version: 66.07.10.p01
glider: 574
mission: 4
dive: 302
start: 12 1 112 21 11 30
data:
$ID,574
$MISSION,4
$DIVE,302
$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,-6805.5479
$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,2100
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,281
$GPS1,011212,210259,-4150.625,-629.641,39,1.3,39,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-71.2
$GPS2,011212,211035,-4150.601,-629.579,42,0.9,42,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.144,-0.252
$KALMAN_X,-443572.1,-608.8,-578.6,634803.7,-1194.6
$KALMAN_Y,48458.9,-314.2,-544.6,65397.1,2025.7
$MHEAD_RNG_PITCHd_Wd,173.1,83399,-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,-145.9,0.0,0.0,0,81,0.00,0.00,-53.95,0.000,2,0.000,0.000,64,2178,2187,0,0,0,0,0,0
$GC,83,-1.03,-145.9,3.1,-1.3,9,151,11.95,2.17,-45.28,0.000,4,0.264,0.067,2667,3504,3423,0,0,0,0,0,0
$GC,201,-0.98,-145.9,14.6,-16.2,28,209,0.05,2.25,0.00,0.000,6,0.188,0.045,2682,2091,3425,0,0,0,0,0,0
$GC,282,-0.92,-145.9,26.2,-14.7,41,290,0.12,2.30,0.00,0.000,4,0.198,0.060,2713,689,3425,0,0,0,0,0,0
$GC,344,-0.92,-145.9,35.1,-13.5,51,349,0.00,2.20,0.00,0.000,6,0.000,0.037,2704,2104,3425,0,0,0,0,0,0
$GC,577,-0.95,-145.9,63.6,-11.9,92,582,0.00,1.92,0.00,0.000,4,0.000,0.049,2694,3335,3426,0,0,0,0,0,0
$GC,617,-0.97,-145.9,68.2,-12.3,99,623,0.00,1.95,0.00,0.000,6,0.000,0.043,2695,2095,3426,0,0,0,0,0,0
$GC,964,-1.01,-145.9,110.3,-12.5,151,967,0.00,1.12,0.00,0.000,4,0.000,0.042,2689,2820,3426,0,0,0,0,0,0
$GC,991,-1.01,-145.9,114.2,-12.7,152,999,0.00,1.12,0.00,0.000,6,0.000,0.042,2689,2096,3426,0,0,0,0,0,0
$GC,1314,-1.04,-145.9,153.1,-12.1,173,1318,0.00,2.22,0.00,0.000,4,0.000,0.047,2679,3512,3427,0,0,0,0,0,0
$GC,1368,-1.04,-145.9,160.9,-13.7,176,1376,0.00,2.20,0.00,0.000,6,0.000,0.040,2679,2093,3427,0,0,0,0,0,0
$GC,1690,-1.04,-145.9,200.9,-12.8,197,1694,0.00,2.20,0.00,0.000,4,0.000,0.046,2669,3507,3427,0,0,0,0,0,0
$GC,1762,-1.00,-145.9,211.3,-14.0,201,1768,0.08,2.15,0.00,0.000,6,0.203,0.037,2685,2098,3427,0,0,0,0,0,0
$GC,2084,-1.02,-145.9,251.5,-12.5,222,2088,0.00,2.20,0.00,0.000,4,0.000,0.047,2676,3506,3427,0,0,0,0,0,0
$GC,2139,-1.02,-145.9,259.3,-13.5,224,2147,0.00,2.17,0.00,0.000,6,0.000,0.037,2676,2099,3427,0,0,0,0,0,0
$GC,2455,-1.02,-145.9,298.8,-12.4,240,2459,0.00,2.20,0.00,0.000,4,0.000,0.053,2675,688,3427,0,0,0,0,0,0
$GC,2556,-0.99,-145.9,312.6,-13.1,244,2564,0.08,2.17,0.00,0.000,6,0.170,0.034,2687,2100,3427,0,0,0,0,0,0
$GC,2874,-1.04,-145.9,348.3,-11.1,260,2877,0.00,0.98,0.00,0.000,4,0.000,0.049,2687,1475,3427,0,0,0,0,0,0
$GC,2945,-1.08,-145.9,356.2,-11.2,263,2949,0.03,0.95,0.00,0.000,6,0.109,0.037,2666,2108,3428,0,0,0,0,0,0
$GC,3279,-1.08,-145.9,396.3,-12.3,279,3283,0.00,0.43,0.00,0.000,4,0.000,0.046,2664,2425,3427,0,0,0,0,0,0
$GC,3295,-1.08,-145.9,398.8,-12.1,279,3300,0.00,0.50,0.00,0.000,6,0.000,0.046,2665,2088,3428,0,0,0,0,0,0
$GC,3629,-1.08,-145.9,437.4,-11.4,291,3633,0.00,2.15,0.00,0.000,4,0.000,0.054,2664,703,3428,0,0,0,0,0,0
$GC,3644,-1.08,-145.9,439.6,-11.4,291,3648,0.00,2.15,0.00,0.000,6,0.000,0.034,2656,2095,3428,0,0,0,0,0,0
$GC,3963,-1.08,-145.9,476.5,-11.9,302,3967,0.00,2.17,0.00,0.000,4,0.000,0.047,2645,3502,3427,0,0,0,0,0,0
$GC,4012,-1.02,-145.9,483.2,-14.0,303,4017,0.08,2.15,0.00,0.000,6,0.168,0.036,2677,2104,3427,0,0,0,0,0,0
$GC,4336,-1.06,-145.9,519.6,-11.4,314,4340,0.00,2.17,0.00,0.000,4,0.000,0.044,2668,3504,3427,0,0,0,0,0,0
$GC,4379,-1.06,-145.9,525.2,-12.6,315,4384,0.00,2.15,0.00,0.000,6,0.000,0.034,2668,2102,3427,0,0,0,0,0,0
$GC,4704,-1.06,-145.9,563.5,-11.7,326,4708,0.00,2.20,0.00,0.000,4,0.000,0.044,2658,3512,3427,0,0,0,0,0,0
$GC,4771,-1.03,-145.9,572.1,-13.2,328,4775,0.10,2.12,0.00,0.000,6,0.189,0.034,2681,2092,3427,0,0,0,0,0,0
$GC,5100,-1.06,-145.9,608.8,-11.2,339,5104,0.00,2.20,0.00,0.000,4,0.000,0.045,2672,3502,3426,0,0,0,0,0,0
$GC,5149,-1.06,-145.9,615.1,-12.4,340,5153,0.00,2.15,0.00,0.000,6,0.000,0.034,2672,2104,3426,0,0,0,0,0,0
$GC,5468,-1.06,-145.9,652.7,-11.9,351,5472,0.00,2.20,0.00,0.000,4,0.000,0.050,2672,690,3426,0,0,0,0,0,0
$GC,5564,-1.01,-145.9,665.1,-13.6,354,5569,0.10,2.15,0.00,0.000,6,0.200,0.032,2683,2104,3426,0,0,0,0,0,0
$GC,5900,-1.05,-145.9,704.5,-11.8,365,5904,0.00,2.22,0.00,0.000,4,0.000,0.050,2684,689,3425,0,0,0,0,0,0
$GC,5997,-1.05,-145.9,716.8,-12.2,368,6001,0.00,2.17,0.00,0.000,6,0.000,0.034,2675,2108,3425,0,0,0,0,0,0
$GC,6332,-1.08,-145.9,757.0,-11.9,379,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2109,3424,0,0,0,0,0,0
$GC,6638,-1.11,-145.9,792.9,-11.8,389,6643,0.08,2.28,0.00,0.000,4,0.140,0.051,2646,694,3423,0,0,0,0,0,0
$GC,6734,-1.02,-145.9,807.4,-15.3,392,6739,0.17,2.15,0.00,0.000,6,0.191,0.035,2679,2104,3423,0,0,0,0,0,0
$GC,7069,-1.07,-145.9,850.0,-12.7,403,7073,0.00,1.12,0.00,0.000,4,0.000,0.048,2682,1392,3423,0,0,0,0,0,0
$GC,7130,-1.12,-145.9,858.2,-12.8,404,7136,0.05,1.10,0.00,0.000,6,0.087,0.039,2650,2103,3422,0,0,0,0,0,0
$GC,7443,-1.12,-145.9,902.1,-14.2,415,7447,0.00,2.17,0.00,0.000,4,0.000,0.047,2640,3502,3421,0,0,0,0,0,0
$GC,7505,-1.06,-145.9,911.7,-15.6,417,7510,0.12,2.12,0.00,0.000,6,0.187,0.036,2669,2096,3421,0,0,0,0,0,0
$STATE,7807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7807,begin apogee
$GC,7812,-0.21,0.0,956.2,14.3,427,7945,0.95,0.00,129.35,1.467,6,0.158,0.000,2941,1498,2827,0,0,0,0,0,0
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7948,1.03,145.9,965.5,0.0,431,8090,1.23,2.10,134.05,1.453,4,0.067,0.038,3343,2707,2231,0,0,0,0,0,0
$GC,8232,0.76,231.9,962.8,8.8,440,8318,0.40,1.95,78.60,1.418,6,0.223,0.044,3263,1506,1881,0,0,0,0,0,0
$GC,8631,0.70,290.8,923.4,10.6,453,8692,0.10,2.35,52.75,1.391,4,0.239,0.043,3243,2894,1640,0,0,0,0,0,0
$GC,8798,0.70,340.6,904.2,11.2,458,8849,0.00,2.28,45.35,1.366,6,0.000,0.046,3251,1505,1438,0,0,0,0,0,0
$GC,9157,0.74,373.3,860.2,12.3,469,9192,0.00,1.73,30.30,1.320,4,0.000,0.037,3251,2589,1305,0,0,0,0,0,0
$GC,9243,0.80,398.1,849.4,12.8,471,9272,0.00,1.75,24.52,1.290,6,0.000,0.049,3258,1496,1202,0,0,0,0,0,0
$GC,9592,0.88,425.6,805.0,12.7,483,9621,0.12,0.00,25.50,1.277,6,0.104,0.000,3300,1496,1090,0,0,0,0,0,0
$GC,9927,0.88,425.6,751.8,16.0,494,9931,0.00,1.10,0.00,0.000,4,0.000,0.039,3301,2210,1085,0,0,0,0,0,0
$GC,9975,0.88,425.6,744.1,15.9,495,9980,0.00,1.17,0.00,0.000,6,0.000,0.052,3307,1492,1085,0,0,0,0,0,0
$GC,10300,0.88,425.6,694.1,15.4,506,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1492,1084,0,0,0,0,0,0
$GC,10606,0.88,425.6,647.7,14.9,516,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1492,1084,0,0,0,0,0,0
$GC,10912,0.88,425.6,602.0,15.1,526,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1492,1083,0,0,0,0,0,0
$GC,11219,0.88,432.9,557.8,14.0,536,11227,0.00,0.00,6.75,0.933,6,0.000,0.000,3306,1492,1062,0,0,0,0,0,0
$GC,11525,0.88,457.9,517.4,12.8,546,11556,0.00,2.20,25.15,1.131,4,0.000,0.066,3315,173,959,0,0,0,0,0,0
$GC,11601,0.91,473.1,507.3,13.5,548,11622,0.00,2.08,15.23,1.087,6,0.000,0.037,3315,1498,898,0,0,0,0,0,0
$GC,11930,0.93,508.2,465.8,12.2,559,11966,0.00,1.38,32.20,1.119,4,0.000,0.041,3316,2353,755,0,0,0,0,0,0
$GC,12006,0.97,534.5,455.9,12.7,561,12035,0.00,1.40,24.65,1.076,6,0.000,0.052,3321,1502,647,0,0,0,0,0,0
$GC,12361,1.02,538.0,408.4,14.3,573,12365,0.05,2.22,0.00,0.000,4,0.166,0.070,3348,164,641,0,0,0,0,0,0
$GC,12432,1.02,538.0,396.4,17.3,575,12436,0.00,2.12,0.00,0.000,6,0.000,0.038,3348,1501,639,0,0,0,0,0,0
$GC,12756,1.04,538.0,341.6,17.4,591,12760,0.00,2.20,0.00,0.000,4,0.000,0.068,3357,168,639,0,0,0,0,0,0
$GC,12811,1.04,538.0,330.9,18.1,593,12817,0.00,2.10,0.00,0.000,6,0.000,0.038,3357,1500,638,0,0,0,0,0,0
$GC,13129,1.04,538.0,275.3,17.7,609,13133,0.00,1.90,0.00,0.000,4,0.000,0.070,3362,351,638,0,0,0,0,0,0
$GC,13179,1.02,538.0,265.7,18.9,611,13184,0.05,1.80,0.00,0.000,6,0.192,0.038,3348,1507,638,0,0,0,0,0,0
$GC,13499,1.02,538.0,213.6,15.9,630,13503,0.00,2.22,0.00,0.000,4,0.000,0.070,3356,168,638,0,0,0,0,0,0
$GC,13565,1.02,538.0,202.1,17.3,634,13570,0.03,2.10,0.00,0.000,6,0.220,0.038,3348,1500,637,0,0,0,0,0,0
$GC,13892,1.02,538.0,150.3,16.1,655,13896,0.00,2.20,0.00,0.000,4,0.000,0.071,3357,168,637,0,0,0,0,0,0
$GC,13943,1.02,538.0,141.2,17.3,658,13947,0.05,2.08,0.00,0.000,6,0.246,0.039,3347,1501,637,0,0,0,0,0,0
$GC,14265,1.05,538.0,90.1,15.7,686,14270,0.00,2.20,0.00,0.000,4,0.000,0.070,3355,170,637,0,0,0,0,0,0
$GC,14328,1.05,538.0,80.2,16.4,697,14332,0.00,2.08,0.00,0.000,6,0.000,0.038,3355,1504,637,0,0,0,0,0,0
$GC,14680,1.01,538.0,22.2,15.7,758,14688,0.08,2.20,0.00,0.000,4,0.227,0.044,3339,2901,637,0,0,0,0,0,0
$GC,14731,1.06,538.0,14.0,15.7,766,14738,0.00,2.25,0.00,0.000,6,0.000,0.049,3348,1503,637,0,0,0,0,0,0
$GC,14811,1.06,551.7,3.2,13.6,779,14819,0.00,0.00,5.65,0.561,2,0.000,0.000,3347,1502,589,0,0,0,0,0,0
$STATE,14819,end climb,SURFACE_DEPTH_REACHED
$STATE,14819,begin surface coast
$FINISH,1.7,1.017447
$STATE,14845,end surface coast,CONTROL_FINISHED_OK
$STATE,14845,begin surface
$SM_CCo,14923,0.00,0.000,0,0,588,549.22
$SM_GC,2.77,9.10,0.00,0.00,0.058,0.000,0.000,92,2128,588,-9.08,0.79,549.22
$IRIDIUM_FIX,-4135.14,-630.94,011212,161644
$TT8_MAMPS,0.026964
$HUMID,48.62
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.1,71.255
$10V_AH,10.0,47.206
$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,25.150,129.775,630.050,0.000,0.000,25.582,39.895,242.413,0.000,0.000,44.196,1986.572,9964.707,646.754,2607.897,172.227,33.365,1707.135,0.000,2232.830,0.000,1.013,0.000
$DEVICE_MAMPS,263.925,71.145,1466.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.009,886.343,513.297,66.073,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,46936,784
$CAP_FILE_SIZE,150377,0
$CFSIZE,2097086464,2052390912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021212,012128,-4151.197,-629.026,37,1.0,42,-22.1