version: 66.07.10.p01
glider: 574
mission: 4
dive: 33
start: 9 25 112 18 50 26
data:
$ID,574
$MISSION,4
$DIVE,33
$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,-5510.8613
$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,31
$R_STBD_OVSHOOT,36
$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,12
$GPS1,250912,183625,-4326.035,-911.541,37,1.6,37,-21.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.0
$GPS2,250912,185005,-4325.995,-911.531,30,1.0,31,-21.2
$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,104.6,96996,-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,23,-0.52,-145.9,0.0,0.0,0,104,0.00,0.00,-78.40,0.000,2,0.000,0.000,66,1901,3036,0,0,0,0,0,0
$GC,106,-0.52,-145.9,3.2,-2.1,13,133,12.73,2.28,-8.50,0.000,4,0.282,0.068,2821,3306,3422,0,0,0,0,0,0
$GC,253,-0.49,-145.9,24.4,-10.6,37,261,0.08,2.28,0.00,0.000,6,0.136,0.053,2846,1910,3424,0,0,0,0,0,0
$GC,330,-0.46,-145.9,31.3,-8.3,50,337,0.08,0.00,0.00,0.000,6,0.197,0.000,2864,1908,3424,0,0,0,0,0,0
$GC,568,-0.46,-145.9,47.2,-10.0,91,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1908,3424,0,0,0,0,0,0
$GC,802,-0.46,-145.9,69.2,-7.8,132,809,0.00,0.77,0.00,0.000,4,0.000,0.061,2863,1415,3424,0,0,0,0,0,0
$GC,879,-0.46,-145.9,76.4,-10.8,145,885,0.00,0.75,0.00,0.000,6,0.000,0.045,2863,1898,3424,0,0,0,0,0,0
$GC,1228,-0.46,-145.9,117.8,-7.7,206,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1899,3424,0,0,0,0,0,0
$GC,1580,-0.46,-145.9,144.7,-8.1,267,1585,0.00,0.38,0.00,0.000,4,0.000,0.056,2862,2173,3424,0,0,0,0,0,0
$GC,1650,-0.46,-145.9,149.7,-6.4,279,1655,0.00,0.43,0.00,0.000,6,0.000,0.059,2862,1885,3424,0,0,0,0,0,0
$GC,1998,-0.46,-145.9,176.6,-9.2,340,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1885,3424,0,0,0,0,0,0
$GC,2350,-0.46,-145.9,210.8,-13.0,401,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1884,3424,0,0,0,0,0,0
$GC,2699,-0.46,-145.9,244.2,-9.2,462,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1885,3425,0,0,0,0,0,0
$GC,3045,-0.46,-145.9,276.0,-9.4,523,3050,0.00,0.28,0.00,0.000,4,0.000,0.071,2862,1685,3426,0,0,0,0,0,0
$GC,3139,-0.46,-145.9,285.0,-9.0,540,3146,0.00,0.35,0.00,0.000,6,0.000,0.050,2861,1925,3425,0,0,0,0,0,0
$GC,3485,-0.46,-145.9,317.8,-9.3,601,3489,0.00,0.57,0.00,0.000,4,0.000,0.058,2861,1547,3425,0,0,0,0,0,0
$GC,3556,-0.46,-145.9,324.8,-9.2,614,3561,0.00,0.52,0.00,0.000,6,0.000,0.044,2859,1897,3426,0,0,0,0,0,0
$GC,3898,-0.46,-145.9,355.8,-9.5,675,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1897,3426,0,0,0,0,0,0
$GC,4243,-0.46,-145.9,387.3,-9.3,736,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1897,3427,0,0,0,0,0,0
$GC,4584,-0.46,-145.9,417.7,-8.0,797,4589,0.00,0.32,0.00,0.000,4,0.000,0.061,2860,1674,3427,0,0,0,0,0,0
$GC,4647,-0.46,-145.9,422.5,-8.0,808,4652,0.00,0.32,0.00,0.000,6,0.000,0.051,2858,1906,3427,0,0,0,0,0,0
$GC,4990,-0.46,-145.9,448.3,-7.5,869,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1906,3426,0,0,0,0,0,0
$GC,5331,-0.46,-145.9,475.1,-7.8,930,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1906,3427,0,0,0,0,0,0
$GC,5674,-0.46,-145.9,503.5,-8.7,991,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1906,3427,0,0,0,0,0,0
$GC,6015,-0.46,-145.9,534.5,-9.1,1052,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1905,3427,0,0,0,0,0,0
$GC,6356,-0.46,-145.9,567.0,-9.5,1113,6362,0.00,0.50,0.00,0.000,4,0.000,0.057,2858,1585,3426,0,0,0,0,0,0
$GC,6429,-0.46,-145.9,573.4,-9.0,1126,6434,0.00,0.45,0.00,0.000,6,0.000,0.048,2858,1894,3426,0,0,0,0,0,0
$GC,6771,-0.48,-145.9,602.6,-8.1,1187,6775,0.00,0.28,0.00,0.000,4,0.000,0.057,2858,2102,3425,0,0,0,0,0,0
$GC,6821,-0.50,-145.9,606.3,-7.8,1196,6826,0.00,0.32,0.00,0.000,6,0.000,0.058,2858,1884,3426,0,0,0,0,0,0
$GC,7164,-0.58,-145.9,630.1,-4.8,1257,7170,0.10,0.50,0.00,0.000,4,0.114,0.068,2816,1558,3425,0,0,0,0,0,0
$GC,7187,-0.65,-145.9,631.9,-6.4,1261,7191,0.00,0.50,0.00,0.000,6,0.000,0.047,2813,1900,3425,0,0,0,0,0,0
$GC,7529,-0.57,-145.9,668.6,-11.4,1322,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1900,3424,0,0,0,0,0,0
$GC,7871,-0.49,-145.9,705.5,-10.8,1383,7877,0.15,0.00,0.00,0.000,6,0.175,0.000,2853,1904,3424,0,0,0,0,0,0
$GC,8214,-0.52,-145.9,731.4,-7.6,1444,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1904,3424,0,0,0,0,0,0
$GC,8556,-0.55,-145.9,756.9,-7.6,1505,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1904,3424,0,0,0,0,0,0
$GC,8899,-0.58,-145.9,782.5,-7.3,1566,8904,0.10,0.43,0.00,0.000,4,0.116,0.060,2815,1630,3423,0,0,0,0,0,0
$GC,8960,-0.52,-145.9,788.4,-10.3,1577,8965,0.12,0.43,0.00,0.000,6,0.170,0.048,2846,1914,3423,0,0,0,0,0,0
$GC,9302,-0.52,-145.9,815.5,-7.7,1638,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1914,3423,0,0,0,0,0,0
$GC,9644,-0.52,-145.9,841.3,-7.7,1699,9648,0.00,0.25,0.00,0.000,4,0.000,0.065,2846,1725,3423,0,0,0,0,0,0
$GC,9698,-0.52,-145.9,845.6,-7.8,1709,9702,0.00,0.25,0.00,0.000,6,0.000,0.057,2845,1900,3423,0,0,0,0,0,0
$GC,10040,-0.54,-145.9,872.5,-7.9,1770,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1900,3422,0,0,0,0,0,0
$GC,10384,-0.56,-145.9,898.4,-7.5,1831,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1900,3422,0,0,0,0,0,0
$GC,10725,-0.59,-145.9,924.3,-7.8,1892,10730,0.08,0.00,0.00,0.000,6,0.143,0.000,2816,1906,3422,0,0,0,0,0,0
$GC,11068,-0.54,-145.9,959.7,-10.7,1953,11073,0.08,0.00,0.00,0.000,6,0.194,0.000,2833,1906,3422,0,0,0,0,0,0
$GC,11410,-0.54,-145.9,993.4,-9.4,2014,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1906,3422,0,0,0,0,0,0
$STATE,11477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11477,begin apogee
$GC,11481,-0.19,0.0,1000.0,9.7,2026,11608,0.35,0.00,122.25,1.440,6,0.142,0.000,2946,1632,2827,0,0,0,0,0,0
$STATE,11608,end apogee,CONTROL_FINISHED_OK
$STATE,11608,begin climb
$GC,11610,0.52,145.9,1007.1,0.0,2051,11746,0.73,2.53,126.90,1.414,4,0.098,0.067,3180,234,2232,0,0,0,0,0,0
$GC,11859,0.36,157.2,1001.4,7.0,2098,11876,0.20,2.25,10.70,1.194,6,0.179,0.038,3133,1619,2186,0,0,0,0,0,0
$GC,12214,0.32,203.7,981.4,5.8,2161,12260,0.05,1.23,41.95,1.366,4,0.247,0.043,3123,2356,1996,0,0,0,0,0,0
$GC,12332,0.32,240.3,974.1,6.2,2183,12369,0.00,1.20,33.12,1.349,6,0.000,0.048,3126,1633,1847,0,0,0,0,0,0
$GC,12706,0.37,263.5,950.5,6.6,2250,12731,0.00,0.28,20.98,1.313,4,0.000,0.040,3126,1831,1751,0,0,0,0,0,0
$GC,12794,0.42,291.2,944.7,6.5,2266,12826,0.03,0.32,25.62,1.293,6,0.104,0.066,3146,1622,1640,0,0,0,0,0,0
$GC,13164,0.45,291.2,914.8,8.3,2332,13168,0.00,1.00,0.00,0.000,4,0.000,0.062,3147,1006,1633,0,0,0,0,0,0
$GC,13241,0.49,291.2,908.2,8.1,2346,13247,0.03,0.98,0.00,0.000,6,0.107,0.039,3166,1641,1633,0,0,0,0,0,0
$GC,13585,0.49,291.2,874.9,10.0,2407,13589,0.00,0.65,0.00,0.000,4,0.000,0.063,3167,1227,1632,0,0,0,0,0,0
$GC,13663,0.49,291.2,867.7,9.2,2421,13668,0.00,0.60,0.00,0.000,6,0.000,0.041,3167,1637,1632,0,0,0,0,0,0
$GC,14005,0.49,291.2,835.3,9.5,2482,14010,0.00,0.65,0.00,0.000,4,0.000,0.066,3166,1227,1631,0,0,0,0,0,0
$GC,14072,0.49,291.2,829.0,9.2,2494,14076,0.00,0.57,0.00,0.000,6,0.000,0.043,3167,1622,1631,0,0,0,0,0,0
$GC,14413,0.49,291.2,797.5,8.9,2555,14418,0.00,0.88,0.00,0.000,4,0.000,0.063,3168,1084,1631,0,0,0,0,0,0
$GC,14492,0.49,291.2,790.7,8.5,2569,14497,0.00,0.80,0.00,0.000,6,0.000,0.041,3168,1624,1630,0,0,0,0,0,0
$GC,14833,0.49,291.2,762.4,8.0,2630,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1624,1630,0,0,0,0,0,0
$GC,15174,0.49,291.2,735.4,8.0,2691,15180,0.00,1.15,0.00,0.000,4,0.000,0.063,3168,913,1630,0,0,0,0,0,0
$GC,15248,0.49,291.2,729.5,8.1,2704,15252,0.00,1.08,0.00,0.000,6,0.000,0.038,3168,1622,1630,0,0,0,0,0,0
$GC,15590,0.49,291.2,700.9,8.7,2765,15594,0.00,0.68,0.00,0.000,4,0.000,0.063,3169,1193,1630,0,0,0,0,0,0
$GC,15661,0.49,291.2,694.7,8.5,2778,15667,0.00,0.65,0.00,0.000,6,0.000,0.042,3169,1631,1630,0,0,0,0,0,0
$GC,16005,0.46,291.2,663.9,9.5,2839,16009,0.00,0.65,0.00,0.000,4,0.000,0.065,3169,1213,1630,0,0,0,0,0,0
$GC,16092,0.46,291.2,655.8,8.9,2855,16097,0.00,0.62,0.00,0.000,6,0.000,0.043,3169,1633,1629,0,0,0,0,0,0
$GC,16435,0.46,291.2,624.3,9.6,2916,16440,0.00,0.45,0.00,0.000,4,0.000,0.066,3169,1348,1629,0,0,0,0,0,0
$GC,16512,0.46,291.2,617.1,9.0,2930,16517,0.00,0.43,0.00,0.000,6,0.000,0.046,3170,1637,1630,0,0,0,0,0,0
$GC,16854,0.46,291.2,585.7,9.1,2991,16860,0.00,0.75,0.00,0.000,4,0.000,0.064,3171,1173,1630,0,0,0,0,0,0
$GC,16927,0.46,291.2,579.1,9.0,3004,16931,0.00,0.68,0.00,0.000,6,0.000,0.044,3171,1631,1630,0,0,0,0,0,0
$GC,17269,0.46,291.2,549.9,8.4,3065,17274,0.00,0.90,0.00,0.000,4,0.000,0.064,3171,1075,1629,0,0,0,0,0,0
$GC,17352,0.46,291.2,542.8,8.7,3080,17357,0.00,0.85,0.00,0.000,6,0.000,0.043,3171,1630,1629,0,0,0,0,0,0
$GC,17695,0.46,291.2,513.0,8.8,3141,17700,0.00,0.60,0.00,0.000,4,0.000,0.066,3171,1254,1630,0,0,0,0,0,0
$GC,17772,0.46,291.2,506.2,8.7,3155,17777,0.00,0.57,0.00,0.000,6,0.000,0.046,3171,1639,1630,0,0,0,0,0,0
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$STATE,23489,end climb,SURFACE_DEPTH_REACHED
$STATE,23490,begin surface coast
$FINISH,1.2,1.002680
$STATE,23533,end surface coast,CONTROL_FINISHED_OK
$STATE,23533,begin surface
$SM_CCo,23607,0.00,0.000,0,0,1622,295.58
$SM_GC,2.50,8.45,0.00,0.00,0.064,0.000,0.000,94,1908,1622,-9.08,0.23,295.58
$IRIDIUM_FIX,-4308.55,-910.68,250912,111137
$TT8_MAMPS,0.026964
$HUMID,43.58
$INTERNAL_PRESSURE,9.11615
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,23.4,11.939
$10V_AH,10.2,10.241
$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
$DEVICE_SECS,23.325,49.525,383.200,0.000,0.000,27.219,39.654,586.667,0.250,0.000,33.755,6861.326,8287.481,508.766,8525.058,201.029,0.000,3442.068,0.000,7740.787,0.000,2.834,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1519.804,2883.474,1171.455,252.969,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354832
$DATA_FILE_SIZE,233181,4164
$CAP_FILE_SIZE,322347,0
$CFSIZE,2097086464,2089254912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,260912,012529,-4325.317,-907.837,63,0.9,64,-21.2