version: 66.07.10.p01
glider: 574
mission: 4
dive: 27
start: 9 24 112 6 26 51
data:
$ID,574
$MISSION,4
$DIVE,27
$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,-5491.603
$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,26
$R_STBD_OVSHOOT,52
$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,6
$GPS1,240912,061529,-4328.199,-930.047,41,0.9,41,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.4
$GPS2,240912,062630,-4328.207,-930.154,15,1.8,15,-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,104.0,122393,-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,24,-0.62,-180.0,0.0,0.0,0,133,0.00,0.00,-106.85,0.000,2,0.000,0.000,65,1914,3069,0,0,0,0,0,0
$GC,135,-0.62,-180.0,3.5,-4.7,18,168,12.43,2.28,-10.12,0.000,4,0.276,0.070,2796,3296,3564,0,0,0,0,0,0
$GC,348,-0.58,-180.0,38.2,-12.7,54,356,0.08,2.25,0.00,0.000,6,0.142,0.051,2821,1906,3564,0,0,0,0,0,0
$GC,495,-0.52,-180.0,59.2,-16.9,79,501,0.10,0.40,0.00,0.000,4,0.187,0.063,2846,1641,3564,0,0,0,0,0,0
$GC,566,-0.52,-180.0,67.9,-10.7,91,571,0.00,0.40,0.00,0.000,6,0.000,0.050,2845,1905,3565,0,0,0,0,0,0
$GC,914,-0.52,-180.0,106.4,-7.8,152,921,0.00,0.77,0.00,0.000,4,0.000,0.050,2841,2420,3564,0,0,0,0,0,0
$GC,980,-0.52,-180.0,112.5,-10.7,163,985,0.00,0.80,0.00,0.000,6,0.000,0.047,2841,1899,3565,0,0,0,0,0,0
$GC,1328,-0.52,-180.0,156.4,-11.2,224,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1899,3564,0,0,0,0,0,0
$GC,1679,-0.52,-180.0,193.9,-10.5,285,1684,0.00,0.47,0.00,0.000,4,0.000,0.049,2839,2226,3564,0,0,0,0,0,0
$GC,1750,-0.54,-180.0,201.1,-9.9,297,1755,0.00,0.47,0.00,0.000,6,0.000,0.053,2839,1908,3564,0,0,0,0,0,0
$GC,2098,-0.54,-180.0,240.7,-10.9,358,2105,0.00,0.30,0.00,0.000,4,0.000,0.052,2838,2127,3565,0,0,0,0,0,0
$GC,2164,-0.54,-180.0,247.8,-10.5,369,2169,0.00,0.32,0.00,0.000,6,0.000,0.058,2838,1901,3565,0,0,0,0,0,0
$GC,2512,-0.54,-180.0,287.5,-11.1,430,2519,0.00,0.45,0.00,0.000,4,0.000,0.048,2836,2214,3565,0,0,0,0,0,0
$GC,2578,-0.56,-180.0,294.6,-10.6,441,2583,0.00,0.45,0.00,0.000,6,0.000,0.053,2836,1908,3566,0,0,0,0,0,0
$GC,2926,-0.56,-180.0,338.5,-12.7,502,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1908,3565,0,0,0,0,0,0
$GC,3277,-0.56,-180.0,382.5,-12.2,563,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1908,3565,0,0,0,0,0,0
$GC,3625,-0.58,-180.0,424.2,-11.6,624,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1908,3566,0,0,0,0,0,0
$GC,3976,-0.58,-180.0,461.7,-10.4,685,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1908,3566,0,0,0,0,0,0
$GC,4324,-0.61,-180.0,497.8,-10.3,746,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1907,3566,0,0,0,0,0,0
$GC,4676,-0.64,-180.0,533.3,-9.2,807,4681,0.08,0.00,0.00,0.000,6,0.137,0.000,2806,1908,3566,0,0,0,0,0,0
$GC,5023,-0.59,-180.0,578.6,-13.0,868,5030,0.08,0.00,0.00,0.000,6,0.193,0.000,2823,1907,3566,0,0,0,0,0,0
$GC,5375,-0.59,-180.0,619.2,-10.8,929,5380,0.00,0.32,0.00,0.000,4,0.000,0.054,2823,2142,3565,0,0,0,0,0,0
$GC,5437,-0.59,-180.0,626.0,-10.0,940,5444,0.00,0.32,0.00,0.000,6,0.000,0.057,2823,1912,3565,0,0,0,0,0,0
$GC,5788,-0.59,-180.0,663.0,-10.5,1001,5793,0.00,0.32,0.00,0.000,4,0.000,0.067,2823,1681,3564,0,0,0,0,0,0
$GC,5835,-0.59,-180.0,668.0,-10.6,1009,5840,0.00,0.32,0.00,0.000,6,0.000,0.054,2821,1909,3564,0,0,0,0,0,0
$GC,6183,-0.59,-180.0,704.1,-9.9,1070,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1910,3564,0,0,0,0,0,0
$GC,6534,-0.59,-180.0,740.2,-10.8,1131,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1910,3563,0,0,0,0,0,0
$GC,6881,-0.59,-180.0,777.4,-11.2,1192,6888,0.00,0.32,0.00,0.000,4,0.000,0.062,2821,1687,3563,0,0,0,0,0,0
$GC,6947,-0.59,-180.0,784.2,-10.7,1203,6952,0.00,0.32,0.00,0.000,6,0.000,0.056,2820,1913,3563,0,0,0,0,0,0
$GC,7295,-0.59,-180.0,822.3,-10.3,1264,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1913,3562,0,0,0,0,0,0
$GC,7646,-0.59,-180.0,859.8,-11.2,1325,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1913,3562,0,0,0,0,0,0
$GC,7993,-0.59,-180.0,898.1,-10.8,1386,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1913,3561,0,0,0,0,0,0
$GC,8345,-0.61,-180.0,935.3,-10.5,1447,8350,0.00,0.25,0.00,0.000,4,0.000,0.061,2820,2115,3561,0,0,0,0,0,0
$GC,8407,-0.64,-180.0,942.4,-10.3,1458,8414,0.00,0.30,0.00,0.000,6,0.000,0.059,2819,1903,3561,0,0,0,0,0,0
$GC,8759,-0.66,-180.0,979.8,-10.7,1519,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1903,3560,0,0,0,0,0,0
$STATE,8960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8960,begin apogee
$GC,8964,-0.19,0.0,1000.5,9.7,1554,9123,0.40,0.00,151.07,1.431,6,0.143,0.000,2947,1650,2828,0,0,0,0,0,0
$STATE,9124,end apogee,CONTROL_FINISHED_OK
$STATE,9124,begin climb
$GC,9126,0.62,180.0,1009.4,0.0,1583,9290,0.80,0.00,157.50,1.402,6,0.081,0.000,3208,1650,2093,0,0,0,0,0,0
$GC,9635,0.49,180.0,971.9,10.8,1673,9641,0.12,0.60,0.00,0.000,4,0.197,0.046,3180,2028,2088,0,0,0,0,0,0
$GC,9786,0.41,203.4,957.8,9.1,1699,9811,0.10,0.62,20.58,1.284,6,0.172,0.056,3153,1643,1997,0,0,0,0,0,0
$GC,10156,0.42,278.5,929.6,7.2,1763,10227,0.00,0.00,66.53,1.354,6,0.000,0.000,3153,1643,1690,0,0,0,0,0,0
$GC,10570,0.49,335.1,897.2,7.9,1836,10625,0.05,0.38,49.88,1.315,4,0.162,0.041,3175,1923,1460,0,0,0,0,0,0
$GC,10672,0.55,383.9,888.4,8.2,1854,10723,0.00,0.45,44.65,1.300,6,0.000,0.060,3175,1646,1263,0,0,0,0,0,0
$GC,11069,0.65,463.0,856.8,7.1,1923,11147,0.15,0.88,71.07,1.268,4,0.090,0.060,3232,1134,938,0,0,0,0,0,0
$GC,11218,0.68,463.0,840.8,11.3,1949,11223,0.00,0.80,0.00,0.000,6,0.000,0.038,3232,1650,934,0,0,0,0,0,0
$GC,11566,0.68,463.0,798.7,11.7,2010,11573,0.00,2.40,0.00,0.000,4,0.000,0.071,3235,234,929,0,0,0,0,0,0
$GC,11659,0.71,463.0,787.6,12.8,2026,11666,0.00,2.22,0.00,0.000,6,0.000,0.037,3235,1635,927,0,0,0,0,0,0
$GC,12011,0.71,463.0,744.7,11.3,2087,12016,0.00,2.33,0.00,0.000,4,0.000,0.070,3237,236,927,0,0,0,0,0,0
$GC,12093,0.74,463.0,734.9,12.1,2101,12098,0.00,2.20,0.00,0.000,6,0.000,0.037,3237,1654,925,0,0,0,0,0,0
$GC,12440,0.74,463.0,691.9,12.1,2162,12447,0.00,2.35,0.00,0.000,4,0.000,0.070,3237,242,926,0,0,0,0,0,0
$GC,12522,0.77,463.0,682.0,11.8,2176,12530,0.05,2.17,0.00,0.000,6,0.085,0.037,3265,1636,925,0,0,0,0,0,0
$GC,12875,0.71,463.0,628.1,15.9,2237,12881,0.08,2.30,0.00,0.000,4,0.220,0.072,3253,237,925,0,0,0,0,0,0
$GC,12957,0.71,463.0,616.1,13.6,2251,12962,0.00,2.17,0.00,0.000,6,0.000,0.038,3253,1646,924,0,0,0,0,0,0
$GC,13306,0.68,463.0,566.1,14.1,2312,13314,0.08,2.33,0.00,0.000,4,0.214,0.072,3241,242,924,0,0,0,0,0,0
$GC,13396,0.72,463.0,554.5,13.2,2327,13401,0.00,2.15,0.00,0.000,6,0.000,0.037,3241,1656,924,0,0,0,0,0,0
$GC,13744,0.72,463.0,507.6,13.9,2388,13751,0.00,2.35,0.00,0.000,4,0.000,0.071,3240,239,924,0,0,0,0,0,0
$GC,13822,0.75,463.0,497.4,12.7,2401,13827,0.00,2.15,0.00,0.000,6,0.000,0.037,3241,1646,924,0,0,0,0,0,0
$GC,14170,0.75,463.0,446.8,14.2,2462,14177,0.00,2.33,0.00,0.000,4,0.000,0.071,3241,239,924,0,0,0,0,0,0
$GC,14259,0.78,463.0,434.5,13.9,2477,14265,0.08,2.15,0.00,0.000,6,0.133,0.037,3270,1650,924,0,0,0,0,0,0
$GC,14608,0.72,463.0,375.9,16.6,2538,14616,0.10,2.33,0.00,0.000,4,0.203,0.073,3252,240,924,0,0,0,0,0,0
$GC,14698,0.72,463.0,362.7,14.1,2553,14703,0.00,2.15,0.00,0.000,6,0.000,0.039,3252,1643,924,0,0,0,0,0,0
$GC,15047,0.70,463.0,311.9,14.6,2614,15054,0.00,2.33,0.00,0.000,4,0.000,0.072,3253,236,925,0,0,0,0,0,0
$GC,15136,0.70,463.0,299.2,13.7,2629,15141,0.00,2.15,0.00,0.000,6,0.000,0.037,3253,1646,925,0,0,0,0,0,0
$GC,15484,0.68,463.0,248.9,14.3,2690,15491,0.08,1.73,0.00,0.000,4,0.211,0.067,3240,589,925,0,0,0,0,0,0
$GC,15574,0.72,463.0,238.4,10.5,2705,15579,0.00,1.60,0.00,0.000,6,0.000,0.034,3240,1647,925,0,0,0,0,0,0
$GC,15921,0.72,463.0,197.2,11.3,2766,15928,0.00,2.33,0.00,0.000,4,0.000,0.070,3240,232,925,0,0,0,0,0,0
$GC,15999,0.75,463.0,188.5,11.7,2779,16004,0.00,2.10,0.00,0.000,6,0.000,0.035,3240,1637,925,0,0,0,0,0,0
$GC,16347,0.75,463.0,146.1,12.2,2840,16354,0.00,2.08,0.00,0.000,4,0.000,0.069,3240,369,926,0,0,0,0,0,0
$GC,16424,0.80,463.0,137.0,13.3,2853,16430,0.10,1.92,0.00,0.000,6,0.112,0.034,3279,1661,926,0,0,0,0,0,0
$GC,16774,0.71,463.0,78.8,16.6,2914,16782,0.12,2.05,0.00,0.000,4,0.183,0.067,3252,397,927,0,0,0,0,0,0
$GC,16852,0.75,463.0,68.0,13.1,2927,16858,0.00,1.88,0.00,0.000,6,0.000,0.035,3252,1649,927,0,0,0,0,0,0
$GC,17204,0.75,463.0,19.5,11.6,2988,17211,0.00,2.05,0.00,0.000,4,0.000,0.068,3253,391,927,0,0,0,0,0,0
$GC,17284,0.79,463.0,9.1,13.5,3001,17291,0.00,1.90,0.00,0.000,6,0.000,0.036,3252,1639,927,0,0,0,0,0,0
$STATE,17332,end climb,SURFACE_DEPTH_REACHED
$STATE,17332,begin surface coast
$FINISH,1.4,1.026706
$STATE,17358,end surface coast,CONTROL_FINISHED_OK
$STATE,17358,begin surface
$SM_CCo,17373,60.08,0.638,0,0,395,596.31
$SM_GC,1.80,0.00,0.00,60.08,0.000,0.000,0.638,87,1926,395,-9.14,0.40,596.31
$IRIDIUM_FIX,-4311.50,-935.05,240912,000057
$TT8_MAMPS,0.026964
$HUMID,43.30
$INTERNAL_PRESSURE,9.00873
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.2,10.651
$10V_AH,10.3,8.453
$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,23.700,76.550,561.275,60.075,0.000,29.098,42.775,445.946,0.250,0.000,18.246,6564.575,2678.951,573.340,8056.399,192.559,0.000,2912.433,0.000,7520.587,0.000,2.833,0.000
$DEVICE_MAMPS,276.165,72.675,1431.315,638.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2090.520,5101.086,825.881,656.330,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354892
$DATA_FILE_SIZE,176816,3013
$CAP_FILE_SIZE,239698,0
$CFSIZE,2097086464,2090663936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,240912,111835,-4328.792,-927.540,38,0.7,38,-21.1