version: 66.07.10.p01
glider: 574
mission: 4
dive: 270
start: 11 24 112 21 54 57
data:
$ID,574
$MISSION,4
$DIVE,270
$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,235
$T_MISSION,265
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-6697.8818
$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,24
$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,1913
$C_ROLL_CLIMB,1651
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,55
$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,249
$GPS1,241112,214559,-4149.389,-612.202,40,0.9,40,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.4
$GPS2,241112,215404,-4149.370,-612.177,50,1.1,54,-22.2
$SPEED_LIMITS,0.246,0.289
$TGT_NAME,ACC_WP1n
$TGT_LATLONG,-4130.000,-550.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.176,0.229
$KALMAN_X,-334693.8,-97.8,548.6,547905.3,-1118.2
$KALMAN_Y,27248.4,371.9,-147.6,87800.6,-1600.8
$MHEAD_RNG_PITCHd_Wd,62.8,47256,-24.2,-14.184
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.01,-145.9,0.0,0.0,0,70,0.00,0.00,-42.62,0.000,2,0.000,0.000,66,1932,2048,0,0,0,0,0,0
$GC,72,-1.01,-145.9,3.0,-1.2,7,151,11.98,1.95,-56.40,0.000,4,0.264,0.070,2684,763,3423,0,0,0,0,0,0
$GC,202,-0.93,-145.9,14.5,-17.7,28,209,0.10,1.80,0.00,0.000,6,0.178,0.041,2706,1887,3423,0,0,0,0,0,0
$GC,283,-0.89,-145.9,26.3,-14.2,41,290,0.08,0.00,0.00,0.000,6,0.220,0.000,2722,1887,3423,0,0,0,0,0,0
$GC,360,-0.89,-145.9,36.8,-13.0,54,367,0.00,0.62,0.00,0.000,4,0.000,0.047,2720,2315,3423,0,0,0,0,0,0
$GC,407,-0.89,-145.9,42.7,-11.8,62,414,0.00,0.62,0.00,0.000,6,0.000,0.050,2720,1910,3423,0,0,0,0,0,0
$GC,644,-0.89,-145.9,73.2,-13.2,103,648,0.00,1.60,0.00,0.000,4,0.000,0.061,2720,930,3424,0,0,0,0,0,0
$GC,696,-0.86,-145.9,80.4,-14.0,112,702,0.05,1.58,0.00,0.000,6,0.177,0.040,2728,1927,3424,0,0,0,0,0,0
$GC,1033,-0.96,-145.9,119.0,-10.8,152,1037,0.08,2.20,0.00,0.000,4,0.132,0.050,2690,3323,3424,0,0,0,0,0,0
$GC,1115,-0.96,-145.9,129.5,-12.3,157,1120,0.00,2.22,0.00,0.000,6,0.000,0.043,2690,1912,3424,0,0,0,0,0,0
$GC,1442,-0.98,-145.9,166.4,-11.5,178,1446,0.00,2.22,0.00,0.000,4,0.000,0.050,2680,3318,3425,0,0,0,0,0,0
$GC,1538,-0.96,-145.9,178.6,-12.1,184,1543,0.10,2.20,0.00,0.000,6,0.186,0.044,2703,1906,3424,0,0,0,0,0,0
$GC,1871,-1.02,-145.9,215.3,-11.3,205,1874,0.00,1.55,0.00,0.000,4,0.000,0.057,2703,939,3425,0,0,0,0,0,0
$GC,1907,-1.02,-145.9,219.8,-12.7,207,1911,0.00,1.52,0.00,0.000,6,0.000,0.037,2697,1920,3426,0,0,0,0,0,0
$GC,2239,-1.06,-145.9,258.6,-11.6,227,2243,0.08,2.20,0.00,0.000,4,0.137,0.050,2659,3323,3425,0,0,0,0,0,0
$GC,2334,-1.01,-145.9,272.3,-13.4,231,2338,0.10,2.20,0.00,0.000,6,0.194,0.041,2681,1907,3425,0,0,0,0,0,0
$GC,2662,-0.94,-145.9,318.0,-14.7,247,2667,0.10,2.10,0.00,0.000,4,0.204,0.054,2706,592,3426,0,0,0,0,0,0
$GC,2710,-0.94,-145.9,324.7,-13.9,249,2713,0.00,2.03,0.00,0.000,6,0.000,0.036,2698,1918,3426,0,0,0,0,0,0
$GC,3045,-1.01,-145.9,367.2,-12.5,265,3048,0.00,2.17,0.00,0.000,4,0.000,0.047,2687,3320,3426,0,0,0,0,0,0
$GC,3100,-1.01,-145.9,375.2,-13.1,267,3104,0.00,2.20,0.00,0.000,6,0.000,0.038,2687,1901,3426,0,0,0,0,0,0
$GC,3421,-1.03,-145.9,416.8,-13.0,281,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1900,3426,0,0,0,0,0,0
$GC,3727,-1.09,-145.9,457.3,-13.2,291,3732,0.08,2.20,0.00,0.000,4,0.142,0.045,2648,3314,3426,0,0,0,0,0,0
$GC,3804,-1.02,-145.9,469.6,-15.9,293,3809,0.10,2.17,0.00,0.000,6,0.164,0.037,2678,1904,3426,0,0,0,0,0,0
$GC,4128,-0.96,-145.9,519.5,-15.3,304,4133,0.10,2.22,0.00,0.000,4,0.205,0.054,2706,510,3425,0,0,0,0,0,0
$GC,4176,-0.96,-145.9,526.9,-14.2,305,4181,0.00,2.17,0.00,0.000,6,0.000,0.034,2696,1921,3425,0,0,0,0,0,0
$GC,4496,-1.01,-145.9,568.2,-12.0,316,4499,0.00,1.70,0.00,0.000,4,0.000,0.045,2688,3028,3425,0,0,0,0,0,0
$GC,4545,-1.01,-145.9,574.7,-13.5,317,4549,0.00,1.73,0.00,0.000,6,0.000,0.037,2687,1911,3424,0,0,0,0,0,0
$GC,4870,-1.07,-145.9,613.2,-11.7,328,4874,0.05,1.67,0.00,0.000,4,0.177,0.046,2659,2987,3424,0,0,0,0,0,0
$GC,4919,-1.01,-145.9,620.3,-14.6,329,4923,0.08,1.65,0.00,0.000,6,0.168,0.039,2681,1914,3424,0,0,0,0,0,0
$GC,5243,-0.97,-145.9,666.7,-14.8,340,5247,0.08,1.00,0.00,0.000,4,0.219,0.052,2698,1284,3423,0,0,0,0,0,0
$GC,5292,-0.95,-145.9,674.3,-14.7,341,5296,0.00,0.98,0.00,0.000,6,0.000,0.037,2694,1925,3423,0,0,0,0,0,0
$GC,5616,-0.95,-145.9,720.5,-14.4,352,5619,0.00,1.45,0.00,0.000,4,0.000,0.052,2694,1021,3422,0,0,0,0,0,0
$GC,5659,-0.92,-145.9,727.1,-14.9,353,5664,0.08,1.38,0.00,0.000,6,0.174,0.037,2711,1896,3422,0,0,0,0,0,0
$GC,5989,-1.02,-145.9,768.4,-12.4,364,5994,0.08,2.25,0.00,0.000,4,0.136,0.049,2673,3328,3421,0,0,0,0,0,0
$GC,6066,-1.02,-145.9,779.7,-14.9,366,6071,0.00,2.17,0.00,0.000,6,0.000,0.036,2673,1919,3421,0,0,0,0,0,0
$GC,6391,-0.95,-145.9,831.3,-16.1,377,6396,0.12,2.25,0.00,0.000,4,0.201,0.052,2706,498,3420,0,0,0,0,0,0
$GC,6462,-0.97,-145.9,841.9,-14.2,379,6467,0.00,2.20,0.00,0.000,6,0.000,0.033,2696,1917,3420,0,0,0,0,0,0
$GC,6792,-0.97,-145.9,887.8,-13.9,390,6796,0.00,1.65,0.00,0.000,4,0.000,0.050,2696,860,3420,0,0,0,0,0,0
$GC,6847,-0.97,-145.9,895.6,-14.1,391,6851,0.00,1.62,0.00,0.000,6,0.000,0.032,2689,1914,3419,0,0,0,0,0,0
$GC,7166,-0.95,-145.9,939.0,-13.5,402,7170,0.08,0.68,0.00,0.000,4,0.226,0.047,2706,1477,3419,0,0,0,0,0,0
$GC,7210,-0.95,-145.9,944.9,-12.9,403,7214,0.00,0.68,0.00,0.000,6,0.000,0.035,2703,1929,3419,0,0,0,0,0,0
$GC,7540,-0.95,-145.9,984.5,-11.9,414,7544,0.00,2.28,0.00,0.000,4,0.000,0.052,2703,499,3418,0,0,0,0,0,0
$GC,7611,-0.95,-145.9,993.3,-11.8,416,7616,0.00,2.17,0.00,0.000,6,0.000,0.034,2693,1895,3419,0,0,0,0,0,0
$STATE,7670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7670,begin apogee
$GC,7675,-0.21,0.0,1000.1,12.0,418,7807,0.88,0.00,128.35,1.493,6,0.158,0.000,2943,1635,2828,0,0,0,0,0,0
$STATE,7808,end apogee,CONTROL_FINISHED_OK
$STATE,7808,begin climb
$GC,7809,1.01,145.9,1005.5,0.0,422,7949,1.20,0.00,133.35,1.463,6,0.069,0.000,3339,1634,2231,0,0,0,0,0,0
$GC,8238,0.75,172.4,975.5,12.5,436,8269,0.32,0.45,24.10,1.360,4,0.226,0.045,3263,1917,2123,0,0,0,0,0,0
$GC,8309,0.64,195.0,967.1,12.7,438,8335,0.12,0.40,21.45,1.353,6,0.207,0.055,3231,1663,2032,0,0,0,0,0,0
$GC,8642,0.61,247.2,930.2,10.8,449,8693,0.08,0.43,46.55,1.391,4,0.239,0.060,3218,1404,1818,0,0,0,0,0,0
$GC,8767,0.65,289.8,916.2,11.4,453,8811,0.00,0.38,39.00,1.362,6,0.000,0.042,3218,1661,1644,0,0,0,0,0,0
$GC,9136,0.71,364.6,878.6,9.3,465,9207,0.08,0.00,68.35,1.363,6,0.133,0.000,3245,1670,1340,0,0,0,0,0,0
$GC,9502,0.78,397.0,835.6,12.1,477,9538,0.03,2.40,29.73,1.310,4,0.243,0.065,3266,246,1208,0,0,0,0,0,0
$GC,9599,0.84,403.2,822.4,13.8,480,9610,0.00,2.22,6.40,1.004,6,0.000,0.033,3266,1654,1183,0,0,0,0,0,0
$GC,9929,0.89,406.5,776.4,14.0,491,9939,0.10,1.45,4.40,0.829,4,0.120,0.060,3306,783,1169,0,0,0,0,0,0
$GC,10005,0.89,406.5,763.8,16.0,493,10010,0.00,1.35,0.00,0.000,6,0.000,0.034,3306,1652,1168,0,0,0,0,0,0
$GC,10335,0.89,406.5,710.9,16.1,504,10339,0.00,1.40,0.00,0.000,4,0.000,0.061,3309,804,1168,0,0,0,0,0,0
$GC,10403,0.85,406.5,699.9,16.6,506,10407,0.05,1.33,0.00,0.000,6,0.180,0.034,3295,1671,1167,0,0,0,0,0,0
$GC,10743,0.85,406.5,647.2,15.4,517,10747,0.00,1.33,0.00,0.000,4,0.000,0.059,3300,860,1167,0,0,0,0,0,0
$GC,10798,0.85,406.5,638.3,16.4,518,10803,0.00,1.23,0.00,0.000,6,0.000,0.035,3300,1646,1166,0,0,0,0,0,0
$GC,11117,0.85,406.5,589.2,15.2,529,11120,0.00,1.60,0.00,0.000,4,0.000,0.060,3307,673,1166,0,0,0,0,0,0
$GC,11177,0.85,406.5,579.7,16.3,530,11183,0.05,1.52,0.00,0.000,6,0.172,0.037,3292,1653,1166,0,0,0,0,0,0
$GC,11490,0.85,406.5,534.5,14.4,541,11494,0.00,1.73,0.00,0.000,4,0.000,0.064,3298,591,1166,0,0,0,0,0,0
$GC,11550,0.85,406.5,525.3,14.6,542,11556,0.00,1.65,0.00,0.000,6,0.000,0.037,3299,1646,1165,0,0,0,0,0,0
$GC,11863,0.85,406.5,478.7,14.8,553,11867,0.00,1.45,0.00,0.000,4,0.000,0.063,3306,766,1165,0,0,0,0,0,0
$GC,11931,0.85,406.5,468.1,16.3,555,11935,0.05,1.38,0.00,0.000,6,0.174,0.040,3291,1653,1165,0,0,0,0,0,0
$GC,12270,0.85,406.5,418.6,14.6,566,12274,0.00,2.33,0.00,0.000,4,0.000,0.068,3301,241,1165,0,0,0,0,0,0
$GC,12353,0.85,406.5,405.8,15.1,568,12358,0.00,2.22,0.00,0.000,6,0.000,0.040,3300,1645,1165,0,0,0,0,0,0
$GC,12672,0.86,414.5,360.8,13.7,583,12686,0.00,2.35,8.35,0.900,4,0.000,0.067,3306,249,1137,0,0,0,0,0,0
$GC,12748,0.86,416.3,349.4,14.1,586,12753,0.05,2.22,0.00,0.000,6,0.177,0.040,3292,1646,1136,0,0,0,0,0,0
$GC,13072,0.88,436.4,307.6,12.9,602,13097,0.00,1.12,21.48,1.003,4,0.000,0.059,3295,945,1048,0,0,0,0,0,0
$GC,13154,0.91,447.4,296.4,13.5,605,13170,0.00,1.12,11.85,0.942,6,0.000,0.038,3296,1661,1002,0,0,0,0,0,0
$GC,13487,0.96,458.6,251.3,13.5,622,13503,0.08,2.35,10.90,0.894,4,0.129,0.065,3333,252,957,0,0,0,0,0,0
$GC,13604,0.96,458.6,232.8,15.6,628,13609,0.03,2.20,0.00,0.000,6,0.206,0.038,3326,1640,954,0,0,0,0,0,0
$GC,13931,0.96,458.6,184.5,15.0,649,13935,0.00,2.28,0.00,0.000,4,0.000,0.067,3333,252,954,0,0,0,0,0,0
$GC,14009,0.96,458.6,171.6,16.0,654,14013,0.00,2.20,0.00,0.000,6,0.000,0.038,3334,1657,953,0,0,0,0,0,0
$GC,14335,0.96,458.6,119.5,16.7,675,14339,0.00,2.33,0.00,0.000,4,0.000,0.067,3344,249,952,0,0,0,0,0,0
$GC,14432,0.96,458.6,103.3,16.3,681,14437,0.10,2.20,0.00,0.000,6,0.207,0.038,3321,1665,952,0,0,0,0,0,0
$GC,14776,0.96,486.5,53.0,12.4,738,14809,0.00,2.40,25.40,0.838,4,0.000,0.066,3331,246,843,0,0,0,0,0,0
$GC,14891,0.96,499.8,37.9,13.3,758,14910,0.00,2.22,11.68,0.791,6,0.000,0.035,3331,1663,789,0,0,0,0,0,0
$STATE,15109,end climb,SURFACE_DEPTH_REACHED
$STATE,15109,begin surface coast
$FINISH,1.7,1.018033
$STATE,15134,end surface coast,CONTROL_FINISHED_OK
$STATE,15134,begin surface
$SM_CCo,15211,0.00,0.000,0,0,784,501.14
$SM_GC,2.76,9.02,0.00,0.00,0.054,0.000,0.000,91,1925,784,-9.09,0.37,501.14
$IRIDIUM_FIX,-4135.14,-616.26,241112,171709
$TT8_MAMPS,0.026964
$HUMID,48.14
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,22.2,63.752
$10V_AH,10.1,43.711
$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,25.700,125.250,591.325,0.000,0.000,45.749,49.797,235.101,0.250,0.000,55.985,2058.952,10109.270,619.921,2746.339,159.171,33.364,1709.896,0.000,2328.094,0.000,2.833,0.000
$DEVICE_MAMPS,263.925,70.380,1493.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.486,908.178,519.978,64.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,46854,799
$CAP_FILE_SIZE,156560,0
$CFSIZE,2097086464,2056847360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251112,020936,-4148.407,-611.873,35,1.6,35,-22.2