version: 66.07.10.p01
glider: 574
mission: 4
dive: 44
start: 9 28 112 19 58 58
data:
$ID,574
$MISSION,4
$DIVE,44
$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,-5545.6406
$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,24
$R_STBD_OVSHOOT,48
$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,23
$GPS1,280912,194935,-4318.586,-836.715,69,0.9,70,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.4
$GPS2,280912,195837,-4318.606,-836.623,18,0.9,18,-21.3
$SPEED_LIMITS,0.128,0.235
$TGT_NAME,ACC_574_WP2
$TGT_LATLONG,-4100.000,-834.000
$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,22.1,256725,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-66.50,0.000,2,0.000,0.000,65,1901,2931,0,0,0,0,0,0
$GC,94,-0.52,-145.9,3.2,-1.9,11,126,12.40,2.28,-11.68,0.000,4,0.275,0.070,2829,3287,3422,0,0,0,0,0,0
$GC,304,-0.52,-145.9,27.3,-10.0,46,311,0.00,2.22,0.00,0.000,6,0.000,0.047,2829,1898,3423,0,0,0,0,0,0
$GC,382,-0.42,-145.9,34.4,-10.2,59,388,0.15,0.60,0.00,0.000,4,0.166,0.062,2869,1517,3423,0,0,0,0,0,0
$GC,431,-0.42,-145.9,37.9,-6.2,67,436,0.00,0.57,0.00,0.000,6,0.000,0.044,2869,1896,3423,0,0,0,0,0,0
$GC,664,-0.42,-145.9,59.0,-8.4,108,672,0.00,0.52,0.00,0.000,4,0.000,0.060,2868,1564,3423,0,0,0,0,0,0
$GC,696,-0.42,-145.9,61.4,-8.0,113,701,0.00,0.50,0.00,0.000,6,0.000,0.044,2866,1904,3423,0,0,0,0,0,0
$GC,1044,-0.42,-145.9,93.8,-8.6,174,1051,0.00,0.98,0.00,0.000,4,0.000,0.057,2866,1295,3423,0,0,0,0,0,0
$GC,1091,-0.42,-145.9,97.9,-8.9,182,1098,0.00,0.93,0.00,0.000,6,0.000,0.040,2864,1900,3423,0,0,0,0,0,0
$GC,1444,-0.42,-145.9,130.1,-7.3,243,1449,0.00,0.62,0.00,0.000,4,0.000,0.058,2863,1500,3423,0,0,0,0,0,0
$GC,1495,-0.42,-145.9,133.6,-6.8,252,1502,0.00,0.60,0.00,0.000,6,0.000,0.042,2862,1906,3423,0,0,0,0,0,0
$GC,1848,-0.42,-145.9,165.2,-9.6,313,1853,0.00,0.52,0.00,0.000,4,0.000,0.057,2862,1566,3423,0,0,0,0,0,0
$GC,1895,-0.42,-145.9,169.6,-8.7,321,1900,0.00,0.47,0.00,0.000,6,0.000,0.044,2860,1899,3423,0,0,0,0,0,0
$GC,2243,-0.42,-145.9,201.8,-8.1,382,2250,0.00,0.47,0.00,0.000,4,0.000,0.059,2860,1588,3424,0,0,0,0,0,0
$GC,2286,-0.42,-145.9,205.4,-8.5,389,2292,0.03,0.45,0.00,0.000,6,0.186,0.044,2867,1903,3424,0,0,0,0,0,0
$GC,2635,-0.42,-145.9,237.5,-8.5,450,2642,0.00,0.62,0.00,0.000,4,0.000,0.057,2867,1499,3424,0,0,0,0,0,0
$GC,2690,-0.42,-145.9,242.1,-8.8,459,2695,0.00,0.57,0.00,0.000,6,0.000,0.041,2866,1894,3424,0,0,0,0,0,0
$GC,3020,-0.42,-145.9,269.8,-8.5,498,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1895,3424,0,0,0,0,0,0
$GC,3339,-0.42,-145.9,297.1,-8.4,528,3343,0.00,1.08,0.00,0.000,4,0.000,0.057,2866,1218,3425,0,0,0,0,0,0
$GC,3399,-0.42,-145.9,302.1,-8.7,533,3402,0.00,1.02,0.00,0.000,6,0.000,0.040,2863,1893,3425,0,0,0,0,0,0
$GC,3728,-0.42,-145.9,332.5,-9.4,564,3732,0.00,1.33,0.00,0.000,4,0.000,0.058,2863,1063,3425,0,0,0,0,0,0
$GC,3786,-0.42,-145.9,338.0,-10.3,569,3790,0.00,1.27,0.00,0.000,6,0.000,0.038,2860,1897,3425,0,0,0,0,0,0
$GC,4117,-0.42,-145.9,369.2,-9.2,600,4122,0.03,0.75,0.00,0.000,4,0.278,0.057,2870,1426,3425,0,0,0,0,0,0
$GC,4176,-0.46,-145.9,374.1,-8.6,605,4180,0.00,0.70,0.00,0.000,6,0.000,0.040,2870,1900,3425,0,0,0,0,0,0
$GC,4508,-0.50,-145.9,401.2,-8.3,636,4509,0.05,0.00,0.00,0.000,6,0.171,0.000,2844,1900,3425,0,0,0,0,0,0
$GC,4826,-0.47,-145.9,432.3,-9.9,666,4830,0.05,0.38,0.00,0.000,4,0.218,0.061,2855,1651,3425,0,0,0,0,0,0
$GC,4862,-0.47,-145.9,435.6,-9.2,669,4865,0.00,0.35,0.00,0.000,6,0.000,0.047,2855,1911,3425,0,0,0,0,0,0
$GC,5193,-0.47,-145.9,465.9,-8.9,700,5196,0.00,0.30,0.00,0.000,4,0.000,0.061,2855,1696,3425,0,0,0,0,0,0
$GC,5283,-0.47,-145.9,473.8,-8.3,708,5287,0.00,0.25,0.00,0.000,6,0.000,0.052,2854,1893,3425,0,0,0,0,0,0
$GC,5633,-0.47,-145.9,502.6,-7.8,739,5636,0.00,1.50,0.00,0.000,4,0.000,0.059,2854,957,3424,0,0,0,0,0,0
$GC,5692,-0.47,-145.9,507.8,-7.7,740,5699,0.00,1.45,0.00,0.000,6,0.000,0.036,2849,1897,3424,0,0,0,0,0,0
$GC,6006,-0.47,-145.9,531.0,-7.1,751,6010,0.00,1.58,0.00,0.000,4,0.000,0.059,2849,912,3424,0,0,0,0,0,0
$GC,6060,-0.47,-145.9,535.0,-7.3,752,6065,0.03,1.50,0.00,0.000,6,0.190,0.035,2854,1894,3424,0,0,0,0,0,0
$GC,6378,-0.47,-145.9,556.2,-7.1,763,6381,0.00,0.77,0.00,0.000,4,0.000,0.054,2854,1394,3423,0,0,0,0,0,0
$GC,6421,-0.47,-145.9,559.5,-7.0,764,6426,0.00,0.80,0.00,0.000,6,0.000,0.037,2852,1924,3423,0,0,0,0,0,0
$GC,6751,-0.47,-145.9,585.6,-8.5,775,6754,0.00,1.42,0.00,0.000,4,0.000,0.056,2852,1026,3423,0,0,0,0,0,0
$GC,6805,-0.47,-145.9,590.7,-8.8,776,6810,0.00,1.35,0.00,0.000,6,0.000,0.035,2848,1903,3422,0,0,0,0,0,0
$GC,7123,-0.47,-145.9,619.6,-8.8,787,7127,0.00,0.62,0.00,0.000,4,0.000,0.055,2848,1494,3422,0,0,0,0,0,0
$GC,7172,-0.47,-145.9,624.1,-9.3,788,7176,0.00,0.62,0.00,0.000,6,0.000,0.040,2846,1915,3422,0,0,0,0,0,0
$GC,7495,-0.47,-145.9,650.1,-7.8,799,7499,0.00,1.27,0.00,0.000,4,0.000,0.056,2846,1111,3421,0,0,0,0,0,0
$GC,7549,-0.47,-145.9,654.5,-8.1,800,7555,0.05,1.20,0.00,0.000,6,0.236,0.036,2855,1895,3421,0,0,0,0,0,0
$GC,7868,-0.47,-145.9,676.4,-7.2,811,7872,0.00,0.93,0.00,0.000,4,0.000,0.055,2855,1305,3420,0,0,0,0,0,0
$GC,7911,-0.49,-145.9,679.8,-7.9,812,7916,0.00,0.93,0.00,0.000,6,0.000,0.037,2853,1915,3420,0,0,0,0,0,0
$GC,8240,-0.49,-145.9,705.1,-8.0,823,8244,0.00,0.73,0.00,0.000,4,0.000,0.054,2852,1446,3420,0,0,0,0,0,0
$GC,8294,-0.49,-145.9,709.7,-9.0,824,8299,0.00,0.70,0.00,0.000,6,0.000,0.039,2851,1911,3419,0,0,0,0,0,0
$GC,8612,-0.49,-145.9,736.8,-8.9,835,8616,0.00,1.40,0.00,0.000,4,0.000,0.056,2851,1028,3420,0,0,0,0,0,0
$GC,8666,-0.49,-145.9,742.0,-9.2,836,8671,0.00,1.35,0.00,0.000,6,0.000,0.035,2846,1907,3419,0,0,0,0,0,0
$GC,8985,-0.49,-145.9,770.3,-8.9,847,8989,0.00,1.73,0.00,0.000,4,0.000,0.057,2845,828,3418,0,0,0,0,0,0
$GC,9039,-0.49,-145.9,775.3,-9.0,848,9044,0.00,1.62,0.00,0.000,6,0.000,0.036,2841,1890,3418,0,0,0,0,0,0
$GC,9357,-0.49,-145.9,803.4,-8.9,859,9361,0.00,0.60,0.00,0.000,4,0.000,0.054,2842,1495,3418,0,0,0,0,0,0
$GC,9400,-0.49,-145.9,807.5,-9.4,860,9404,0.00,0.62,0.00,0.000,6,0.000,0.041,2839,1915,3418,0,0,0,0,0,0
$GC,9729,-0.49,-145.9,838.3,-9.6,871,9733,0.00,1.08,0.00,0.000,4,0.000,0.054,2839,1230,3417,0,0,0,0,0,0
$GC,9783,-0.49,-145.9,844.2,-10.3,872,9789,0.08,1.02,0.00,0.000,6,0.202,0.038,2853,1900,3417,0,0,0,0,0,0
$GC,10102,-0.52,-145.9,871.3,-8.3,883,10106,0.00,0.62,0.00,0.000,4,0.000,0.055,2853,1490,3416,0,0,0,0,0,0
$GC,10145,-0.55,-145.9,875.1,-8.2,884,10149,0.00,0.62,0.00,0.000,6,0.000,0.040,2852,1908,3415,0,0,0,0,0,0
$GC,10474,-0.57,-145.9,901.9,-7.9,895,10476,0.08,0.00,0.00,0.000,6,0.137,0.000,2822,1913,3415,0,0,0,0,0,0
$GC,10781,-0.53,-145.9,930.7,-9.2,905,10785,0.08,0.95,0.00,0.000,4,0.188,0.054,2839,1308,3415,0,0,0,0,0,0
$GC,10828,-0.53,-145.9,935.0,-7.7,906,10833,0.00,0.90,0.00,0.000,6,0.000,0.037,2837,1897,3415,0,0,0,0,0,0
$GC,11152,-0.53,-145.9,959.5,-7.6,917,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1897,3415,0,0,0,0,0,0
$GC,11458,-0.53,-145.9,983.9,-8.4,927,11462,0.00,0.90,0.00,0.000,4,0.000,0.054,2837,1321,3414,0,0,0,0,0,0
$GC,11501,-0.53,-145.9,987.9,-9.1,928,11506,0.00,0.90,0.00,0.000,6,0.000,0.038,2834,1910,3414,0,0,0,0,0,0
$STATE,11647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11647,begin apogee
$GC,11651,-0.19,0.0,1000.7,9.0,933,11776,0.38,0.00,122.28,1.484,6,0.143,0.000,2949,1603,2827,0,0,0,0,0,0
$STATE,11777,end apogee,CONTROL_FINISHED_OK
$STATE,11777,begin climb
$GC,11778,0.52,145.9,1006.7,0.0,937,11914,0.70,1.62,127.62,1.463,4,0.096,0.062,3172,696,2232,0,0,0,0,0,0
$GC,11986,0.39,178.6,1004.1,6.3,943,12022,0.10,1.52,29.77,1.360,6,0.160,0.035,3145,1632,2100,0,0,0,0,0,0
$GC,12334,0.35,220.5,983.1,6.0,955,12376,0.08,0.77,37.42,1.382,4,0.213,0.041,3130,2104,1927,0,0,0,0,0,0
$GC,12432,0.35,249.0,977.2,6.4,958,12463,0.00,0.77,26.70,1.357,6,0.000,0.051,3130,1635,1810,0,0,0,0,0,0
$GC,12792,0.39,282.7,954.7,6.3,970,12827,0.00,1.33,30.17,1.364,4,0.000,0.039,3129,2457,1673,0,0,0,0,0,0
$GC,12877,0.43,282.7,948.5,8.0,972,12882,0.03,1.38,0.00,0.000,6,0.104,0.047,3151,1620,1670,0,0,0,0,0,0
$GC,13195,0.46,282.7,922.1,8.5,983,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1620,1667,0,0,0,0,0,0
$GC,13501,0.49,282.7,895.7,8.7,993,13505,0.00,0.62,0.00,0.000,4,0.000,0.044,3151,2040,1666,0,0,0,0,0,0
$GC,13561,0.49,282.7,890.2,9.1,994,13567,0.00,0.68,0.00,0.000,6,0.000,0.054,3152,1625,1666,0,0,0,0,0,0
$GC,13873,0.49,282.7,862.2,8.8,1005,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1625,1665,0,0,0,0,0,0
$GC,14180,0.51,282.7,836.4,8.5,1015,14184,0.08,0.30,0.00,0.000,4,0.129,0.048,3183,1853,1665,0,0,0,0,0,0
$GC,14239,0.46,282.7,830.2,9.6,1016,14245,0.10,0.38,0.00,0.000,6,0.189,0.061,3162,1622,1665,0,0,0,0,0,0
$GC,14552,0.46,282.7,803.0,8.5,1027,14553,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1622,1665,0,0,0,0,0,0
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$STATE,22755,end climb,SURFACE_DEPTH_REACHED
$STATE,22755,begin surface coast
$FINISH,1.1,1.013879
$STATE,22786,end surface coast,CONTROL_FINISHED_OK
$STATE,22787,begin surface
$SM_CCo,22862,0.00,0.000,0,0,1150,411.36
$SM_GC,2.14,8.70,0.00,0.00,0.071,0.000,0.000,93,1914,1150,-9.09,0.40,411.36
$IRIDIUM_FIX,-4305.59,-837.12,280912,131337
$TT8_MAMPS,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.3,14.301
$10V_AH,10.3,12.716
$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
$DEVICE_SECS,23.625,98.300,487.075,0.000,0.000,29.525,40.808,354.440,0.250,0.000,19.972,4245.183,13410.372,592.234,4987.510,154.454,0.000,2302.321,0.000,4516.839,0.000,2.837,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.356,2329.623,1018.913,219.623,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,103530,1728
$CAP_FILE_SIZE,228912,0
$CFSIZE,2097086464,2087419904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290912,022129,-4315.356,-837.569,56,0.9,57,-21.3