version: 66.07.10.p01
glider: 574
mission: 4
dive: 296
start: 11 30 112 19 11 30
data:
$ID,574
$MISSION,4
$DIVE,296
$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,-6785.9219
$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,2500
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,32
$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,275
$GPS1,301112,190253,-4148.438,-629.783,39,1.6,39,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-68.1
$GPS2,301112,191035,-4148.475,-629.676,37,0.9,37,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.170,-0.236
$KALMAN_X,-428062.5,-625.4,-646.7,619258.4,-1275.7
$KALMAN_Y,35529.5,-351.1,-172.1,81931.8,1217.2
$MHEAD_RNG_PITCHd_Wd,174.3,86927,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.03,-145.9,0.0,0.0,0,98,0.00,0.00,-70.55,0.000,2,0.000,0.000,67,1922,2410,0,0,0,0,0,0
$GC,101,-1.03,-145.9,3.0,-1.1,12,150,11.90,1.33,-32.10,0.000,4,0.265,0.076,2674,1084,3421,0,0,0,0,0,0
$GC,283,-0.94,-145.9,27.6,-14.8,42,290,0.12,2.28,0.00,0.000,6,0.184,0.045,2700,2496,3422,0,0,0,0,0,0
$GC,362,-0.94,-145.9,38.2,-13.2,55,367,0.00,1.12,0.00,0.000,4,0.000,0.048,2700,1778,3422,0,0,0,0,0,0
$GC,503,-0.97,-145.9,55.9,-13.0,79,508,0.00,1.15,0.00,0.000,6,0.000,0.042,2696,2516,3422,0,0,0,0,0,0
$GC,732,-0.97,-145.9,85.8,-12.6,120,739,0.00,0.70,0.00,0.000,4,0.000,0.052,2692,2976,3422,0,0,0,0,0,0
$GC,757,-0.97,-145.9,88.7,-12.5,124,762,0.00,0.75,0.00,0.000,6,0.000,0.043,2692,2482,3422,0,0,0,0,0,0
$GC,1084,-0.97,-145.9,129.4,-12.4,155,1087,0.00,2.08,0.00,0.000,4,0.000,0.052,2683,3799,3422,0,0,0,0,0,0
$GC,1145,-0.97,-145.9,137.7,-12.3,158,1153,0.00,2.00,0.00,0.000,6,0.000,0.036,2691,2498,3423,0,0,0,0,0,0
$GC,1466,-0.97,-145.9,174.0,-11.4,179,1470,0.00,2.03,0.00,0.000,4,0.000,0.050,2682,3790,3423,0,0,0,0,0,0
$GC,1518,-0.97,-145.9,180.4,-12.7,182,1522,0.05,1.92,0.00,0.000,6,0.224,0.035,2693,2500,3423,0,0,0,0,0,0
$GC,1850,-0.97,-145.9,218.9,-11.8,203,1854,0.00,2.03,0.00,0.000,4,0.000,0.050,2685,3791,3424,0,0,0,0,0,0
$GC,1888,-0.97,-145.9,224.5,-13.7,205,1892,0.00,1.98,0.00,0.000,6,0.000,0.033,2685,2498,3423,0,0,0,0,0,0
$GC,2212,-0.97,-145.9,267.7,-13.5,224,2215,0.00,2.03,0.00,0.000,4,0.000,0.048,2675,3799,3424,0,0,0,0,0,0
$GC,2282,-0.97,-145.9,277.3,-14.5,227,2286,0.10,1.98,0.00,0.000,6,0.183,0.033,2699,2498,3424,0,0,0,0,0,0
$GC,2617,-1.02,-145.9,318.2,-11.7,243,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2498,3425,0,0,0,0,0,0
$GC,2923,-1.08,-145.9,353.8,-11.2,258,2928,0.10,2.03,0.00,0.000,4,0.115,0.048,2653,3791,3425,0,0,0,0,0,0
$GC,2964,-1.04,-145.9,359.0,-14.2,259,2969,0.10,1.95,0.00,0.000,6,0.188,0.033,2675,2495,3425,0,0,0,0,0,0
$GC,3281,-1.04,-145.9,398.4,-12.3,275,3285,0.00,2.03,0.00,0.000,4,0.000,0.048,2667,3790,3425,0,0,0,0,0,0
$GC,3335,-1.04,-145.9,406.0,-13.3,277,3340,0.00,1.95,0.00,0.000,6,0.000,0.031,2666,2501,3425,0,0,0,0,0,0
$GC,3654,-1.04,-145.9,445.3,-12.1,288,3658,0.00,2.03,0.00,0.000,4,0.000,0.047,2657,3801,3426,0,0,0,0,0,0
$GC,3723,-1.02,-145.9,453.9,-12.8,290,3727,0.10,1.95,0.00,0.000,6,0.187,0.031,2680,2492,3425,0,0,0,0,0,0
$GC,4063,-1.04,-145.9,492.2,-11.1,301,4067,0.00,1.50,0.00,0.000,4,0.000,0.046,2674,3456,3426,0,0,0,0,0,0
$GC,4090,-1.07,-145.9,495.5,-11.1,301,4096,0.00,1.42,0.00,0.000,6,0.000,0.033,2675,2507,3426,0,0,0,0,0,0
$GC,4403,-1.07,-145.9,530.9,-11.5,312,4407,0.00,2.00,0.00,0.000,4,0.000,0.049,2665,3791,3426,0,0,0,0,0,0
$GC,4471,-1.07,-145.9,539.4,-12.5,314,4474,0.00,1.90,0.00,0.000,6,0.000,0.031,2665,2501,3426,0,0,0,0,0,0
$GC,4811,-1.07,-145.9,583.7,-13.4,325,4815,0.00,2.03,0.00,0.000,4,0.000,0.048,2656,3798,3425,0,0,0,0,0,0
$GC,4883,-1.07,-145.9,593.9,-13.5,327,4887,0.00,1.98,0.00,0.000,6,0.000,0.031,2656,2498,3425,0,0,0,0,0,0
$GC,5219,-1.00,-145.9,643.6,-15.6,338,5223,0.12,1.62,0.00,0.000,4,0.204,0.041,2687,1425,3425,0,0,0,0,0,0
$GC,5307,-1.00,-145.9,656.3,-13.7,340,5311,0.00,1.65,0.00,0.000,6,0.000,0.034,2680,2501,3425,0,0,0,0,0,0
$GC,5626,-0.97,-145.9,698.2,-13.3,351,5628,0.08,0.00,0.00,0.000,6,0.231,0.000,2695,2501,3425,0,0,0,0,0,0
$GC,5932,-1.02,-145.9,732.1,-10.8,361,5936,0.00,2.17,0.00,0.000,4,0.000,0.045,2695,1097,3425,0,0,0,0,0,0
$GC,5943,-1.05,-145.9,733.6,-10.8,361,5947,0.00,2.17,0.00,0.000,6,0.000,0.036,2685,2505,3424,0,0,0,0,0,0
$GC,6267,-1.08,-145.9,767.0,-10.3,372,6272,0.08,0.85,0.00,0.000,4,0.133,0.041,2657,1949,3423,0,0,0,0,0,0
$GC,6395,-1.08,-145.9,781.2,-11.7,375,6400,0.00,0.85,0.00,0.000,6,0.000,0.039,2655,2510,3423,0,0,0,0,0,0
$GC,6708,-1.03,-145.9,820.5,-13.0,386,6713,0.10,2.20,0.00,0.000,4,0.213,0.044,2684,1099,3423,0,0,0,0,0,0
$GC,6718,-0.98,-145.9,822.2,-13.2,386,6723,0.05,2.17,0.00,0.000,6,0.191,0.037,2690,2486,3423,0,0,0,0,0,0
$GC,7042,-1.03,-145.9,860.9,-12.0,397,7046,0.00,2.03,0.00,0.000,4,0.000,0.050,2681,3793,3423,0,0,0,0,0,0
$GC,7103,-1.08,-145.9,868.8,-12.9,398,7109,0.05,1.95,0.00,0.000,6,0.174,0.031,2665,2489,3423,0,0,0,0,0,0
$GC,7416,-1.05,-145.9,911.9,-14.3,409,7420,0.00,0.65,0.00,0.000,4,0.000,0.044,2662,2921,3422,0,0,0,0,0,0
$GC,7437,-1.03,-145.9,915.2,-14.4,409,7442,0.05,0.62,0.00,0.000,6,0.174,0.037,2676,2481,3422,0,0,0,0,0,0
$GC,7755,-1.03,-145.9,959.9,-14.1,420,7759,0.00,1.67,0.00,0.000,4,0.000,0.047,2669,3554,3422,0,0,0,0,0,0
$GC,7794,-1.08,-145.9,965.5,-13.6,421,7798,0.00,1.58,0.00,0.000,6,0.000,0.031,2670,2518,3422,0,0,0,0,0,0
$STATE,7802,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7802,begin apogee
$GC,7809,-0.21,0.0,966.9,13.4,421,7945,0.95,0.00,129.23,1.473,6,0.173,0.000,2935,1006,2827,0,0,0,0,0,0
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7948,1.03,145.9,978.0,0.0,426,8089,1.25,1.85,134.07,1.440,4,0.067,0.034,3344,2054,2231,0,0,0,0,0,0
$GC,8225,0.77,239.7,974.7,8.3,434,8318,0.32,1.77,85.78,1.396,6,0.223,0.050,3265,1007,1849,0,0,0,0,0,0
$GC,8623,0.70,295.5,934.0,10.8,447,8678,0.10,1.80,49.65,1.383,4,0.234,0.037,3245,2115,1622,0,0,0,0,0,0
$GC,8801,0.70,342.0,913.3,11.4,452,8849,0.00,1.85,42.55,1.370,6,0.000,0.052,3251,997,1432,0,0,0,0,0,0
$GC,9184,0.72,369.8,865.7,12.6,465,9215,0.00,2.28,25.58,1.317,4,0.000,0.036,3251,2422,1320,0,0,0,0,0,0
$GC,9338,0.76,388.9,845.4,13.2,469,9363,0.00,2.33,18.52,1.264,6,0.000,0.054,3261,997,1240,0,0,0,0,0,0
$GC,9689,0.80,398.9,798.1,13.8,481,9703,0.00,2.00,9.75,1.131,4,0.000,0.037,3261,2267,1200,0,0,0,0,0,0
$GC,9776,0.84,398.9,785.6,14.9,483,9780,0.00,2.08,0.00,0.000,6,0.000,0.055,3268,1004,1199,0,0,0,0,0,0
$GC,10095,0.87,415.5,742.6,13.4,494,10116,0.08,1.40,16.67,1.212,4,0.137,0.037,3292,1873,1132,0,0,0,0,0,0
$GC,10193,0.87,415.5,728.2,14.8,497,10198,0.00,1.45,0.00,0.000,6,0.000,0.057,3298,1001,1131,0,0,0,0,0,0
$GC,10529,0.87,415.5,679.4,14.6,508,10532,0.00,0.93,0.00,0.000,4,0.000,0.068,3303,422,1129,0,0,0,0,0,0
$GC,10555,0.87,415.5,675.3,14.8,508,10561,0.00,0.90,0.00,0.000,6,0.000,0.041,3303,1012,1128,0,0,0,0,0,0
$GC,10868,0.87,415.5,629.3,14.7,519,10872,0.00,0.50,0.00,0.000,4,0.000,0.070,3306,689,1128,0,0,0,0,0,0
$GC,10883,0.87,415.5,626.9,14.5,519,10887,0.00,0.47,0.00,0.000,6,0.000,0.046,3305,1006,1127,0,0,0,0,0,0
$GC,11207,0.85,415.5,579.6,14.7,530,11211,0.08,0.50,0.00,0.000,4,0.228,0.044,3292,1342,1127,0,0,0,0,0,0
$GC,11464,0.85,424.4,543.4,13.9,537,11476,0.00,0.57,8.77,1.010,6,0.000,0.066,3293,994,1096,0,0,0,0,0,0
$GC,11812,0.85,429.6,494.3,14.2,549,11822,0.00,1.33,6.18,0.881,4,0.000,0.069,3299,163,1075,0,0,0,0,0,0
$GC,11866,0.85,436.1,486.4,14.1,550,11877,0.00,1.30,7.85,0.950,6,0.000,0.041,3299,1011,1048,0,0,0,0,0,0
$GC,12207,0.85,447.0,438.8,13.8,562,12225,0.00,2.25,11.70,1.017,4,0.000,0.042,3299,2402,1003,0,0,0,0,0,0
$GC,12299,0.85,452.7,426.0,14.1,564,12311,0.05,2.33,6.78,0.885,6,0.192,0.058,3295,1000,981,0,0,0,0,0,0
$GC,12624,0.85,467.6,382.2,13.5,577,12645,0.00,2.20,15.30,1.021,4,0.000,0.040,3294,2398,919,0,0,0,0,0,0
$GC,12718,0.90,482.7,369.9,13.5,581,12739,0.00,2.30,14.85,1.012,6,0.000,0.057,3303,996,859,0,0,0,0,0,0
$GC,13052,0.92,482.7,320.6,15.0,597,13056,0.00,1.05,0.00,0.000,4,0.000,0.039,3303,1676,855,0,0,0,0,0,0
$GC,13147,0.98,482.7,306.2,15.4,601,13152,0.03,1.12,0.00,0.000,6,0.106,0.060,3329,998,855,0,0,0,0,0,0
$GC,13475,0.98,482.7,252.5,16.6,617,13479,0.00,1.02,0.00,0.000,4,0.000,0.039,3329,1674,854,0,0,0,0,0,0
$GC,13564,0.98,482.7,237.7,15.3,622,13568,0.00,1.15,0.00,0.000,6,0.000,0.061,3334,990,854,0,0,0,0,0,0
$GC,13892,0.96,482.7,185.2,15.9,643,13896,0.00,0.57,0.00,0.000,4,0.000,0.041,3334,1390,853,0,0,0,0,0,0
$GC,14149,0.96,488.2,145.5,14.1,658,14164,0.05,0.65,5.53,0.680,6,0.253,0.067,3327,998,836,0,0,0,0,0,0
$GC,14475,0.96,488.2,98.0,14.9,679,14479,0.00,2.15,0.00,0.000,4,0.000,0.040,3328,2397,836,0,0,0,0,0,0
$GC,14578,0.96,495.8,82.9,14.0,697,14595,0.00,2.25,8.02,0.734,6,0.000,0.059,3335,1001,806,0,0,0,0,0,0
$GC,14940,0.96,495.8,26.5,15.5,760,14947,0.00,1.23,0.00,0.000,4,0.000,0.037,3335,1790,805,0,0,0,0,0,0
$GC,15032,0.98,515.5,13.4,13.2,775,15051,0.00,1.33,10.32,0.699,6,0.000,0.061,3340,991,724,0,0,0,0,0,0
$STATE,15105,end climb,SURFACE_DEPTH_REACHED
$STATE,15105,begin surface coast
$FINISH,1.7,1.013079
$STATE,15131,end surface coast,CONTROL_FINISHED_OK
$STATE,15131,begin surface
$SM_CCo,15211,0.00,0.000,0,0,720,517.08
$SM_GC,2.74,9.12,0.00,0.00,0.060,0.000,0.000,88,2486,720,-9.10,-0.40,517.08
$IRIDIUM_FIX,-4132.26,-630.61,301112,141413
$TT8_MAMPS,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,22.2,69.755
$10V_AH,10.1,46.624
$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,25.025,120.025,607.100,0.000,0.000,23.451,37.310,261.442,0.000,0.000,39.023,2041.305,10041.757,641.682,2765.008,181.846,33.360,1757.661,0.000,2382.125,0.000,1.014,0.000
$DEVICE_MAMPS,264.690,76.500,1473.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.217,895.634,516.022,65.124,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354532
$DATA_FILE_SIZE,50245,791
$CAP_FILE_SIZE,156935,0
$CFSIZE,2097086464,2053177344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301112,232605,-4148.966,-629.700,31,1.2,31,-22.1