version: 66.07.10.p01
glider: 574
mission: 4
dive: 47
start: 9 29 112 16 1 44
data:
$ID,574
$MISSION,4
$DIVE,47
$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,-5555.4097
$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,71
$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,26
$GPS1,290912,155135,-4309.364,-840.581,36,0.9,37,-21.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.4
$GPS2,290912,160124,-4309.336,-840.523,14,2.0,14,-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,23.5,239704,-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,-145.9,0.0,0.0,0,98,0.00,0.00,-71.97,0.000,2,0.000,0.000,65,1906,3067,0,0,0,0,0,0
$GC,100,-0.52,-145.9,3.2,-2.2,12,127,12.40,1.85,-7.75,0.000,4,0.274,0.074,2831,756,3420,0,0,0,0,0,0
$GC,158,-0.15,-145.9,15.7,-19.7,21,166,0.43,1.75,0.00,0.000,6,0.141,0.038,2956,1856,3421,0,0,0,0,0,0
$GC,239,-0.42,-145.9,23.3,-7.2,34,247,0.25,0.38,0.00,0.000,4,0.093,0.044,2866,2125,3421,0,0,0,0,0,0
$GC,284,-0.70,-145.9,27.4,-8.6,41,292,0.20,0.35,0.00,0.000,6,0.070,0.058,2785,1892,3421,0,0,0,0,0,0
$GC,362,-0.53,-145.9,36.0,-12.6,54,370,0.20,2.30,0.00,0.000,4,0.173,0.063,2836,497,3421,0,0,0,0,0,0
$GC,441,-0.47,-145.9,45.1,-11.0,67,447,0.10,2.20,0.00,0.000,6,0.174,0.037,2855,1916,3421,0,0,0,0,0,0
$GC,676,-0.45,-145.9,68.6,-9.3,108,684,0.00,0.55,0.00,0.000,4,0.000,0.044,2853,2302,3421,0,0,0,0,0,0
$GC,720,-0.45,-145.9,72.6,-9.6,115,725,0.00,0.62,0.00,0.000,6,0.000,0.051,2853,1896,3421,0,0,0,0,0,0
$GC,1069,-0.43,-145.9,107.5,-9.8,176,1076,0.08,0.30,0.00,0.000,4,0.196,0.070,2870,1689,3421,0,0,0,0,0,0
$GC,1101,-0.43,-145.9,110.0,-8.8,181,1106,0.00,0.30,0.00,0.000,6,0.000,0.050,2870,1906,3421,0,0,0,0,0,0
$GC,1450,-0.45,-145.9,141.0,-8.6,242,1457,0.00,0.35,0.00,0.000,4,0.000,0.061,2870,1666,3421,0,0,0,0,0,0
$GC,1494,-0.47,-145.9,144.7,-8.7,249,1499,0.00,0.32,0.00,0.000,6,0.000,0.050,2869,1903,3421,0,0,0,0,0,0
$GC,1842,-0.50,-145.9,175.9,-8.8,310,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1903,3421,0,0,0,0,0,0
$GC,2195,-0.52,-145.9,207.5,-8.7,371,2200,0.08,0.28,0.00,0.000,4,0.132,0.064,2836,1716,3422,0,0,0,0,0,0
$GC,2235,-0.49,-145.9,211.9,-10.3,378,2243,0.05,0.25,0.00,0.000,6,0.164,0.053,2851,1911,3422,0,0,0,0,0,0
$GC,2589,-0.47,-145.9,246.9,-9.4,439,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1911,3422,0,0,0,0,0,0
$GC,2923,-0.47,-145.9,276.9,-8.1,473,2926,0.00,0.80,0.00,0.000,4,0.000,0.055,2851,1401,3421,0,0,0,0,0,0
$GC,2960,-0.47,-145.9,280.5,-7.9,476,2968,0.00,0.75,0.00,0.000,6,0.000,0.039,2850,1891,3422,0,0,0,0,0,0
$GC,3288,-0.45,-145.9,308.8,-9.2,507,3292,0.08,0.85,0.00,0.000,4,0.200,0.045,2864,2460,3422,0,0,0,0,0,0
$GC,3344,-0.49,-145.9,313.2,-7.1,512,3348,0.00,0.85,0.00,0.000,6,0.000,0.047,2864,1901,3422,0,0,0,0,0,0
$GC,3676,-0.49,-145.9,338.4,-7.7,543,3679,0.00,0.65,0.00,0.000,4,0.000,0.057,2864,1469,3422,0,0,0,0,0,0
$GC,3736,-0.49,-145.9,343.2,-7.7,548,3743,0.00,0.65,0.00,0.000,6,0.000,0.039,2863,1901,3422,0,0,0,0,0,0
$GC,4063,-0.51,-145.9,367.5,-7.9,579,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1902,3422,0,0,0,0,0,0
$GC,4381,-0.53,-145.9,392.7,-8.2,609,4385,0.08,0.55,0.00,0.000,4,0.132,0.047,2826,2291,3422,0,0,0,0,0,0
$GC,4429,-0.49,-145.9,397.2,-10.4,613,4433,0.05,0.57,0.00,0.000,6,0.161,0.049,2845,1899,3422,0,0,0,0,0,0
$GC,4758,-0.49,-145.9,428.9,-10.5,644,4761,0.00,1.27,0.00,0.000,4,0.000,0.057,2846,1083,3422,0,0,0,0,0,0
$GC,4816,-0.49,-145.9,434.8,-10.4,649,4819,0.00,1.25,0.00,0.000,6,0.000,0.037,2842,1905,3422,0,0,0,0,0,0
$GC,5147,-0.46,-145.9,468.5,-9.8,680,5151,0.08,0.38,0.00,0.000,4,0.210,0.051,2858,2184,3422,0,0,0,0,0,0
$GC,5185,-0.46,-145.9,472.2,-8.2,683,5187,0.00,0.43,0.00,0.000,6,0.000,0.052,2858,1896,3422,0,0,0,0,0,0
$GC,5507,-0.46,-145.9,499.5,-9.0,713,5511,0.00,0.30,0.00,0.000,4,0.000,0.064,2858,1670,3422,0,0,0,0,0,0
$GC,5556,-0.46,-145.9,504.4,-9.6,715,5558,0.00,0.35,0.00,0.000,6,0.000,0.047,2857,1919,3422,0,0,0,0,0,0
$GC,5875,-0.46,-145.9,532.6,-8.7,726,5879,0.00,0.70,0.00,0.000,4,0.000,0.052,2857,1462,3422,0,0,0,0,0,0
$GC,5924,-0.46,-145.9,537.1,-9.2,727,5928,0.00,0.65,0.00,0.000,6,0.000,0.040,2855,1898,3422,0,0,0,0,0,0
$GC,6247,-0.46,-145.9,563.1,-8.0,738,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1898,3421,0,0,0,0,0,0
$GC,6554,-0.46,-145.9,587.1,-8.0,748,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1899,3420,0,0,0,0,0,0
$GC,6860,-0.46,-145.9,612.4,-8.5,758,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1899,3420,0,0,0,0,0,0
$GC,7166,-0.46,-145.9,639.2,-8.6,768,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1899,3419,0,0,0,0,0,0
$GC,7472,-0.46,-145.9,665.4,-8.7,778,7476,0.00,0.68,0.00,0.000,4,0.000,0.054,2854,1459,3419,0,0,0,0,0,0
$GC,7526,-0.46,-145.9,670.1,-8.4,779,7531,0.00,0.68,0.00,0.000,6,0.000,0.039,2852,1908,3419,0,0,0,0,0,0
$GC,7844,-0.46,-145.9,695.4,-7.9,790,7848,0.00,0.38,0.00,0.000,4,0.000,0.050,2851,2192,3418,0,0,0,0,0,0
$GC,7899,-0.49,-145.9,699.9,-8.2,791,7903,0.00,0.45,0.00,0.000,6,0.000,0.051,2851,1891,3418,0,0,0,0,0,0
$GC,8216,-0.49,-145.9,724.5,-7.7,802,8220,0.00,0.30,0.00,0.000,4,0.000,0.066,2851,1671,3416,0,0,0,0,0,0
$GC,8265,-0.49,-145.9,728.5,-8.7,803,8269,0.00,0.35,0.00,0.000,6,0.000,0.049,2851,1911,3416,0,0,0,0,0,0
$GC,8588,-0.49,-145.9,753.9,-8.1,814,8592,0.00,0.57,0.00,0.000,4,0.000,0.054,2850,1531,3415,0,0,0,0,0,0
$GC,8637,-0.49,-145.9,758.1,-8.3,815,8641,0.00,0.55,0.00,0.000,6,0.000,0.044,2850,1897,3415,0,0,0,0,0,0
$GC,8960,-0.49,-145.9,784.9,-8.6,826,8964,0.00,0.43,0.00,0.000,4,0.000,0.059,2850,1610,3415,0,0,0,0,0,0
$GC,9009,-0.49,-145.9,789.4,-9.1,827,9013,0.00,0.45,0.00,0.000,6,0.000,0.046,2850,1912,3415,0,0,0,0,0,0
$GC,9332,-0.49,-145.9,818.2,-9.1,838,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1912,3414,0,0,0,0,0,0
$GC,9638,-0.49,-145.9,845.2,-8.6,848,9642,0.00,1.25,0.00,0.000,4,0.000,0.054,2850,1120,3414,0,0,0,0,0,0
$GC,9699,-0.51,-145.9,850.6,-8.4,849,9704,0.00,1.17,0.00,0.000,6,0.000,0.038,2847,1892,3414,0,0,0,0,0,0
$GC,10011,-0.51,-145.9,876.9,-8.5,860,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1891,3414,0,0,0,0,0,0
$GC,10317,-0.51,-145.9,902.3,-8.2,870,10321,0.00,0.32,0.00,0.000,4,0.000,0.061,2848,1668,3413,0,0,0,0,0,0
$GC,10360,-0.51,-145.9,906.0,-8.2,871,10362,0.00,0.35,0.00,0.000,6,0.000,0.050,2846,1910,3413,0,0,0,0,0,0
$GC,10685,-0.51,-145.9,933.7,-8.8,882,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1910,3413,0,0,0,0,0,0
$GC,10992,-0.51,-145.9,960.2,-8.5,892,10995,0.00,0.62,0.00,0.000,4,0.000,0.054,2846,1499,3412,0,0,0,0,0,0
$GC,11040,-0.51,-145.9,964.4,-8.6,893,11044,0.00,0.60,0.00,0.000,6,0.000,0.042,2845,1897,3412,0,0,0,0,0,0
$GC,11364,-0.51,-145.9,990.9,-8.2,904,11367,0.00,0.38,0.00,0.000,4,0.000,0.059,2845,1642,3412,0,0,0,0,0,0
$GC,11406,-0.51,-145.9,994.6,-8.1,905,11409,0.00,0.40,0.00,0.000,6,0.000,0.049,2845,1915,3412,0,0,0,0,0,0
$STATE,11487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11487,begin apogee
$GC,11491,-0.19,0.0,1000.8,8.0,908,11614,0.35,0.00,120.90,1.433,6,0.138,0.000,2952,1625,2827,0,0,0,0,0,0
$STATE,11615,end apogee,CONTROL_FINISHED_OK
$STATE,11615,begin climb
$GC,11617,0.52,145.9,1005.4,0.0,912,11752,0.70,1.60,126.75,1.417,4,0.093,0.060,3180,736,2231,0,0,0,0,0,0
$GC,11807,0.36,145.9,1000.5,8.9,918,11812,0.17,1.45,0.00,0.000,6,0.165,0.037,3134,1621,2228,0,0,0,0,0,0
$GC,12142,0.31,167.1,978.0,6.7,929,12167,0.08,1.52,18.83,1.280,4,0.213,0.044,3117,2550,2144,0,0,0,0,0,0
$GC,12233,0.31,189.6,972.0,6.6,931,12259,0.00,1.50,20.55,1.303,6,0.000,0.047,3118,1638,2055,0,0,0,0,0,0
$GC,12577,0.31,233.4,951.1,5.9,943,12619,0.00,0.00,39.50,1.365,6,0.000,0.000,3118,1638,1875,0,0,0,0,0,0
$GC,12914,0.36,304.8,933.2,5.0,954,12983,0.00,0.60,63.47,1.372,4,0.000,0.044,3117,2001,1584,0,0,0,0,0,0
$GC,13027,0.45,392.7,927.5,4.4,957,13114,0.12,0.65,79.88,1.350,6,0.094,0.054,3166,1615,1226,0,0,0,0,0,0
$GC,13438,0.52,394.5,898.1,7.3,971,13441,0.00,0.90,0.00,0.000,4,0.000,0.063,3166,1065,1216,0,0,0,0,0,0
$GC,13492,0.58,394.5,893.9,7.8,972,13498,0.10,0.90,0.00,0.000,6,0.112,0.037,3203,1645,1214,0,0,0,0,0,0
$GC,13811,0.58,394.5,861.1,10.8,983,13814,0.00,1.70,0.00,0.000,4,0.000,0.065,3208,590,1214,0,0,0,0,0,0
$GC,13881,0.58,394.5,853.3,11.0,985,13887,0.00,1.62,0.00,0.000,6,0.000,0.036,3208,1619,1213,0,0,0,0,0,0
$GC,14217,0.55,394.5,812.9,12.3,996,14221,0.05,0.90,0.00,0.000,4,0.223,0.064,3200,1075,1213,0,0,0,0,0,0
$GC,14284,0.55,394.5,805.1,11.4,998,14287,0.00,0.85,0.00,0.000,6,0.000,0.039,3200,1636,1212,0,0,0,0,0,0
$GC,14623,0.55,394.5,766.0,11.5,1009,14627,0.00,1.60,0.00,0.000,4,0.000,0.065,3200,664,1212,0,0,0,0,0,0
$GC,14694,0.55,394.5,757.9,10.6,1011,14699,0.00,1.50,0.00,0.000,6,0.000,0.037,3200,1624,1212,0,0,0,0,0,0
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$STATE,21969,end climb,SURFACE_DEPTH_REACHED
$STATE,21969,begin surface coast
$FINISH,1.1,1.026640
$STATE,22000,end surface coast,CONTROL_FINISHED_OK
$STATE,22000,begin surface
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$SM_GC,2.21,8.50,0.00,0.00,0.057,0.000,0.000,88,1888,1209,-9.11,-0.34,396.64
$IRIDIUM_FIX,-4253.80,-838.26,290912,090914
$TT8_MAMPS,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,9.07709
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,23.4,14.917
$10V_AH,10.3,13.339
$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
$DEVICE_SECS,24.275,81.700,469.875,0.000,0.000,35.459,38.845,392.460,0.250,0.000,17.457,4262.917,12571.362,571.452,5081.354,160.008,0.000,2278.654,0.000,4577.516,0.000,2.833,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1205.887,2409.153,1018.997,225.311,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,103607,1742
$CAP_FILE_SIZE,224459,0
$CFSIZE,2097086464,2086928384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,290912,221053,-4306.317,-842.056,40,1.5,41,-21.4