version: 66.07.10.p01
glider: 574
mission: 4
dive: 32
start: 9 25 112 11 50 34
data:
$ID,574
$MISSION,4
$DIVE,32
$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,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,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,-5507.4692
$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,1900
$C_ROLL_CLIMB,1628
$HEAD_ERRBAND,10
$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,11
$GPS1,250912,113729,-4326.843,-915.209,47,1.2,48,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.1
$GPS2,250912,115013,-4326.736,-915.263,20,1.1,20,-21.1
$SPEED_LIMITS,0.128,0.235
$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,104.1,102151,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,93,0.00,0.00,-67.00,0.000,2,0.000,0.000,65,1849,2727,0,0,0,0,0,0
$GC,95,-0.52,-145.9,3.1,-2.4,11,133,12.55,2.28,-18.60,0.000,4,0.277,0.063,2824,3272,3423,0,0,0,0,0,0
$GC,235,-0.52,-145.9,17.1,-10.4,34,243,0.05,2.20,0.00,0.000,6,0.148,0.047,2841,1908,3423,0,0,0,0,0,0
$GC,315,-0.46,-145.9,27.2,-13.9,47,323,0.08,0.32,0.00,0.000,4,0.196,0.066,2859,1686,3423,0,0,0,0,0,0
$GC,388,-0.46,-145.9,37.0,-12.2,59,393,0.00,0.28,0.00,0.000,6,0.000,0.053,2859,1883,3423,0,0,0,0,0,0
$GC,622,-0.46,-145.9,58.4,-8.4,100,629,0.00,0.55,0.00,0.000,4,0.000,0.050,2857,2264,3423,0,0,0,0,0,0
$GC,689,-0.46,-145.9,64.1,-9.4,111,694,0.00,0.57,0.00,0.000,6,0.000,0.053,2857,1889,3423,0,0,0,0,0,0
$GC,1037,-0.43,-145.9,94.9,-9.5,172,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1890,3423,0,0,0,0,0,0
$GC,1389,-0.41,-145.9,123.9,-7.8,233,1394,0.08,0.32,0.00,0.000,4,0.195,0.067,2874,1668,3423,0,0,0,0,0,0
$GC,1460,-0.43,-145.9,128.7,-6.5,245,1465,0.00,0.32,0.00,0.000,6,0.000,0.051,2874,1897,3423,0,0,0,0,0,0
$GC,1809,-0.46,-145.9,154.0,-7.6,306,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1897,3423,0,0,0,0,0,0
$GC,2160,-0.49,-145.9,180.8,-8.1,367,2166,0.05,0.57,0.00,0.000,4,0.169,0.058,2851,1533,3423,0,0,0,0,0,0
$GC,2231,-0.45,-145.9,187.4,-9.8,379,2236,0.00,0.55,0.00,0.000,6,0.000,0.044,2848,1908,3423,0,0,0,0,0,0
$GC,2579,-0.42,-145.9,222.8,-10.4,440,2587,0.10,0.00,0.00,0.000,6,0.179,0.000,2873,1907,3424,0,0,0,0,0,0
$GC,2931,-0.45,-145.9,252.0,-7.9,501,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1908,3424,0,0,0,0,0,0
$GC,3275,-0.49,-145.9,278.9,-8.1,562,3280,0.05,0.00,0.00,0.000,6,0.171,0.000,2850,1908,3424,0,0,0,0,0,0
$GC,3618,-0.47,-145.9,311.0,-9.1,623,3622,0.00,0.73,0.00,0.000,4,0.000,0.054,2850,1439,3424,0,0,0,0,0,0
$GC,3701,-0.45,-145.9,319.4,-9.8,638,3708,0.08,0.70,0.00,0.000,6,0.191,0.041,2865,1900,3424,0,0,0,0,0,0
$GC,4046,-0.47,-145.9,346.7,-7.6,699,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1900,3425,0,0,0,0,0,0
$GC,4390,-0.49,-145.9,373.0,-7.7,760,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1900,3425,0,0,0,0,0,0
$GC,4734,-0.52,-145.9,400.8,-8.3,821,4739,0.08,0.60,0.00,0.000,4,0.132,0.054,2832,1516,3425,0,0,0,0,0,0
$GC,4797,-0.46,-145.9,407.3,-11.0,832,4803,0.08,0.55,0.00,0.000,6,0.151,0.043,2855,1894,3425,0,0,0,0,0,0
$GC,5140,-0.46,-145.9,439.4,-8.7,893,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1895,3426,0,0,0,0,0,0
$GC,5480,-0.46,-145.9,471.1,-9.7,954,5487,0.00,0.38,0.00,0.000,4,0.000,0.057,2856,1650,3425,0,0,0,0,0,0
$GC,5539,-0.46,-145.9,476.5,-9.5,964,5544,0.00,0.35,0.00,0.000,6,0.000,0.049,2855,1902,3425,0,0,0,0,0,0
$GC,5879,-0.46,-145.9,507.7,-8.7,1025,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1901,3425,0,0,0,0,0,0
$GC,6221,-0.46,-145.9,537.6,-8.4,1086,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1901,3425,0,0,0,0,0,0
$GC,6563,-0.46,-145.9,565.4,-7.8,1147,6567,0.00,0.47,0.00,0.000,4,0.000,0.057,2855,1585,3425,0,0,0,0,0,0
$GC,6630,-0.46,-145.9,570.5,-7.6,1159,6634,0.00,0.45,0.00,0.000,6,0.000,0.045,2853,1899,3425,0,0,0,0,0,0
$GC,6971,-0.46,-145.9,597.2,-7.8,1220,6975,0.00,0.45,0.00,0.000,4,0.000,0.057,2853,1605,3424,0,0,0,0,0,0
$GC,7054,-0.46,-145.9,603.8,-8.2,1235,7059,0.00,0.45,0.00,0.000,6,0.000,0.045,2852,1910,3424,0,0,0,0,0,0
$GC,7396,-0.46,-145.9,630.4,-7.9,1296,7402,0.00,0.47,0.00,0.000,4,0.000,0.056,2852,1600,3424,0,0,0,0,0,0
$GC,7469,-0.46,-145.9,636.1,-8.0,1309,7473,0.00,0.43,0.00,0.000,6,0.000,0.046,2852,1899,3423,0,0,0,0,0,0
$GC,7811,-0.46,-145.9,663.1,-7.8,1370,7815,0.00,0.28,0.00,0.000,4,0.000,0.063,2852,1714,3423,0,0,0,0,0,0
$GC,7876,-0.46,-145.9,668.3,-8.0,1382,7881,0.00,0.28,0.00,0.000,6,0.000,0.053,2851,1909,3423,0,0,0,0,0,0
$GC,8217,-0.46,-145.9,694.9,-8.0,1443,8223,0.00,0.57,0.00,0.000,4,0.000,0.054,2851,1539,3423,0,0,0,0,0,0
$GC,8290,-0.46,-145.9,700.7,-8.0,1456,8295,0.00,0.52,0.00,0.000,6,0.000,0.044,2851,1900,3422,0,0,0,0,0,0
$GC,8631,-0.46,-145.9,728.6,-8.3,1517,8636,0.00,0.88,0.00,0.000,4,0.000,0.054,2850,1347,3422,0,0,0,0,0,0
$GC,8711,-0.46,-145.9,735.2,-8.4,1531,8715,0.00,0.82,0.00,0.000,6,0.000,0.041,2849,1896,3422,0,0,0,0,0,0
$GC,9051,-0.46,-145.9,763.6,-8.6,1592,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1896,3422,0,0,0,0,0,0
$GC,9393,-0.46,-145.9,792.4,-8.5,1653,9398,0.00,0.35,0.00,0.000,4,0.000,0.058,2849,1662,3421,0,0,0,0,0,0
$GC,9492,-0.46,-145.9,800.5,-7.9,1671,9498,0.00,0.38,0.00,0.000,6,0.000,0.049,2848,1919,3421,0,0,0,0,0,0
$GC,9835,-0.46,-145.9,827.7,-8.1,1732,9839,0.00,0.60,0.00,0.000,4,0.000,0.053,2848,1520,3421,0,0,0,0,0,0
$GC,9912,-0.46,-145.9,834.2,-8.4,1746,9918,0.00,0.57,0.00,0.000,6,0.000,0.043,2847,1903,3421,0,0,0,0,0,0
$GC,10255,-0.46,-145.9,863.3,-8.4,1807,10259,0.03,0.00,0.00,0.000,6,0.286,0.000,2857,1903,3420,0,0,0,0,0,0
$GC,10598,-0.51,-145.9,889.3,-7.4,1868,10602,0.00,0.70,0.00,0.000,4,0.000,0.054,2857,1446,3420,0,0,0,0,0,0
$GC,10676,-0.55,-145.9,895.2,-7.7,1882,10681,0.05,0.68,0.00,0.000,6,0.091,0.042,2826,1908,3420,0,0,0,0,0,0
$GC,11018,-0.52,-145.9,927.5,-9.6,1943,11022,0.08,0.00,0.00,0.000,6,0.193,0.000,2842,1908,3419,0,0,0,0,0,0
$GC,11359,-0.52,-145.9,955.6,-7.7,2004,11364,0.00,0.32,0.00,0.000,4,0.000,0.060,2843,1689,3419,0,0,0,0,0,0
$GC,11449,-0.52,-145.9,962.3,-7.5,2020,11453,0.00,0.28,0.00,0.000,6,0.000,0.055,2843,1894,3419,0,0,0,0,0,0
$GC,11790,-0.52,-145.9,987.8,-7.9,2081,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1894,3419,0,0,0,0,0,0
$STATE,11946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11946,begin apogee
$GC,11950,-0.19,0.0,1000.2,7.8,2109,12076,0.32,0.00,121.10,1.410,6,0.143,0.000,2947,1624,2827,0,0,0,0,0,0
$STATE,12077,end apogee,CONTROL_FINISHED_OK
$STATE,12077,begin climb
$GC,12078,0.52,145.9,1005.7,0.0,2134,12215,0.70,2.50,126.95,1.423,4,0.103,0.066,3170,234,2232,0,0,0,0,0,0
$GC,12327,0.39,145.9,997.8,8.1,2181,12333,0.12,2.28,0.00,0.000,6,0.183,0.037,3143,1636,2227,0,0,0,0,0,0
$GC,12672,0.32,181.4,976.7,6.2,2242,12707,0.10,0.90,30.92,1.327,4,0.203,0.039,3120,2236,2086,0,0,0,0,0,0
$GC,12779,0.32,227.8,970.3,5.8,2262,12825,0.00,1.00,41.92,1.359,6,0.000,0.050,3120,1626,1898,0,0,0,0,0,0
$GC,13162,0.36,232.1,944.5,7.3,2331,13172,0.00,1.20,3.92,0.776,4,0.000,0.042,3120,2364,1880,0,0,0,0,0,0
$GC,13234,0.39,232.1,939.2,7.5,2344,13239,0.00,1.20,0.00,0.000,6,0.000,0.050,3120,1622,1880,0,0,0,0,0,0
$GC,13577,0.44,235.2,914.1,7.3,2405,13588,0.10,0.52,4.15,0.815,4,0.109,0.044,3157,1960,1868,0,0,0,0,0,0
$GC,13656,0.40,235.2,907.1,9.2,2419,13661,0.03,0.52,0.00,0.000,6,0.197,0.058,3150,1630,1868,0,0,0,0,0,0
$GC,13997,0.40,235.2,876.7,8.7,2480,14002,0.00,0.85,0.00,0.000,4,0.000,0.041,3150,2187,1868,0,0,0,0,0,0
$GC,14081,0.38,235.2,869.3,8.8,2495,14086,0.03,0.90,0.00,0.000,6,0.207,0.052,3144,1619,1868,0,0,0,0,0,0
$GC,14423,0.38,235.2,841.8,7.8,2556,14428,0.00,0.60,0.00,0.000,4,0.000,0.042,3144,2017,1868,0,0,0,0,0,0
$GC,14523,0.38,235.2,834.0,7.9,2574,14528,0.00,0.65,0.00,0.000,6,0.000,0.056,3144,1616,1868,0,0,0,0,0,0
$GC,14866,0.38,241.2,808.6,7.2,2635,14876,0.00,0.70,7.12,1.027,4,0.000,0.042,3144,2065,1843,0,0,0,0,0,0
$GC,14943,0.38,251.2,803.1,7.1,2649,14959,0.00,0.73,10.50,1.137,6,0.000,0.054,3145,1616,1802,0,0,0,0,0,0
$GC,15295,0.38,263.4,778.7,7.0,2712,15311,0.00,0.68,11.80,1.159,4,0.000,0.037,3145,2062,1752,0,0,0,0,0,0
$GC,15372,0.38,275.4,773.6,7.0,2726,15387,0.00,0.73,12.12,1.159,6,0.000,0.054,3145,1619,1704,0,0,0,0,0,0
$GC,15724,0.41,282.6,749.9,7.2,2789,15735,0.00,0.35,7.60,1.041,4,0.000,0.049,3145,1849,1674,0,0,0,0,0,0
$GC,15791,0.44,311.9,745.4,6.4,2801,15822,0.00,0.38,27.30,1.223,6,0.000,0.061,3145,1624,1555,0,0,0,0,0,0
$GC,16158,0.51,340.8,721.2,6.4,2867,16189,0.10,0.32,26.35,1.212,4,0.109,0.039,3187,1878,1436,0,0,0,0,0,0
$GC,16222,0.51,340.8,715.5,8.9,2879,16226,0.00,0.43,0.00,0.000,6,0.000,0.060,3187,1625,1435,0,0,0,0,0,0
$GC,16564,0.51,340.8,685.1,8.6,2940,16570,0.00,1.10,0.00,0.000,4,0.000,0.062,3187,947,1431,0,0,0,0,0,0
$GC,16637,0.51,340.8,678.5,9.1,2953,16642,0.03,1.08,0.00,0.000,6,0.182,0.039,3180,1645,1430,0,0,0,0,0,0
$GC,16979,0.51,340.8,650.5,8.4,3014,16983,0.00,0.60,0.00,0.000,4,0.000,0.063,3180,1270,1430,0,0,0,0,0,0
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$STATE,24168,end climb,SURFACE_DEPTH_REACHED
$STATE,24168,begin surface coast
$FINISH,1.3,1.026850
$STATE,24205,end surface coast,CONTROL_FINISHED_OK
$STATE,24205,begin surface
$SM_CCo,24281,0.00,0.000,0,0,1055,434.91
$SM_GC,2.23,8.75,0.00,0.00,0.060,0.000,0.000,92,1900,1055,-9.09,0.00,434.91
$IRIDIUM_FIX,-4314.46,-917.01,250912,040418
$TT8_MAMPS,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,23.4,11.750
$10V_AH,10.3,9.966
$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,23.750,63.075,504.725,0.000,0.000,27.520,49.528,532.282,0.250,0.000,22.840,7023.905,8537.806,594.150,8639.949,205.780,0.000,3651.642,0.000,7904.577,0.000,2.835,0.000
$DEVICE_MAMPS,286.110,73.440,1422.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354860
$DATA_FILE_SIZE,239986,4286
$CAP_FILE_SIZE,341483,0
$CFSIZE,2097086464,2089451520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,250912,183625,-4326.035,-911.541,37,1.6,37,-21.2