version: 66.07.10.p01
glider: 574
mission: 4
dive: 293
start: 11 30 112 6 8 28
data:
$ID,574
$MISSION,4
$DIVE,293
$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,230
$T_MISSION,260
$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,-6776.1509
$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,25
$R_STBD_OVSHOOT,59
$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,272
$GPS1,301112,060005,-4145.905,-628.209,31,1.1,31,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.3
$GPS2,301112,060734,-4145.913,-628.219,44,1.6,55,-22.2
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.136,-0.257
$KALMAN_X,-420423.4,424.9,-84.3,611961.9,-3367.7
$KALMAN_Y,29392.3,40.3,1149.2,91058.0,-2685.5
$MHEAD_RNG_PITCHd_Wd,176.9,90285,-24.6,-14.493
$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,-1.03,-145.9,0.0,0.0,0,82,0.00,0.00,-54.88,0.000,2,0.000,0.000,66,1947,2105,0,0,0,0,0,0
$GC,84,-1.03,-145.9,3.1,-1.6,11,156,11.75,2.20,-51.22,0.000,4,0.262,0.065,2664,3297,3423,0,0,0,0,0,0
$GC,258,-0.97,-145.9,21.8,-16.2,43,264,0.12,2.17,0.00,0.000,6,0.190,0.047,2695,1910,3424,0,0,0,0,0,0
$GC,332,-1.01,-145.9,32.1,-13.1,56,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1910,3424,0,0,0,0,0,0
$GC,564,-1.07,-145.9,61.5,-12.2,97,569,0.10,2.30,0.00,0.000,4,0.117,0.062,2661,491,3424,0,0,0,0,0,0
$GC,643,-0.99,-145.9,73.6,-15.9,111,648,0.17,2.15,0.00,0.000,6,0.191,0.037,2693,1903,3425,0,0,0,0,0,0
$GC,982,-1.02,-145.9,116.2,-12.6,157,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1903,3425,0,0,0,0,0,0
$GC,1294,-1.05,-145.9,155.2,-12.3,177,1298,0.05,2.20,0.00,0.000,4,0.170,0.047,2663,3315,3425,0,0,0,0,0,0
$GC,1366,-1.01,-145.9,165.4,-14.3,181,1370,0.10,2.17,0.00,0.000,6,0.196,0.041,2685,1907,3425,0,0,0,0,0,0
$GC,1691,-1.05,-145.9,206.3,-12.3,202,1695,0.00,2.22,0.00,0.000,4,0.000,0.056,2685,505,3426,0,0,0,0,0,0
$GC,1757,-1.01,-145.9,215.7,-13.8,206,1761,0.00,2.17,0.00,0.000,6,0.000,0.033,2676,1925,3426,0,0,0,0,0,0
$GC,2092,-1.03,-145.9,256.7,-12.2,227,2096,0.00,1.08,0.00,0.000,4,0.000,0.052,2676,1250,3426,0,0,0,0,0,0
$GC,2125,-1.00,-145.9,261.2,-12.8,228,2129,0.05,1.00,0.00,0.000,6,0.184,0.034,2686,1911,3425,0,0,0,0,0,0
$GC,2448,-1.03,-145.9,297.8,-11.4,244,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1911,3425,0,0,0,0,0,0
$GC,2756,-1.07,-145.9,333.0,-11.3,259,2760,0.00,1.65,0.00,0.000,4,0.000,0.044,2679,2975,3426,0,0,0,0,0,0
$GC,2811,-1.07,-145.9,339.9,-12.5,261,2815,0.00,1.65,0.00,0.000,6,0.000,0.041,2679,1914,3426,0,0,0,0,0,0
$GC,3133,-1.09,-145.9,376.7,-11.4,277,3137,0.00,2.22,0.00,0.000,4,0.000,0.055,2679,505,3426,0,0,0,0,0,0
$GC,3224,-1.06,-145.9,388.5,-12.8,281,3228,0.00,2.12,0.00,0.000,6,0.000,0.031,2669,1922,3426,0,0,0,0,0,0
$GC,3538,-1.06,-145.9,426.6,-12.1,293,3542,0.00,0.32,0.00,0.000,4,0.000,0.055,2669,1692,3426,0,0,0,0,0,0
$GC,3554,-1.06,-145.9,428.7,-12.2,293,3558,0.00,0.32,0.00,0.000,6,0.000,0.045,2667,1927,3425,0,0,0,0,0,0
$GC,3878,-1.09,-145.9,466.6,-11.5,304,3882,0.00,0.70,0.00,0.000,4,0.000,0.049,2668,1465,3425,0,0,0,0,0,0
$GC,3899,-1.09,-145.9,469.3,-11.6,304,3904,0.00,0.68,0.00,0.000,6,0.000,0.037,2664,1913,3425,0,0,0,0,0,0
$GC,4218,-1.09,-145.9,505.1,-11.1,315,4222,0.00,1.35,0.00,0.000,4,0.000,0.050,2664,1058,3424,0,0,0,0,0,0
$GC,4252,-1.05,-145.9,509.1,-12.2,316,4256,0.00,1.30,0.00,0.000,6,0.000,0.034,2660,1909,3424,0,0,0,0,0,0
$GC,4593,-1.05,-145.9,548.6,-11.5,327,4596,0.00,0.32,0.00,0.000,4,0.000,0.054,2660,1681,3424,0,0,0,0,0,0
$GC,4608,-1.05,-145.9,551.0,-11.8,327,4612,0.00,0.35,0.00,0.000,6,0.000,0.044,2659,1930,3424,0,0,0,0,0,0
$GC,4933,-1.08,-145.9,589.7,-12.0,338,4937,0.00,2.25,0.00,0.000,4,0.000,0.052,2658,505,3423,0,0,0,0,0,0
$GC,5016,-1.04,-145.9,601.4,-13.7,340,5020,0.12,2.10,0.00,0.000,6,0.196,0.030,2677,1906,3422,0,0,0,0,0,0
$GC,5334,-1.08,-145.9,639.0,-11.8,351,5338,0.00,0.75,0.00,0.000,4,0.000,0.042,2675,2421,3422,0,0,0,0,0,0
$GC,5378,-1.12,-145.9,644.5,-12.0,352,5383,0.03,0.77,0.00,0.000,6,0.120,0.043,2657,1910,3422,0,0,0,0,0,0
$GC,5708,-1.12,-145.9,686.0,-12.7,363,5711,0.00,0.57,0.00,0.000,4,0.000,0.041,2654,2312,3421,0,0,0,0,0,0
$GC,5751,-1.12,-145.9,691.9,-13.4,364,5756,0.00,0.62,0.00,0.000,6,0.000,0.043,2654,1900,3420,0,0,0,0,0,0
$GC,6081,-1.12,-145.9,733.3,-12.5,375,6085,0.00,1.20,0.00,0.000,4,0.000,0.042,2649,2683,3420,0,0,0,0,0,0
$GC,6131,-1.07,-145.9,740.1,-13.6,376,6136,0.05,1.17,0.00,0.000,6,0.188,0.038,2661,1915,3420,0,0,0,0,0,0
$GC,6455,-1.11,-145.9,782.5,-12.3,387,6459,0.00,0.45,0.00,0.000,4,0.000,0.054,2662,1591,3419,0,0,0,0,0,0
$GC,6470,-1.11,-145.9,784.9,-12.7,387,6475,0.00,0.50,0.00,0.000,6,0.000,0.041,2661,1930,3419,0,0,0,0,0,0
$GC,6795,-1.14,-145.9,825.2,-12.6,398,6799,0.00,1.17,0.00,0.000,4,0.000,0.049,2661,1188,3418,0,0,0,0,0,0
$GC,6830,-1.12,-145.9,829.9,-13.2,399,6834,0.00,1.10,0.00,0.000,6,0.000,0.036,2656,1905,3418,0,0,0,0,0,0
$GC,7170,-1.12,-145.9,874.7,-13.2,410,7173,0.00,1.48,0.00,0.000,4,0.000,0.050,2656,980,3417,0,0,0,0,0,0
$GC,7214,-1.08,-145.9,881.2,-13.9,411,7218,0.00,1.45,0.00,0.000,6,0.000,0.036,2649,1913,3417,0,0,0,0,0,0
$GC,7544,-1.08,-145.9,924.2,-13.0,422,7548,0.08,2.25,0.00,0.000,4,0.230,0.052,2664,510,3417,0,0,0,0,0,0
$GC,7615,-1.05,-145.9,934.4,-13.5,424,7620,0.08,2.17,0.00,0.000,6,0.218,0.035,2669,1920,3416,0,0,0,0,0,0
$STATE,7826,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7826,begin apogee
$GC,7831,-0.21,0.0,962.8,13.3,431,7961,0.93,0.00,127.22,1.474,6,0.158,0.000,2937,1640,2827,0,0,0,0,0,0
$STATE,7962,end apogee,CONTROL_FINISHED_OK
$STATE,7962,begin climb
$GC,7964,1.03,145.9,970.1,0.0,435,8105,1.20,0.68,134.07,1.450,4,0.065,0.036,3339,2039,2231,0,0,0,0,0,0
$GC,8189,0.77,224.8,967.6,9.3,442,8271,0.30,0.65,73.70,1.421,6,0.218,0.049,3273,1649,1909,0,0,0,0,0,0
$GC,8584,0.69,282.9,925.4,10.6,455,8640,0.15,0.95,51.78,1.398,4,0.217,0.041,3239,2219,1673,0,0,0,0,0,0
$GC,8679,0.69,339.3,915.5,10.7,457,8736,0.00,0.95,52.50,1.380,6,0.000,0.047,3242,1648,1443,0,0,0,0,0,0
$GC,9043,0.75,402.4,878.3,10.3,469,9104,0.00,0.80,57.45,1.364,4,0.000,0.059,3245,1181,1185,0,0,0,0,0,0
$GC,9143,0.83,446.3,867.6,11.6,472,9189,0.08,0.75,41.70,1.335,6,0.076,0.036,3278,1674,1006,0,0,0,0,0,0
$GC,9503,0.90,477.8,823.1,12.4,484,9538,0.08,2.42,28.98,1.291,4,0.137,0.067,3313,242,878,0,0,0,0,0,0
$GC,9610,0.94,477.8,806.5,15.5,487,9614,0.00,2.22,0.00,0.000,6,0.000,0.036,3313,1630,872,0,0,0,0,0,0
$GC,9940,0.96,477.8,754.6,15.7,498,9944,0.00,0.95,0.00,0.000,4,0.000,0.060,3317,1052,871,0,0,0,0,0,0
$GC,9988,0.96,477.8,746.4,15.6,499,9993,0.00,0.95,0.00,0.000,6,0.000,0.035,3317,1668,870,0,0,0,0,0,0
$GC,10313,0.99,477.8,695.4,15.6,510,10317,0.00,2.28,0.00,0.000,4,0.000,0.065,3326,268,871,0,0,0,0,0,0
$GC,10362,0.99,477.8,687.2,16.0,511,10367,0.00,2.15,0.00,0.000,6,0.000,0.038,3327,1631,868,0,0,0,0,0,0
$GC,10681,0.99,477.8,637.2,15.5,522,10685,0.00,2.28,0.00,0.000,4,0.000,0.066,3335,243,867,0,0,0,0,0,0
$GC,10748,0.99,477.8,626.9,15.2,524,10752,0.00,2.17,0.00,0.000,6,0.000,0.038,3335,1654,867,0,0,0,0,0,0
$GC,11082,0.99,477.8,573.7,16.1,535,11086,0.00,2.00,0.00,0.000,4,0.000,0.064,3344,443,867,0,0,0,0,0,0
$GC,11136,0.99,477.8,564.3,16.9,536,11141,0.03,1.90,0.00,0.000,6,0.216,0.037,3337,1660,868,0,0,0,0,0,0
$GC,11454,0.99,477.8,510.4,17.3,547,11458,0.00,2.33,0.00,0.000,4,0.000,0.068,3346,251,867,0,0,0,0,0,0
$GC,11516,0.99,477.8,499.4,17.5,549,11521,0.08,2.17,0.00,0.000,6,0.224,0.040,3332,1654,867,0,0,0,0,0,0
$GC,11850,0.99,477.8,442.6,16.9,560,11854,0.00,2.33,0.00,0.000,4,0.000,0.067,3342,245,867,0,0,0,0,0,0
$GC,11916,0.99,477.8,431.3,16.1,562,11921,0.00,2.22,0.00,0.000,6,0.000,0.038,3342,1661,867,0,0,0,0,0,0
$GC,12233,0.99,477.8,380.0,16.1,574,12236,0.00,2.17,0.00,0.000,4,0.000,0.047,3342,3058,867,0,0,0,0,0,0
$GC,12309,0.99,477.8,367.6,16.2,577,12316,0.05,2.22,0.00,0.000,6,0.195,0.047,3338,1661,868,0,0,0,0,0,0
$GC,12626,0.99,477.8,316.7,16.1,593,12630,0.00,2.20,0.00,0.000,4,0.000,0.044,3338,3063,867,0,0,0,0,0,0
$GC,12691,0.99,477.8,306.1,15.6,596,12696,0.05,2.25,0.00,0.000,6,0.194,0.046,3333,1651,867,0,0,0,0,0,0
$GC,13018,0.99,477.8,256.5,14.9,612,13022,0.00,2.22,0.00,0.000,4,0.000,0.044,3333,3069,867,0,0,0,0,0,0
$GC,13096,0.99,477.8,245.0,14.7,616,13100,0.00,2.20,0.00,0.000,6,0.000,0.045,3342,1651,867,0,0,0,0,0,0
$GC,13420,0.99,477.8,195.9,15.3,637,13424,0.00,2.22,0.00,0.000,4,0.000,0.043,3342,3071,867,0,0,0,0,0,0
$GC,13486,0.99,477.8,185.4,14.8,641,13492,0.05,2.25,0.00,0.000,6,0.194,0.046,3338,1657,867,0,0,0,0,0,0
$GC,13812,0.99,477.8,136.1,15.2,662,13816,0.00,2.20,0.00,0.000,4,0.000,0.043,3337,3064,867,0,0,0,0,0,0
$GC,13874,0.99,477.8,126.6,15.1,666,13879,0.08,2.20,0.00,0.000,6,0.230,0.046,3333,1650,867,0,0,0,0,0,0
$GC,14201,0.99,477.8,78.7,14.6,704,14207,0.00,2.22,0.00,0.000,4,0.000,0.043,3333,3071,867,0,0,0,0,0,0
$GC,14253,1.02,496.0,71.5,13.3,713,14274,0.00,2.22,15.93,0.799,6,0.000,0.044,3342,1650,805,0,0,0,0,0,0
$GC,14612,1.00,496.0,15.8,15.8,777,14617,0.00,1.52,0.00,0.000,4,0.000,0.041,3342,2621,803,0,0,0,0,0,0
$GC,14646,1.00,506.7,10.7,13.8,783,14657,0.03,1.55,5.35,0.575,6,0.214,0.046,3342,1647,760,0,0,0,0,0,0
$STATE,14696,end climb,SURFACE_DEPTH_REACHED
$STATE,14696,begin surface coast
$FINISH,1.7,1.012841
$STATE,14715,end surface coast,CONTROL_FINISHED_OK
$STATE,14715,begin surface
$SM_CCo,14792,0.00,0.000,0,0,755,508.25
$SM_GC,2.68,8.93,0.00,0.00,0.049,0.000,0.000,84,1934,755,-9.09,0.62,508.25
$IRIDIUM_FIX,-4129.38,-624.55,301112,010134
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,22.2,69.004
$10V_AH,10.2,46.365
$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,24.700,116.375,588.675,0.000,0.000,26.189,38.732,218.797,0.000,0.000,57.439,2021.586,10345.612,642.458,2066.019,165.286,33.365,1657.116,0.000,1696.596,0.000,1.013,0.000
$DEVICE_MAMPS,261.630,68.085,1474.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.439,0.000,523.469,68.813,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,46855,795
$CAP_FILE_SIZE,152418,0
$CFSIZE,2097086464,2053570560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301112,101605,-4146.885,-628.740,31,1.2,31,-22.2