version: 66.07.10.p01
glider: 574
mission: 4
dive: 298
start: 12 1 112 3 56 0
data:
$ID,574
$MISSION,4
$DIVE,298
$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,-6792.8516
$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,20
$R_STBD_OVSHOOT,36
$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,277
$GPS1,011212,034735,-4149.236,-629.614,31,1.0,31,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-67.8
$GPS2,011212,035505,-4149.193,-629.631,44,0.9,44,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.251,-0.145
$KALMAN_X,-433314.7,-108.6,550.0,622843.4,-2456.4
$KALMAN_Y,39244.9,656.9,779.9,74918.5,96.2
$MHEAD_RNG_PITCHd_Wd,173.9,85724,-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,22,begin dive
$GC,24,-1.03,-145.9,0.0,0.0,0,92,0.00,0.00,-65.65,0.000,2,0.000,0.000,62,2492,2419,0,0,0,0,0,0
$GC,95,-1.03,-145.9,3.2,-1.5,11,144,11.90,1.83,-30.52,0.000,4,0.263,0.067,2664,3621,3423,0,0,0,0,0,0
$GC,177,-0.94,-145.9,12.0,-15.9,24,185,0.12,1.80,0.00,0.000,6,0.171,0.046,2701,2492,3423,0,0,0,0,0,0
$GC,257,-0.94,-145.9,24.3,-15.7,37,264,0.00,2.25,0.00,0.000,4,0.000,0.050,2701,1087,3424,0,0,0,0,0,0
$GC,342,-0.94,-145.9,36.6,-14.2,51,348,0.08,2.22,0.00,0.000,6,0.225,0.041,2706,2505,3424,0,0,0,0,0,0
$GC,576,-0.98,-145.9,67.8,-13.2,92,581,0.00,0.93,0.00,0.000,4,0.000,0.047,2709,1911,3424,0,0,0,0,0,0
$GC,741,-1.05,-145.9,88.2,-12.6,121,745,0.05,0.90,0.00,0.000,6,0.086,0.041,2679,2501,3424,0,0,0,0,0,0
$GC,1077,-1.05,-145.9,138.9,-14.5,152,1081,0.00,1.88,0.00,0.000,4,0.000,0.047,2679,1301,3425,0,0,0,0,0,0
$GC,1166,-1.02,-145.9,152.9,-14.7,157,1171,0.00,1.88,0.00,0.000,6,0.000,0.038,2671,2493,3425,0,0,0,0,0,0
$GC,1494,-0.97,-145.9,198.6,-14.2,178,1499,0.10,2.25,0.00,0.000,4,0.214,0.048,2697,1079,3425,0,0,0,0,0,0
$GC,1601,-1.00,-145.9,213.3,-12.5,184,1608,0.00,2.22,0.00,0.000,6,0.000,0.038,2688,2494,3426,0,0,0,0,0,0
$GC,1928,-1.02,-145.9,253.4,-12.0,205,1931,0.00,2.00,0.00,0.000,4,0.000,0.050,2678,3801,3426,0,0,0,0,0,0
$GC,1977,-1.02,-145.9,260.4,-13.2,207,1982,0.00,2.00,0.00,0.000,6,0.000,0.033,2678,2487,3426,0,0,0,0,0,0
$GC,2307,-1.02,-145.9,300.0,-12.2,223,2311,0.00,2.05,0.00,0.000,4,0.000,0.048,2670,3805,3427,0,0,0,0,0,0
$GC,2344,-1.02,-145.9,305.2,-12.8,224,2352,0.00,1.98,0.00,0.000,6,0.000,0.032,2670,2502,3426,0,0,0,0,0,0
$GC,2661,-1.00,-145.9,344.9,-12.8,240,2666,0.08,2.05,0.00,0.000,4,0.221,0.049,2676,3797,3426,0,0,0,0,0,0
$GC,2717,-1.00,-145.9,352.6,-13.1,242,2721,0.00,1.98,0.00,0.000,6,0.000,0.032,2676,2495,3427,0,0,0,0,0,0
$GC,3039,-1.00,-145.9,391.9,-12.1,258,3042,0.00,2.03,0.00,0.000,4,0.000,0.048,2667,3794,3427,0,0,0,0,0,0
$GC,3077,-1.00,-145.9,397.1,-13.2,259,3084,0.05,1.98,0.00,0.000,6,0.168,0.033,2682,2496,3427,0,0,0,0,0,0
$GC,3411,-1.03,-145.9,435.0,-11.1,271,3415,0.00,0.50,0.00,0.000,4,0.000,0.045,2681,2835,3427,0,0,0,0,0,0
$GC,3422,-1.06,-145.9,436.4,-11.1,271,3426,0.00,0.52,0.00,0.000,6,0.000,0.041,2681,2475,3427,0,0,0,0,0,0
$GC,3752,-1.09,-145.9,471.5,-10.6,282,3756,0.05,0.95,0.00,0.000,4,0.177,0.044,2654,3085,3428,0,0,0,0,0,0
$GC,3767,-1.09,-145.9,473.5,-10.9,282,3771,0.00,0.90,0.00,0.000,6,0.000,0.035,2654,2489,3427,0,0,0,0,0,0
$GC,4092,-1.04,-145.9,512.8,-12.1,293,4096,0.10,2.15,0.00,0.000,4,0.204,0.044,2679,1107,3427,0,0,0,0,0,0
$GC,4180,-1.06,-145.9,522.8,-10.4,295,4186,0.00,2.15,0.00,0.000,6,0.000,0.035,2671,2507,3427,0,0,0,0,0,0
$GC,4493,-1.06,-145.9,559.0,-12.0,306,4497,0.00,2.15,0.00,0.000,4,0.000,0.045,2671,1109,3427,0,0,0,0,0,0
$GC,4598,-1.08,-145.9,572.9,-13.2,309,4602,0.00,2.15,0.00,0.000,6,0.000,0.036,2661,2503,3427,0,0,0,0,0,0
$GC,4928,-1.05,-145.9,618.4,-14.4,320,4932,0.00,2.17,0.00,0.000,4,0.000,0.044,2661,1108,3427,0,0,0,0,0,0
$GC,5017,-1.05,-145.9,631.7,-14.7,322,5023,0.05,2.17,0.00,0.000,6,0.181,0.036,2665,2502,3426,0,0,0,0,0,0
$GC,5330,-1.05,-145.9,674.1,-13.3,333,5334,0.00,2.15,0.00,0.000,4,0.000,0.044,2665,1107,3426,0,0,0,0,0,0
$GC,5441,-1.05,-145.9,689.1,-12.9,336,5446,0.03,2.17,0.00,0.000,6,0.201,0.036,2664,2503,3426,0,0,0,0,0,0
$GC,5765,-1.05,-145.9,729.5,-12.7,347,5769,0.00,2.17,0.00,0.000,4,0.000,0.044,2667,1102,3425,0,0,0,0,0,0
$GC,5871,-1.05,-145.9,743.6,-13.0,350,5875,0.00,2.17,0.00,0.000,6,0.000,0.035,2658,2496,3425,0,0,0,0,0,0
$GC,6207,-1.02,-145.9,789.8,-14.3,361,6211,0.10,2.17,0.00,0.000,4,0.212,0.043,2684,1107,3425,0,0,0,0,0,0
$GC,6324,-1.04,-145.9,805.4,-13.7,364,6328,0.00,2.15,0.00,0.000,6,0.000,0.034,2675,2506,3424,0,0,0,0,0,0
$GC,6637,-1.07,-145.9,845.3,-12.6,374,6641,0.00,2.20,0.00,0.000,4,0.000,0.044,2675,1097,3424,0,0,0,0,0,0
$GC,6765,-1.04,-145.9,862.8,-14.7,377,6770,0.00,2.17,0.00,0.000,6,0.000,0.034,2665,2500,3423,0,0,0,0,0,0
$GC,7078,-1.04,-145.9,904.6,-13.3,388,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2500,3423,0,0,0,0,0,0
$GC,7384,-1.04,-145.9,945.6,-13.4,398,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2499,3422,0,0,0,0,0,0
$GC,7690,-1.04,-145.9,986.1,-13.4,408,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2500,3422,0,0,0,0,0,0
$STATE,7812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7812,begin apogee
$GC,7819,-0.21,0.0,1002.6,13.5,412,7952,0.98,0.00,129.98,1.488,6,0.164,0.000,2942,1024,2827,0,0,0,0,0,0
$STATE,7953,end apogee,CONTROL_FINISHED_OK
$STATE,7953,begin climb
$GC,7955,1.03,145.9,1011.7,0.0,416,8097,1.23,2.40,134.43,1.457,4,0.078,0.036,3335,2404,2231,0,0,0,0,0,0
$GC,8349,0.78,242.1,1000.1,8.1,428,8445,0.35,2.30,86.28,1.431,6,0.226,0.051,3267,997,1839,0,0,0,0,0,0
$GC,8769,0.70,306.2,957.9,10.2,442,8834,0.10,2.38,56.97,1.410,4,0.234,0.039,3247,2404,1578,0,0,0,0,0,0
$GC,8856,0.70,352.0,948.3,11.5,444,8907,0.03,2.38,43.00,1.357,6,0.210,0.053,3247,1005,1392,0,0,0,0,0,0
$GC,9231,0.76,397.2,905.5,11.5,457,9279,0.00,1.85,41.60,1.366,4,0.000,0.036,3246,2123,1206,0,0,0,0,0,0
$GC,9353,0.84,435.4,890.8,12.0,460,9394,0.10,1.85,35.92,1.329,6,0.112,0.054,3287,997,1050,0,0,0,0,0,0
$GC,9724,0.86,441.0,837.9,14.1,473,9734,0.00,1.85,4.80,0.877,4,0.000,0.037,3287,2182,1028,0,0,0,0,0,0
$GC,9802,0.90,447.4,826.9,14.1,475,9816,0.00,1.95,7.93,1.093,6,0.000,0.057,3293,1004,1002,0,0,0,0,0,0
$GC,10129,0.90,458.2,781.4,13.8,486,10142,0.00,0.00,11.20,1.168,6,0.000,0.000,3293,1004,959,0,0,0,0,0,0
$GC,10435,0.90,467.0,739.0,13.9,496,10449,0.00,2.25,9.35,1.110,4,0.000,0.041,3293,2418,923,0,0,0,0,0,0
$GC,10537,0.94,467.0,725.0,14.5,499,10541,0.00,2.33,0.00,0.000,6,0.000,0.060,3302,998,923,0,0,0,0,0,0
$GC,10871,0.94,467.0,675.6,15.1,510,10874,0.00,1.55,0.00,0.000,4,0.000,0.039,3302,1984,922,0,0,0,0,0,0
$GC,10939,0.97,467.0,665.4,15.7,512,10942,0.00,1.62,0.00,0.000,6,0.000,0.060,3309,1001,922,0,0,0,0,0,0
$GC,11279,0.97,467.0,612.3,15.6,523,11282,0.00,0.88,0.00,0.000,4,0.000,0.039,3309,1580,921,0,0,0,0,0,0
$GC,11419,1.00,467.0,591.1,14.6,527,11422,0.00,0.95,0.00,0.000,6,0.000,0.063,3313,1003,921,0,0,0,0,0,0
$GC,11754,1.00,467.0,539.5,15.5,538,11758,0.05,1.40,0.00,0.000,4,0.170,0.039,3335,1894,921,0,0,0,0,0,0
$GC,11842,1.00,467.0,525.2,15.0,540,11846,0.00,1.48,0.00,0.000,6,0.000,0.060,3342,1000,921,0,0,0,0,0,0
$GC,12161,0.94,467.0,472.0,17.0,551,12163,0.10,0.00,0.00,0.000,6,0.229,0.000,3321,999,921,0,0,0,0,0,0
$GC,12466,0.94,467.0,423.3,16.0,561,12470,0.00,0.52,0.00,0.000,4,0.000,0.043,3321,1364,921,0,0,0,0,0,0
$GC,12724,0.94,467.0,382.9,15.5,570,12728,0.00,0.62,0.00,0.000,6,0.000,0.066,3322,985,920,0,0,0,0,0,0
$GC,13046,0.92,467.0,333.0,15.5,586,13050,0.00,1.33,0.00,0.000,4,0.000,0.070,3329,170,921,0,0,0,0,0,0
$GC,13092,0.92,467.0,325.8,16.4,588,13096,0.05,1.27,0.00,0.000,6,0.189,0.040,3314,1009,920,0,0,0,0,0,0
$GC,13423,0.92,467.0,277.7,14.6,604,13427,0.00,2.15,0.00,0.000,4,0.000,0.041,3314,2394,919,0,0,0,0,0,0
$GC,13501,0.94,477.4,266.7,13.8,607,13517,0.00,2.25,10.90,0.903,6,0.000,0.058,3323,1001,880,0,0,0,0,0,0
$GC,13832,0.99,492.7,222.4,13.5,627,13850,0.00,0.00,15.38,0.916,6,0.000,0.000,3323,1001,817,0,0,0,0,0,0
$GC,14162,1.05,503.4,176.5,13.8,648,14180,0.08,2.22,10.65,0.842,4,0.133,0.039,3352,2395,773,0,0,0,0,0,0
$GC,14241,1.05,503.4,163.8,15.3,652,14249,0.00,2.30,0.00,0.000,6,0.000,0.054,3361,995,773,0,0,0,0,0,0
$GC,14563,1.00,503.4,110.1,17.0,673,14567,0.10,0.95,0.00,0.000,4,0.232,0.038,3339,1616,772,0,0,0,0,0,0
$GC,14632,1.00,503.4,99.0,15.8,677,14636,0.00,1.02,0.00,0.000,6,0.000,0.062,3343,999,772,0,0,0,0,0,0
$GC,14977,0.98,503.4,42.8,16.2,738,14984,0.05,1.30,0.00,0.000,4,0.275,0.037,3333,1832,772,0,0,0,0,0,0
$GC,15036,1.00,503.4,33.4,16.0,748,15044,0.00,1.38,0.00,0.000,6,0.000,0.058,3338,995,772,0,0,0,0,0,0
$STATE,15226,end climb,SURFACE_DEPTH_REACHED
$STATE,15226,begin surface coast
$FINISH,1.7,1.013239
$STATE,15245,end surface coast,CONTROL_FINISHED_OK
$STATE,15245,begin surface
$SM_CCo,15324,0.00,0.000,0,0,769,504.57
$SM_GC,2.53,8.98,0.00,0.00,0.054,0.000,0.000,92,2513,769,-9.08,0.37,504.57
$IRIDIUM_FIX,-4132.26,-639.22,301112,232350
$TT8_MAMPS,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.1,70.249
$10V_AH,10.0,46.818
$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,24.875,118.850,598.375,0.000,0.000,25.195,42.175,235.500,0.250,0.000,45.977,2023.032,10216.903,623.355,2738.437,171.536,33.372,1726.786,0.000,2366.435,0.000,2.831,0.000
$DEVICE_MAMPS,275.400,70.380,1487.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.676,862.380,512.639,62.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,47041,783
$CAP_FILE_SIZE,151709,0
$CFSIZE,2097086464,2052915200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011212,081235,-4149.614,-629.716,38,1.1,38,-22.1