81,-116.8,879.5,-10.6,457,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1751,3299,0,0,0,0,0,0
$GC,9704,-0.81,-116.8,910.0,-9.8,467,9708,0.00,2.30,0.00,0.000,4,0.000,0.059,2724,349,3298,0,0,0,0,0,0
$GC,9781,-0.85,-116.8,918.1,-10.0,469,9785,0.00,2.20,0.00,0.000,6,0.000,0.036,2722,1755,3298,0,0,0,0,0,0
$GC,10105,-0.85,-116.8,946.8,-8.8,480,10109,0.00,0.43,0.00,0.000,4,0.000,0.049,2720,2067,3298,0,0,0,0,0,0
$GC,10149,-0.85,-116.8,950.7,-9.0,481,10153,0.00,0.50,0.00,0.000,6,0.000,0.050,2720,1746,3298,0,0,0,0,0,0
$GC,10479,-0.85,-116.8,978.5,-8.4,492,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1746,3297,0,0,0,0,0,0
$STATE,10753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10753,begin apogee
$GC,10759,-0.25,0.0,1001.9,8.5,501,10865,0.60,0.00,102.78,1.478,6,0.129,0.000,2898,1617,2827,0,0,0,0,0,0
$STATE,10866,end apogee,CONTROL_FINISHED_OK
$STATE,10866,begin climb
$GC,10868,0.69,116.8,1008.7,0.0,504,10981,0.90,0.00,108.05,1.458,6,0.073,0.000,3201,1616,2350,0,0,0,0,0,0
$GC,11267,0.45,415.2,1030.8,-4.6,517,11553,0.28,0.00,280.85,1.460,6,0.190,0.000,3130,1616,1133,0,0,0,0,0,0
$GC,11846,0.68,415.2,995.2,8.6,536,11851,0.22,2.25,0.00,0.000,4,0.089,0.043,3209,3029,1125,0,0,0,0,0,0
$GC,11942,0.68,415.2,986.7,8.6,539,11946,0.00,2.22,0.00,0.000,6,0.000,0.047,3213,1636,1123,0,0,0,0,0,0
$GC,12276,0.68,415.2,955.3,9.7,550,12280,0.00,0.43,0.00,0.000,4,0.000,0.047,3213,1934,1123,0,0,0,0,0,0
$GC,12411,0.68,415.2,942.1,9.8,554,12415,0.00,0.50,0.00,0.000,6,0.000,0.059,3213,1619,1123,0,0,0,0,0,0
$GC,12751,0.68,415.2,908.9,9.5,565,12755,0.00,2.03,0.00,0.000,4,0.000,0.045,3213,2899,1122,0,0,0,0,0,0
$GC,12812,0.68,415.2,903.0,8.8,566,12818,0.00,2.08,0.00,0.000,6,0.000,0.047,3213,1621,1121,0,0,0,0,0,0
$GC,13125,0.68,415.2,873.1,9.7,577,13129,0.00,1.30,0.00,0.000,4,0.000,0.043,3213,2446,1121,0,0,0,0,0,0
$GC,13213,0.68,415.2,864.2,9.1,579,13217,0.00,1.33,0.00,0.000,6,0.000,0.050,3213,1626,1121,0,0,0,0,0,0
$GC,13532,0.68,415.2,834.6,9.3,590,13536,0.00,1.23,0.00,0.000,4,0.000,0.043,3213,2407,1121,0,0,0,0,0,0
$GC,13633,0.68,415.2,825.4,9.0,593,13637,0.00,1.27,0.00,0.000,6,0.000,0.051,3213,1618,1121,0,0,0,0,0,0
$GC,13974,0.68,415.2,795.0,8.7,604,13977,0.00,1.77,0.00,0.000,4,0.000,0.044,3213,2749,1120,0,0,0,0,0,0
$GC,14034,0.68,415.2,789.7,8.4,605,14040,0.00,1.83,0.00,0.000,6,0.000,0.048,3217,1621,1120,0,0,0,0,0,0
$GC,14347,0.68,415.2,762.3,8.9,616,14351,0.00,0.80,0.00,0.000,4,0.000,0.044,3216,2145,1120,0,0,0,0,0,0
$GC,14483,0.68,415.2,749.9,9.8,620,14487,0.03,0.85,0.00,0.000,6,0.176,0.054,3212,1613,1120,0,0,0,0,0,0
$GC,14823,0.68,415.2,718.7,9.3,631,14827,0.00,2.25,0.00,0.000,4,0.000,0.046,3211,3021,1120,0,0,0,0,0,0
$GC,14889,0.68,415.2,712.2,10.0,633,14894,0.03,2.28,0.00,0.000,6,0.176,0.046,3211,1618,1120,0,0,0,0,0,0
$GC,15224,0.68,415.2,680.3,9.6,644,15228,0.00,0.45,0.00,0.000,4,0.000,0.047,3211,1929,1120,0,0,0,0,0,0
$GC,15376,0.68,415.2,665.7,9.0,648,15380,0.00,0.50,0.00,0.000,6,0.000,0.058,3211,1618,1120,0,0,0,0,0,0
$GC,15699,0.68,415.2,635.2,9.3,659,15703,0.00,2.22,0.00,0.000,4,0.000,0.046,3211,3021,1120,0,0,0,0,0,0
$GC,15795,0.68,415.2,626.5,9.5,662,15799,0.00,2.25,0.00,0.000,6,0.000,0.047,3218,1623,1120,0,0,0,0,0,0
$GC,16129,0.68,415.2,597.0,8.5,673,16133,0.00,1.00,0.00,0.000,4,0.000,0.043,3218,2267,1120,0,0,0,0,0,0
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$STATE,22650,end climb,SURFACE_DEPTH_REACHED
$STATE,22650,begin surface coast
$FINISH,1.8,1.026217
$STATE,22670,end surface coast,CONTROL_FINISHED_OK
$STATE,22670,begin surface
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$SM_GC,2.86,8.77,0.00,0.00,0.048,0.000,0.000,85,1742,1121,-9.01,-0.20,418.47
$IRIDIUM_FIX,-4054.98,-503.64,080113,050511
$TT8_MAMPS,0.026964
$HUMID,50.39
$INTERNAL_PRESSURE,9.10639
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,21.4,112.392
$10V_AH,9.9,66.107
$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
$DEVICE_SECS,24.525,108.850,491.675,0.000,0.000,0.000,0.000,0.000,0.250,0.000,22.309,2727.811,16329.699,551.656,2995.542,218.342,0.000,1942.050,0.000,2950.911,0.000,2.830,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.830,943.828,720.248,80.072,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,63710,1048
$CAP_FILE_SIZE,184010,0
$CFSIZE,2097086464,2030600192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080113,181022,-4108.935,-500.419,31,2.0,48,-22.5