version: 66.07.10.p01
glider: 574
mission: 4
dive: 306
start: 12 2 112 14 38 28
data:
$ID,574
$MISSION,4
$DIVE,306
$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,-6820.0542
$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,2050
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,43
$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,285
$GPS1,021212,142359,-4153.598,-627.807,41,1.1,41,-22.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-69.6
$GPS2,021212,143733,-4153.538,-627.708,60,1.1,61,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,ACC_WP2n
$TGT_LATLONG,-4230.000,-600.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.143,-0.253
$KALMAN_X,-450768.2,55.4,-146.1,643435.0,-838.8
$KALMAN_Y,54548.8,221.8,-27.0,52814.2,1450.5
$MHEAD_RNG_PITCHd_Wd,172.8,77405,-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,-145.9,0.0,0.0,0,87,0.00,0.00,-59.90,0.000,2,0.000,0.000,65,2074,2213,0,0,0,0,0,0
$GC,90,-1.03,-145.9,3.1,-1.6,10,151,11.85,2.22,-40.28,0.000,4,0.262,0.064,2665,3441,3423,0,0,0,0,0,0
$GC,214,-0.98,-145.9,18.2,-14.3,30,222,0.08,2.22,0.00,0.000,6,0.182,0.044,2690,2045,3424,0,0,0,0,0,0
$GC,295,-0.96,-145.9,29.5,-14.5,43,301,0.00,0.88,0.00,0.000,4,0.000,0.056,2692,1487,3425,0,0,0,0,0,0
$GC,333,-0.93,-145.9,35.1,-13.9,49,339,0.05,0.85,0.00,0.000,6,0.194,0.037,2704,2050,3425,0,0,0,0,0,0
$GC,567,-0.97,-145.9,64.5,-12.5,90,574,0.00,2.17,0.00,0.000,4,0.000,0.047,2694,3435,3425,0,0,0,0,0,0
$GC,627,-1.00,-145.9,71.8,-13.2,100,632,0.00,2.17,0.00,0.000,6,0.000,0.041,2700,2031,3425,0,0,0,0,0,0
$GC,975,-1.06,-145.9,112.9,-11.8,149,979,0.08,1.45,0.00,0.000,4,0.140,0.042,2664,2952,3425,0,0,0,0,0,0
$GC,1001,-1.06,-145.9,116.9,-12.7,150,1009,0.00,1.40,0.00,0.000,6,0.000,0.041,2664,2048,3425,0,0,0,0,0,0
$GC,1323,-1.06,-145.9,157.0,-12.4,171,1326,0.00,1.58,0.00,0.000,4,0.000,0.054,2664,1051,3426,0,0,0,0,0,0
$GC,1378,-0.99,-145.9,164.7,-12.8,174,1383,0.10,1.55,0.00,0.000,6,0.177,0.037,2685,2051,3426,0,0,0,0,0,0
$GC,1706,-1.05,-145.9,200.6,-11.0,195,1710,0.00,2.20,0.00,0.000,4,0.000,0.048,2676,3461,3426,0,0,0,0,0,0
$GC,1761,-1.05,-145.9,208.1,-13.1,198,1765,0.00,2.20,0.00,0.000,6,0.000,0.041,2678,2049,3426,0,0,0,0,0,0
$GC,2088,-1.05,-145.9,247.8,-12.4,219,2092,0.00,2.20,0.00,0.000,4,0.000,0.047,2669,3461,3426,0,0,0,0,0,0
$GC,2158,-1.05,-145.9,257.4,-14.2,223,2162,0.00,2.17,0.00,0.000,6,0.000,0.041,2669,2046,3426,0,0,0,0,0,0
$GC,2487,-1.05,-145.9,302.0,-14.0,239,2491,0.00,2.22,0.00,0.000,4,0.000,0.055,2669,639,3426,0,0,0,0,0,0
$GC,2580,-1.02,-145.9,315.7,-14.6,243,2585,0.10,2.17,0.00,0.000,6,0.199,0.036,2681,2055,3426,0,0,0,0,0,0
$GC,2910,-1.06,-145.9,358.2,-13.1,259,2913,0.00,2.25,0.00,0.000,4,0.000,0.054,2681,644,3426,0,0,0,0,0,0
$GC,2970,-1.06,-145.9,367.6,-14.4,261,2976,0.00,2.17,0.00,0.000,6,0.000,0.035,2673,2050,3426,0,0,0,0,0,0
$GC,3287,-1.11,-145.9,408.4,-13.0,276,3290,0.00,1.77,0.00,0.000,4,0.000,0.046,2664,3201,3426,0,0,0,0,0,0
$GC,3331,-1.11,-145.9,414.9,-14.0,277,3335,0.00,1.80,0.00,0.000,6,0.000,0.039,2664,2042,3426,0,0,0,0,0,0
$GC,3660,-1.11,-145.9,459.3,-13.4,288,3664,0.00,2.17,0.00,0.000,4,0.000,0.052,2664,643,3426,0,0,0,0,0,0
$GC,3757,-1.07,-145.9,473.1,-14.5,291,3761,0.00,2.12,0.00,0.000,6,0.000,0.034,2654,2052,3426,0,0,0,0,0,0
$GC,4091,-1.07,-145.9,516.0,-12.8,302,4095,0.03,1.00,0.00,0.000,4,0.299,0.047,2665,1419,3426,0,0,0,0,0,0
$GC,4146,-1.07,-145.9,523.0,-12.3,303,4150,0.00,0.95,0.00,0.000,6,0.000,0.036,2662,2052,3426,0,0,0,0,0,0
$GC,4465,-1.07,-145.9,562.1,-12.6,314,4469,0.00,1.40,0.00,0.000,4,0.000,0.043,2656,2960,3426,0,0,0,0,0,0
$GC,4499,-1.07,-145.9,566.7,-13.3,315,4503,0.00,1.40,0.00,0.000,6,0.000,0.040,2656,2054,3426,0,0,0,0,0,0
$GC,4840,-1.07,-145.9,611.8,-13.4,326,4844,0.00,2.17,0.00,0.000,4,0.000,0.045,2646,3447,3425,0,0,0,0,0,0
$GC,4912,-1.03,-145.9,622.4,-14.0,328,4916,0.12,2.12,0.00,0.000,6,0.181,0.036,2676,2050,3425,0,0,0,0,0,0
$GC,5247,-1.05,-145.9,665.7,-12.9,339,5251,0.00,2.17,0.00,0.000,4,0.000,0.045,2667,3448,3425,0,0,0,0,0,0
$GC,5296,-1.05,-145.9,673.1,-14.1,340,5300,0.00,2.15,0.00,0.000,6,0.000,0.036,2667,2053,3424,0,0,0,0,0,0
$GC,5615,-1.05,-145.9,715.0,-13.2,351,5619,0.00,2.22,0.00,0.000,4,0.000,0.052,2667,640,3424,0,0,0,0,0,0
$GC,5711,-1.01,-145.9,728.7,-13.6,354,5716,0.12,2.15,0.00,0.000,6,0.190,0.034,2686,2047,3423,0,0,0,0,0,0
$GC,6047,-1.07,-145.9,770.8,-12.6,365,6051,0.00,2.22,0.00,0.000,4,0.000,0.052,2686,638,3423,0,0,0,0,0,0
$GC,6118,-1.07,-145.9,780.7,-13.2,367,6122,0.00,2.17,0.00,0.000,6,0.000,0.034,2677,2042,3422,0,0,0,0,0,0
$GC,6449,-1.13,-145.9,821.8,-12.5,378,6453,0.10,2.17,0.00,0.000,4,0.117,0.047,2628,3449,3422,0,0,0,0,0,0
$GC,6537,-1.07,-145.9,835.4,-15.6,380,6543,0.10,2.17,0.00,0.000,6,0.166,0.036,2672,2045,3422,0,0,0,0,0,0
$GC,6850,-1.11,-145.9,876.5,-12.9,391,6855,0.00,2.22,0.00,0.000,4,0.000,0.052,2672,638,3421,0,0,0,0,0,0
$GC,6922,-1.11,-145.9,887.0,-13.8,393,6927,0.00,2.20,0.00,0.000,6,0.000,0.034,2663,2054,3421,0,0,0,0,0,0
$GC,7253,-1.14,-145.9,928.9,-12.7,404,7255,0.05,0.00,0.00,0.000,6,0.174,0.000,2643,2056,3420,0,0,0,0,0,0
$GC,7559,-1.14,-145.9,970.4,-13.5,414,7562,0.00,0.43,0.00,0.000,4,0.000,0.050,2643,1759,3420,0,0,0,0,0,0
$GC,7710,-1.11,-145.9,991.9,-14.5,418,7714,0.00,0.43,0.00,0.000,6,0.000,0.046,2641,2059,3420,0,0,0,0,0,0
$STATE,7787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7787,begin apogee
$GC,7793,-0.21,0.0,1003.7,15.5,421,7925,1.08,0.00,129.23,1.501,6,0.172,0.000,2938,1552,2827,0,0,0,0,0,0
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7928,1.03,145.9,1013.1,0.0,425,8068,1.25,1.40,134.12,1.440,4,0.069,0.059,3348,790,2231,0,0,0,0,0,0
$GC,8135,0.74,245.2,1016.9,7.9,432,8237,0.38,1.25,92.78,1.415,6,0.219,0.036,3262,1553,1827,0,0,0,0,0,0
$GC,8550,0.69,296.6,974.4,11.1,446,8601,0.10,1.25,46.33,1.398,4,0.234,0.042,3241,2304,1616,0,0,0,0,0,0
$GC,8657,0.69,354.5,962.4,10.6,449,8717,0.00,1.23,53.58,1.371,6,0.000,0.049,3246,1555,1381,0,0,0,0,0,0
$GC,9041,0.75,413.3,920.1,10.6,462,9102,0.00,1.20,53.42,1.374,4,0.000,0.040,3246,2273,1141,0,0,0,0,0,0
$GC,9138,0.86,471.1,909.5,10.6,465,9200,0.08,1.20,54.40,1.345,6,0.075,0.048,3283,1542,906,0,0,0,0,0,0
$GC,9506,0.93,498.8,862.4,12.7,477,9538,0.10,2.33,25.15,1.299,4,0.119,0.069,3325,172,792,0,0,0,0,0,0
$GC,9601,0.95,498.8,848.2,15.4,479,9606,0.00,2.17,0.00,0.000,6,0.000,0.037,3325,1542,787,0,0,0,0,0,0
$GC,9913,0.95,498.8,799.6,15.8,490,9917,0.00,1.48,0.00,0.000,4,0.000,0.066,3329,657,786,0,0,0,0,0,0
$GC,9951,0.95,498.8,793.1,16.3,491,9956,0.00,1.40,0.00,0.000,6,0.000,0.037,3329,1556,785,0,0,0,0,0,0
$GC,10287,0.98,498.8,738.9,16.2,502,10291,0.00,2.30,0.00,0.000,4,0.000,0.073,3333,175,785,0,0,0,0,0,0
$GC,10354,0.98,498.8,727.6,16.3,504,10358,0.00,2.15,0.00,0.000,6,0.000,0.039,3333,1550,783,0,0,0,0,0,0
$GC,10688,0.98,498.8,672.2,16.6,515,10692,0.00,2.28,0.00,0.000,4,0.000,0.073,3341,175,783,0,0,0,0,0,0
$GC,10765,0.98,498.8,658.4,17.7,517,10769,0.00,2.17,0.00,0.000,6,0.000,0.039,3341,1550,783,0,0,0,0,0,0
$GC,11095,0.96,498.8,602.0,17.3,528,11100,0.08,2.25,0.00,0.000,4,0.233,0.071,3336,176,783,0,0,0,0,0,0
$GC,11172,0.96,498.8,588.4,17.3,530,11177,0.03,2.17,0.00,0.000,6,0.219,0.040,3328,1553,782,0,0,0,0,0,0
$GC,11496,0.96,498.8,537.3,15.5,541,11500,0.00,2.20,0.00,0.000,4,0.000,0.048,3329,2972,782,0,0,0,0,0,0
$GC,11573,0.98,498.8,525.4,14.7,543,11577,0.00,2.28,0.00,0.000,6,0.000,0.052,3338,1533,782,0,0,0,0,0,0
$GC,11897,0.98,498.8,475.7,15.4,554,11901,0.00,2.25,0.00,0.000,4,0.000,0.045,3338,2961,782,0,0,0,0,0,0
$GC,11968,0.98,498.8,464.6,14.8,556,11973,0.05,2.28,0.00,0.000,6,0.197,0.051,3334,1552,782,0,0,0,0,0,0
$GC,12297,0.98,498.8,414.2,15.3,567,12301,0.00,2.22,0.00,0.000,4,0.000,0.045,3334,2963,782,0,0,0,0,0,0
$GC,12374,1.01,498.8,402.0,14.8,569,12378,0.00,2.28,0.00,0.000,6,0.000,0.049,3343,1547,782,0,0,0,0,0,0
$GC,12704,1.08,498.8,353.7,14.8,585,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1547,782,0,0,0,0,0,0
$GC,13011,1.19,498.8,307.3,14.6,600,13015,0.15,1.10,0.00,0.000,4,0.091,0.064,3406,858,782,0,0,0,0,0,0
$GC,13043,1.09,498.8,301.5,18.3,601,13048,0.12,1.10,0.00,0.000,6,0.203,0.042,3371,1571,782,0,0,0,0,0,0
$GC,13362,1.04,498.8,245.7,17.4,617,13367,0.10,2.15,0.00,0.000,4,0.213,0.045,3349,2942,782,0,0,0,0,0,0
$GC,13433,1.04,498.8,233.1,16.1,621,13439,0.00,2.22,0.00,0.000,6,0.000,0.049,3358,1553,782,0,0,0,0,0,0
$GC,13754,1.01,498.8,181.6,16.6,642,13759,0.08,2.15,0.00,0.000,4,0.242,0.043,3343,2943,782,0,0,0,0,0,0
$GC,13837,1.01,498.8,168.6,15.6,647,13841,0.00,2.20,0.00,0.000,6,0.000,0.049,3352,1543,782,0,0,0,0,0,0
$GC,14164,1.06,501.2,120.1,14.3,668,14167,0.00,1.80,0.00,0.000,4,0.000,0.065,3359,415,783,0,0,0,0,0,0
$GC,14198,1.00,501.2,113.9,16.9,670,14203,0.10,1.70,0.00,0.000,6,0.207,0.039,3338,1543,782,0,0,0,0,0,0
$GC,14534,1.12,518.8,63.6,13.3,719,14562,0.10,2.35,17.85,0.814,4,0.111,0.067,3387,169,712,0,0,0,0,0,0
$GC,14629,1.04,518.8,47.9,18.1,735,14635,0.15,2.15,0.00,0.000,6,0.198,0.039,3353,1550,710,0,0,0,0,0,0
$GC,14871,1.13,539.9,11.5,13.1,776,14891,0.08,2.05,10.60,0.685,4,0.131,0.045,3380,2833,626,0,0,0,0,0,0
$STATE,14928,end climb,SURFACE_DEPTH_REACHED
$STATE,14928,begin surface coast
$FINISH,1.7,1.013452
$STATE,14936,end surface coast,CONTROL_FINISHED_OK
$STATE,14936,begin surface
$SM_CCo,15015,0.00,0.000,0,0,621,541.12
$SM_GC,2.77,9.20,0.00,0.00,0.055,0.000,0.000,79,2029,621,-9.11,-0.62,541.12
$IRIDIUM_FIX,-4138.02,-625.52,021212,141441
$TT8_MAMPS,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.60
$XPDR_PINGS,0
$24V_AH,22.1,72.277
$10V_AH,10.0,47.594
$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,25.975,138.500,617.450,0.000,0.000,64.181,109.767,384.656,0.250,0.000,64.000,2026.748,9984.436,654.011,2985.803,177.255,33.362,1744.160,0.000,2308.436,0.000,2.831,0.000
$DEVICE_MAMPS,299.115,72.675,1500.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.493,877.956,511.934,64.180,0.000,0.000,0.000,0.000,0.000,0.000
$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,47059,786
$CAP_FILE_SIZE,159389,0
$CFSIZE,2097086464,2051866624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021212,184953,-4154.296,-627.618,37,1.5,37,-22.1