version: 66.07.10.p01
glider: 574
mission: 4
dive: 24
start: 9 23 112 14 43 41
data:
$ID,574
$MISSION,4
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,333
$T_MISSION,348
$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,185
$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,596.31458
$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,-5481.9214
$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,3016
$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,1910
$C_ROLL_CLIMB,1644
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,60
$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,3
$GPS1,230912,142729,-4327.393,-937.191,71,0.8,71,-21.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.2
$GPS2,230912,144319,-4327.475,-937.057,20,1.2,20,-21.1
$SPEED_LIMITS,0.173,0.286
$TGT_NAME,ACC_574_WP1
$TGT_LATLONG,-4320.000,-800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,0.135
$KALMAN_X,-2989.6,-846.1,-190.4,3225.8,-754.4
$KALMAN_Y,-1789.4,-454.4,-75.8,857.9,-522.0
$MHEAD_RNG_PITCHd_Wd,105.1,131477,-16.4,-10.010
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.62,-180.0,0.0,0.0,0,127,0.00,0.00,-101.12,0.000,2,0.000,0.000,64,1942,2905,0,0,0,0,0,0
$GC,129,-0.62,-180.0,3.2,-4.1,17,161,12.55,1.05,-14.32,0.000,4,0.281,0.081,2803,1263,3561,0,0,0,0,0,0
$GC,228,-0.53,-180.0,21.3,-12.3,33,235,0.12,0.98,0.00,0.000,6,0.158,0.042,2838,1882,3563,0,0,0,0,0,0
$GC,306,-0.51,-180.0,31.0,-13.5,46,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1882,3563,0,0,0,0,0,0
$GC,451,-0.51,-180.0,47.8,-11.9,71,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1882,3563,0,0,0,0,0,0
$GC,593,-0.51,-180.0,65.3,-11.5,96,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1882,3563,0,0,0,0,0,0
$GC,943,-0.51,-180.0,106.7,-12.1,157,948,0.00,0.68,0.00,0.000,4,0.000,0.050,2836,2340,3563,0,0,0,0,0,0
$GC,1017,-0.51,-180.0,115.3,-10.4,170,1024,0.00,0.68,0.00,0.000,6,0.000,0.052,2836,1903,3563,0,0,0,0,0,0
$GC,1368,-0.51,-180.0,155.3,-11.2,231,1373,0.05,0.00,0.00,0.000,6,0.231,0.000,2847,1902,3563,0,0,0,0,0,0
$GC,1716,-0.51,-180.0,190.5,-10.0,292,1723,0.00,0.32,0.00,0.000,4,0.000,0.051,2846,2141,3563,0,0,0,0,0,0
$GC,1775,-0.53,-180.0,196.4,-9.8,302,1782,0.00,0.35,0.00,0.000,6,0.000,0.057,2846,1902,3563,0,0,0,0,0,0
$GC,2128,-0.55,-180.0,231.5,-9.6,363,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1902,3563,0,0,0,0,0,0
$GC,2476,-0.58,-180.0,265.8,-9.7,424,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1902,3563,0,0,0,0,0,0
$GC,2827,-0.61,-180.0,301.6,-10.1,485,2832,0.08,0.00,0.00,0.000,6,0.134,0.000,2814,1902,3564,0,0,0,0,0,0
$GC,3175,-0.56,-180.0,347.8,-13.2,546,3182,0.08,0.00,0.00,0.000,6,0.194,0.000,2831,1901,3564,0,0,0,0,0,0
$GC,3527,-0.56,-180.0,388.5,-11.4,607,3532,0.00,0.30,0.00,0.000,4,0.000,0.050,2831,2129,3564,0,0,0,0,0,0
$GC,3574,-0.56,-180.0,393.9,-11.2,615,3579,0.00,0.32,0.00,0.000,6,0.000,0.057,2831,1901,3564,0,0,0,0,0,0
$GC,3921,-0.56,-180.0,433.8,-11.1,676,3929,0.00,0.35,0.00,0.000,4,0.000,0.047,2830,2158,3564,0,0,0,0,0,0
$GC,3965,-0.56,-180.0,438.5,-11.7,683,3970,0.00,0.35,0.00,0.000,6,0.000,0.056,2830,1912,3564,0,0,0,0,0,0
$GC,4312,-0.56,-180.0,480.6,-12.2,744,4319,0.00,0.73,0.00,0.000,4,0.000,0.057,2830,1432,3564,0,0,0,0,0,0
$GC,4370,-0.56,-180.0,487.9,-12.2,754,4378,0.00,0.73,0.00,0.000,6,0.000,0.041,2827,1923,3564,0,0,0,0,0,0
$GC,4722,-0.56,-180.0,530.7,-12.0,815,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1923,3564,0,0,0,0,0,0
$GC,5069,-0.56,-180.0,571.0,-11.7,876,5076,0.00,0.40,0.00,0.000,4,0.000,0.057,2827,1653,3563,0,0,0,0,0,0
$GC,5139,-0.56,-180.0,579.0,-12.0,888,5146,0.00,0.35,0.00,0.000,6,0.000,0.048,2825,1910,3563,0,0,0,0,0,0
$GC,5490,-0.56,-180.0,619.0,-11.8,949,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1910,3562,0,0,0,0,0,0
$GC,5837,-0.56,-180.0,657.8,-11.2,1010,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1910,3562,0,0,0,0,0,0
$GC,6188,-0.56,-180.0,694.8,-10.4,1071,6193,0.00,0.60,0.00,0.000,4,0.000,0.054,2825,1515,3560,0,0,0,0,0,0
$GC,6257,-0.56,-180.0,702.3,-10.1,1083,6262,0.00,0.57,0.00,0.000,6,0.000,0.044,2824,1903,3560,0,0,0,0,0,0
$GC,6606,-0.56,-180.0,738.0,-9.4,1144,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1903,3560,0,0,0,0,0,0
$GC,6957,-0.56,-180.0,773.0,-9.8,1205,6962,0.00,0.68,0.00,0.000,4,0.000,0.054,2824,1464,3559,0,0,0,0,0,0
$GC,7027,-0.56,-180.0,780.2,-11.2,1217,7032,0.00,0.68,0.00,0.000,6,0.000,0.044,2822,1915,3559,0,0,0,0,0,0
$GC,7374,-0.56,-180.0,817.2,-10.5,1278,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1916,3559,0,0,0,0,0,0
$GC,7725,-0.56,-180.0,854.2,-11.0,1339,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1916,3558,0,0,0,0,0,0
$GC,8072,-0.56,-180.0,893.1,-10.7,1400,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1916,3558,0,0,0,0,0,0
$GC,8424,-0.58,-180.0,931.0,-10.1,1461,8429,0.00,0.47,0.00,0.000,4,0.000,0.057,2821,1594,3557,0,0,0,0,0,0
$GC,8506,-0.60,-180.0,939.4,-10.0,1475,8511,0.00,0.45,0.00,0.000,6,0.000,0.048,2820,1908,3557,0,0,0,0,0,0
$GC,8854,-0.63,-180.0,974.5,-10.2,1536,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1908,3557,0,0,0,0,0,0
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9108,begin apogee
$GC,9111,-0.19,0.0,1000.1,10.2,1580,9271,0.40,0.00,149.82,1.425,6,0.148,0.000,2947,1635,2828,0,0,0,0,0,0
$STATE,9271,end apogee,CONTROL_FINISHED_OK
$STATE,9272,begin climb
$GC,9273,0.62,180.0,1008.8,0.0,1609,9438,0.80,0.57,156.65,1.392,4,0.083,0.038,3208,1985,2094,0,0,0,0,0,0
$GC,9589,0.49,180.0,993.4,10.2,1665,9595,0.10,0.55,0.00,0.000,6,0.177,0.057,3183,1653,2092,0,0,0,0,0,0
$GC,9939,0.41,246.2,965.9,7.5,1726,10002,0.12,0.52,58.58,1.343,4,0.201,0.043,3154,1974,1823,0,0,0,0,0,0
$GC,10096,0.45,333.2,955.2,6.8,1753,10178,0.00,0.55,78.20,1.348,6,0.000,0.057,3154,1640,1467,0,0,0,0,0,0
$GC,10522,0.55,385.6,923.5,8.1,1828,10573,0.12,0.00,45.95,1.317,6,0.099,0.000,3199,1640,1256,0,0,0,0,0,0
$GC,10918,0.60,385.6,881.2,10.3,1897,10923,0.00,0.60,0.00,0.000,4,0.000,0.063,3200,1258,1250,0,0,0,0,0,0
$GC,10988,0.65,385.6,873.7,10.9,1909,10994,0.05,0.57,0.00,0.000,6,0.083,0.040,3226,1649,1249,0,0,0,0,0,0
$GC,11337,0.63,385.6,827.7,13.6,1970,11344,0.00,2.33,0.00,0.000,4,0.000,0.069,3227,257,1247,0,0,0,0,0,0
$GC,11426,0.63,385.6,815.9,13.3,1985,11432,0.00,2.12,0.00,0.000,6,0.000,0.036,3226,1642,1245,0,0,0,0,0,0
$GC,11774,0.63,385.6,771.7,12.1,2046,11781,0.00,1.08,0.00,0.000,4,0.000,0.062,3227,988,1246,0,0,0,0,0,0
$GC,11867,0.63,385.6,760.4,12.2,2062,11874,0.00,1.00,0.00,0.000,6,0.000,0.037,3226,1651,1246,0,0,0,0,0,0
$GC,12219,0.63,385.6,716.7,12.2,2123,12224,0.00,2.15,0.00,0.000,4,0.000,0.069,3227,325,1245,0,0,0,0,0,0
$GC,12300,0.63,385.6,706.3,13.2,2137,12305,0.00,2.03,0.00,0.000,6,0.000,0.037,3227,1643,1244,0,0,0,0,0,0
$GC,12647,0.63,385.6,661.5,12.2,2198,12654,0.00,1.85,0.00,0.000,4,0.000,0.067,3227,515,1244,0,0,0,0,0,0
$GC,12736,0.63,385.6,650.3,12.9,2213,12741,0.00,1.73,0.00,0.000,6,0.000,0.038,3227,1650,1244,0,0,0,0,0,0
$GC,13084,0.63,385.6,604.7,13.8,2274,13091,0.00,1.70,0.00,0.000,4,0.000,0.067,3227,615,1244,0,0,0,0,0,0
$GC,13172,0.63,385.6,594.1,11.8,2289,13177,0.00,1.58,0.00,0.000,6,0.000,0.040,3227,1638,1244,0,0,0,0,0,0
$GC,13520,0.63,385.6,551.9,11.7,2350,13527,0.00,1.30,0.00,0.000,4,0.000,0.066,3227,843,1244,0,0,0,0,0,0
$GC,13609,0.63,385.6,541.5,11.3,2365,13614,0.00,1.23,0.00,0.000,6,0.000,0.038,3227,1647,1243,0,0,0,0,0,0
$GC,13956,0.63,385.6,498.2,13.1,2426,13963,0.00,1.42,0.00,0.000,4,0.000,0.065,3228,772,1244,0,0,0,0,0,0
$GC,14049,0.63,385.6,486.6,11.8,2442,14056,0.00,1.33,0.00,0.000,6,0.000,0.038,3227,1643,1244,0,0,0,0,0,0
$GC,14400,0.63,385.6,441.8,14.0,2503,14405,0.00,1.70,0.00,0.000,4,0.000,0.066,3228,584,1244,0,0,0,0,0,0
$GC,14482,0.63,385.6,430.3,14.4,2517,14487,0.00,1.62,0.00,0.000,6,0.000,0.038,3227,1644,1244,0,0,0,0,0,0
$GC,14829,0.63,385.6,383.3,12.7,2578,14837,0.00,1.80,0.00,0.000,4,0.000,0.066,3227,539,1244,0,0,0,0,0,0
$GC,14911,0.63,385.6,373.1,13.1,2592,14918,0.00,1.70,0.00,0.000,6,0.000,0.037,3227,1651,1244,0,0,0,0,0,0
$GC,15263,0.63,385.6,330.3,11.8,2653,15268,0.00,1.67,0.00,0.000,4,0.000,0.066,3228,608,1244,0,0,0,0,0,0
$GC,15356,0.63,385.6,318.6,13.2,2669,15361,0.00,1.58,0.00,0.000,6,0.000,0.037,3228,1645,1243,0,0,0,0,0,0
$GC,15703,0.63,385.6,275.0,12.5,2730,15710,0.00,1.65,0.00,0.000,4,0.000,0.064,3228,626,1244,0,0,0,0,0,0
$GC,15791,0.63,385.6,264.3,12.8,2745,15796,0.00,1.55,0.00,0.000,6,0.000,0.036,3228,1648,1244,0,0,0,0,0,0
$GC,16139,0.63,385.6,221.2,13.0,2806,16146,0.00,2.30,0.00,0.000,4,0.000,0.069,3228,243,1244,0,0,0,0,0,0
$GC,16232,0.63,385.6,209.5,12.2,2822,16239,0.00,2.15,0.00,0.000,6,0.000,0.036,3228,1642,1244,0,0,0,0,0,0
$GC,16584,0.63,385.6,162.9,14.5,2883,16589,0.00,1.40,0.00,0.000,4,0.000,0.064,3227,776,1245,0,0,0,0,0,0
$GC,16677,0.63,385.6,150.2,13.2,2899,16682,0.00,1.33,0.00,0.000,6,0.000,0.034,3228,1660,1245,0,0,0,0,0,0
$GC,17025,0.63,471.3,101.9,6.8,2960,17101,0.00,1.27,70.07,0.814,4,0.000,0.060,3228,909,904,0,0,0,0,0,0
$GC,17178,0.68,471.3,90.9,12.9,2987,17183,0.00,1.12,0.00,0.000,6,0.000,0.034,3228,1639,900,0,0,0,0,0,0
$GC,17527,0.73,504.1,60.8,8.8,3048,17561,0.08,2.35,26.70,0.766,4,0.127,0.067,3266,237,771,0,0,0,0,0,0
$GC,17626,0.77,504.1,44.8,17.4,3065,17631,0.00,2.17,0.00,0.000,6,0.000,0.033,3266,1640,767,0,0,0,0,0,0
$GC,17772,0.73,504.1,17.7,21.4,3090,17779,0.08,0.00,0.00,0.000,6,0.197,0.000,3251,1650,766,0,0,0,0,0,0
$GC,17852,0.77,504.1,5.8,13.4,3103,17859,0.00,0.35,0.00,0.000,4,0.000,0.062,3251,1416,765,0,0,0,0,0,0
$STATE,17877,end climb,SURFACE_DEPTH_REACHED
$STATE,17877,begin surface coast
$FINISH,1.0,1.025023
$STATE,17902,end surface coast,CONTROL_FINISHED_OK
$STATE,17903,begin surface
$SM_CCo,17918,42.50,0.659,0,0,395,596.31
$SM_GC,1.69,0.00,0.00,42.50,0.000,0.000,0.659,87,1897,395,-9.15,-0.37,596.31
$IRIDIUM_FIX,-4311.50,-937.98,230912,141430
$TT8_MAMPS,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.00873
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.3,9.923
$10V_AH,10.3,7.440
$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,23.400,66.125,585.975,42.500,0.000,57.788,79.437,593.966,0.250,0.000,22.690,6766.837,2824.518,576.735,8515.814,199.064,0.000,2999.960,0.000,7753.090,0.000,2.834,0.000
$DEVICE_MAMPS,280.755,81.090,1425.195,658.665,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2146.801,5252.217,776.651,671.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354884
$DATA_FILE_SIZE,183731,3111
$CAP_FILE_SIZE,249840,0
$CFSIZE,2097086464,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,230912,194405,-4327.951,-934.539,29,0.9,29,-21.1