version: 66.07.10.p01
glider: 574
mission: 4
dive: 159
start: 10 30 112 2 33 34
data:
$ID,574
$MISSION,4
$DIVE,159
$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,-5922.2881
$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,29
$R_STBD_OVSHOOT,55
$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,138
$GPS1,301012,022435,-4223.600,-718.041,33,1.1,34,-21.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-75.3
$GPS2,301012,023240,-4223.605,-718.125,25,1.6,26,-21.8
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_WP9s
$TGT_LATLONG,-4300.000,-640.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.130,-0.196
$KALMAN_X,-239721.2,-181.3,536.1,363509.4,-2496.5
$KALMAN_Y,193614.2,-166.2,60.2,-141627.0,3969.6
$MHEAD_RNG_PITCHd_Wd,168.2,84910,-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,-145.9,0.0,0.0,0,82,0.00,0.00,-54.65,0.000,2,0.000,0.000,67,1912,2404,0,0,0,0,0,0
$GC,84,-0.52,-145.9,3.0,-0.8,9,140,12.65,2.35,-35.50,0.000,4,0.272,0.076,2827,511,3421,0,0,0,0,0,0
$GC,219,-0.47,-145.9,13.7,-10.6,31,227,0.12,2.20,0.00,0.000,6,0.138,0.037,2859,1900,3423,0,0,0,0,0,0
$GC,300,-0.51,-145.9,20.8,-8.4,44,307,0.00,0.28,0.00,0.000,4,0.000,0.059,2859,2104,3423,0,0,0,0,0,0
$GC,321,-0.56,-145.9,22.5,-8.3,47,329,0.05,0.30,0.00,0.000,6,0.081,0.060,2826,1904,3423,0,0,0,0,0,0
$GC,402,-0.62,-145.9,29.9,-9.3,60,409,0.00,0.38,0.00,0.000,4,0.000,0.048,2825,2165,3423,0,0,0,0,0,0
$GC,573,-0.70,-145.9,45.4,-8.9,89,578,0.08,0.38,0.00,0.000,6,0.070,0.058,2784,1916,3423,0,0,0,0,0,0
$GC,807,-0.59,-145.9,71.9,-12.4,130,813,0.15,2.28,0.00,0.000,4,0.173,0.060,2823,512,3424,0,0,0,0,0,0
$GC,903,-0.56,-145.9,81.9,-9.8,147,909,0.00,2.20,0.00,0.000,6,0.000,0.035,2814,1922,3424,0,0,0,0,0,0
$GC,1248,-0.53,-145.9,113.5,-9.5,192,1250,0.10,0.00,0.00,0.000,6,0.181,0.000,2840,1923,3423,0,0,0,0,0,0
$GC,1559,-0.53,-145.9,138.2,-7.6,212,1563,0.00,1.25,0.00,0.000,4,0.000,0.056,2840,1143,3424,0,0,0,0,0,0
$GC,1636,-0.53,-145.9,144.7,-8.1,216,1644,0.00,1.23,0.00,0.000,6,0.000,0.035,2836,1929,3424,0,0,0,0,0,0
$GC,1957,-0.53,-145.9,169.3,-7.5,237,1961,0.00,0.90,0.00,0.000,4,0.000,0.054,2836,1364,3423,0,0,0,0,0,0
$GC,2043,-0.53,-145.9,176.1,-8.0,242,2047,0.00,0.82,0.00,0.000,6,0.000,0.038,2833,1913,3424,0,0,0,0,0,0
$GC,2375,-0.53,-145.9,201.0,-7.4,263,2379,0.00,1.38,0.00,0.000,4,0.000,0.057,2833,1058,3424,0,0,0,0,0,0
$GC,2464,-0.53,-145.9,208.2,-7.6,268,2469,0.00,1.33,0.00,0.000,6,0.000,0.034,2828,1913,3424,0,0,0,0,0,0
$GC,2791,-0.53,-145.9,232.9,-8.0,289,2795,0.03,0.52,0.00,0.000,4,0.278,0.055,2837,1578,3424,0,0,0,0,0,0
$GC,2860,-0.53,-145.9,238.1,-7.4,293,2864,0.00,0.50,0.00,0.000,6,0.000,0.042,2836,1927,3424,0,0,0,0,0,0
$GC,3184,-0.53,-145.9,263.9,-8.2,311,3188,0.00,1.98,0.00,0.000,4,0.000,0.057,2836,693,3424,0,0,0,0,0,0
$GC,3245,-0.53,-145.9,269.7,-9.3,313,3251,0.00,1.85,0.00,0.000,6,0.000,0.033,2828,1897,3424,0,0,0,0,0,0
$GC,3563,-0.61,-145.9,295.4,-8.2,329,3567,0.00,2.20,0.00,0.000,4,0.000,0.047,2819,3314,3424,0,0,0,0,0,0
$GC,3635,-0.73,-145.9,302.0,-8.6,332,3640,0.10,2.17,0.00,0.000,6,0.060,0.038,2767,1913,3424,0,0,0,0,0,0
$GC,3963,-0.60,-145.9,340.5,-12.4,348,3968,0.17,2.22,0.00,0.000,4,0.167,0.057,2814,504,3424,0,0,0,0,0,0
$GC,4081,-0.58,-145.9,352.9,-10.0,353,4085,0.08,2.15,0.00,0.000,6,0.190,0.034,2823,1914,3424,0,0,0,0,0,0
$GC,4403,-0.66,-145.9,379.8,-8.3,369,4408,0.08,1.02,0.00,0.000,4,0.130,0.054,2791,1277,3424,0,0,0,0,0,0
$GC,4429,-0.66,-145.9,382.5,-9.5,370,4434,0.00,1.00,0.00,0.000,6,0.000,0.037,2788,1925,3424,0,0,0,0,0,0
$GC,4765,-0.66,-145.9,415.2,-9.7,384,4769,0.00,2.28,0.00,0.000,4,0.000,0.057,2787,508,3424,0,0,0,0,0,0
$GC,4847,-0.60,-145.9,425.0,-12.1,386,4852,0.10,2.15,0.00,0.000,6,0.146,0.034,2811,1898,3424,0,0,0,0,0,0
$GC,5171,-0.57,-145.9,457.7,-10.4,397,5175,0.05,0.32,0.00,0.000,4,0.233,0.053,2822,2146,3423,0,0,0,0,0,0
$GC,5219,-0.57,-145.9,462.8,-9.4,398,5223,0.00,0.38,0.00,0.000,6,0.000,0.054,2822,1894,3423,0,0,0,0,0,0
$GC,5543,-0.57,-145.9,493.6,-9.6,409,5546,0.00,1.08,0.00,0.000,4,0.000,0.054,2822,1205,3422,0,0,0,0,0,0
$GC,5636,-0.57,-145.9,502.9,-9.9,411,5642,0.00,1.10,0.00,0.000,6,0.000,0.034,2817,1922,3423,0,0,0,0,0,0
$GC,5949,-0.57,-145.9,531.9,-9.2,422,5953,0.00,0.88,0.00,0.000,4,0.000,0.052,2818,1367,3422,0,0,0,0,0,0
$GC,6032,-0.57,-145.9,539.7,-9.6,424,6036,0.00,0.85,0.00,0.000,6,0.000,0.038,2814,1921,3422,0,0,0,0,0,0
$GC,6356,-0.57,-145.9,570.5,-9.6,435,6360,0.00,0.70,0.00,0.000,4,0.000,0.052,2814,1470,3422,0,0,0,0,0,0
$GC,6439,-0.55,-145.9,578.9,-10.0,437,6444,0.10,0.68,0.00,0.000,6,0.173,0.039,2836,1915,3421,0,0,0,0,0,0
$GC,6763,-0.61,-145.9,606.2,-8.4,448,6767,0.05,1.23,0.00,0.000,4,0.171,0.054,2810,1159,3420,0,0,0,0,0,0
$GC,6799,-0.61,-145.9,609.9,-10.0,449,6804,0.00,1.17,0.00,0.000,6,0.000,0.037,2806,1914,3421,0,0,0,0,0,0
$GC,7135,-0.66,-145.9,641.4,-9.4,460,7139,0.00,2.25,0.00,0.000,4,0.000,0.057,2806,512,3420,0,0,0,0,0,0
$GC,7230,-0.61,-145.9,651.7,-11.2,462,7236,0.03,2.17,0.00,0.000,6,0.182,0.037,2807,1906,3420,0,0,0,0,0,0
$GC,7542,-0.61,-145.9,682.4,-9.8,473,7546,0.00,0.52,0.00,0.000,4,0.000,0.047,2805,2280,3420,0,0,0,0,0,0
$GC,7602,-0.61,-145.9,688.3,-9.9,474,7608,0.00,0.57,0.00,0.000,6,0.000,0.047,2805,1903,3419,0,0,0,0,0,0
$GC,7915,-0.59,-145.9,717.0,-9.0,485,7920,0.05,1.35,0.00,0.000,4,0.221,0.055,2817,1060,3419,0,0,0,0,0,0
$GC,8020,-0.59,-145.9,725.9,-8.1,488,8025,0.00,1.35,0.00,0.000,6,0.000,0.037,2812,1920,3419,0,0,0,0,0,0
$GC,8356,-0.59,-145.9,751.4,-7.4,499,8360,0.00,0.52,0.00,0.000,4,0.000,0.054,2812,1572,3418,0,0,0,0,0,0
$GC,8424,-0.59,-145.9,756.4,-6.7,501,8427,0.00,0.50,0.00,0.000,6,0.000,0.047,2810,1913,3418,0,0,0,0,0,0
$GC,8764,-0.59,-145.9,782.7,-7.9,512,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1913,3418,0,0,0,0,0,0
$GC,9070,-0.59,-145.9,806.8,-7.8,522,9074,0.00,0.60,0.00,0.000,4,0.000,0.054,2810,1522,3417,0,0,0,0,0,0
$GC,9174,-0.59,-145.9,814.8,-7.5,525,9179,0.00,0.62,0.00,0.000,6,0.000,0.044,2807,1925,3417,0,0,0,0,0,0
$GC,9509,-0.59,-145.9,840.6,-7.8,536,9512,0.00,1.08,0.00,0.000,4,0.000,0.054,2808,1254,3417,0,0,0,0,0,0
$GC,9602,-0.59,-145.9,848.4,-8.9,538,9609,0.08,1.02,0.00,0.000,6,0.187,0.040,2821,1910,3417,0,0,0,0,0,0
$GC,9916,-0.62,-145.9,871.1,-7.5,549,9919,0.00,0.25,0.00,0.000,4,0.000,0.063,2821,1731,3416,0,0,0,0,0,0
$GC,9984,-0.64,-145.9,876.4,-7.3,551,9988,0.00,0.25,0.00,0.000,6,0.000,0.059,2821,1914,3416,0,0,0,0,0,0
$GC,10324,-0.66,-145.9,904.1,-8.4,562,10329,0.08,0.50,0.00,0.000,4,0.135,0.057,2793,1594,3416,0,0,0,0,0,0
$GC,10430,-0.62,-145.9,915.0,-10.1,565,10435,0.08,0.50,0.00,0.000,6,0.194,0.047,2813,1925,3416,0,0,0,0,0,0
$GC,10764,-0.62,-145.9,946.1,-9.6,576,10768,0.00,1.02,0.00,0.000,4,0.000,0.054,2814,1275,3416,0,0,0,0,0,0
$GC,10865,-0.62,-145.9,956.0,-10.4,579,10869,0.00,0.98,0.00,0.000,6,0.000,0.041,2810,1907,3416,0,0,0,0,0,0
$GC,11205,-0.62,-145.9,987.6,-9.2,590,11209,0.00,0.30,0.00,0.000,4,0.000,0.061,2810,1698,3416,0,0,0,0,0,0
$GC,11265,-0.62,-145.9,993.2,-8.7,591,11271,0.00,0.32,0.00,0.000,6,0.000,0.050,2809,1922,3416,0,0,0,0,0,0
$STATE,11363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11363,begin apogee
$GC,11367,-0.19,0.0,1002.1,9.4,595,11494,0.47,0.00,123.90,1.524,6,0.137,0.000,2952,1651,2827,0,0,0,0,0,0
$STATE,11495,end apogee,CONTROL_FINISHED_OK
$STATE,11495,begin climb
$GC,11496,0.52,145.9,1009.5,0.0,599,11634,0.70,1.73,131.18,1.485,4,0.076,0.061,3181,697,2231,0,0,0,0,0,0
$GC,11719,0.33,182.6,1009.6,6.2,606,11759,0.20,1.58,34.12,1.434,6,0.173,0.037,3129,1646,2081,0,0,0,0,0,0
$GC,12072,0.29,246.4,991.2,5.2,618,12136,0.08,1.65,57.10,1.480,4,0.213,0.043,3113,2610,1821,0,0,0,0,0,0
$GC,12200,0.29,280.0,984.0,6.3,622,12236,0.00,1.60,31.48,1.457,6,0.000,0.048,3117,1658,1685,0,0,0,0,0,0
$GC,12565,0.35,307.3,960.9,6.5,634,12594,0.00,0.00,25.33,1.420,6,0.000,0.000,3117,1658,1573,0,0,0,0,0,0
$GC,12902,0.59,307.4,936.9,7.4,645,12906,0.25,1.17,0.00,0.000,4,0.087,0.058,3205,941,1568,0,0,0,0,0,0
$GC,12969,0.49,307.4,930.5,10.7,647,12973,0.10,1.12,0.00,0.000,6,0.169,0.041,3176,1663,1568,0,0,0,0,0,0
$GC,13309,0.45,307.4,899.0,9.1,658,13313,0.08,0.28,0.00,0.000,4,0.216,0.056,3161,1857,1567,0,0,0,0,0,0
$GC,13376,0.45,308.1,893.5,7.4,660,13379,0.00,0.32,0.00,0.000,6,0.000,0.067,3161,1648,1567,0,0,0,0,0,0
$GC,13716,0.45,308.1,866.4,7.9,671,13720,0.00,1.12,0.00,0.000,4,0.000,0.045,3161,2366,1567,0,0,0,0,0,0
$GC,13776,0.42,308.1,861.6,8.5,672,13782,0.00,1.15,0.00,0.000,6,0.000,0.053,3163,1649,1567,0,0,0,0,0,0
$GC,14089,0.40,308.1,836.2,8.2,683,14091,0.10,0.00,0.00,0.000,6,0.200,0.000,3140,1648,1567,0,0,0,0,0,0
$GC,14396,0.42,334.1,815.8,6.5,693,14424,0.00,0.00,24.98,1.365,6,0.000,0.000,3140,1648,1463,0,0,0,0,0,0
$GC,14732,0.48,361.7,794.4,6.5,704,14761,0.08,0.00,26.12,1.353,6,0.127,0.000,3171,1648,1352,0,0,0,0,0,0
$GC,15067,0.48,361.7,767.0,8.2,715,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1648,1346,0,0,0,0,0,0
$GC,15374,0.48,361.7,741.4,8.5,725,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1648,1346,0,0,0,0,0,0
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$STATE,23664,end climb,SURFACE_DEPTH_REACHED
$STATE,23664,begin surface coast
$FINISH,1.6,1.001386
$STATE,23701,end surface coast,CONTROL_FINISHED_OK
$STATE,23701,begin surface
$SM_CCo,23776,0.00,0.000,0,0,1141,413.57
$SM_GC,2.61,8.55,0.00,0.00,0.054,0.000,0.000,91,1921,1141,-9.08,0.23,413.57
$IRIDIUM_FIX,-4204.08,-717.98,291012,191913
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.7,38.739
$10V_AH,10.1,30.243
$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,25.400,89.525,500.800,0.000,0.000,30.345,43.164,284.285,0.250,0.000,27.967,3061.322,16679.506,621.970,3719.497,169.426,33.368,2050.570,0.000,3296.271,0.000,2.834,0.000
$DEVICE_MAMPS,278.460,75.735,1523.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.515,1323.104,805.867,92.735,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,73588,1210
$CAP_FILE_SIZE,205782,0
$CFSIZE,2097086464,2071855104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301012,091105,-4224.588,-718.106,41,0.8,42,-21.8