version: 66.07.10.p01
glider: 574
mission: 4
dive: 46
start: 9 29 112 9 10 40
data:
$ID,574
$MISSION,4
$DIVE,46
$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,-5552.1543
$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,25
$R_STBD_OVSHOOT,54
$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,25
$GPS1,290912,090028,-4312.350,-839.631,36,1.1,42,-21.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.3
$GPS2,290912,091019,-4312.396,-839.577,16,1.1,16,-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,23.1,245321,-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,-145.9,0.0,0.0,0,129,0.00,0.00,-102.57,0.000,2,0.000,0.000,66,1894,3052,0,0,0,0,0,0
$GC,131,-0.52,-145.9,3.2,-2.1,17,157,12.73,2.30,-8.15,0.000,4,0.282,0.075,2832,492,3422,0,0,0,0,0,0
$GC,271,-0.46,-145.9,25.0,-12.1,40,279,0.10,2.20,0.00,0.000,6,0.155,0.039,2854,1875,3423,0,0,0,0,0,0
$GC,351,-0.44,-145.9,33.4,-10.7,53,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1875,3423,0,0,0,0,0,0
$GC,585,-0.41,-145.9,58.0,-11.0,94,592,0.10,0.52,0.00,0.000,4,0.177,0.048,2880,2239,3423,0,0,0,0,0,0
$GC,656,-0.46,-145.9,63.3,-8.0,106,663,0.00,0.52,0.00,0.000,6,0.000,0.055,2880,1898,3423,0,0,0,0,0,0
$GC,1008,-0.50,-145.9,88.1,-8.3,167,1013,0.10,1.12,0.00,0.000,4,0.106,0.062,2836,1198,3423,0,0,0,0,0,0
$GC,1056,-0.46,-145.9,93.1,-10.8,175,1062,0.10,1.10,0.00,0.000,6,0.148,0.037,2863,1916,3423,0,0,0,0,0,0
$GC,1405,-0.46,-145.9,122.8,-7.8,236,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1916,3423,0,0,0,0,0,0
$GC,1756,-0.46,-145.9,151.0,-7.3,297,1761,0.00,0.85,0.00,0.000,4,0.000,0.058,2863,1382,3423,0,0,0,0,0,0
$GC,1818,-0.46,-145.9,155.5,-6.9,308,1825,0.00,0.80,0.00,0.000,6,0.000,0.044,2863,1904,3423,0,0,0,0,0,0
$GC,2171,-0.46,-145.9,184.5,-8.1,369,2176,0.00,0.70,0.00,0.000,4,0.000,0.057,2862,1459,3423,0,0,0,0,0,0
$GC,2218,-0.46,-145.9,188.1,-7.7,377,2223,0.00,0.68,0.00,0.000,6,0.000,0.041,2861,1914,3423,0,0,0,0,0,0
$GC,2566,-0.46,-145.9,214.4,-8.8,438,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1914,3423,0,0,0,0,0,0
$GC,2917,-0.46,-145.9,243.8,-8.9,499,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1914,3423,0,0,0,0,0,0
$GC,3246,-0.46,-145.9,273.3,-9.3,536,3250,0.00,0.85,0.00,0.000,4,0.000,0.056,2861,1375,3424,0,0,0,0,0,0
$GC,3306,-0.46,-145.9,279.4,-9.0,541,3312,0.00,0.80,0.00,0.000,6,0.000,0.037,2858,1900,3424,0,0,0,0,0,0
$GC,3632,-0.46,-145.9,310.8,-9.5,572,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1900,3424,0,0,0,0,0,0
$GC,3951,-0.46,-145.9,338.6,-8.0,602,3955,0.00,0.35,0.00,0.000,4,0.000,0.060,2858,1659,3424,0,0,0,0,0,0
$GC,4001,-0.46,-145.9,343.0,-8.2,606,4008,0.00,0.38,0.00,0.000,6,0.000,0.046,2857,1920,3424,0,0,0,0,0,0
$GC,4327,-0.46,-145.9,371.0,-9.2,637,4331,0.00,0.62,0.00,0.000,4,0.000,0.055,2857,1510,3425,0,0,0,0,0,0
$GC,4374,-0.46,-145.9,375.5,-9.4,641,4378,0.00,0.55,0.00,0.000,6,0.000,0.041,2855,1893,3425,0,0,0,0,0,0
$GC,4704,-0.46,-145.9,408.7,-10.3,672,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1893,3425,0,0,0,0,0,0
$GC,5023,-0.46,-145.9,438.8,-8.6,702,5026,0.00,0.45,0.00,0.000,4,0.000,0.057,2854,1588,3425,0,0,0,0,0,0
$GC,5083,-0.46,-145.9,444.4,-8.8,707,5085,0.00,0.47,0.00,0.000,6,0.000,0.041,2852,1915,3425,0,0,0,0,0,0
$GC,5405,-0.46,-145.9,470.7,-8.2,737,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1915,3425,0,0,0,0,0,0
$GC,5724,-0.46,-145.9,495.5,-7.5,767,5728,0.00,0.93,0.00,0.000,4,0.000,0.056,2852,1327,3425,0,0,0,0,0,0
$GC,5773,-0.46,-145.9,499.7,-6.7,771,5779,0.00,0.88,0.00,0.000,6,0.000,0.038,2850,1897,3425,0,0,0,0,0,0
$GC,6086,-0.46,-145.9,521.9,-7.0,782,6090,0.00,0.73,0.00,0.000,4,0.000,0.056,2850,1434,3425,0,0,0,0,0,0
$GC,6142,-0.46,-145.9,526.1,-7.8,783,6146,0.03,0.70,0.00,0.000,6,0.195,0.039,2858,1903,3425,0,0,0,0,0,0
$GC,6459,-0.46,-145.9,547.2,-6.6,794,6463,0.00,0.30,0.00,0.000,4,0.000,0.063,2858,1697,3425,0,0,0,0,0,0
$GC,6508,-0.46,-145.9,550.7,-6.6,795,6512,0.00,0.30,0.00,0.000,6,0.000,0.050,2858,1910,3425,0,0,0,0,0,0
$GC,6831,-0.46,-145.9,572.8,-7.0,806,6835,0.00,1.10,0.00,0.000,4,0.000,0.058,2858,1213,3424,0,0,0,0,0,0
$GC,6880,-0.48,-145.9,576.7,-8.1,807,6885,0.00,1.05,0.00,0.000,6,0.000,0.038,2854,1897,3424,0,0,0,0,0,0
$GC,7204,-0.48,-145.9,601.6,-7.8,818,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1898,3424,0,0,0,0,0,0
$GC,7510,-0.48,-145.9,625.5,-7.9,828,7514,0.00,0.88,0.00,0.000,4,0.000,0.057,2855,1342,3423,0,0,0,0,0,0
$GC,7566,-0.48,-145.9,630.2,-8.9,829,7569,0.00,0.82,0.00,0.000,6,0.000,0.039,2852,1894,3423,0,0,0,0,0,0
$GC,7883,-0.48,-145.9,658.5,-9.3,840,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1894,3423,0,0,0,0,0,0
$GC,8189,-0.48,-145.9,687.6,-9.7,850,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1894,3423,0,0,0,0,0,0
$GC,8496,-0.48,-145.9,715.8,-9.0,860,8499,0.00,0.55,0.00,0.000,4,0.000,0.054,2852,1530,3423,0,0,0,0,0,0
$GC,8555,-0.48,-145.9,720.8,-7.8,861,8561,0.00,0.57,0.00,0.000,6,0.000,0.043,2851,1913,3423,0,0,0,0,0,0
$GC,8868,-0.48,-145.9,746.7,-8.4,872,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1912,3422,0,0,0,0,0,0
$GC,9174,-0.48,-145.9,772.6,-8.5,882,9177,0.00,1.62,0.00,0.000,4,0.000,0.057,2851,891,3422,0,0,0,0,0,0
$GC,9234,-0.50,-145.9,777.8,-9.3,883,9240,0.00,1.52,0.00,0.000,6,0.000,0.035,2846,1889,3422,0,0,0,0,0,0
$GC,9547,-0.50,-145.9,803.4,-8.2,894,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1890,3422,0,0,0,0,0,0
$GC,9853,-0.50,-145.9,828.2,-7.9,904,9856,0.00,0.55,0.00,0.000,4,0.000,0.053,2846,1525,3422,0,0,0,0,0,0
$GC,9897,-0.50,-145.9,831.6,-8.1,905,9901,0.00,0.55,0.00,0.000,6,0.000,0.042,2844,1906,3421,0,0,0,0,0,0
$GC,10226,-0.50,-145.9,857.7,-8.2,916,10229,0.00,0.62,0.00,0.000,4,0.000,0.053,2844,1495,3421,0,0,0,0,0,0
$GC,10268,-0.50,-145.9,861.5,-8.5,917,10273,0.00,0.60,0.00,0.000,6,0.000,0.041,2841,1903,3421,0,0,0,0,0,0
$GC,10598,-0.50,-145.9,889.1,-8.8,928,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1903,3421,0,0,0,0,0,0
$GC,10904,-0.50,-145.9,916.8,-9.2,938,10908,0.00,0.38,0.00,0.000,4,0.000,0.059,2841,1648,3421,0,0,0,0,0,0
$GC,10975,-0.50,-145.9,923.7,-9.6,940,10977,0.00,0.38,0.00,0.000,6,0.000,0.046,2840,1911,3421,0,0,0,0,0,0
$GC,11306,-0.50,-145.9,952.0,-8.3,951,11309,0.00,0.82,0.00,0.000,4,0.000,0.052,2840,1378,3421,0,0,0,0,0,0
$GC,11349,-0.50,-145.9,955.7,-8.6,952,11353,0.00,0.77,0.00,0.000,6,0.000,0.038,2838,1891,3421,0,0,0,0,0,0
$GC,11678,-0.50,-145.9,981.1,-7.6,963,11681,0.00,0.30,0.00,0.000,4,0.000,0.060,2838,1677,3420,0,0,0,0,0,0
$GC,11727,-0.50,-145.9,985.0,-7.4,964,11731,0.00,0.32,0.00,0.000,6,0.000,0.048,2837,1907,3421,0,0,0,0,0,0
$STATE,11928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11928,begin apogee
$GC,11932,-0.19,0.0,1000.4,7.7,971,12057,0.38,0.00,122.88,1.444,6,0.137,0.000,2953,1616,2827,0,0,0,0,0,0
$STATE,12058,end apogee,CONTROL_FINISHED_OK
$STATE,12058,begin climb
$GC,12059,0.52,145.9,1005.0,0.0,975,12194,0.68,1.08,126.97,1.411,4,0.087,0.060,3174,1019,2232,0,0,0,0,0,0
$GC,12233,0.36,177.3,1003.2,6.3,980,12268,0.15,1.00,28.98,1.333,6,0.181,0.034,3138,1634,2104,0,0,0,0,0,0
$GC,12581,0.32,224.6,982.5,5.8,992,12627,0.08,0.75,41.55,1.344,4,0.208,0.040,3120,2092,1910,0,0,0,0,0,0
$GC,12683,0.35,274.7,977.1,5.7,995,12734,0.00,0.75,45.53,1.353,6,0.000,0.051,3120,1636,1706,0,0,0,0,0,0
$GC,13041,0.43,319.4,956.5,5.9,1007,13083,0.10,0.00,40.00,1.336,6,0.106,0.000,3156,1636,1524,0,0,0,0,0,0
$GC,13377,0.45,319.4,929.7,8.4,1018,13381,0.00,1.10,0.00,0.000,4,0.000,0.061,3157,959,1519,0,0,0,0,0,0
$GC,13444,0.47,319.4,924.0,9.1,1020,13448,0.00,1.02,0.00,0.000,6,0.000,0.034,3157,1624,1518,0,0,0,0,0,0
$GC,13784,0.47,319.4,894.2,8.7,1031,13788,0.00,1.52,0.00,0.000,4,0.000,0.063,3157,703,1517,0,0,0,0,0,0
$GC,13851,0.51,319.4,888.5,8.8,1033,13854,0.00,1.42,0.00,0.000,6,0.000,0.034,3157,1628,1517,0,0,0,0,0,0
$GC,14191,0.53,319.4,860.0,8.3,1044,14196,0.08,0.85,0.00,0.000,4,0.132,0.063,3186,1112,1517,0,0,0,0,0,0
$GC,14262,0.49,319.4,853.2,9.6,1046,14266,0.00,0.80,0.00,0.000,6,0.000,0.036,3186,1644,1517,0,0,0,0,0,0
$GC,14597,0.45,319.4,822.7,9.0,1057,14602,0.10,1.62,0.00,0.000,4,0.187,0.066,3167,661,1517,0,0,0,0,0,0
$GC,14668,0.45,319.4,816.8,7.9,1059,14673,0.00,1.48,0.00,0.000,6,0.000,0.034,3167,1618,1517,0,0,0,0,0,0
$GC,15003,0.45,319.4,789.1,8.7,1070,15007,0.00,0.75,0.00,0.000,4,0.000,0.061,3168,1154,1517,0,0,0,0,0,0
$GC,15097,0.45,319.4,780.3,8.5,1072,15102,0.00,0.73,0.00,0.000,6,0.000,0.037,3168,1642,1516,0,0,0,0,0,0
$GC,15409,0.45,319.4,752.2,8.9,1083,15413,0.00,1.77,0.00,0.000,4,0.000,0.067,3171,556,1517,0,0,0,0,0,0
$GC,15479,0.45,319.4,745.9,9.0,1085,15485,0.00,1.65,0.00,0.000,6,0.000,0.036,3171,1617,1517,0,0,0,0,0,0
$GC,15815,0.45,319.4,719.7,8.0,1096,15819,0.00,1.23,0.00,0.000,4,0.000,0.065,3171,870,1517,0,0,0,0,0,0
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$STATE,23868,end climb,SURFACE_DEPTH_REACHED
$STATE,23868,begin surface coast
$FINISH,1.1,1.014881
$STATE,23911,end surface coast,CONTROL_FINISHED_OK
$STATE,23911,begin surface
$SM_CCo,23986,0.00,0.000,0,0,1330,367.21
$SM_GC,2.14,8.55,0.00,0.00,0.062,0.000,0.000,92,1910,1330,-9.09,0.28,367.21
$IRIDIUM_FIX,-4256.74,-838.71,290912,020203
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.08686
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.4,14.706
$10V_AH,10.3,13.144
$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
$DEVICE_SECS,23.325,85.775,438.025,0.000,0.000,36.014,38.473,395.763,0.250,0.000,19.364,4665.452,13596.672,564.589,5567.350,166.086,0.000,2410.860,0.000,5054.030,0.000,2.836,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1334.779,2695.408,1109.891,257.649,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,116724,1929
$CAP_FILE_SIZE,234907,0
$CFSIZE,2097086464,2087059456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,290912,155135,-4309.364,-840.581,36,0.9,37,-21.3