version: 66.07.10.p01
glider: 574
mission: 4
dive: 155
start: 10 29 112 0 12 30
data:
$ID,574
$MISSION,4
$DIVE,155
$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,-5908.9854
$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,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,134
$GPS1,291012,000405,-4218.789,-716.846,35,1.3,36,-21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-72.1
$GPS2,291012,001136,-4218.783,-716.789,17,1.9,18,-21.9
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.124,-0.199
$KALMAN_X,-234456.0,-300.6,742.9,359964.6,-1990.2
$KALMAN_Y,181748.5,-300.6,8.3,-120641.3,3297.6
$MHEAD_RNG_PITCHd_Wd,170.0,91159,-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,-145.9,0.0,0.0,0,76,0.00,0.00,-49.05,0.000,2,0.000,0.000,67,1919,2415,0,0,0,0,0,0
$GC,78,-0.52,-145.9,3.0,-1.1,8,134,12.90,2.22,-35.80,0.000,4,0.279,0.065,2823,3307,3421,0,0,0,0,0,0
$GC,224,-0.52,-145.9,13.3,-9.6,32,232,0.05,2.22,0.00,0.000,6,0.149,0.046,2840,1918,3423,0,0,0,0,0,0
$GC,305,-0.52,-145.9,21.0,-9.2,45,311,0.00,0.88,0.00,0.000,4,0.000,0.058,2840,1370,3423,0,0,0,0,0,0
$GC,385,-0.52,-145.9,28.6,-9.4,58,392,0.00,0.82,0.00,0.000,6,0.000,0.043,2837,1897,3423,0,0,0,0,0,0
$GC,463,-0.52,-145.9,35.9,-9.4,71,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1898,3423,0,0,0,0,0,0
$GC,698,-0.52,-145.9,58.7,-9.7,112,705,0.00,1.60,0.00,0.000,4,0.000,0.059,2837,927,3423,0,0,0,0,0,0
$GC,776,-0.52,-145.9,66.9,-10.3,126,784,0.00,1.55,0.00,0.000,6,0.000,0.039,2832,1910,3423,0,0,0,0,0,0
$GC,1132,-0.52,-145.9,103.4,-10.4,185,1136,0.00,0.73,0.00,0.000,4,0.000,0.056,2832,1454,3424,0,0,0,0,0,0
$GC,1218,-0.52,-145.9,112.1,-9.4,190,1222,0.00,0.70,0.00,0.000,6,0.000,0.042,2829,1917,3424,0,0,0,0,0,0
$GC,1550,-0.52,-145.9,145.1,-9.3,211,1553,0.00,0.88,0.00,0.000,4,0.000,0.056,2829,1368,3424,0,0,0,0,0,0
$GC,1621,-0.52,-145.9,152.4,-9.6,215,1626,0.08,0.85,0.00,0.000,6,0.187,0.038,2844,1918,3424,0,0,0,0,0,0
$GC,1946,-0.55,-145.9,181.7,-9.5,236,1950,0.00,1.08,0.00,0.000,4,0.000,0.057,2844,1248,3424,0,0,0,0,0,0
$GC,2053,-0.57,-145.9,192.5,-10.3,242,2057,0.00,1.00,0.00,0.000,6,0.000,0.037,2841,1902,3424,0,0,0,0,0,0
$GC,2380,-0.68,-145.9,221.6,-8.4,263,2384,0.12,0.32,0.00,0.000,4,0.099,0.055,2788,2143,3424,0,0,0,0,0,0
$GC,2551,-0.64,-145.9,238.8,-10.9,273,2555,0.03,0.35,0.00,0.000,6,0.170,0.056,2796,1899,3423,0,0,0,0,0,0
$GC,2868,-0.58,-145.9,272.3,-10.2,290,2873,0.10,1.48,0.00,0.000,4,0.187,0.058,2823,982,3424,0,0,0,0,0,0
$GC,2973,-0.58,-145.9,282.5,-9.3,294,2982,0.00,1.45,0.00,0.000,6,0.000,0.036,2818,1910,3424,0,0,0,0,0,0
$GC,3290,-0.58,-145.9,313.1,-9.9,310,3294,0.00,0.47,0.00,0.000,4,0.000,0.057,2818,1596,3424,0,0,0,0,0,0
$GC,3350,-0.55,-145.9,319.2,-9.9,312,3359,0.08,0.50,0.00,0.000,6,0.187,0.042,2833,1934,3424,0,0,0,0,0,0
$GC,3666,-0.57,-145.9,346.9,-8.6,328,3670,0.00,1.62,0.00,0.000,4,0.000,0.057,2833,897,3424,0,0,0,0,0,0
$GC,3716,-0.61,-145.9,351.3,-8.6,330,3721,0.00,1.55,0.00,0.000,6,0.000,0.034,2828,1901,3424,0,0,0,0,0,0
$GC,4043,-0.70,-145.9,377.2,-8.0,346,4048,0.12,2.20,0.00,0.000,4,0.099,0.047,2770,3314,3424,0,0,0,0,0,0
$GC,4156,-0.64,-145.9,389.7,-11.3,351,4160,0.12,2.15,0.00,0.000,6,0.164,0.040,2802,1912,3423,0,0,0,0,0,0
$GC,4492,-0.59,-145.9,424.5,-10.4,364,4497,0.08,2.25,0.00,0.000,4,0.200,0.057,2821,499,3423,0,0,0,0,0,0
$GC,4574,-0.59,-145.9,433.2,-9.6,366,4579,0.00,2.17,0.00,0.000,6,0.000,0.034,2813,1910,3423,0,0,0,0,0,0
$GC,4893,-0.57,-145.9,463.8,-9.6,377,4895,0.05,0.00,0.00,0.000,6,0.228,0.000,2824,1911,3423,0,0,0,0,0,0
$GC,5199,-0.57,-145.9,488.9,-8.0,387,5202,0.00,0.62,0.00,0.000,4,0.000,0.052,2824,1504,3423,0,0,0,0,0,0
$GC,5287,-0.57,-145.9,496.1,-7.6,389,5291,0.00,0.65,0.00,0.000,6,0.000,0.040,2822,1932,3422,0,0,0,0,0,0
$GC,5605,-0.57,-145.9,521.1,-7.9,400,5609,0.00,1.12,0.00,0.000,4,0.000,0.052,2823,1224,3422,0,0,0,0,0,0
$GC,5699,-0.57,-145.9,528.7,-8.2,402,5705,0.00,1.08,0.00,0.000,6,0.000,0.036,2818,1921,3422,0,0,0,0,0,0
$GC,6012,-0.57,-145.9,554.3,-8.4,413,6015,0.00,1.10,0.00,0.000,4,0.000,0.052,2818,1227,3421,0,0,0,0,0,0
$GC,6113,-0.57,-145.9,563.3,-8.4,416,6117,0.00,1.05,0.00,0.000,6,0.000,0.037,2813,1920,3421,0,0,0,0,0,0
$GC,6453,-0.57,-145.9,596.4,-10.1,427,6457,0.05,1.10,0.00,0.000,4,0.225,0.052,2824,1235,3421,0,0,0,0,0,0
$GC,6540,-0.57,-145.9,605.6,-10.1,429,6545,0.00,1.05,0.00,0.000,6,0.000,0.037,2822,1910,3421,0,0,0,0,0,0
$GC,6859,-0.57,-145.9,638.9,-10.9,440,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1910,3420,0,0,0,0,0,0
$GC,7165,-0.57,-145.9,671.8,-10.7,450,7169,0.00,1.27,0.00,0.000,4,0.000,0.053,2822,1113,3420,0,0,0,0,0,0
$GC,7266,-0.57,-145.9,682.8,-10.6,453,7270,0.00,1.23,0.00,0.000,6,0.000,0.037,2817,1913,3419,0,0,0,0,0,0
$GC,7606,-0.57,-145.9,718.5,-10.5,464,7610,0.00,0.80,0.00,0.000,4,0.000,0.054,2817,1402,3419,0,0,0,0,0,0
$GC,7695,-0.57,-145.9,728.0,-10.6,466,7699,0.00,0.80,0.00,0.000,6,0.000,0.041,2814,1921,3418,0,0,0,0,0,0
$GC,8013,-0.57,-145.9,759.1,-9.8,477,8017,0.03,0.93,0.00,0.000,4,0.277,0.054,2824,1347,3417,0,0,0,0,0,0
$GC,8107,-0.57,-145.9,767.8,-8.7,479,8113,0.00,0.88,0.00,0.000,6,0.000,0.040,2822,1910,3417,0,0,0,0,0,0
$GC,8420,-0.57,-145.9,794.4,-8.3,490,8423,0.00,0.80,0.00,0.000,4,0.000,0.053,2822,1401,3417,0,0,0,0,0,0
$GC,8513,-0.57,-145.9,802.3,-8.6,492,8519,0.00,0.80,0.00,0.000,6,0.000,0.041,2818,1920,3417,0,0,0,0,0,0
$GC,8826,-0.57,-145.9,826.1,-7.5,503,8830,0.00,0.62,0.00,0.000,4,0.000,0.054,2819,1516,3416,0,0,0,0,0,0
$GC,8898,-0.57,-145.9,831.6,-7.3,505,8902,0.00,0.62,0.00,0.000,6,0.000,0.043,2816,1925,3417,0,0,0,0,0,0
$GC,9233,-0.57,-145.9,857.2,-7.7,516,9236,0.00,1.00,0.00,0.000,4,0.000,0.054,2816,1296,3416,0,0,0,0,0,0
$GC,9326,-0.57,-145.9,865.2,-7.8,518,9333,0.08,0.98,0.00,0.000,6,0.189,0.040,2829,1921,3416,0,0,0,0,0,0
$GC,9640,-0.61,-145.9,887.0,-6.7,529,9644,0.00,0.73,0.00,0.000,4,0.000,0.053,2829,1455,3415,0,0,0,0,0,0
$GC,9735,-0.65,-145.9,893.4,-6.2,531,9741,0.05,0.70,0.00,0.000,6,0.086,0.042,2800,1924,3415,0,0,0,0,0,0
$GC,10047,-0.62,-145.9,917.9,-7.9,542,10051,0.00,0.70,0.00,0.000,4,0.000,0.054,2800,1476,3415,0,0,0,0,0,0
$GC,10119,-0.59,-145.9,924.1,-9.0,544,10124,0.10,0.68,0.00,0.000,6,0.177,0.043,2822,1913,3415,0,0,0,0,0,0
$GC,10455,-0.62,-145.9,946.7,-6.6,555,10458,0.00,0.95,0.00,0.000,4,0.000,0.054,2822,1315,3415,0,0,0,0,0,0
$GC,10557,-0.65,-145.9,953.7,-6.2,558,10561,0.03,0.90,0.00,0.000,6,0.121,0.041,2805,1901,3415,0,0,0,0,0,0
$GC,10896,-0.65,-145.9,980.4,-7.9,569,10900,0.00,0.62,0.00,0.000,4,0.000,0.054,2805,1501,3414,0,0,0,0,0,0
$GC,10973,-0.65,-145.9,986.7,-7.3,571,10978,0.00,0.65,0.00,0.000,6,0.000,0.041,2802,1924,3414,0,0,0,0,0,0
$STATE,11151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11151,begin apogee
$GC,11155,-0.19,0.0,1001.7,8.7,577,11282,0.47,0.00,123.60,1.527,6,0.138,0.000,2945,1636,2827,0,0,0,0,0,0
$STATE,11283,end apogee,CONTROL_FINISHED_OK
$STATE,11283,begin climb
$GC,11284,0.52,145.9,1007.2,0.0,581,11422,0.73,1.15,130.80,1.492,4,0.080,0.042,3176,2280,2232,0,0,0,0,0,0
$GC,11472,0.33,167.9,1006.4,6.7,587,11498,0.20,1.05,21.10,1.409,6,0.177,0.050,3129,1662,2142,0,0,0,0,0,0
$GC,11827,0.28,194.2,983.7,6.5,599,11859,0.10,1.15,23.80,1.424,4,0.191,0.043,3105,2360,2034,0,0,0,0,0,0
$GC,11927,0.28,215.9,977.4,6.7,602,11952,0.00,1.17,20.27,1.409,6,0.000,0.050,3106,1643,1945,0,0,0,0,0,0
$GC,12266,0.32,248.4,955.9,6.3,613,12299,0.00,0.30,29.33,1.434,4,0.000,0.040,3106,1850,1815,0,0,0,0,0,0
$GC,12343,0.38,277.5,950.9,6.4,615,12375,0.10,0.35,27.90,1.426,6,0.106,0.060,3143,1644,1694,0,0,0,0,0,0
$GC,12693,0.38,277.5,923.1,7.9,627,12696,0.00,0.40,0.00,0.000,4,0.000,0.064,3143,1379,1688,0,0,0,0,0,0
$GC,12741,0.38,277.5,919.2,8.2,628,12746,0.00,0.43,0.00,0.000,6,0.000,0.044,3143,1664,1687,0,0,0,0,0,0
$GC,13065,0.38,277.5,894.2,7.9,639,13069,0.00,0.38,0.00,0.000,4,0.000,0.049,3143,1928,1686,0,0,0,0,0,0
$GC,13132,0.38,277.5,889.0,8.8,641,13136,0.00,0.43,0.00,0.000,6,0.000,0.060,3144,1650,1686,0,0,0,0,0,0
$GC,13472,0.38,277.5,861.9,7.9,652,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1650,1685,0,0,0,0,0,0
$GC,13779,0.38,277.5,835.0,9.0,662,13782,0.00,0.25,0.00,0.000,4,0.000,0.060,3144,1843,1684,0,0,0,0,0,0
$GC,13827,0.38,277.5,830.3,9.9,663,13831,0.00,0.30,0.00,0.000,6,0.000,0.067,3144,1648,1684,0,0,0,0,0,0
$GC,14151,0.38,277.5,801.9,8.6,674,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1648,1684,0,0,0,0,0,0
$GC,14457,0.38,277.5,775.3,8.5,684,14461,0.00,0.70,0.00,0.000,4,0.000,0.045,3143,2108,1684,0,0,0,0,0,0
$GC,14517,0.38,277.5,770.1,8.2,685,14523,0.00,0.75,0.00,0.000,6,0.000,0.054,3144,1644,1684,0,0,0,0,0,0
$GC,14830,0.38,288.8,747.5,7.0,696,14841,0.00,0.00,9.48,1.198,6,0.000,0.000,3144,1644,1649,0,0,0,0,0,0
$GC,15136,0.38,318.3,727.1,6.4,706,15166,0.00,0.00,27.83,1.330,6,0.000,0.000,3144,1644,1529,0,0,0,0,0,0
$GC,15474,0.41,355.5,706.3,6.1,717,15512,0.00,0.25,34.58,1.327,4,0.000,0.041,3144,1827,1377,0,0,0,0,0,0
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$STATE,22565,end climb,SURFACE_DEPTH_REACHED
$STATE,22565,begin surface coast
$FINISH,1.6,1.014189
$STATE,22608,end surface coast,CONTROL_FINISHED_OK
$STATE,22608,begin surface
$SM_CCo,22684,0.00,0.000,0,0,1189,401.79
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$IRIDIUM_FIX,-4201.18,-717.61,281012,171737
$TT8_MAMPS,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,22.7,37.851
$10V_AH,10.2,29.687
$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
$DEVICE_SECS,25.325,77.425,488.300,0.000,0.000,26.983,37.196,267.450,0.250,0.000,19.942,2988.003,15689.278,588.878,3683.511,175.261,33.355,2012.181,0.000,3299.573,0.000,2.832,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.429,1313.487,778.478,99.692,0.000,0.000,0.000,0.000,0.000,0.000
$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,70271,1180
$CAP_FILE_SIZE,200708,0
$CFSIZE,2097086464,2072379392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291012,063135,-4220.086,-715.639,27,1.2,28,-21.9