version: 66.07.10.p01
glider: 574
mission: 4
dive: 48
start: 9 29 112 22 19 33
data:
$ID,574
$MISSION,4
$DIVE,48
$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,-5558.5347
$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,28
$R_STBD_OVSHOOT,40
$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,27
$GPS1,290912,221053,-4306.317,-842.056,40,1.5,41,-21.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.8
$GPS2,290912,221913,-4306.243,-842.047,16,1.9,16,-21.4
$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,24.2,234073,-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,-71.85,0.000,2,0.000,0.000,66,1887,2945,0,0,0,0,0,0
$GC,100,-0.52,-145.9,3.3,-2.7,12,133,12.48,2.33,-10.80,0.000,4,0.278,0.080,2833,495,3423,0,0,0,0,0,0
$GC,235,-0.46,-145.9,24.1,-11.6,34,243,0.10,2.22,0.00,0.000,6,0.157,0.039,2856,1901,3424,0,0,0,0,0,0
$GC,315,-0.46,-145.9,32.8,-10.7,47,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1902,3424,0,0,0,0,0,0
$GC,549,-0.46,-145.9,58.3,-10.5,88,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1902,3424,0,0,0,0,0,0
$GC,787,-0.44,-145.9,81.8,-10.7,129,792,0.00,0.52,0.00,0.000,4,0.000,0.049,2854,2268,3424,0,0,0,0,0,0
$GC,850,-0.44,-145.9,88.0,-9.5,140,857,0.00,0.57,0.00,0.000,6,0.000,0.054,2854,1892,3424,0,0,0,0,0,0
$GC,1203,-0.42,-145.9,124.1,-10.1,201,1209,0.10,0.82,0.00,0.000,4,0.189,0.044,2875,2433,3424,0,0,0,0,0,0
$GC,1263,-0.47,-145.9,128.9,-7.8,211,1268,0.00,0.82,0.00,0.000,6,0.000,0.049,2875,1898,3424,0,0,0,0,0,0
$GC,1613,-0.51,-145.9,157.0,-8.0,272,1620,0.08,0.70,0.00,0.000,4,0.130,0.060,2839,1449,3424,0,0,0,0,0,0
$GC,1661,-0.47,-145.9,161.8,-10.1,280,1669,0.05,0.70,0.00,0.000,6,0.167,0.043,2852,1921,3424,0,0,0,0,0,0
$GC,2016,-0.44,-145.9,197.5,-10.2,341,2020,0.05,0.00,0.00,0.000,6,0.243,0.000,2864,1922,3425,0,0,0,0,0,0
$GC,2364,-0.44,-145.9,229.5,-9.1,402,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1922,3425,0,0,0,0,0,0
$GC,2712,-0.44,-145.9,259.5,-8.8,454,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1924,3425,0,0,0,0,0,0
$GC,3031,-0.44,-145.9,287.5,-9.2,484,3035,0.00,1.17,0.00,0.000,4,0.000,0.055,2863,1178,3425,0,0,0,0,0,0
$GC,3090,-0.47,-145.9,292.7,-8.8,489,3094,0.00,1.08,0.00,0.000,6,0.000,0.037,2862,1891,3425,0,0,0,0,0,0
$GC,3421,-0.47,-145.9,321.7,-8.8,520,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1892,3425,0,0,0,0,0,0
$GC,3740,-0.47,-145.9,351.6,-9.7,550,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1892,3425,0,0,0,0,0,0
$GC,4059,-0.49,-145.9,379.7,-8.5,580,4063,0.00,0.93,0.00,0.000,4,0.000,0.044,2858,2519,3425,0,0,0,0,0,0
$GC,4131,-0.53,-145.9,386.0,-8.0,586,4139,0.00,0.98,0.00,0.000,6,0.000,0.045,2857,1886,3425,0,0,0,0,0,0
$GC,4458,-0.53,-145.9,414.7,-9.1,617,4461,0.00,0.77,0.00,0.000,4,0.000,0.054,2858,1375,3425,0,0,0,0,0,0
$GC,4514,-0.53,-145.9,420.0,-8.8,622,4518,0.00,0.77,0.00,0.000,6,0.000,0.040,2856,1899,3425,0,0,0,0,0,0
$GC,4846,-0.53,-145.9,448.7,-8.3,653,4850,0.00,0.32,0.00,0.000,4,0.000,0.061,2856,1670,3425,0,0,0,0,0,0
$GC,4872,-0.53,-145.9,451.2,-8.4,655,4875,0.00,0.35,0.00,0.000,6,0.000,0.047,2854,1922,3425,0,0,0,0,0,0
$GC,5195,-0.53,-145.9,475.7,-7.8,685,5199,0.00,0.60,0.00,0.000,4,0.000,0.054,2854,1526,3425,0,0,0,0,0,0
$GC,5233,-0.53,-145.9,478.8,-7.4,688,5241,0.00,0.55,0.00,0.000,6,0.000,0.041,2852,1897,3425,0,0,0,0,0,0
$GC,5557,-0.53,-145.9,503.3,-8.0,717,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1897,3425,0,0,0,0,0,0
$GC,5863,-0.53,-145.9,528.8,-8.6,727,5866,0.00,0.28,0.00,0.000,4,0.000,0.063,2852,1702,3424,0,0,0,0,0,0
$GC,5900,-0.53,-145.9,532.5,-8.9,728,5902,0.00,0.28,0.00,0.000,6,0.000,0.051,2851,1903,3424,0,0,0,0,0,0
$GC,6231,-0.53,-145.9,562.4,-9.1,739,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1903,3424,0,0,0,0,0,0
$GC,6537,-0.53,-145.9,589.8,-9.0,749,6540,0.00,0.47,0.00,0.000,4,0.000,0.057,2851,1583,3423,0,0,0,0,0,0
$GC,6586,-0.53,-145.9,594.5,-9.5,750,6590,0.00,0.47,0.00,0.000,6,0.000,0.043,2850,1908,3423,0,0,0,0,0,0
$GC,6909,-0.53,-145.9,624.4,-9.5,761,6913,0.00,0.70,0.00,0.000,4,0.000,0.054,2850,1455,3422,0,0,0,0,0,0
$GC,6957,-0.53,-145.9,629.4,-9.9,762,6962,0.00,0.68,0.00,0.000,6,0.000,0.041,2849,1900,3422,0,0,0,0,0,0
$GC,7281,-0.53,-145.9,659.5,-9.2,773,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1901,3422,0,0,0,0,0,0
$GC,7587,-0.53,-145.9,689.6,-10.2,783,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1901,3421,0,0,0,0,0,0
$GC,7894,-0.53,-145.9,720.2,-9.5,793,7898,0.00,0.65,0.00,0.000,4,0.000,0.055,2849,1476,3421,0,0,0,0,0,0
$GC,7931,-0.53,-145.9,724.1,-9.8,794,7935,0.00,0.65,0.00,0.000,6,0.000,0.041,2847,1908,3421,0,0,0,0,0,0
$GC,8266,-0.53,-145.9,752.4,-8.1,805,8269,0.00,0.65,0.00,0.000,4,0.000,0.054,2847,1477,3419,0,0,0,0,0,0
$GC,8314,-0.53,-145.9,756.4,-7.9,806,8318,0.00,0.65,0.00,0.000,6,0.000,0.041,2845,1908,3420,0,0,0,0,0,0
$GC,8638,-0.53,-145.9,781.2,-7.8,817,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1908,3420,0,0,0,0,0,0
$GC,8944,-0.53,-145.9,804.7,-7.8,827,8947,0.00,0.38,0.00,0.000,4,0.000,0.058,2845,1645,3419,0,0,0,0,0,0
$GC,8987,-0.53,-145.9,808.1,-7.2,828,8991,0.00,0.38,0.00,0.000,6,0.000,0.048,2845,1904,3418,0,0,0,0,0,0
$GC,9317,-0.53,-145.9,830.9,-6.9,839,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1904,3418,0,0,0,0,0,0
$GC,9622,-0.53,-145.9,853.8,-7.7,849,9626,0.00,0.52,0.00,0.000,4,0.000,0.057,2845,1549,3417,0,0,0,0,0,0
$GC,9671,-0.53,-145.9,857.9,-8.6,850,9675,0.00,0.52,0.00,0.000,6,0.000,0.044,2845,1898,3417,0,0,0,0,0,0
$GC,9994,-0.53,-145.9,884.3,-8.2,861,9998,0.00,0.50,0.00,0.000,4,0.000,0.056,2845,1558,3416,0,0,0,0,0,0
$GC,10037,-0.53,-145.9,887.9,-9.1,862,10041,0.00,0.52,0.00,0.000,6,0.000,0.044,2845,1911,3416,0,0,0,0,0,0
$GC,10366,-0.53,-145.9,914.1,-8.1,873,10369,0.00,0.50,0.00,0.000,4,0.000,0.054,2845,1567,3415,0,0,0,0,0,0
$GC,10414,-0.53,-145.9,918.2,-8.2,874,10419,0.00,0.50,0.00,0.000,6,0.000,0.044,2845,1901,3415,0,0,0,0,0,0
$GC,10738,-0.53,-145.9,944.7,-8.5,885,10742,0.00,0.38,0.00,0.000,4,0.000,0.059,2845,1638,3415,0,0,0,0,0,0
$GC,10786,-0.53,-145.9,948.9,-8.7,886,10790,0.00,0.40,0.00,0.000,6,0.000,0.047,2845,1911,3416,0,0,0,0,0,0
$GC,11109,-0.53,-145.9,976.0,-8.6,897,11113,0.00,0.88,0.00,0.000,4,0.000,0.053,2845,1345,3415,0,0,0,0,0,0
$GC,11158,-0.55,-145.9,980.5,-10.0,898,11163,0.00,0.85,0.00,0.000,6,0.000,0.039,2845,1897,3415,0,0,0,0,0,0
$STATE,11390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11390,begin apogee
$GC,11394,-0.19,0.0,1000.6,8.9,906,11518,0.35,0.00,121.40,1.434,6,0.141,0.000,2951,1624,2827,0,0,0,0,0,0
$STATE,11519,end apogee,CONTROL_FINISHED_OK
$STATE,11519,begin climb
$GC,11520,0.52,145.9,1006.7,0.0,910,11656,0.68,2.10,126.70,1.424,4,0.090,0.062,3172,464,2232,0,0,0,0,0,0
$GC,11745,0.38,156.2,1002.1,7.1,917,11761,0.10,1.90,10.20,1.184,6,0.164,0.035,3145,1631,2189,0,0,0,0,0,0
$GC,12080,0.32,177.6,980.5,6.7,928,12105,0.10,1.05,19.50,1.297,4,0.204,0.042,3122,2291,2102,0,0,0,0,0,0
$GC,12171,0.32,211.7,974.9,6.2,930,12208,0.00,1.08,30.75,1.338,6,0.000,0.049,3123,1634,1964,0,0,0,0,0,0
$GC,12514,0.32,252.3,953.7,6.0,942,12553,0.00,0.00,36.78,1.359,6,0.000,0.000,3123,1634,1797,0,0,0,0,0,0
$GC,12851,0.38,283.7,933.0,6.3,953,12883,0.00,0.30,28.15,1.352,4,0.000,0.050,3123,1836,1670,0,0,0,0,0,0
$GC,12934,0.45,323.8,927.6,6.0,955,12976,0.10,0.35,36.85,1.352,6,0.108,0.063,3164,1625,1506,0,0,0,0,0,0
$GC,13282,0.47,323.8,895.9,9.3,967,13286,0.00,1.02,0.00,0.000,4,0.000,0.063,3166,1000,1498,0,0,0,0,0,0
$GC,13359,0.47,323.8,888.4,9.0,969,13363,0.00,1.00,0.00,0.000,6,0.000,0.037,3166,1634,1497,0,0,0,0,0,0
$GC,13688,0.47,323.8,860.5,8.4,980,13692,0.00,1.38,0.00,0.000,4,0.000,0.063,3166,804,1496,0,0,0,0,0,0
$GC,13755,0.47,323.8,855.1,8.3,982,13759,0.00,1.27,0.00,0.000,6,0.000,0.037,3166,1627,1496,0,0,0,0,0,0
$GC,14095,0.47,323.8,828.2,8.1,993,14099,0.00,0.75,0.00,0.000,4,0.000,0.063,3166,1167,1494,0,0,0,0,0,0
$GC,14150,0.47,323.8,823.7,8.4,994,14154,0.00,0.68,0.00,0.000,6,0.000,0.040,3167,1629,1495,0,0,0,0,0,0
$GC,14467,0.47,323.8,796.5,8.7,1005,14471,0.00,1.10,0.00,0.000,4,0.000,0.063,3167,950,1494,0,0,0,0,0,0
$GC,14535,0.47,323.8,790.5,9.5,1007,14538,0.00,1.02,0.00,0.000,6,0.000,0.037,3167,1624,1494,0,0,0,0,0,0
$GC,14874,0.47,323.8,759.8,9.1,1018,14878,0.00,0.90,0.00,0.000,4,0.000,0.063,3168,1067,1494,0,0,0,0,0,0
$GC,14941,0.47,323.8,753.9,10.2,1020,14945,0.00,0.85,0.00,0.000,6,0.000,0.038,3167,1634,1493,0,0,0,0,0,0
$GC,15281,0.47,323.8,722.0,9.3,1031,15285,0.00,1.45,0.00,0.000,4,0.000,0.064,3167,744,1493,0,0,0,0,0,0
$GC,15348,0.47,323.8,715.9,9.8,1033,15352,0.00,1.35,0.00,0.000,6,0.000,0.037,3168,1626,1493,0,0,0,0,0,0
$GC,15688,0.47,323.8,686.0,8.6,1044,15692,0.00,0.98,0.00,0.000,4,0.000,0.063,3168,1026,1493,0,0,0,0,0,0
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$STATE,23311,end climb,SURFACE_DEPTH_REACHED
$STATE,23311,begin surface coast
$FINISH,2.0,1.026744
$STATE,23331,end surface coast,CONTROL_FINISHED_OK
$STATE,23331,begin surface
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$IRIDIUM_FIX,-4253.80,-838.71,290912,151521
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,23.4,15.130
$10V_AH,10.3,13.544
$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
$DEVICE_SECS,23.500,81.550,532.125,0.000,0.000,31.175,36.028,316.178,0.250,0.000,18.997,4481.048,13386.477,589.515,5248.336,186.894,0.000,2395.074,0.000,4840.141,0.000,2.837,0.000
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$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1275.804,2517.668,1081.732,226.252,0.000,0.000,0.000,0.000,0.000,0.000
$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,110163,1842
$CAP_FILE_SIZE,230649,0
$CFSIZE,2097086464,2086731776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,300912,045105,-4303.202,-844.028,52,1.0,53,-21.4