version: 66.07.10.p01
glider: 574
mission: 4
dive: 40
start: 9 27 112 17 34 57
data:
$ID,574
$MISSION,4
$DIVE,40
$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,-5533.0967
$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,34
$R_STBD_OVSHOOT,44
$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,19
$GPS1,270912,172505,-4323.731,-845.148,28,1.0,29,-21.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.5
$GPS2,270912,173437,-4323.667,-845.177,13,1.0,14,-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,104.8,61235,-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,23,begin dive
$GC,24,-0.52,-145.9,0.0,0.0,0,93,0.00,0.00,-66.12,0.000,2,0.000,0.000,66,1886,2843,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.1,-2.2,11,127,12.50,2.28,-14.40,0.000,4,0.277,0.076,2832,502,3422,0,0,0,0,0,0
$GC,305,-0.45,-145.9,28.8,-10.6,46,313,0.10,2.20,0.00,0.000,6,0.147,0.042,2857,1882,3423,0,0,0,0,0,0
$GC,384,-0.42,-145.9,34.6,-7.5,59,390,0.08,0.28,0.00,0.000,4,0.201,0.061,2874,2084,3423,0,0,0,0,0,0
$GC,459,-0.44,-145.9,40.8,-8.0,72,466,0.00,0.28,0.00,0.000,6,0.000,0.061,2874,1898,3423,0,0,0,0,0,0
$GC,697,-0.44,-145.9,61.1,-8.5,113,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1899,3423,0,0,0,0,0,0
$GC,1045,-0.44,-145.9,88.9,-8.4,174,1052,0.00,0.32,0.00,0.000,4,0.000,0.066,2874,1667,3423,0,0,0,0,0,0
$GC,1089,-0.47,-145.9,91.5,-6.1,181,1094,0.00,0.35,0.00,0.000,6,0.000,0.050,2873,1915,3423,0,0,0,0,0,0
$GC,1438,-0.50,-145.9,115.5,-5.9,242,1445,0.08,0.00,0.00,0.000,6,0.129,0.000,2839,1915,3423,0,0,0,0,0,0
$GC,1791,-0.44,-145.9,150.2,-9.3,303,1796,0.12,0.00,0.00,0.000,6,0.163,0.000,2871,1916,3423,0,0,0,0,0,0
$GC,2141,-0.47,-145.9,174.1,-7.2,364,2148,0.00,0.35,0.00,0.000,4,0.000,0.060,2871,1678,3423,0,0,0,0,0,0
$GC,2207,-0.49,-145.9,178.6,-7.7,375,2212,0.00,0.30,0.00,0.000,6,0.000,0.050,2871,1896,3424,0,0,0,0,0,0
$GC,2556,-0.52,-145.9,208.1,-8.5,436,2563,0.08,0.00,0.00,0.000,6,0.127,0.000,2837,1896,3424,0,0,0,0,0,0
$GC,2909,-0.46,-145.9,247.3,-10.8,497,2914,0.10,0.00,0.00,0.000,6,0.176,0.000,2862,1896,3424,0,0,0,0,0,0
$GC,3235,-0.46,-145.9,276.1,-8.9,530,3239,0.00,0.25,0.00,0.000,4,0.000,0.063,2862,1715,3424,0,0,0,0,0,0
$GC,3307,-0.46,-145.9,283.0,-8.9,536,3309,0.00,0.28,0.00,0.000,6,0.000,0.051,2862,1910,3424,0,0,0,0,0,0
$GC,3629,-0.46,-145.9,308.3,-7.7,566,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1910,3424,0,0,0,0,0,0
$GC,3948,-0.46,-145.9,332.3,-7.8,596,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1910,3425,0,0,0,0,0,0
$GC,4266,-0.46,-145.9,358.9,-8.5,626,4270,0.00,0.75,0.00,0.000,4,0.000,0.054,2862,1424,3425,0,0,0,0,0,0
$GC,4370,-0.46,-145.9,368.5,-8.7,635,4374,0.00,0.70,0.00,0.000,6,0.000,0.041,2861,1893,3425,0,0,0,0,0,0
$GC,4699,-0.46,-145.9,399.9,-9.3,666,4703,0.00,0.55,0.00,0.000,4,0.000,0.055,2861,1531,3425,0,0,0,0,0,0
$GC,4789,-0.46,-145.9,408.4,-10.0,674,4793,0.00,0.55,0.00,0.000,6,0.000,0.042,2860,1911,3425,0,0,0,0,0,0
$GC,5121,-0.46,-145.9,441.9,-9.6,705,5124,0.00,0.25,0.00,0.000,4,0.000,0.057,2858,2117,3425,0,0,0,0,0,0
$GC,5168,-0.46,-145.9,446.5,-9.9,709,5172,0.00,0.32,0.00,0.000,6,0.000,0.057,2859,1887,3425,0,0,0,0,0,0
$GC,5498,-0.46,-145.9,476.5,-8.3,740,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1887,3426,0,0,0,0,0,0
$GC,5815,-0.46,-145.9,502.9,-7.7,768,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1887,3425,0,0,0,0,0,0
$GC,6122,-0.46,-145.9,525.4,-7.3,778,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1887,3425,0,0,0,0,0,0
$GC,6428,-0.46,-145.9,547.5,-7.0,788,6431,0.00,0.62,0.00,0.000,4,0.000,0.060,2858,1473,3425,0,0,0,0,0,0
$GC,6529,-0.46,-145.9,554.7,-7.1,791,6533,0.00,0.62,0.00,0.000,6,0.000,0.041,2857,1897,3425,0,0,0,0,0,0
$GC,6869,-0.46,-145.9,580.0,-7.6,802,6872,0.00,0.40,0.00,0.000,4,0.000,0.060,2857,1631,3424,0,0,0,0,0,0
$GC,6951,-0.46,-145.9,586.4,-7.3,804,6955,0.00,0.40,0.00,0.000,6,0.000,0.046,2856,1907,3424,0,0,0,0,0,0
$GC,7274,-0.46,-145.9,611.0,-7.5,815,7278,0.00,0.55,0.00,0.000,4,0.000,0.057,2856,1543,3423,0,0,0,0,0,0
$GC,7351,-0.46,-145.9,616.7,-7.7,817,7355,0.00,0.52,0.00,0.000,6,0.000,0.042,2854,1898,3423,0,0,0,0,0,0
$GC,7680,-0.46,-145.9,642.6,-8.3,828,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1898,3423,0,0,0,0,0,0
$GC,7986,-0.46,-145.9,668.9,-8.7,838,7990,0.00,0.57,0.00,0.000,4,0.000,0.056,2854,1521,3423,0,0,0,0,0,0
$GC,8108,-0.46,-145.9,680.5,-10.1,841,8112,0.00,0.57,0.00,0.000,6,0.000,0.041,2851,1904,3422,0,0,0,0,0,0
$GC,8426,-0.46,-145.9,709.8,-9.2,852,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1904,3422,0,0,0,0,0,0
$GC,8732,-0.46,-145.9,738.9,-9.6,862,8735,0.00,0.47,0.00,0.000,4,0.000,0.058,2851,1588,3422,0,0,0,0,0,0
$GC,8803,-0.46,-145.9,745.9,-9.5,864,8807,0.00,0.47,0.00,0.000,6,0.000,0.045,2851,1905,3421,0,0,0,0,0,0
$GC,9137,-0.46,-145.9,776.9,-8.8,875,9141,0.00,0.32,0.00,0.000,4,0.000,0.062,2851,1682,3421,0,0,0,0,0,0
$GC,9219,-0.46,-145.9,784.6,-9.3,877,9222,0.00,0.32,0.00,0.000,6,0.000,0.050,2850,1906,3421,0,0,0,0,0,0
$GC,9539,-0.46,-145.9,812.6,-8.8,888,9543,0.00,0.43,0.00,0.000,4,0.000,0.060,2850,1622,3420,0,0,0,0,0,0
$GC,9640,-0.46,-145.9,821.4,-8.5,891,9644,0.00,0.40,0.00,0.000,6,0.000,0.049,2850,1899,3420,0,0,0,0,0,0
$GC,9979,-0.46,-145.9,850.7,-8.7,902,9983,0.00,0.32,0.00,0.000,4,0.000,0.062,2851,1673,3419,0,0,0,0,0,0
$GC,10033,-0.46,-145.9,855.5,-8.6,903,10035,0.00,0.35,0.00,0.000,6,0.000,0.050,2850,1913,3419,0,0,0,0,0,0
$GC,10347,-0.46,-145.9,880.8,-8.0,914,10351,0.00,0.35,0.00,0.000,4,0.000,0.059,2849,1671,3419,0,0,0,0,0,0
$GC,10448,-0.46,-145.9,888.9,-8.0,917,10452,0.00,0.32,0.00,0.000,6,0.000,0.053,2850,1906,3418,0,0,0,0,0,0
$GC,10788,-0.46,-145.9,915.5,-7.8,928,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1906,3418,0,0,0,0,0,0
$GC,11094,-0.49,-145.9,940.3,-8.0,938,11098,0.00,0.73,0.00,0.000,4,0.000,0.055,2850,1437,3418,0,0,0,0,0,0
$GC,11177,-0.51,-145.9,947.3,-8.4,940,11181,0.00,0.70,0.00,0.000,6,0.000,0.042,2848,1899,3418,0,0,0,0,0,0
$GC,11501,-0.51,-145.9,973.8,-8.3,951,11504,0.00,0.28,0.00,0.000,4,0.000,0.063,2848,1697,3417,0,0,0,0,0,0
$GC,11588,-0.51,-145.9,981.1,-8.8,953,11590,0.00,0.30,0.00,0.000,6,0.000,0.052,2848,1905,3417,0,0,0,0,0,0
$STATE,11841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11841,begin apogee
$GC,11845,-0.19,0.0,1000.9,7.9,962,11970,0.32,0.00,122.18,1.414,6,0.138,0.000,2947,1631,2827,0,0,0,0,0,0
$STATE,11971,end apogee,CONTROL_FINISHED_OK
$STATE,11971,begin climb
$GC,11972,0.52,145.9,1006.3,0.0,966,12107,0.70,1.52,127.18,1.413,4,0.096,0.061,3172,782,2232,0,0,0,0,0,0
$GC,12197,0.40,148.3,1000.8,7.3,973,12201,0.08,1.35,0.00,0.000,6,0.164,0.036,3151,1624,2228,0,0,0,0,0,0
$GC,12532,0.32,173.6,978.6,6.5,984,12563,0.12,1.00,24.42,1.320,4,0.194,0.043,3121,2246,2118,0,0,0,0,0,0
$GC,12646,0.32,215.6,971.6,6.0,987,12688,0.00,1.02,37.85,1.355,6,0.000,0.050,3121,1629,1948,0,0,0,0,0,0
$GC,12995,0.36,264.0,951.2,5.8,998,13044,0.00,0.57,43.20,1.382,4,0.000,0.043,3121,1982,1750,0,0,0,0,0,0
$GC,13105,0.43,299.2,944.7,6.2,1001,13143,0.10,0.60,32.72,1.353,6,0.106,0.054,3156,1624,1607,0,0,0,0,0,0
$GC,13455,0.46,299.2,919.1,7.4,1013,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1624,1599,0,0,0,0,0,0
$GC,13761,0.49,299.2,895.8,7.5,1023,13765,0.00,0.70,0.00,0.000,4,0.000,0.042,3156,2089,1597,0,0,0,0,0,0
$GC,13821,0.51,299.2,891.1,7.4,1024,13828,0.08,0.75,0.00,0.000,6,0.132,0.053,3184,1627,1596,0,0,0,0,0,0
$GC,14134,0.49,299.2,864.3,8.1,1035,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1627,1596,0,0,0,0,0,0
$GC,14440,0.46,299.2,839.7,7.9,1045,14442,0.08,0.00,0.00,0.000,6,0.195,0.000,3169,1627,1595,0,0,0,0,0,0
$GC,14747,0.46,323.0,819.3,6.6,1055,14769,0.00,0.00,20.35,1.284,6,0.000,0.000,3169,1627,1509,0,0,0,0,0,0
$GC,15053,0.49,357.0,800.2,6.2,1065,15088,0.00,0.32,31.92,1.300,4,0.000,0.070,3169,1432,1371,0,0,0,0,0,0
$GC,15160,0.54,407.2,793.5,5.7,1068,15210,0.00,0.30,46.42,1.307,6,0.000,0.050,3169,1633,1166,0,0,0,0,0,0
$GC,15546,0.62,433.5,769.4,6.5,1081,15577,0.12,0.98,23.67,1.251,4,0.096,0.063,3221,1069,1058,0,0,0,0,0,0
$GC,15639,0.62,433.5,760.6,10.1,1083,15644,0.00,0.88,0.00,0.000,6,0.000,0.037,3221,1635,1055,0,0,0,0,0,0
$GC,15951,0.62,433.5,728.7,10.3,1094,15954,0.00,0.80,0.00,0.000,4,0.000,0.063,3222,1142,1052,0,0,0,0,0,0
$GC,16022,0.62,433.5,721.2,10.3,1096,16026,0.00,0.75,0.00,0.000,6,0.000,0.038,3222,1636,1051,0,0,0,0,0,0
$GC,16356,0.62,433.5,685.3,10.7,1107,16360,0.00,1.23,0.00,0.000,4,0.000,0.063,3226,887,1050,0,0,0,0,0,0
$GC,16433,0.62,433.5,676.6,11.1,1109,16438,0.00,1.15,0.00,0.000,6,0.000,0.036,3226,1625,1049,0,0,0,0,0,0
$GC,16763,0.62,433.5,638.0,11.9,1120,16766,0.00,0.85,0.00,0.000,4,0.000,0.063,3226,1102,1050,0,0,0,0,0,0
$GC,16834,0.62,433.5,629.5,12.9,1122,16838,0.00,0.80,0.00,0.000,6,0.000,0.039,3226,1635,1049,0,0,0,0,0,0
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$GC,17574,0.62,433.5,543.1,11.5,1146,17578,0.00,1.02,0.00,0.000,4,0.000,0.063,3227,995,1049,0,0,0,0,0,0
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$STATE,22417,end climb,SURFACE_DEPTH_REACHED
$STATE,22418,begin surface coast
$FINISH,1.6,1.026747
$STATE,22431,end surface coast,CONTROL_FINISHED_OK
$STATE,22431,begin surface
$SM_CCo,22507,0.00,0.000,0,0,1045,436.87
$SM_GC,2.16,8.70,0.00,0.00,0.068,0.000,0.000,89,1908,1045,-9.11,0.23,436.87
$IRIDIUM_FIX,-4308.55,-846.35,270912,101035
$TT8_MAMPS,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,23.4,13.463
$10V_AH,10.3,11.903
$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,23.350,70.475,509.925,0.000,0.000,28.547,48.179,376.448,0.250,0.000,17.488,4270.500,12895.957,590.309,5158.055,148.217,0.000,2308.567,0.000,4658.848,0.000,2.833,0.000
$DEVICE_MAMPS,276.930,76.500,1414.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.520,2382.331,1017.230,228.207,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354800
$DATA_FILE_SIZE,103434,1744
$CAP_FILE_SIZE,219084,0
$CFSIZE,2097086464,2088075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270912,235116,-4323.137,-841.471,28,1.2,40,-21.2