version: 66.07.10.p01
glider: 574
mission: 4
dive: 297
start: 11 30 112 23 35 18
data:
$ID,574
$MISSION,4
$DIVE,297
$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,-6789.3799
$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,27
$R_STBD_OVSHOOT,21
$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,276
$GPS1,301112,232605,-4148.966,-629.700,31,1.2,31,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-69.8
$GPS2,301112,233423,-4148.984,-629.709,67,1.3,68,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.092,-0.275
$KALMAN_X,-430911.0,-525.8,-268.5,621574.5,-705.7
$KALMAN_Y,37475.1,97.0,-292.0,78704.8,2722.7
$MHEAD_RNG_PITCHd_Wd,174.0,86115,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-64.55,0.000,2,0.000,0.000,62,2479,2308,0,0,0,0,0,0
$GC,95,-1.03,-145.9,3.1,-1.9,11,156,12.10,2.17,-39.38,0.000,4,0.270,0.071,2664,3802,3422,0,0,0,0,0,0
$GC,230,-0.99,-145.9,16.9,-14.4,33,238,0.08,2.08,0.00,0.000,6,0.170,0.044,2687,2495,3424,0,0,0,0,0,0
$GC,311,-0.96,-145.9,28.5,-13.1,46,319,0.08,2.28,0.00,0.000,4,0.228,0.057,2706,1094,3424,0,0,0,0,0,0
$GC,414,-0.96,-145.9,43.4,-14.1,63,419,0.00,2.22,0.00,0.000,6,0.000,0.041,2697,2516,3425,0,0,0,0,0,0
$GC,646,-0.96,-145.9,75.8,-13.7,104,651,0.00,0.90,0.00,0.000,4,0.000,0.049,2692,3101,3424,0,0,0,0,0,0
$GC,667,-0.96,-145.9,78.7,-13.6,108,675,0.00,0.93,0.00,0.000,6,0.000,0.040,2692,2487,3425,0,0,0,0,0,0
$GC,1001,-0.96,-145.9,122.7,-12.6,147,1005,0.00,2.08,0.00,0.000,4,0.000,0.051,2684,3796,3425,0,0,0,0,0,0
$GC,1039,-0.96,-145.9,128.1,-13.1,149,1045,0.05,1.98,0.00,0.000,6,0.168,0.036,2698,2505,3425,0,0,0,0,0,0
$GC,1367,-0.99,-145.9,165.3,-11.8,170,1371,0.00,1.48,0.00,0.000,4,0.000,0.048,2693,3442,3426,0,0,0,0,0,0
$GC,1394,-0.99,-145.9,169.0,-11.9,171,1400,0.00,1.42,0.00,0.000,6,0.000,0.036,2693,2509,3426,0,0,0,0,0,0
$GC,1715,-0.99,-145.9,205.8,-11.4,192,1719,0.00,1.98,0.00,0.000,4,0.000,0.051,2683,3773,3426,0,0,0,0,0,0
$GC,1750,-0.99,-145.9,210.1,-12.3,194,1753,0.00,1.92,0.00,0.000,6,0.000,0.035,2683,2495,3426,0,0,0,0,0,0
$GC,2082,-0.99,-145.9,250.7,-12.7,215,2086,0.00,2.03,0.00,0.000,4,0.000,0.050,2674,3787,3426,0,0,0,0,0,0
$GC,2121,-0.99,-145.9,256.4,-13.9,216,2129,0.05,1.98,0.00,0.000,6,0.173,0.035,2689,2491,3426,0,0,0,0,0,0
$GC,2437,-0.99,-145.9,295.5,-12.6,232,2441,0.00,2.03,0.00,0.000,4,0.000,0.051,2681,3788,3426,0,0,0,0,0,0
$GC,2483,-0.99,-145.9,301.6,-13.1,234,2487,0.00,1.95,0.00,0.000,6,0.000,0.034,2681,2493,3426,0,0,0,0,0,0
$GC,2816,-0.99,-145.9,344.9,-12.9,250,2819,0.00,2.03,0.00,0.000,4,0.000,0.050,2672,3788,3427,0,0,0,0,0,0
$GC,2854,-0.99,-145.9,350.4,-13.7,251,2860,0.05,1.98,0.00,0.000,6,0.174,0.034,2686,2491,3426,0,0,0,0,0,0
$GC,3172,-0.99,-145.9,389.1,-12.1,267,3176,0.00,1.98,0.00,0.000,4,0.000,0.050,2679,3748,3426,0,0,0,0,0,0
$GC,3205,-0.99,-145.9,393.8,-13.5,268,3209,0.00,1.90,0.00,0.000,6,0.000,0.034,2679,2500,3426,0,0,0,0,0,0
$GC,3534,-0.99,-145.9,434.2,-12.2,280,3539,0.05,2.05,0.00,0.000,4,0.252,0.049,2679,3798,3426,0,0,0,0,0,0
$GC,3589,-1.02,-145.9,441.5,-13.5,281,3593,0.00,1.95,0.00,0.000,6,0.000,0.031,2679,2492,3426,0,0,0,0,0,0
$GC,3907,-1.02,-145.9,479.1,-11.7,292,3911,0.00,1.40,0.00,0.000,4,0.000,0.047,2673,3386,3426,0,0,0,0,0,0
$GC,3934,-1.02,-145.9,482.7,-12.2,292,3940,0.00,1.33,0.00,0.000,6,0.000,0.033,2673,2505,3426,0,0,0,0,0,0
$GC,4247,-1.02,-145.9,519.8,-12.0,303,4251,0.00,2.03,0.00,0.000,4,0.000,0.049,2664,3796,3426,0,0,0,0,0,0
$GC,4302,-1.02,-145.9,527.1,-12.3,304,4307,0.05,1.98,0.00,0.000,6,0.172,0.031,2678,2489,3426,0,0,0,0,0,0
$GC,4621,-1.02,-145.9,564.2,-11.7,315,4625,0.00,2.05,0.00,0.000,4,0.000,0.049,2670,3795,3426,0,0,0,0,0,0
$GC,4665,-1.02,-145.9,569.8,-12.6,316,4669,0.00,1.95,0.00,0.000,6,0.000,0.031,2670,2504,3425,0,0,0,0,0,0
$GC,4995,-1.02,-145.9,611.1,-12.7,327,4999,0.00,2.00,0.00,0.000,4,0.000,0.049,2660,3788,3425,0,0,0,0,0,0
$GC,5039,-1.02,-145.9,617.3,-13.7,328,5044,0.05,1.95,0.00,0.000,6,0.175,0.031,2676,2503,3425,0,0,0,0,0,0
$GC,5369,-1.02,-145.9,660.0,-13.3,339,5372,0.00,2.03,0.00,0.000,4,0.000,0.050,2669,3790,3425,0,0,0,0,0,0
$GC,5424,-1.02,-145.9,668.0,-14.4,340,5429,0.03,1.95,0.00,0.000,6,0.188,0.032,2675,2502,3424,0,0,0,0,0,0
$GC,5742,-1.02,-145.9,708.9,-12.9,351,5746,0.00,2.03,0.00,0.000,4,0.000,0.050,2667,3788,3423,0,0,0,0,0,0
$GC,5792,-1.02,-145.9,715.9,-13.8,352,5797,0.03,1.95,0.00,0.000,6,0.190,0.031,2675,2498,3423,0,0,0,0,0,0
$GC,6116,-1.02,-145.9,757.6,-12.9,363,6119,0.00,2.03,0.00,0.000,4,0.000,0.050,2667,3788,3423,0,0,0,0,0,0
$GC,6171,-1.02,-145.9,765.2,-13.6,364,6175,0.03,1.95,0.00,0.000,6,0.193,0.031,2675,2500,3423,0,0,0,0,0,0
$GC,6490,-1.04,-145.9,804.3,-12.0,375,6493,0.00,2.05,0.00,0.000,4,0.000,0.050,2667,3797,3422,0,0,0,0,0,0
$GC,6539,-1.04,-145.9,810.8,-13.0,376,6543,0.00,1.98,0.00,0.000,6,0.000,0.031,2667,2499,3421,0,0,0,0,0,0
$GC,6864,-1.01,-145.9,852.8,-13.0,387,6869,0.08,2.17,0.00,0.000,4,0.233,0.043,2685,1100,3421,0,0,0,0,0,0
$GC,6960,-1.01,-145.9,865.0,-13.0,390,6964,0.00,2.17,0.00,0.000,6,0.000,0.036,2676,2506,3421,0,0,0,0,0,0
$GC,7295,-1.01,-145.9,906.2,-12.2,401,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2506,3420,0,0,0,0,0,0
$GC,7601,-1.01,-145.9,944.1,-12.4,411,7604,0.00,0.75,0.00,0.000,4,0.000,0.041,2676,2001,3419,0,0,0,0,0,0
$STATE,7807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7807,begin apogee
$GC,7813,-0.21,0.0,970.2,13.0,417,7945,0.93,0.00,128.43,1.479,6,0.166,0.000,2940,1014,2827,0,0,0,0,0,0
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7948,1.03,145.9,977.8,0.0,421,8089,1.23,2.45,133.18,1.427,4,0.073,0.038,3338,2407,2231,0,0,0,0,0,0
$GC,8302,0.77,230.9,966.8,8.8,432,8386,0.35,2.33,76.03,1.400,6,0.228,0.051,3270,998,1885,0,0,0,0,0,0
$GC,8691,0.68,303.8,929.6,9.7,444,8762,0.15,2.33,64.80,1.385,4,0.220,0.038,3237,2410,1587,0,0,0,0,0,0
$GC,8869,0.69,361.2,911.8,10.7,449,8928,0.00,2.35,52.42,1.355,6,0.000,0.054,3246,1001,1354,0,0,0,0,0,0
$GC,9247,0.73,417.5,871.3,10.8,462,9303,0.00,1.40,51.10,1.346,4,0.000,0.068,3249,164,1124,0,0,0,0,0,0
$GC,9353,0.83,459.8,859.4,11.7,464,9400,0.05,1.33,40.25,1.316,6,0.086,0.036,3274,1019,952,0,0,0,0,0,0
$GC,9706,0.89,482.9,814.1,13.0,476,9733,0.08,2.17,20.90,1.254,4,0.138,0.038,3300,2391,859,0,0,0,0,0,0
$GC,9816,0.92,482.9,797.5,15.5,478,9820,0.00,2.33,0.00,0.000,6,0.000,0.058,3307,1001,857,0,0,0,0,0,0
$GC,10141,0.95,482.9,748.5,15.1,489,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1001,853,0,0,0,0,0,0
$GC,10447,0.98,482.9,701.1,15.6,499,10451,0.05,1.00,0.00,0.000,4,0.171,0.071,3332,385,853,0,0,0,0,0,0
$GC,10473,0.98,482.9,696.7,16.4,499,10479,0.00,0.93,0.00,0.000,6,0.000,0.042,3332,989,852,0,0,0,0,0,0
$GC,10786,0.98,482.9,645.9,15.9,510,10789,0.00,1.05,0.00,0.000,4,0.000,0.071,3335,343,851,0,0,0,0,0,0
$GC,10812,0.98,482.9,641.4,16.0,510,10818,0.00,1.02,0.00,0.000,6,0.000,0.041,3335,1011,850,0,0,0,0,0,0
$GC,11126,0.95,482.9,591.9,15.7,521,11129,0.00,0.60,0.00,0.000,4,0.000,0.071,3337,629,850,0,0,0,0,0,0
$GC,11147,0.93,482.9,588.1,16.6,521,11152,0.10,0.55,0.00,0.000,6,0.212,0.046,3311,995,850,0,0,0,0,0,0
$GC,11465,0.93,482.9,540.9,15.0,532,11468,0.00,1.88,0.00,0.000,4,0.000,0.041,3311,2206,850,0,0,0,0,0,0
$GC,11536,0.93,483.1,530.3,14.5,534,11541,0.00,1.98,0.00,0.000,6,0.000,0.059,3318,1004,849,0,0,0,0,0,0
$GC,11872,0.93,483.1,480.1,14.9,545,11875,0.00,0.68,0.00,0.000,4,0.000,0.043,3318,1459,849,0,0,0,0,0,0
$GC,12129,0.93,483.1,440.8,14.9,552,12133,0.00,0.77,0.00,0.000,6,0.000,0.066,3322,994,849,0,0,0,0,0,0
$GC,12458,0.93,483.1,389.6,15.2,564,12462,0.00,1.35,0.00,0.000,4,0.000,0.071,3328,171,849,0,0,0,0,0,0
$GC,12519,0.93,483.5,380.4,14.5,566,12528,0.03,1.27,0.00,0.000,6,0.208,0.040,3320,1006,848,0,0,0,0,0,0
$GC,12835,0.93,485.5,334.9,14.4,582,12839,0.00,2.17,0.00,0.000,4,0.000,0.041,3320,2401,848,0,0,0,0,0,0
$GC,12907,0.93,494.4,324.4,13.9,585,12923,0.03,2.30,10.43,0.914,6,0.213,0.057,3321,1000,810,0,0,0,0,0,0
$GC,13250,0.93,494.6,275.7,14.5,602,13254,0.00,1.80,0.00,0.000,4,0.000,0.040,3322,2164,808,0,0,0,0,0,0
$GC,13321,0.93,494.6,265.8,15.0,605,13325,0.05,1.90,0.00,0.000,6,0.249,0.058,3319,990,808,0,0,0,0,0,0
$GC,13645,0.93,494.6,215.6,15.7,624,13649,0.00,2.05,0.00,0.000,4,0.000,0.041,3319,2309,808,0,0,0,0,0,0
$GC,13713,0.96,494.6,204.9,14.5,628,13717,0.00,2.10,0.00,0.000,6,0.000,0.057,3328,997,808,0,0,0,0,0,0
$GC,14045,0.96,494.6,151.4,16.6,649,14049,0.00,2.17,0.00,0.000,4,0.000,0.041,3328,2398,808,0,0,0,0,0,0
$GC,14109,0.96,494.6,140.9,16.6,653,14113,0.00,2.25,0.00,0.000,6,0.000,0.057,3335,1002,808,0,0,0,0,0,0
$GC,14431,0.96,494.6,88.4,16.2,681,14438,0.00,1.98,0.00,0.000,4,0.000,0.041,3335,2259,808,0,0,0,0,0,0
$GC,14493,0.96,494.6,78.3,15.5,692,14499,0.05,2.05,0.00,0.000,6,0.197,0.058,3330,1006,808,0,0,0,0,0,0
$GC,14846,0.94,495.9,23.9,14.4,753,14853,0.00,2.17,0.00,0.000,4,0.000,0.040,3329,2389,808,0,0,0,0,0,0
$GC,14938,0.98,495.9,8.6,16.5,768,14945,0.00,2.28,0.00,0.000,6,0.000,0.056,3339,997,808,0,0,0,0,0,0
$STATE,14974,end climb,SURFACE_DEPTH_REACHED
$STATE,14974,begin surface coast
$FINISH,1.6,1.014150
$STATE,14994,end surface coast,CONTROL_FINISHED_OK
$STATE,14994,begin surface
$SM_CCo,15073,0.00,0.000,0,0,807,495.50
$SM_GC,2.51,9.02,0.00,0.00,0.056,0.000,0.000,89,2492,807,-9.09,-0.23,495.50
$IRIDIUM_FIX,-4132.26,-630.61,301112,191926
$TT8_MAMPS,0.026964
$HUMID,49.05
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.2,70.000
$10V_AH,10.1,46.721
$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,24.800,135.900,577.525,0.000,0.000,27.312,47.210,252.590,0.000,0.000,70.419,2006.238,10043.311,600.163,2746.285,173.626,33.364,1707.596,0.000,2326.456,0.000,1.013,0.000
$DEVICE_MAMPS,270.045,71.145,1478.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.734,882.299,511.078,62.586,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,46916,777
$CAP_FILE_SIZE,152386,0
$CFSIZE,2097086464,2053046272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011212,034735,-4149.236,-629.614,31,1.0,31,-22.1