version: 66.07.10.p01
glider: 574
mission: 4
dive: 38
start: 9 27 112 4 28 56
data:
$ID,574
$MISSION,4
$DIVE,38
$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,-5526.752
$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,27
$R_STBD_OVSHOOT,62
$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,17
$GPS1,270912,041122,-4324.354,-852.416,27,1.4,45,-21.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-62.0
$GPS2,270912,042836,-4324.626,-852.377,31,1.3,31,-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,104.3,71075,-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,-145.9,0.0,0.0,0,141,0.00,0.00,-113.28,0.000,2,0.000,0.000,65,1891,3212,0,0,0,0,0,0
$GC,143,-0.52,-145.9,3.3,-2.4,19,169,12.52,2.35,-4.62,0.000,4,0.276,0.082,2833,502,3424,0,0,0,0,0,0
$GC,265,-0.46,-145.9,26.2,-17.3,39,273,0.10,2.20,0.00,0.000,6,0.166,0.040,2855,1874,3424,0,0,0,0,0,0
$GC,342,-0.42,-145.9,37.7,-12.9,52,350,0.08,0.40,0.00,0.000,4,0.203,0.053,2871,2158,3424,0,0,0,0,0,0
$GC,421,-0.45,-145.9,44.5,-7.5,65,426,0.00,0.40,0.00,0.000,6,0.000,0.060,2871,1897,3424,0,0,0,0,0,0
$GC,655,-0.45,-145.9,66.9,-7.8,106,663,0.00,0.40,0.00,0.000,4,0.000,0.069,2872,1629,3424,0,0,0,0,0,0
$GC,688,-0.45,-145.9,69.6,-8.8,111,693,0.00,0.43,0.00,0.000,6,0.000,0.050,2870,1916,3424,0,0,0,0,0,0
$GC,1037,-0.47,-145.9,111.2,-9.9,172,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1916,3424,0,0,0,0,0,0
$GC,1388,-0.47,-145.9,137.0,-9.0,233,1393,0.00,1.60,0.00,0.000,4,0.000,0.063,2870,933,3424,0,0,0,0,0,0
$GC,1469,-0.49,-145.9,144.3,-8.6,247,1475,0.00,1.50,0.00,0.000,6,0.000,0.040,2865,1893,3424,0,0,0,0,0,0
$GC,1819,-0.49,-145.9,168.3,-5.6,308,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1893,3424,0,0,0,0,0,0
$GC,2172,-0.49,-145.9,189.6,-5.2,369,2177,0.00,0.50,0.00,0.000,4,0.000,0.048,2863,2248,3424,0,0,0,0,0,0
$GC,2254,-0.49,-145.9,193.6,-4.6,383,2259,0.00,0.52,0.00,0.000,6,0.000,0.054,2863,1903,3424,0,0,0,0,0,0
$GC,2603,-0.49,-145.9,223.0,-9.6,444,2610,0.00,0.88,0.00,0.000,4,0.000,0.059,2863,1341,3424,0,0,0,0,0,0
$GC,2704,-0.49,-145.9,232.4,-9.1,461,2709,0.00,0.88,0.00,0.000,6,0.000,0.041,2860,1919,3424,0,0,0,0,0,0
$GC,3044,-0.49,-145.9,262.4,-8.4,509,3048,0.00,0.28,0.00,0.000,4,0.000,0.055,2858,2140,3425,0,0,0,0,0,0
$GC,3113,-0.49,-145.9,268.4,-8.7,515,3117,0.00,0.35,0.00,0.000,6,0.000,0.056,2858,1894,3425,0,0,0,0,0,0
$GC,3443,-0.49,-145.9,295.4,-8.3,546,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1894,3425,0,0,0,0,0,0
$GC,3762,-0.49,-145.9,323.1,-8.9,576,3765,0.00,0.55,0.00,0.000,4,0.000,0.060,2859,1518,3425,0,0,0,0,0,0
$GC,3843,-0.49,-145.9,330.0,-8.8,583,3846,0.00,0.55,0.00,0.000,6,0.000,0.042,2857,1900,3426,0,0,0,0,0,0
$GC,4174,-0.49,-145.9,359.3,-9.0,614,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1900,3426,0,0,0,0,0,0
$GC,4493,-0.49,-145.9,389.3,-9.9,644,4496,0.00,0.22,0.00,0.000,4,0.000,0.059,2856,2094,3426,0,0,0,0,0,0
$GC,4553,-0.49,-145.9,395.5,-9.3,649,4555,0.00,0.30,0.00,0.000,6,0.000,0.057,2856,1891,3426,0,0,0,0,0,0
$GC,4875,-0.49,-145.9,425.5,-9.2,679,4879,0.00,0.28,0.00,0.000,4,0.000,0.068,2856,1687,3427,0,0,0,0,0,0
$GC,4969,-0.49,-145.9,434.8,-9.2,687,4972,0.00,0.32,0.00,0.000,6,0.000,0.049,2854,1917,3426,0,0,0,0,0,0
$GC,5292,-0.49,-145.9,464.4,-8.9,717,5296,0.00,0.43,0.00,0.000,4,0.000,0.056,2854,1627,3426,0,0,0,0,0,0
$GC,5386,-0.49,-145.9,473.0,-9.1,725,5388,0.00,0.40,0.00,0.000,6,0.000,0.045,2853,1904,3427,0,0,0,0,0,0
$GC,5709,-0.49,-145.9,500.2,-9.0,755,5712,0.00,0.35,0.00,0.000,4,0.000,0.061,2852,1661,3426,0,0,0,0,0,0
$GC,5786,-0.49,-145.9,507.6,-9.0,757,5788,0.00,0.35,0.00,0.000,6,0.000,0.048,2851,1904,3426,0,0,0,0,0,0
$GC,6111,-0.49,-145.9,537.7,-9.4,768,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1904,3426,0,0,0,0,0,0
$GC,6417,-0.49,-145.9,566.0,-9.1,778,6421,0.00,0.55,0.00,0.000,4,0.000,0.057,2851,1540,3425,0,0,0,0,0,0
$GC,6493,-0.49,-145.9,573.2,-9.7,780,6497,0.00,0.52,0.00,0.000,6,0.000,0.044,2850,1893,3425,0,0,0,0,0,0
$GC,6822,-0.49,-145.9,603.4,-9.4,791,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1893,3424,0,0,0,0,0,0
$GC,7128,-0.49,-145.9,631.5,-8.8,801,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1893,3424,0,0,0,0,0,0
$GC,7434,-0.49,-145.9,656.9,-8.2,811,7438,0.00,0.32,0.00,0.000,4,0.000,0.061,2849,1668,3423,0,0,0,0,0,0
$GC,7551,-0.49,-145.9,666.0,-7.5,814,7555,0.00,0.35,0.00,0.000,6,0.000,0.050,2849,1908,3423,0,0,0,0,0,0
$GC,7874,-0.49,-145.9,690.8,-8.1,825,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1908,3423,0,0,0,0,0,0
$GC,8180,-0.49,-145.9,715.8,-8.4,835,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1908,3423,0,0,0,0,0,0
$GC,8486,-0.49,-145.9,742.7,-9.0,845,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1908,3422,0,0,0,0,0,0
$GC,8792,-0.49,-145.9,771.7,-9.6,855,8796,0.00,0.43,0.00,0.000,4,0.000,0.058,2849,1621,3421,0,0,0,0,0,0
$GC,8863,-0.49,-145.9,778.7,-9.6,857,8866,0.00,0.43,0.00,0.000,6,0.000,0.047,2848,1906,3421,0,0,0,0,0,0
$GC,9194,-0.49,-145.9,809.0,-9.3,868,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1905,3421,0,0,0,0,0,0
$GC,9501,-0.49,-145.9,836.7,-8.9,878,9504,0.00,0.60,0.00,0.000,4,0.000,0.057,2848,1514,3420,0,0,0,0,0,0
$GC,9577,-0.49,-145.9,843.6,-8.5,880,9581,0.00,0.57,0.00,0.000,6,0.000,0.044,2846,1898,3420,0,0,0,0,0,0
$GC,9906,-0.49,-145.9,871.8,-8.4,891,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1898,3420,0,0,0,0,0,0
$GC,10212,-0.49,-145.9,897.0,-8.3,901,10216,0.00,0.43,0.00,0.000,4,0.000,0.058,2846,1612,3419,0,0,0,0,0,0
$GC,10313,-0.49,-145.9,905.6,-8.3,904,10317,0.00,0.40,0.00,0.000,6,0.000,0.049,2844,1892,3419,0,0,0,0,0,0
$GC,10653,-0.49,-145.9,933.2,-7.9,915,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1892,3418,0,0,0,0,0,0
$GC,10959,-0.49,-145.9,957.9,-7.8,925,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1892,3418,0,0,0,0,0,0
$GC,11265,-0.49,-145.9,982.3,-7.9,935,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1892,3418,0,0,0,0,0,0
$STATE,11510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11510,begin apogee
$GC,11514,-0.19,0.0,1001.9,8.1,943,11640,0.35,0.00,122.60,1.451,6,0.138,0.000,2952,1635,2827,0,0,0,0,0,0
$STATE,11640,end apogee,CONTROL_FINISHED_OK
$STATE,11641,begin climb
$GC,11642,0.52,145.9,1006.9,0.0,947,11777,0.68,2.25,127.15,1.416,4,0.090,0.066,3173,385,2232,0,0,0,0,0,0
$GC,11872,0.39,145.9,1000.9,7.4,954,11877,0.10,2.03,0.00,0.000,6,0.170,0.037,3147,1620,2227,0,0,0,0,0,0
$GC,12201,0.32,181.9,980.1,6.2,965,12237,0.12,1.00,31.38,1.349,4,0.190,0.044,3115,2231,2085,0,0,0,0,0,0
$GC,12320,0.32,239.1,973.6,5.5,968,12376,0.00,1.00,51.12,1.370,6,0.000,0.050,3117,1632,1853,0,0,0,0,0,0
$GC,12695,0.38,291.4,952.5,5.6,981,12745,0.05,0.68,46.10,1.359,4,0.164,0.044,3142,2038,1639,0,0,0,0,0,0
$GC,12811,0.42,291.4,944.1,7.7,984,12817,0.00,0.70,0.00,0.000,6,0.000,0.055,3142,1626,1636,0,0,0,0,0,0
$GC,13125,0.48,313.1,923.2,6.7,995,13150,0.08,0.43,19.77,1.280,4,0.128,0.049,3171,1905,1549,0,0,0,0,0,0
$GC,13211,0.48,313.1,915.7,9.6,997,13215,0.00,0.47,0.00,0.000,6,0.000,0.060,3171,1620,1547,0,0,0,0,0,0
$GC,13528,0.48,313.1,888.4,8.6,1008,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1620,1545,0,0,0,0,0,0
$GC,13835,0.48,313.1,862.8,8.3,1018,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1620,1544,0,0,0,0,0,0
$GC,14141,0.48,313.1,837.7,8.3,1028,14142,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1620,1544,0,0,0,0,0,0
$GC,14447,0.48,313.1,811.4,8.8,1038,14451,0.00,0.30,0.00,0.000,4,0.000,0.073,3171,1415,1543,0,0,0,0,0,0
$GC,14523,0.48,313.1,804.9,8.7,1040,14526,0.00,0.32,0.00,0.000,6,0.000,0.050,3170,1641,1543,0,0,0,0,0,0
$GC,14849,0.48,313.1,777.6,8.4,1051,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1642,1544,0,0,0,0,0,0
$GC,15155,0.48,313.1,753.3,7.8,1061,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1642,1543,0,0,0,0,0,0
$GC,15462,0.48,323.9,731.2,7.0,1071,15476,0.00,0.55,9.77,1.092,4,0.000,0.070,3171,1301,1506,0,0,0,0,0,0
$GC,15542,0.48,343.6,725.6,6.7,1073,15565,0.00,0.50,19.20,1.180,6,0.000,0.047,3171,1630,1426,0,0,0,0,0,0
$GC,15895,0.51,353.6,701.0,7.1,1085,15906,0.00,0.00,9.98,1.069,6,0.000,0.000,3171,1630,1385,0,0,0,0,0,0
$GC,16200,0.55,356.3,679.1,7.3,1095,16209,0.00,0.43,3.55,0.653,4,0.000,0.069,3171,1372,1375,0,0,0,0,0,0
$GC,16254,0.59,384.5,675.1,6.4,1096,16285,0.10,0.38,26.73,1.180,6,0.107,0.050,3213,1624,1259,0,0,0,0,0,0
$GC,16602,0.59,384.5,638.4,10.9,1108,16606,0.00,0.62,0.00,0.000,4,0.000,0.067,3214,1235,1255,0,0,0,0,0,0
$GC,16685,0.57,384.5,629.0,11.1,1110,16690,0.08,0.62,0.00,0.000,6,0.188,0.044,3198,1642,1255,0,0,0,0,0,0
$GC,17008,0.57,384.5,594.2,11.2,1121,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1642,1255,0,0,0,0,0,0
$GC,17314,0.57,384.5,559.0,11.6,1131,17315,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1642,1255,0,0,0,0,0,0
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$GC,22509,0.62,384.5,24.2,14.2,1741,22516,0.00,0.68,0.00,0.000,6,0.000,0.040,3216,1626,1257,0,0,0,0,0,0
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$STATE,22649,end climb,SURFACE_DEPTH_REACHED
$STATE,22649,begin surface coast
$FINISH,1.1,1.026790
$STATE,22674,end surface coast,CONTROL_FINISHED_OK
$STATE,22674,begin surface
$SM_CCo,22750,0.00,0.000,0,0,1249,387.08
$SM_GC,2.16,8.68,0.00,0.00,0.070,0.000,0.000,95,1926,1249,-9.08,0.74,387.08
$IRIDIUM_FIX,-4308.55,-849.27,270912,040429
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,13.045
$10V_AH,10.3,11.502
$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,23.075,49.175,467.350,0.000,0.000,56.729,81.623,652.277,0.250,0.000,33.950,4263.736,13370.669,542.020,5384.676,181.028,0.000,2200.541,0.000,4545.690,0.000,2.835,0.000
$DEVICE_MAMPS,276.165,81.855,1451.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.914,2392.341,1045.657,214.785,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354780
$DATA_FILE_SIZE,106685,1768
$CAP_FILE_SIZE,216272,0
$CFSIZE,2097086464,2088370176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270912,104959,-4324.570,-848.343,80,1.4,81,-21.2