version: 66.07.10.p01
glider: 574
mission: 4
dive: 304
start: 12 2 112 5 51 30
data:
$ID,574
$MISSION,4
$DIVE,304
$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,-6812.3716
$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,30
$R_STBD_OVSHOOT,28
$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,283
$GPS1,021212,054259,-4151.657,-628.689,42,1.8,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-68.0
$GPS2,021212,055035,-4151.703,-628.693,37,1.1,37,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.254,-0.140
$KALMAN_X,-447413.3,320.8,720.1,637614.9,-2661.0
$KALMAN_Y,52104.3,111.2,719.7,58021.1,401.3
$MHEAD_RNG_PITCHd_Wd,173.2,81028,-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,-145.9,0.0,0.0,0,92,0.00,0.00,-64.45,0.000,2,0.000,0.000,65,2109,2290,0,0,0,0,0,0
$GC,95,-1.03,-145.9,3.0,-1.2,11,156,11.48,2.35,-41.67,0.000,4,0.252,0.073,2672,689,3422,0,0,0,0,0,0
$GC,241,-0.94,-145.9,19.3,-16.3,35,249,0.12,2.25,0.00,0.000,6,0.177,0.040,2698,2102,3423,0,0,0,0,0,0
$GC,321,-1.00,-145.9,31.4,-13.2,48,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2103,3423,0,0,0,0,0,0
$GC,558,-1.07,-145.9,58.9,-11.8,89,564,0.10,0.40,0.00,0.000,4,0.115,0.050,2661,2388,3424,0,0,0,0,0,0
$GC,593,-1.07,-145.9,63.6,-12.9,95,597,0.00,0.45,0.00,0.000,6,0.000,0.051,2661,2082,3424,0,0,0,0,0,0
$GC,933,-1.07,-145.9,108.6,-13.6,148,937,0.00,2.28,0.00,0.000,4,0.000,0.049,2651,3521,3424,0,0,0,0,0,0
$GC,987,-0.98,-145.9,117.1,-14.8,151,994,0.10,2.20,0.00,0.000,6,0.169,0.043,2696,2120,3424,0,0,0,0,0,0
$GC,1310,-1.03,-145.9,157.2,-13.0,172,1314,0.00,2.20,0.00,0.000,4,0.000,0.049,2687,3515,3425,0,0,0,0,0,0
$GC,1376,-1.06,-145.9,166.7,-14.1,176,1380,0.00,2.20,0.00,0.000,6,0.000,0.040,2687,2092,3424,0,0,0,0,0,0
$GC,1704,-1.09,-145.9,208.2,-12.6,197,1709,0.08,2.25,0.00,0.000,4,0.138,0.048,2647,3517,3426,0,0,0,0,0,0
$GC,1742,-1.02,-145.9,214.2,-14.5,199,1747,0.15,2.22,0.00,0.000,6,0.182,0.040,2683,2091,3425,0,0,0,0,0,0
$GC,2072,-1.02,-145.9,253.4,-11.4,220,2077,0.00,2.25,0.00,0.000,4,0.000,0.048,2675,3522,3426,0,0,0,0,0,0
$GC,2138,-1.02,-145.9,261.2,-12.4,223,2142,0.00,2.20,0.00,0.000,6,0.000,0.038,2674,2091,3426,0,0,0,0,0,0
$GC,2466,-1.02,-145.9,298.1,-11.0,239,2470,0.00,2.22,0.00,0.000,4,0.000,0.047,2664,3515,3426,0,0,0,0,0,0
$GC,2515,-1.02,-145.9,304.5,-12.1,241,2520,0.05,2.20,0.00,0.000,6,0.172,0.037,2679,2089,3426,0,0,0,0,0,0
$GC,2846,-1.05,-145.9,339.4,-10.4,257,2850,0.00,2.22,0.00,0.000,4,0.000,0.047,2670,3515,3427,0,0,0,0,0,0
$GC,2901,-1.05,-145.9,346.1,-11.4,259,2905,0.00,2.17,0.00,0.000,6,0.000,0.037,2670,2105,3427,0,0,0,0,0,0
$GC,3225,-1.05,-145.9,381.5,-11.5,275,3229,0.00,2.20,0.00,0.000,4,0.000,0.047,2660,3516,3427,0,0,0,0,0,0
$GC,3297,-1.05,-145.9,391.2,-12.6,278,3301,0.00,2.17,0.00,0.000,6,0.000,0.035,2660,2098,3427,0,0,0,0,0,0
$GC,3622,-1.05,-145.9,431.5,-12.6,290,3626,0.00,2.22,0.00,0.000,4,0.000,0.046,2649,3520,3428,0,0,0,0,0,0
$GC,3694,-1.01,-145.9,441.5,-13.6,292,3699,0.15,2.15,0.00,0.000,6,0.174,0.034,2688,2098,3428,0,0,0,0,0,0
$GC,4029,-1.08,-145.9,479.5,-11.3,303,4033,0.08,0.75,0.00,0.000,4,0.135,0.042,2656,2591,3428,0,0,0,0,0,0
$GC,4044,-1.13,-145.9,481.5,-11.3,303,4048,0.00,0.75,0.00,0.000,6,0.000,0.042,2656,2095,3428,0,0,0,0,0,0
$GC,4368,-1.13,-145.9,523.2,-13.4,314,4372,0.00,2.17,0.00,0.000,4,0.000,0.052,2656,701,3428,0,0,0,0,0,0
$GC,4384,-1.13,-145.9,525.9,-13.6,314,4388,0.00,2.20,0.00,0.000,6,0.000,0.034,2646,2118,3428,0,0,0,0,0,0
$GC,4708,-1.13,-145.9,571.6,-14.1,325,4712,0.00,2.22,0.00,0.000,4,0.000,0.051,2646,711,3428,0,0,0,0,0,0
$GC,4776,-1.04,-145.9,582.2,-16.1,327,4781,0.15,2.12,0.00,0.000,6,0.191,0.034,2672,2104,3428,0,0,0,0,0,0
$GC,5112,-1.09,-145.9,626.3,-12.7,338,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2104,3428,0,0,0,0,0,0
$GC,5418,-1.13,-145.9,664.9,-12.5,348,5422,0.08,2.25,0.00,0.000,4,0.134,0.052,2645,693,3428,0,0,0,0,0,0
$GC,5495,-1.04,-145.9,676.5,-15.5,350,5499,0.10,2.17,0.00,0.000,6,0.174,0.034,2679,2093,3428,0,0,0,0,0,0
$GC,5825,-1.08,-145.9,715.1,-11.5,361,5829,0.00,1.23,0.00,0.000,4,0.000,0.048,2679,1318,3428,0,0,0,0,0,0
$GC,5880,-1.08,-145.9,721.7,-12.3,362,5884,0.00,1.20,0.00,0.000,6,0.000,0.036,2674,2097,3427,0,0,0,0,0,0
$GC,6199,-1.17,-145.9,755.1,-10.0,373,6204,0.12,2.20,0.00,0.000,4,0.104,0.047,2616,3502,3428,0,0,0,0,0,0
$GC,6288,-1.07,-145.9,767.1,-14.2,375,6294,0.17,2.12,0.00,0.000,6,0.184,0.034,2662,2092,3427,0,0,0,0,0,0
$GC,6600,-1.07,-145.9,802.6,-11.1,386,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2092,3428,0,0,0,0,0,0
$GC,6907,-1.02,-145.9,840.2,-13.3,396,6911,0.08,1.10,0.00,0.000,4,0.233,0.041,2674,2790,3427,0,0,0,0,0,0
$GC,6950,-1.02,-145.9,846.4,-12.8,397,6955,0.00,1.08,0.00,0.000,6,0.000,0.037,2674,2094,3428,0,0,0,0,0,0
$GC,7281,-0.99,-145.9,892.7,-14.4,408,7285,0.08,2.22,0.00,0.000,4,0.218,0.046,2680,3511,3427,0,0,0,0,0,0
$GC,7364,-1.02,-145.9,904.4,-12.7,410,7368,0.00,2.12,0.00,0.000,6,0.000,0.035,2681,2102,3427,0,0,0,0,0,0
$GC,7682,-1.09,-145.9,944.7,-12.6,421,7686,0.00,2.12,0.00,0.000,4,0.000,0.051,2681,753,3427,0,0,0,0,0,0
$GC,7754,-1.09,-145.9,955.1,-13.8,423,7759,0.00,2.10,0.00,0.000,6,0.000,0.037,2672,2093,3427,0,0,0,0,0,0
$STATE,7807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7807,begin apogee
$GC,7812,-0.21,0.0,962.5,14.3,425,7946,0.95,0.00,130.25,1.466,6,0.160,0.000,2943,1494,2827,0,0,0,0,0,0
$STATE,7947,end apogee,CONTROL_FINISHED_OK
$STATE,7947,begin climb
$GC,7948,1.03,145.9,972.0,0.0,429,8089,1.20,0.77,132.57,1.411,4,0.065,0.058,3346,1059,2231,0,0,0,0,0,0
$GC,8150,0.75,250.4,977.3,7.6,435,8254,0.38,0.73,97.32,1.382,6,0.222,0.040,3262,1509,1806,0,0,0,0,0,0
$GC,8559,0.70,309.9,936.9,10.5,448,8620,0.10,1.30,53.55,1.379,4,0.233,0.042,3241,2293,1562,0,0,0,0,0,0
$GC,8670,0.70,360.0,924.6,11.2,451,8721,0.03,1.30,46.45,1.341,6,0.223,0.049,3240,1505,1359,0,0,0,0,0,0
$GC,9051,0.76,401.5,879.8,11.7,464,9095,0.00,0.85,38.20,1.325,4,0.000,0.041,3240,2024,1190,0,0,0,0,0,0
$GC,9135,0.86,435.2,869.5,12.3,466,9172,0.10,0.88,32.35,1.299,6,0.068,0.055,3283,1496,1051,0,0,0,0,0,0
$GC,9478,0.89,435.2,819.4,14.7,477,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1497,1044,0,0,0,0,0,0
$GC,9784,0.93,454.3,777.5,13.2,487,9809,0.08,1.58,17.95,1.236,4,0.139,0.041,3309,2468,973,0,0,0,0,0,0
$GC,9849,0.93,454.3,768.0,15.2,489,9853,0.00,1.58,0.00,0.000,6,0.000,0.051,3316,1505,971,0,0,0,0,0,0
$GC,10190,0.93,457.6,718.7,14.3,500,10193,0.00,0.90,0.00,0.000,4,0.000,0.063,3320,941,968,0,0,0,0,0,0
$GC,10228,0.93,459.3,712.9,14.4,501,10238,0.00,0.88,4.93,0.868,6,0.000,0.037,3319,1508,954,0,0,0,0,0,0
$GC,10563,0.93,466.8,665.7,14.0,512,10573,0.00,0.00,8.85,1.046,6,0.000,0.000,3320,1510,923,0,0,0,0,0,0
$GC,10869,0.93,466.8,621.0,14.6,522,10872,0.00,0.47,0.00,0.000,4,0.000,0.046,3320,1845,922,0,0,0,0,0,0
$GC,10906,0.93,467.2,615.3,14.5,523,10911,0.00,0.57,0.00,0.000,6,0.000,0.060,3322,1491,922,0,0,0,0,0,0
$GC,11242,0.93,467.2,563.4,15.8,534,11245,0.00,0.45,0.00,0.000,4,0.000,0.044,3322,1803,921,0,0,0,0,0,0
$GC,11268,0.93,467.2,558.9,16.1,534,11274,0.00,0.50,0.00,0.000,6,0.000,0.060,3325,1501,921,0,0,0,0,0,0
$GC,11581,0.93,467.2,508.8,15.9,545,11584,0.00,1.20,0.00,0.000,4,0.000,0.063,3330,753,921,0,0,0,0,0,0
$GC,11620,0.88,467.2,502.4,17.1,546,11625,0.10,1.15,0.00,0.000,6,0.177,0.039,3302,1505,920,0,0,0,0,0,0
$GC,11956,0.93,481.1,455.8,13.6,557,11972,0.00,0.00,14.55,1.040,6,0.000,0.000,3302,1505,864,0,0,0,0,0,0
$GC,12262,0.97,494.1,414.4,13.6,567,12282,0.08,1.80,12.98,0.995,4,0.129,0.042,3331,2619,811,0,0,0,0,0,0
$GC,12320,0.97,494.1,405.6,14.5,568,12326,0.00,1.83,0.00,0.000,6,0.000,0.051,3338,1500,811,0,0,0,0,0,0
$GC,12638,0.97,494.1,357.6,15.5,583,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1500,809,0,0,0,0,0,0
$GC,12945,0.97,494.1,309.5,15.6,598,12949,0.00,2.17,0.00,0.000,4,0.000,0.067,3347,168,809,0,0,0,0,0,0
$GC,13010,0.97,494.1,298.9,17.3,601,13014,0.08,2.03,0.00,0.000,6,0.213,0.039,3333,1484,806,0,0,0,0,0,0
$GC,13337,0.97,494.1,248.6,15.2,617,13341,0.00,0.43,0.00,0.000,4,0.000,0.047,3332,1802,806,0,0,0,0,0,0
$GC,13364,0.97,494.1,244.1,15.1,618,13372,0.00,0.52,0.00,0.000,6,0.000,0.058,3334,1487,806,0,0,0,0,0,0
$GC,13685,0.97,494.1,196.2,15.2,639,13689,0.00,1.77,0.00,0.000,4,0.000,0.068,3342,397,806,0,0,0,0,0,0
$GC,13729,0.95,494.1,188.5,16.7,641,13736,0.05,1.73,0.00,0.000,6,0.184,0.039,3326,1507,806,0,0,0,0,0,0
$GC,14050,0.97,494.1,140.1,15.4,662,14053,0.00,0.47,0.00,0.000,4,0.000,0.045,3326,1851,806,0,0,0,0,0,0
$GC,14077,1.00,494.1,135.5,16.0,663,14082,0.00,0.60,0.00,0.000,6,0.000,0.057,3328,1489,806,0,0,0,0,0,0
$GC,14401,1.09,513.8,90.9,13.2,692,14422,0.10,0.00,18.12,0.834,6,0.111,0.000,3368,1489,731,0,0,0,0,0,0
$GC,14763,1.07,513.8,30.3,16.4,756,14770,0.00,0.80,0.00,0.000,4,0.000,0.063,3372,984,729,0,0,0,0,0,0
$GC,14797,1.02,513.8,24.8,18.2,761,14804,0.10,0.80,0.00,0.000,6,0.177,0.041,3344,1512,729,0,0,0,0,0,0
$GC,14878,1.04,513.8,12.7,16.7,774,14885,0.00,0.60,0.00,0.000,4,0.000,0.043,3344,1929,729,0,0,0,0,0,0
$GC,14923,1.04,513.8,4.8,18.0,781,14930,0.00,0.70,0.00,0.000,6,0.000,0.053,3346,1488,729,0,0,0,0,0,0
$STATE,14936,end climb,SURFACE_DEPTH_REACHED
$STATE,14936,begin surface coast
$FINISH,1.7,1.013017
$STATE,14956,end surface coast,CONTROL_FINISHED_OK
$STATE,14956,begin surface
$SM_CCo,15033,0.00,0.000,0,0,727,515.12
$SM_GC,2.69,8.98,0.00,0.00,0.051,0.000,0.000,81,2108,727,-9.10,0.23,515.12
$IRIDIUM_FIX,-4135.14,-630.94,021212,010110
$TT8_MAMPS,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.2,71.751
$10V_AH,10.0,47.398
$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,25.375,106.225,608.075,0.000,0.000,30.932,38.933,246.746,0.000,0.000,39.512,2002.829,10100.217,624.730,2582.438,177.574,33.363,1677.768,0.000,2210.675,0.000,1.013,0.000
$DEVICE_MAMPS,252.450,73.440,1465.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.813,887.991,514.418,63.857,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,47043,786
$CAP_FILE_SIZE,152380,0
$CFSIZE,2097086464,2052128768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021212,100305,-4152.827,-628.523,29,1.3,29,-22.1