version: 66.07.10.p01
glider: 574
mission: 4
dive: 308
start: 12 2 112 23 15 44
data:
$ID,574
$MISSION,4
$DIVE,308
$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,-6826.9395
$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,29
$R_STBD_OVSHOOT,46
$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,287
$GPS1,021212,230735,-4154.948,-626.860,42,1.2,42,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-68.6
$GPS2,021212,231523,-4154.907,-626.814,39,1.4,40,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4200.306,-614.228
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.03,-145.9,0.0,0.0,0,64,0.00,0.00,-36.85,0.000,2,0.000,0.000,66,1999,1718,0,0,0,0,0,0
$GC,67,-1.03,-145.9,3.0,-1.1,6,163,11.38,2.22,-76.60,0.000,4,0.248,0.064,2668,3370,3422,0,0,0,0,0,0
$GC,238,-0.97,-145.9,15.6,-14.3,34,245,0.08,2.22,0.00,0.000,6,0.177,0.045,2690,1976,3423,0,0,0,0,0,0
$GC,318,-0.97,-145.9,25.6,-12.7,47,325,0.00,1.15,0.00,0.000,4,0.000,0.060,2692,1258,3424,0,0,0,0,0,0
$GC,352,-0.95,-145.9,30.3,-12.9,52,360,0.05,1.10,0.00,0.000,6,0.194,0.039,2702,1973,3424,0,0,0,0,0,0
$GC,593,-1.02,-145.9,59.7,-11.1,93,598,0.00,2.22,0.00,0.000,4,0.000,0.050,2693,3388,3423,0,0,0,0,0,0
$GC,662,-1.06,-145.9,68.5,-13.0,105,668,0.03,2.22,0.00,0.000,6,0.112,0.044,2674,1979,3424,0,0,0,0,0,0
$GC,1008,-1.06,-145.9,109.8,-12.2,157,1012,0.00,2.22,0.00,0.000,4,0.000,0.058,2674,568,3424,0,0,0,0,0,0
$GC,1073,-1.00,-145.9,118.1,-12.2,161,1078,0.10,2.15,0.00,0.000,6,0.201,0.034,2685,1992,3424,0,0,0,0,0,0
$GC,1398,-1.04,-145.9,154.0,-10.9,182,1402,0.00,0.93,0.00,0.000,4,0.000,0.042,2682,2610,3424,0,0,0,0,0,0
$GC,1453,-1.07,-145.9,159.9,-11.4,185,1456,0.00,0.98,0.00,0.000,6,0.000,0.043,2685,1973,3424,0,0,0,0,0,0
$GC,1784,-1.13,-145.9,196.6,-11.1,206,1789,0.10,2.20,0.00,0.000,4,0.112,0.044,2634,3378,3425,0,0,0,0,0,0
$GC,1839,-1.02,-145.9,204.4,-14.1,209,1846,0.17,2.15,0.00,0.000,6,0.182,0.039,2678,1975,3425,0,0,0,0,0,0
$GC,2160,-1.06,-145.9,241.2,-11.8,230,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1975,3425,0,0,0,0,0,0
$GC,2487,-1.09,-145.9,278.5,-11.5,247,2490,0.00,0.93,0.00,0.000,4,0.000,0.050,2678,1374,3425,0,0,0,0,0,0
$GC,2514,-1.09,-145.9,282.1,-11.5,248,2518,0.00,0.93,0.00,0.000,6,0.000,0.034,2674,1984,3425,0,0,0,0,0,0
$GC,2842,-1.14,-145.9,319.5,-11.5,264,2846,0.10,2.28,0.00,0.000,4,0.113,0.056,2637,572,3426,0,0,0,0,0,0
$GC,2897,-1.04,-145.9,327.6,-14.6,266,2905,0.12,2.15,0.00,0.000,6,0.177,0.035,2664,1959,3425,0,0,0,0,0,0
$GC,3214,-1.09,-145.9,367.5,-12.9,282,3218,0.00,2.20,0.00,0.000,4,0.000,0.047,2655,3384,3425,0,0,0,0,0,0
$GC,3292,-1.06,-145.9,379.0,-14.6,285,3298,0.00,2.17,0.00,0.000,6,0.000,0.037,2655,1978,3425,0,0,0,0,0,0
$GC,3617,-1.06,-145.9,423.9,-13.7,299,3621,0.00,2.20,0.00,0.000,4,0.000,0.054,2655,576,3425,0,0,0,0,0,0
$GC,3690,-1.00,-145.9,434.7,-13.9,301,3694,0.15,2.15,0.00,0.000,6,0.185,0.033,2682,1989,3425,0,0,0,0,0,0
$GC,4013,-1.05,-145.9,472.8,-11.5,312,4017,0.00,2.15,0.00,0.000,4,0.000,0.046,2673,3378,3425,0,0,0,0,0,0
$GC,4086,-1.09,-145.9,481.9,-12.5,314,4090,0.00,2.12,0.00,0.000,6,0.000,0.036,2673,1978,3425,0,0,0,0,0,0
$GC,4416,-1.13,-145.9,522.1,-12.5,325,4420,0.08,2.20,0.00,0.000,4,0.138,0.044,2632,3377,3424,0,0,0,0,0,0
$GC,4487,-1.08,-145.9,532.5,-14.0,327,4492,0.12,2.12,0.00,0.000,6,0.188,0.035,2661,1978,3424,0,0,0,0,0,0
$GC,4817,-1.10,-145.9,572.6,-11.8,338,4820,0.00,1.40,0.00,0.000,4,0.000,0.042,2656,2880,3424,0,0,0,0,0,0
$GC,4866,-1.10,-145.9,578.9,-12.0,339,4870,0.00,1.40,0.00,0.000,6,0.000,0.040,2656,1972,3424,0,0,0,0,0,0
$GC,5191,-1.10,-145.9,618.4,-12.4,350,5195,0.00,2.20,0.00,0.000,4,0.000,0.045,2647,3377,3423,0,0,0,0,0,0
$GC,5269,-1.07,-145.9,629.1,-13.5,352,5273,0.10,2.12,0.00,0.000,6,0.195,0.036,2668,1978,3422,0,0,0,0,0,0
$GC,5587,-1.12,-145.9,666.9,-11.8,363,5591,0.00,2.20,0.00,0.000,4,0.000,0.046,2660,3380,3422,0,0,0,0,0,0
$GC,5653,-1.14,-145.9,675.2,-12.0,365,5657,0.00,2.15,0.00,0.000,6,0.000,0.036,2660,1985,3421,0,0,0,0,0,0
$GC,5989,-1.17,-145.9,714.4,-11.6,376,5994,0.08,2.20,0.00,0.000,4,0.139,0.046,2621,3381,3420,0,0,0,0,0,0
$GC,6072,-1.08,-145.9,726.0,-14.7,378,6076,0.10,2.15,0.00,0.000,6,0.172,0.035,2662,1981,3420,0,0,0,0,0,0
$GC,6391,-1.11,-145.9,761.8,-11.3,389,6395,0.00,2.20,0.00,0.000,4,0.000,0.054,2662,580,3419,0,0,0,0,0,0
$GC,6454,-1.07,-145.9,769.9,-13.2,391,6458,0.05,2.15,0.00,0.000,6,0.243,0.034,2662,1984,3420,0,0,0,0,0,0
$GC,6794,-1.13,-145.9,809.5,-11.5,402,6798,0.00,2.17,0.00,0.000,4,0.000,0.047,2653,3380,3419,0,0,0,0,0,0
$GC,6856,-1.10,-145.9,817.6,-13.2,404,6860,0.00,2.12,0.00,0.000,6,0.000,0.036,2653,1979,3418,0,0,0,0,0,0
$GC,7197,-1.04,-145.9,867.5,-14.9,415,7202,0.10,2.22,0.00,0.000,4,0.211,0.051,2678,579,3418,0,0,0,0,0,0
$GC,7268,-1.04,-145.9,878.2,-13.9,417,7273,0.00,2.12,0.00,0.000,6,0.000,0.034,2669,1978,3418,0,0,0,0,0,0
$GC,7599,-1.11,-145.9,918.8,-11.6,428,7602,0.00,1.65,0.00,0.000,4,0.000,0.050,2669,948,3417,0,0,0,0,0,0
$GC,7637,-1.08,-145.9,923.9,-12.9,429,7641,0.00,1.60,0.00,0.000,6,0.000,0.036,2662,1980,3417,0,0,0,0,0,0
$STATE,7817,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7817,begin apogee
$GC,7823,-0.21,0.0,948.7,14.0,435,7954,0.98,0.00,128.27,1.451,6,0.161,0.000,2938,1547,2828,0,0,0,0,0,0
$STATE,7955,end apogee,CONTROL_FINISHED_OK
$STATE,7955,begin climb
$GC,7957,1.03,145.9,956.0,0.0,439,8095,1.20,0.00,132.70,1.399,6,0.065,0.000,3340,1547,2232,0,0,0,0,0,0
$GC,8385,0.77,221.5,935.4,9.5,453,8460,0.30,2.03,66.80,1.383,4,0.221,0.045,3268,2724,1922,0,0,0,0,0,0
$GC,8517,0.67,250.7,920.9,12.6,457,8549,0.15,1.92,27.12,1.314,6,0.200,0.046,3238,1561,1803,0,0,0,0,0,0
$GC,8879,0.68,306.0,880.9,10.8,469,8934,0.00,0.73,49.15,1.346,4,0.000,0.041,3238,2007,1578,0,0,0,0,0,0
$GC,8986,0.72,353.1,868.8,11.4,472,9036,0.00,0.75,43.40,1.317,6,0.000,0.052,3240,1549,1387,0,0,0,0,0,0
$GC,9344,0.85,413.4,829.0,10.5,484,9406,0.12,2.35,55.20,1.315,4,0.098,0.064,3292,170,1139,0,0,0,0,0,0
$GC,9450,0.85,419.1,814.9,14.1,487,9460,0.00,2.22,5.62,0.900,6,0.000,0.035,3293,1541,1118,0,0,0,0,0,0
$GC,9779,0.87,438.7,770.8,13.2,498,9804,0.00,2.28,19.25,1.221,4,0.000,0.046,3293,2958,1038,0,0,0,0,0,0
$GC,9855,0.92,448.6,760.6,13.8,500,9870,0.00,2.30,10.38,1.122,6,0.000,0.050,3302,1554,997,0,0,0,0,0,0
$GC,10178,0.95,451.4,715.9,14.3,510,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1553,993,0,0,0,0,0,0
$GC,10484,1.07,479.2,674.6,12.6,520,10519,0.15,2.30,28.75,1.222,4,0.094,0.044,3357,2948,872,0,0,0,0,0,0
$GC,10564,1.04,479.2,660.6,17.8,522,10569,0.10,2.28,0.00,0.000,6,0.220,0.050,3348,1549,871,0,0,0,0,0,0
$GC,10882,1.02,479.2,605.4,17.4,533,10886,0.00,1.30,0.00,0.000,4,0.000,0.065,3353,748,869,0,0,0,0,0,0
$GC,10931,0.97,479.2,596.3,19.0,534,10936,0.08,1.27,0.00,0.000,6,0.187,0.040,3330,1573,867,0,0,0,0,0,0
$GC,11255,0.97,479.2,542.2,16.5,545,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1573,866,0,0,0,0,0,0
$GC,11561,0.97,479.2,493.9,15.5,555,11565,0.00,1.10,0.00,0.000,4,0.000,0.063,3335,895,865,0,0,0,0,0,0
$GC,11605,0.95,479.2,486.7,16.0,556,11610,0.03,1.00,0.00,0.000,6,0.202,0.041,3327,1545,865,0,0,0,0,0,0
$GC,11934,0.95,479.2,436.5,15.1,567,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1545,865,0,0,0,0,0,0
$GC,12252,0.95,483.5,390.0,14.2,578,12261,0.00,2.33,3.88,0.643,4,0.000,0.070,3334,164,855,0,0,0,0,0,0
$GC,12320,0.95,483.5,379.9,14.7,581,12325,0.08,2.15,0.00,0.000,6,0.209,0.041,3319,1534,854,0,0,0,0,0,0
$GC,12650,0.98,493.4,334.2,13.8,597,12665,0.00,0.00,10.98,0.928,6,0.000,0.000,3319,1543,813,0,0,0,0,0,0
$GC,12978,1.13,522.0,290.8,12.6,613,13013,0.17,2.33,26.55,0.988,4,0.086,0.047,3385,2954,697,0,0,0,0,0,0
$GC,13058,1.08,522.0,277.3,17.3,616,13066,0.10,2.30,0.00,0.000,6,0.194,0.051,3369,1552,697,0,0,0,0,0,0
$GC,13388,1.06,522.0,221.7,16.9,635,13390,0.05,0.00,0.00,0.000,6,0.278,0.000,3361,1551,694,0,0,0,0,0,0
$GC,13699,1.06,522.0,171.0,15.8,655,13703,0.00,1.62,0.00,0.000,4,0.000,0.043,3360,2590,694,0,0,0,0,0,0
$GC,13735,1.06,522.0,165.0,16.6,657,13739,0.00,1.65,0.00,0.000,6,0.000,0.052,3366,1535,694,0,0,0,0,0,0
$GC,14068,1.03,522.0,111.3,15.4,678,14072,0.10,1.50,0.00,0.000,4,0.226,0.041,3344,2490,693,0,0,0,0,0,0
$GC,14101,1.03,522.0,105.7,16.2,680,14105,0.00,1.50,0.00,0.000,6,0.000,0.050,3350,1550,694,0,0,0,0,0,0
$GC,14443,1.16,547.7,60.7,12.8,735,14471,0.10,0.98,22.30,0.827,4,0.108,0.037,3390,2214,594,0,0,0,0,0,0
$GC,14492,1.19,547.7,53.6,15.4,743,14497,0.00,1.08,0.00,0.000,6,0.000,0.050,3394,1542,594,0,0,0,0,0,0
$GC,14731,1.15,547.7,12.1,16.6,784,14738,0.00,1.12,0.00,0.000,4,0.000,0.041,3395,2271,592,0,0,0,0,0,0
$GC,14764,1.10,547.7,5.7,19.3,789,14772,0.10,1.15,0.00,0.000,6,0.171,0.052,3372,1552,592,0,0,0,0,0,0
$STATE,14779,end climb,SURFACE_DEPTH_REACHED
$STATE,14779,begin surface coast
$FINISH,1.8,1.009605
$STATE,14798,end surface coast,CONTROL_FINISHED_OK
$STATE,14799,begin surface
$SM_CCo,14877,0.00,0.000,0,0,588,549.22
$SM_GC,2.79,9.23,0.00,0.00,0.060,0.000,0.000,85,2009,588,-9.10,0.82,549.22
$IRIDIUM_FIX,-4140.91,-622.97,021212,181835
$TT8_MAMPS,0.026215
$HUMID,48.62
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.1,72.771
$10V_AH,10.0,47.785
$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,25.925,122.325,630.350,0.000,0.000,28.550,42.881,249.282,0.000,0.000,42.574,2013.389,9878.089,646.887,2633.823,172.061,0.000,1710.049,0.000,2245.147,0.000,1.014,0.000
$DEVICE_MAMPS,277.695,70.380,1451.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.320,915.000,513.045,66.100,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354552
$DATA_FILE_SIZE,46948,794
$CAP_FILE_SIZE,153917,0
$CFSIZE,2097086464,2051604480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031212,032453,-4155.203,-625.682,39,1.4,39,-22.1