version: 66.07.10.p01
glider: 574
mission: 4
dive: 300
start: 12 1 112 12 39 17
data:
$ID,574
$MISSION,4
$DIVE,300
$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,-6799.1982
$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,2200
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,30
$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,279
$GPS1,011212,123035,-4149.525,-629.671,29,1.0,29,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-69.8
$GPS2,011212,123822,-4149.516,-629.701,34,1.9,51,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.159,-0.243
$KALMAN_X,-438716.4,12.5,-326.4,628911.9,-1271.6
$KALMAN_Y,44233.1,544.0,104.9,70104.6,1635.1
$MHEAD_RNG_PITCHd_Wd,173.7,85242,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-59.30,0.000,2,0.000,0.000,64,2194,2146,0,0,0,0,0,0
$GC,89,-1.03,-145.9,3.0,-0.4,10,156,11.90,2.30,-47.45,0.000,4,0.263,0.067,2662,3600,3420,0,0,0,0,0,0
$GC,201,-0.97,-145.9,12.0,-14.3,28,209,0.10,2.25,0.00,0.000,6,0.171,0.044,2692,2187,3421,0,0,0,0,0,0
$GC,282,-0.95,-145.9,23.2,-15.1,41,289,0.05,2.28,0.00,0.000,4,0.248,0.058,2706,792,3420,0,0,0,0,0,0
$GC,345,-0.92,-145.9,32.2,-14.1,51,351,0.08,2.20,0.00,0.000,6,0.223,0.037,2711,2214,3421,0,0,0,0,0,0
$GC,580,-0.95,-145.9,62.6,-13.2,92,585,0.00,1.15,0.00,0.000,4,0.000,0.047,2706,2956,3421,0,0,0,0,0,0
$GC,611,-0.99,-145.9,65.9,-12.1,97,615,0.00,1.20,0.00,0.000,6,0.000,0.042,2706,2188,3421,0,0,0,0,0,0
$GC,958,-1.02,-145.9,107.6,-11.8,151,963,0.08,2.12,0.00,0.000,4,0.142,0.049,2669,3529,3421,0,0,0,0,0,0
$GC,996,-0.98,-145.9,113.4,-14.4,153,1002,0.10,2.03,0.00,0.000,6,0.186,0.040,2693,2199,3421,0,0,0,0,0,0
$GC,1317,-1.00,-145.9,153.7,-12.5,174,1321,0.00,2.20,0.00,0.000,4,0.000,0.055,2692,785,3422,0,0,0,0,0,0
$GC,1399,-1.00,-145.9,164.9,-13.6,179,1403,0.00,2.17,0.00,0.000,6,0.000,0.036,2683,2205,3422,0,0,0,0,0,0
$GC,1723,-1.00,-145.9,207.4,-12.8,200,1726,0.00,0.43,0.00,0.000,4,0.000,0.051,2683,1911,3422,0,0,0,0,0,0
$GC,1888,-1.03,-145.9,227.4,-11.7,209,1893,0.00,0.43,0.00,0.000,6,0.000,0.045,2681,2210,3423,0,0,0,0,0,0
$GC,2205,-1.03,-145.9,264.3,-11.3,228,2209,0.00,1.55,0.00,0.000,4,0.000,0.050,2681,1228,3422,0,0,0,0,0,0
$GC,2266,-1.03,-145.9,271.7,-12.2,230,2274,0.00,1.48,0.00,0.000,6,0.000,0.037,2674,2185,3422,0,0,0,0,0,0
$GC,2582,-1.03,-145.9,310.0,-12.2,246,2586,0.00,1.50,0.00,0.000,4,0.000,0.051,2675,1244,3422,0,0,0,0,0,0
$GC,2637,-1.03,-145.9,317.3,-12.6,248,2641,0.00,1.48,0.00,0.000,6,0.000,0.037,2668,2200,3422,0,0,0,0,0,0
$GC,2959,-1.03,-145.9,360.0,-14.1,264,2963,0.00,1.08,0.00,0.000,4,0.000,0.048,2668,1513,3422,0,0,0,0,0,0
$GC,3029,-1.03,-145.9,369.6,-14.7,267,3033,0.05,1.05,0.00,0.000,6,0.177,0.038,2677,2200,3422,0,0,0,0,0,0
$GC,3351,-1.05,-145.9,412.0,-12.6,281,3354,0.00,0.68,0.00,0.000,4,0.000,0.048,2678,1743,3423,0,0,0,0,0,0
$GC,3434,-1.05,-145.9,422.1,-12.0,283,3438,0.00,0.70,0.00,0.000,6,0.000,0.040,2676,2207,3422,0,0,0,0,0,0
$GC,3758,-1.05,-145.9,458.7,-11.1,294,3762,0.00,2.22,0.00,0.000,4,0.000,0.053,2678,789,3422,0,0,0,0,0,0
$GC,3825,-1.05,-145.9,466.4,-11.9,296,3829,0.00,2.12,0.00,0.000,6,0.000,0.034,2669,2196,3422,0,0,0,0,0,0
$GC,4160,-1.05,-145.9,503.5,-11.0,307,4164,0.00,1.67,0.00,0.000,4,0.000,0.050,2669,1115,3422,0,0,0,0,0,0
$GC,4232,-1.03,-145.9,512.2,-11.3,309,4237,0.05,1.67,0.00,0.000,6,0.174,0.035,2676,2201,3422,0,0,0,0,0,0
$GC,4568,-1.03,-145.9,549.5,-11.6,320,4571,0.00,2.08,0.00,0.000,4,0.000,0.052,2678,894,3421,0,0,0,0,0,0
$GC,4628,-1.03,-145.9,557.2,-12.5,321,4634,0.00,2.03,0.00,0.000,6,0.000,0.034,2671,2199,3421,0,0,0,0,0,0
$GC,4941,-1.03,-145.9,595.6,-12.4,332,4945,0.00,0.47,0.00,0.000,4,0.000,0.047,2667,2538,3420,0,0,0,0,0,0
$GC,4957,-1.03,-145.9,597.9,-12.6,332,4961,0.00,0.52,0.00,0.000,6,0.000,0.041,2667,2179,3420,0,0,0,0,0,0
$GC,5281,-1.03,-145.9,638.2,-12.6,343,5285,0.00,2.12,0.00,0.000,4,0.000,0.048,2667,811,3419,0,0,0,0,0,0
$GC,5364,-0.98,-145.9,649.9,-14.4,345,5368,0.15,2.10,0.00,0.000,6,0.188,0.034,2694,2200,3419,0,0,0,0,0,0
$GC,5688,-1.05,-145.9,688.5,-12.0,356,5692,0.00,2.20,0.00,0.000,4,0.000,0.050,2694,814,3419,0,0,0,0,0,0
$GC,5785,-1.10,-145.9,700.7,-12.0,359,5790,0.10,2.12,0.00,0.000,6,0.112,0.034,2648,2204,3418,0,0,0,0,0,0
$GC,6121,-1.07,-145.9,746.1,-13.7,370,6125,0.08,0.80,0.00,0.000,4,0.220,0.044,2659,2733,3418,0,0,0,0,0,0
$GC,6148,-1.05,-145.9,750.1,-13.4,370,6153,0.00,0.80,0.00,0.000,6,0.000,0.039,2661,2200,3417,0,0,0,0,0,0
$GC,6461,-1.05,-145.9,789.6,-12.7,381,6464,0.00,2.08,0.00,0.000,4,0.000,0.049,2661,859,3417,0,0,0,0,0,0
$GC,6527,-1.01,-145.9,798.9,-13.6,383,6532,0.10,2.08,0.00,0.000,6,0.173,0.035,2682,2190,3417,0,0,0,0,0,0
$GC,6862,-1.06,-145.9,838.6,-12.0,394,6866,0.00,2.03,0.00,0.000,4,0.000,0.050,2682,899,3416,0,0,0,0,0,0
$GC,6934,-1.06,-145.9,848.3,-13.9,396,6939,0.00,2.03,0.00,0.000,6,0.000,0.035,2674,2198,3416,0,0,0,0,0,0
$GC,7270,-1.09,-145.9,890.4,-12.5,407,7274,0.00,1.45,0.00,0.000,4,0.000,0.048,2674,1284,3415,0,0,0,0,0,0
$GC,7338,-1.09,-145.9,899.3,-12.9,409,7342,0.00,1.42,0.00,0.000,6,0.000,0.037,2667,2205,3415,0,0,0,0,0,0
$GC,7679,-1.12,-145.9,941.2,-12.1,420,7683,0.00,2.20,0.00,0.000,4,0.000,0.050,2667,809,3414,0,0,0,0,0,0
$GC,7756,-1.12,-145.9,951.7,-13.2,422,7760,0.00,2.12,0.00,0.000,6,0.000,0.036,2657,2201,3414,0,0,0,0,0,0
$STATE,7833,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7833,begin apogee
$GC,7839,-0.21,0.0,962.2,13.7,425,7970,1.02,0.00,127.45,1.479,6,0.171,0.000,2940,1315,2827,0,0,0,0,0,0
$STATE,7971,end apogee,CONTROL_FINISHED_OK
$STATE,7971,begin climb
$GC,7973,1.03,145.9,970.0,0.0,429,8115,1.25,1.48,133.52,1.429,4,0.068,0.060,3352,510,2231,0,0,0,0,0,0
$GC,8188,0.73,218.8,970.9,9.7,436,8265,0.40,1.30,68.28,1.410,6,0.216,0.037,3259,1309,1934,0,0,0,0,0,0
$GC,8572,0.64,286.6,932.7,10.0,449,8637,0.15,0.77,60.58,1.401,4,0.217,0.059,3228,851,1657,0,0,0,0,0,0
$GC,8659,0.69,357.3,923.9,9.8,451,8729,0.00,0.70,66.03,1.375,6,0.000,0.038,3228,1305,1370,0,0,0,0,0,0
$GC,9066,0.78,418.9,880.1,10.4,465,9130,0.10,2.35,56.38,1.364,4,0.110,0.041,3263,2696,1119,0,0,0,0,0,0
$GC,9185,0.85,447.7,865.1,12.6,468,9221,0.00,2.33,27.60,1.309,6,0.000,0.053,3272,1301,1000,0,0,0,0,0,0
$GC,9529,0.92,486.9,823.0,11.9,480,9571,0.10,2.25,35.80,1.305,4,0.116,0.040,3306,2690,842,0,0,0,0,0,0
$GC,9643,0.96,496.1,807.0,13.9,483,9658,0.00,2.28,9.35,1.104,6,0.000,0.054,3316,1298,804,0,0,0,0,0,0
$GC,9995,0.98,504.3,757.8,13.9,495,10009,0.00,2.25,8.30,1.066,4,0.000,0.042,3317,2688,771,0,0,0,0,0,0
$GC,10077,1.02,510.6,746.1,14.1,497,10092,0.00,2.28,7.65,1.036,6,0.000,0.054,3326,1294,745,0,0,0,0,0,0
$GC,10400,1.05,518.9,700.5,13.9,508,10414,0.08,2.25,8.85,1.061,4,0.135,0.043,3352,2687,710,0,0,0,0,0,0
$GC,10504,1.05,518.9,684.2,16.0,511,10508,0.00,2.28,0.00,0.000,6,0.000,0.054,3361,1291,710,0,0,0,0,0,0
$GC,10839,1.01,518.9,629.1,16.6,522,10844,0.10,2.22,0.00,0.000,4,0.226,0.043,3341,2690,710,0,0,0,0,0,0
$GC,10916,1.01,518.9,616.8,15.3,524,10920,0.00,2.28,0.00,0.000,6,0.000,0.054,3348,1299,709,0,0,0,0,0,0
$GC,11240,1.01,518.9,563.8,16.5,535,11244,0.00,1.85,0.00,0.000,4,0.000,0.071,3355,154,708,0,0,0,0,0,0
$GC,11312,1.01,518.9,551.2,18.0,537,11317,0.03,1.77,0.00,0.000,6,0.210,0.039,3348,1292,706,0,0,0,0,0,0
$GC,11647,1.01,518.9,494.8,16.9,548,11650,0.00,1.88,0.00,0.000,4,0.000,0.073,3355,161,706,0,0,0,0,0,0
$GC,11690,1.01,518.9,486.9,17.4,549,11695,0.03,1.77,0.00,0.000,6,0.210,0.040,3347,1298,706,0,0,0,0,0,0
$GC,12019,1.01,518.9,429.5,17.5,560,12023,0.00,1.90,0.00,0.000,4,0.000,0.072,3355,164,705,0,0,0,0,0,0
$GC,12070,1.01,518.9,420.6,17.3,561,12074,0.05,1.77,0.00,0.000,6,0.246,0.040,3346,1313,705,0,0,0,0,0,0
$GC,12396,1.01,518.9,366.7,16.6,575,12400,0.00,2.15,0.00,0.000,4,0.000,0.043,3346,2699,705,0,0,0,0,0,0
$GC,12474,1.04,518.9,353.5,16.8,578,12482,0.00,2.30,0.00,0.000,6,0.000,0.057,3355,1295,705,0,0,0,0,0,0
$GC,12790,1.04,518.9,302.4,16.1,594,12793,0.00,1.88,0.00,0.000,4,0.000,0.042,3355,2500,705,0,0,0,0,0,0
$GC,12845,1.04,518.9,293.3,15.5,596,12850,0.05,1.95,0.00,0.000,6,0.205,0.055,3349,1302,705,0,0,0,0,0,0
$GC,13174,1.04,518.9,240.8,16.0,613,13178,0.00,2.12,0.00,0.000,4,0.000,0.041,3349,2674,705,0,0,0,0,0,0
$GC,13229,1.06,518.9,231.4,15.8,616,13234,0.00,2.22,0.00,0.000,6,0.000,0.053,3358,1304,705,0,0,0,0,0,0
$GC,13557,1.03,518.9,178.8,16.1,637,13561,0.00,1.75,0.00,0.000,4,0.000,0.038,3358,2428,705,0,0,0,0,0,0
$GC,13608,1.03,518.9,170.0,15.9,640,13612,0.08,1.80,0.00,0.000,6,0.230,0.054,3352,1297,705,0,0,0,0,0,0
$GC,13940,1.03,518.9,115.6,16.7,661,13943,0.00,2.17,0.00,0.000,4,0.000,0.040,3352,2705,705,0,0,0,0,0,0
$GC,14012,1.03,518.9,102.9,16.3,665,14017,0.03,2.28,0.00,0.000,6,0.222,0.053,3352,1305,705,0,0,0,0,0,0
$GC,14357,1.03,518.9,47.1,15.9,723,14362,0.00,2.15,0.00,0.000,4,0.000,0.038,3351,2705,705,0,0,0,0,0,0
$GC,14416,1.03,518.9,37.5,15.9,733,14422,0.03,2.25,0.00,0.000,6,0.309,0.050,3351,1294,705,0,0,0,0,0,0
$STATE,14634,end climb,SURFACE_DEPTH_REACHED
$STATE,14634,begin surface coast
$FINISH,1.7,1.011700
$STATE,14653,end surface coast,CONTROL_FINISHED_OK
$STATE,14653,begin surface
$SM_CCo,14732,0.00,0.000,0,0,704,520.76
$SM_GC,2.67,9.07,0.00,0.00,0.057,0.000,0.000,83,2215,704,-9.10,0.42,520.76
$IRIDIUM_FIX,-4135.14,-628.07,011212,080807
$TT8_MAMPS,0.026964
$HUMID,48.50
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.2,70.760
$10V_AH,10.1,47.013
$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,25.375,134.425,609.775,0.000,0.000,24.246,39.271,247.428,0.000,0.000,53.636,1996.197,9659.200,639.230,2729.506,173.482,33.365,1742.616,0.000,2341.375,0.000,1.014,0.000
$DEVICE_MAMPS,309.060,72.675,1478.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.505,879.685,502.459,66.076,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,46812,773
$CAP_FILE_SIZE,155105,0
$CFSIZE,2097086464,2052653056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,011212,164604,-4149.948,-629.504,38,0.9,42,-22.1