version: 66.07.10.p01
glider: 574
mission: 4
dive: 307
start: 12 2 112 18 57 57
data:
$ID,574
$MISSION,4
$DIVE,307
$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,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,-6823.5166
$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,1980
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,33
$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,286
$GPS1,021212,184953,-4154.296,-627.618,37,1.5,37,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.0
$GPS2,021212,185735,-4154.303,-627.581,35,1.4,35,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4159.702,-614.997
$TGT_RADIUS,1852.000
$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,142.1,20000,-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,-145.9,0.0,0.0,0,93,0.00,0.00,-65.90,0.000,2,0.000,0.000,66,2027,2275,0,0,0,0,0,0
$GC,95,-1.03,-145.9,3.1,-1.2,11,157,12.05,2.17,-43.60,0.000,4,0.267,0.063,2664,3388,3422,0,0,0,0,0,0
$GC,224,-0.98,-145.9,13.8,-13.3,32,232,0.08,2.22,0.00,0.000,6,0.180,0.044,2688,1993,3423,0,0,0,0,0,0
$GC,305,-0.98,-145.9,25.2,-14.4,45,312,0.00,2.15,0.00,0.000,4,0.000,0.060,2687,677,3423,0,0,0,0,0,0
$GC,355,-0.93,-145.9,32.7,-15.8,53,361,0.12,2.05,0.00,0.000,6,0.203,0.037,2708,1996,3424,0,0,0,0,0,0
$GC,592,-1.00,-145.9,63.9,-13.3,94,597,0.00,2.33,0.00,0.000,4,0.000,0.058,2708,565,3423,0,0,0,0,0,0
$GC,644,-1.00,-145.9,70.7,-13.2,103,648,0.00,2.17,0.00,0.000,6,0.000,0.036,2698,1981,3424,0,0,0,0,0,0
$GC,980,-1.05,-145.9,112.0,-11.7,152,985,0.08,1.52,0.00,0.000,4,0.138,0.056,2670,1044,3424,0,0,0,0,0,0
$GC,1025,-0.97,-145.9,117.8,-13.0,154,1033,0.10,1.45,0.00,0.000,6,0.177,0.035,2693,1978,3424,0,0,0,0,0,0
$GC,1347,-1.02,-145.9,153.0,-10.9,175,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1978,3425,0,0,0,0,0,0
$GC,1659,-1.06,-145.9,188.5,-11.7,195,1663,0.08,2.20,0.00,0.000,4,0.136,0.047,2655,3386,3425,0,0,0,0,0,0
$GC,1724,-1.02,-145.9,197.1,-13.8,199,1729,0.10,2.17,0.00,0.000,6,0.193,0.038,2677,1966,3425,0,0,0,0,0,0
$GC,2049,-1.05,-145.9,239.0,-13.5,220,2053,0.00,2.08,0.00,0.000,4,0.000,0.047,2669,3297,3425,0,0,0,0,0,0
$GC,2104,-1.05,-145.9,247.2,-14.2,223,2110,0.00,2.05,0.00,0.000,6,0.000,0.039,2669,1980,3425,0,0,0,0,0,0
$GC,2436,-1.05,-145.9,293.8,-14.1,240,2440,0.00,2.22,0.00,0.000,4,0.000,0.054,2669,576,3426,0,0,0,0,0,0
$GC,2457,-1.05,-145.9,296.4,-14.8,241,2461,0.00,2.12,0.00,0.000,6,0.000,0.033,2659,1986,3426,0,0,0,0,0,0
$GC,2785,-1.05,-145.9,342.5,-13.6,257,2789,0.03,0.80,0.00,0.000,4,0.301,0.050,2671,1479,3426,0,0,0,0,0,0
$GC,2823,-1.05,-145.9,348.2,-13.9,258,2831,0.00,0.77,0.00,0.000,6,0.000,0.037,2669,1989,3426,0,0,0,0,0,0
$GC,3139,-1.10,-145.9,387.3,-11.7,274,3143,0.00,2.15,0.00,0.000,4,0.000,0.045,2659,3376,3426,0,0,0,0,0,0
$GC,3212,-1.10,-145.9,396.5,-12.6,277,3216,0.00,2.15,0.00,0.000,6,0.000,0.036,2658,1978,3426,0,0,0,0,0,0
$GC,3552,-1.13,-145.9,434.4,-10.8,289,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,1978,3426,0,0,0,0,0,0
$GC,3857,-1.13,-145.9,467.3,-11.1,299,3861,0.00,1.05,0.00,0.000,4,0.000,0.040,2654,2665,3426,0,0,0,0,0,0
$GC,3884,-1.13,-145.9,470.6,-11.3,299,3890,0.00,1.05,0.00,0.000,6,0.000,0.040,2654,1975,3426,0,0,0,0,0,0
$GC,4197,-1.13,-145.9,506.1,-11.4,310,4201,0.00,2.17,0.00,0.000,4,0.000,0.052,2654,582,3426,0,0,0,0,0,0
$GC,4270,-1.06,-145.9,515.6,-12.6,312,4274,0.10,2.12,0.00,0.000,6,0.200,0.031,2665,1980,3426,0,0,0,0,0,0
$GC,4605,-1.09,-145.9,552.3,-10.9,323,4608,0.00,1.08,0.00,0.000,4,0.000,0.049,2670,1294,3426,0,0,0,0,0,0
$GC,4631,-1.09,-145.9,555.6,-11.6,323,4637,0.00,1.05,0.00,0.000,6,0.000,0.034,2667,1984,3426,0,0,0,0,0,0
$GC,4945,-1.12,-145.9,590.8,-11.4,334,4949,0.00,2.10,0.00,0.000,4,0.000,0.051,2667,650,3425,0,0,0,0,0,0
$GC,4989,-1.08,-145.9,596.7,-12.8,335,4993,0.00,2.05,0.00,0.000,6,0.000,0.033,2657,1979,3425,0,0,0,0,0,0
$GC,5318,-1.08,-145.9,636.8,-12.2,346,5322,0.00,2.22,0.00,0.000,4,0.000,0.052,2657,583,3425,0,0,0,0,0,0
$GC,5396,-1.02,-145.9,647.7,-14.1,348,5401,0.08,2.15,0.00,0.000,6,0.171,0.031,2681,1980,3425,0,0,0,0,0,0
$GC,5721,-1.07,-145.9,684.7,-11.3,359,5724,0.00,1.00,0.00,0.000,4,0.000,0.043,2677,2642,3424,0,0,0,0,0,0
$GC,5770,-1.10,-145.9,690.7,-11.5,360,5775,0.03,1.00,0.00,0.000,6,0.119,0.041,2661,1981,3424,0,0,0,0,0,0
$GC,6094,-1.10,-145.9,729.5,-12.0,371,6098,0.00,2.20,0.00,0.000,4,0.000,0.054,2661,586,3423,0,0,0,0,0,0
$GC,6189,-1.03,-145.9,742.9,-14.5,373,6195,0.08,2.15,0.00,0.000,6,0.176,0.034,2673,1972,3423,0,0,0,0,0,0
$GC,6502,-1.07,-145.9,779.9,-11.9,384,6506,0.00,1.70,0.00,0.000,4,0.000,0.050,2673,908,3423,0,0,0,0,0,0
$GC,6541,-1.04,-145.9,785.1,-13.3,385,6545,0.00,1.67,0.00,0.000,6,0.000,0.034,2666,1992,3423,0,0,0,0,0,0
$GC,6876,-1.09,-145.9,827.8,-12.8,396,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1992,3422,0,0,0,0,0,0
$GC,7183,-1.13,-145.9,865.7,-12.1,406,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1991,3422,0,0,0,0,0,0
$GC,7489,-1.17,-145.9,901.4,-11.4,416,7493,0.10,1.90,0.00,0.000,4,0.121,0.051,2630,785,3421,0,0,0,0,0,0
$GC,7538,-1.08,-145.9,908.3,-14.0,417,7542,0.10,1.85,0.00,0.000,6,0.182,0.034,2658,1978,3421,0,0,0,0,0,0
$STATE,7829,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7829,begin apogee
$GC,7835,-0.21,0.0,947.7,13.3,427,7968,0.98,0.00,129.48,1.465,6,0.155,0.000,2940,1545,2827,0,0,0,0,0,0
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7969,begin climb
$GC,7970,1.03,145.9,956.1,0.0,431,8111,1.20,0.55,132.55,1.404,4,0.063,0.042,3342,1857,2232,0,0,0,0,0,0
$GC,8184,0.77,242.6,957.9,8.1,437,8282,0.32,0.52,89.72,1.377,6,0.224,0.053,3270,1555,1839,0,0,0,0,0,0
$GC,8587,0.70,293.3,914.0,11.1,451,8638,0.12,1.65,45.10,1.361,4,0.221,0.041,3243,2574,1632,0,0,0,0,0,0
$GC,8693,0.70,348.3,902.2,10.8,454,8748,0.00,1.67,50.42,1.336,6,0.000,0.047,3249,1557,1407,0,0,0,0,0,0
$GC,9079,0.75,398.1,858.3,11.2,467,9129,0.00,2.00,45.47,1.321,4,0.000,0.041,3249,2787,1205,0,0,0,0,0,0
$GC,9175,0.82,423.8,847.1,12.8,470,9204,0.05,2.03,24.50,1.245,6,0.163,0.048,3275,1549,1099,0,0,0,0,0,0
$GC,9540,0.96,478.2,806.7,10.9,482,9595,0.15,0.70,50.33,1.294,4,0.093,0.043,3329,1975,877,0,0,0,0,0,0
$GC,9622,0.96,478.2,794.4,15.4,483,9627,0.00,0.73,0.00,0.000,6,0.000,0.058,3332,1550,874,0,0,0,0,0,0
$GC,9934,0.96,478.2,746.2,15.5,494,9938,0.00,1.92,0.00,0.000,4,0.000,0.069,3339,367,870,0,0,0,0,0,0
$GC,9983,0.96,478.2,738.2,16.5,495,9989,0.05,1.85,0.00,0.000,6,0.194,0.039,3324,1542,868,0,0,0,0,0,0
$GC,10308,0.96,478.2,689.5,15.2,506,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1549,867,0,0,0,0,0,0
$GC,10614,0.96,478.2,642.9,15.4,516,10618,0.00,1.42,0.00,0.000,4,0.000,0.065,3329,679,867,0,0,0,0,0,0
$GC,10653,0.96,478.2,636.5,16.1,517,10657,0.00,1.38,0.00,0.000,6,0.000,0.040,3329,1555,866,0,0,0,0,0,0
$GC,10988,0.96,478.2,582.7,15.8,528,10991,0.00,1.75,0.00,0.000,4,0.000,0.067,3334,472,866,0,0,0,0,0,0
$GC,11037,0.96,478.2,574.8,15.6,529,11041,0.00,1.70,0.00,0.000,6,0.000,0.040,3333,1553,865,0,0,0,0,0,0
$GC,11361,0.96,478.2,525.6,15.0,540,11365,0.00,1.02,0.00,0.000,4,0.000,0.064,3338,931,865,0,0,0,0,0,0
$GC,11410,0.93,478.2,517.6,16.2,541,11415,0.08,0.98,0.00,0.000,6,0.184,0.041,3316,1566,865,0,0,0,0,0,0
$GC,11734,0.95,478.2,469.3,15.2,552,11738,0.00,0.65,0.00,0.000,4,0.000,0.064,3318,1154,865,0,0,0,0,0,0
$GC,11778,0.95,478.2,462.3,15.7,553,11782,0.00,0.62,0.00,0.000,6,0.000,0.044,3318,1563,865,0,0,0,0,0,0
$GC,12108,0.99,478.2,411.7,15.3,564,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1564,865,0,0,0,0,0,0
$GC,12427,1.11,478.2,363.7,14.7,578,12431,0.15,1.02,0.00,0.000,4,0.093,0.063,3380,928,865,0,0,0,0,0,0
$GC,12452,1.11,478.2,359.8,16.0,579,12456,0.00,0.95,0.00,0.000,6,0.000,0.041,3380,1539,865,0,0,0,0,0,0
$GC,12787,1.03,478.2,298.6,17.5,595,12791,0.15,1.33,0.00,0.000,4,0.208,0.063,3351,729,865,0,0,0,0,0,0
$GC,12824,0.98,478.2,291.8,16.6,596,12833,0.05,1.27,0.00,0.000,6,0.187,0.041,3337,1550,865,0,0,0,0,0,0
$GC,13153,0.98,478.2,243.3,14.9,613,13157,0.00,2.22,0.00,0.000,4,0.000,0.070,3346,199,865,0,0,0,0,0,0
$GC,13201,0.98,478.2,235.4,16.2,616,13207,0.03,2.12,0.00,0.000,6,0.218,0.040,3339,1539,864,0,0,0,0,0,0
$GC,13529,0.98,478.2,188.6,14.5,637,13533,0.00,0.57,0.00,0.000,4,0.000,0.047,3339,1940,864,0,0,0,0,0,0
$GC,13556,0.99,482.3,184.2,14.2,638,13564,0.00,0.65,0.00,0.000,6,0.000,0.059,3341,1547,864,0,0,0,0,0,0
$GC,13877,0.99,482.3,137.4,15.3,659,13881,0.00,2.25,0.00,0.000,4,0.000,0.070,3346,172,864,0,0,0,0,0,0
$GC,13948,0.95,482.3,126.1,16.7,663,13953,0.10,2.17,0.00,0.000,6,0.205,0.040,3323,1563,864,0,0,0,0,0,0
$GC,14281,1.06,502.3,80.1,13.2,701,14309,0.10,2.35,20.62,0.825,4,0.111,0.069,3372,178,778,0,0,0,0,0,0
$GC,14373,1.01,502.3,64.8,17.7,717,14380,0.10,2.20,0.00,0.000,6,0.175,0.039,3344,1556,776,0,0,0,0,0,0
$GC,14730,1.09,502.3,14.7,14.7,778,14737,0.00,2.33,0.00,0.000,4,0.000,0.068,3348,171,776,0,0,0,0,0,0
$GC,14792,1.06,502.3,4.5,17.7,788,14800,0.00,2.17,0.00,0.000,6,0.000,0.040,3349,1563,774,0,0,0,0,0,0
$STATE,14806,end climb,SURFACE_DEPTH_REACHED
$STATE,14806,begin surface coast
$FINISH,1.8,1.026439
$STATE,14826,end surface coast,CONTROL_FINISHED_OK
$STATE,14826,begin surface
$SM_CCo,14903,0.00,0.000,0,0,772,504.08
$SM_GC,2.75,9.20,0.00,0.00,0.062,0.000,0.000,83,1999,772,-9.10,0.54,504.08
$IRIDIUM_FIX,-4146.69,-236.95,021212,141411
$TT8_MAMPS,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,22.1,72.520
$10V_AH,10.0,47.689
$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,25.925,113.400,588.200,0.000,0.000,31.381,46.920,243.398,0.000,0.000,37.740,1993.997,10016.179,610.388,2579.226,164.629,0.000,1648.683,0.000,2197.300,0.000,1.013,0.000
$DEVICE_MAMPS,300.645,70.380,1464.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.574,921.454,515.649,68.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,46938,793
$CAP_FILE_SIZE,148493,0
$CFSIZE,2097086464,2051735552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,021212,230735,-4154.948,-626.860,42,1.2,42,-22.1