version: 66.07.10.p01
glider: 574
mission: 4
dive: 309
start: 12 3 112 3 35 50
data:
$ID,574
$MISSION,4
$DIVE,309
$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,-6830.3486
$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,54
$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,288
$GPS1,031212,032453,-4155.203,-625.682,39,1.4,39,-22.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-66.6
$GPS2,031212,033529,-4155.172,-625.657,41,1.3,42,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4200.571,-613.070
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.03,-145.9,0.0,0.0,0,94,0.00,0.00,-66.00,0.000,2,0.000,0.000,65,2008,2253,0,0,0,0,0,0
$GC,97,-1.03,-145.9,3.1,-1.5,11,164,12.05,1.80,-44.85,0.000,4,0.269,0.066,2667,3108,3422,0,0,0,0,0,0
$GC,209,-0.93,-145.9,10.7,-13.2,29,217,0.12,1.83,0.00,0.000,6,0.177,0.049,2708,1978,3423,0,0,0,0,0,0
$GC,291,-1.02,-145.9,22.3,-11.9,42,298,0.08,1.23,0.00,0.000,4,0.135,0.061,2684,1227,3423,0,0,0,0,0,0
$GC,337,-0.98,-145.9,28.4,-13.4,49,345,0.03,1.15,0.00,0.000,6,0.229,0.038,2686,1964,3423,0,0,0,0,0,0
$GC,415,-0.98,-145.9,39.5,-12.5,62,422,0.00,0.88,0.00,0.000,4,0.000,0.046,2683,2540,3423,0,0,0,0,0,0
$GC,451,-0.98,-145.9,44.3,-13.3,68,459,0.00,0.88,0.00,0.000,6,0.000,0.047,2686,1972,3423,0,0,0,0,0,0
$GC,688,-1.03,-145.9,73.1,-12.1,109,692,0.00,1.55,0.00,0.000,4,0.000,0.059,2686,1006,3424,0,0,0,0,0,0
$GC,734,-0.99,-145.9,79.2,-13.5,117,740,0.00,1.52,0.00,0.000,6,0.000,0.037,2680,1980,3424,0,0,0,0,0,0
$GC,1078,-1.02,-145.9,121.3,-12.4,158,1082,0.00,2.20,0.00,0.000,4,0.000,0.048,2670,3387,3424,0,0,0,0,0,0
$GC,1144,-1.00,-145.9,131.1,-14.7,162,1149,0.05,2.20,0.00,0.000,6,0.179,0.041,2684,1980,3424,0,0,0,0,0,0
$GC,1472,-1.05,-145.9,171.2,-12.3,183,1476,0.00,2.25,0.00,0.000,4,0.000,0.057,2684,568,3424,0,0,0,0,0,0
$GC,1523,-1.01,-145.9,178.3,-13.6,186,1527,0.00,2.17,0.00,0.000,6,0.000,0.033,2675,1996,3424,0,0,0,0,0,0
$GC,1851,-1.06,-145.9,217.1,-11.5,207,1855,0.00,2.28,0.00,0.000,4,0.000,0.057,2675,572,3424,0,0,0,0,0,0
$GC,1923,-1.01,-145.9,227.1,-13.0,211,1928,0.08,2.12,0.00,0.000,6,0.211,0.034,2681,1979,3425,0,0,0,0,0,0
$GC,2242,-1.04,-145.9,262.4,-11.3,230,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1979,3424,0,0,0,0,0,0
$GC,2553,-1.08,-145.9,298.0,-11.7,245,2557,0.00,1.77,0.00,0.000,4,0.000,0.045,2673,3134,3424,0,0,0,0,0,0
$GC,2609,-1.10,-145.9,305.3,-12.1,247,2613,0.00,1.80,0.00,0.000,6,0.000,0.041,2673,1975,3424,0,0,0,0,0,0
$GC,2933,-1.15,-145.9,343.7,-12.4,263,2935,0.10,0.00,0.00,0.000,6,0.117,0.000,2635,1975,3424,0,0,0,0,0,0
$GC,3240,-1.15,-145.9,385.0,-13.1,278,3243,0.00,2.08,0.00,0.000,4,0.000,0.054,2635,658,3424,0,0,0,0,0,0
$GC,3295,-1.04,-145.9,393.5,-14.5,280,3300,0.20,2.00,0.00,0.000,6,0.189,0.034,2674,1981,3425,0,0,0,0,0,0
$GC,3614,-1.06,-145.9,431.4,-11.9,292,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1981,3424,0,0,0,0,0,0
$GC,3920,-1.09,-145.9,467.1,-11.5,302,3924,0.00,1.58,0.00,0.000,4,0.000,0.046,2668,2991,3424,0,0,0,0,0,0
$GC,3977,-1.12,-145.9,474.1,-12.9,303,3981,0.00,1.58,0.00,0.000,6,0.000,0.040,2668,1972,3424,0,0,0,0,0,0
$GC,4296,-1.15,-145.9,510.7,-11.4,314,4301,0.08,2.22,0.00,0.000,4,0.138,0.046,2628,3382,3424,0,0,0,0,0,0
$GC,4362,-1.05,-145.9,520.0,-14.3,316,4367,0.17,2.12,0.00,0.000,6,0.181,0.036,2672,1978,3423,0,0,0,0,0,0
$GC,4691,-1.10,-145.9,558.3,-11.9,327,4695,0.00,2.20,0.00,0.000,4,0.000,0.046,2663,3381,3423,0,0,0,0,0,0
$GC,4758,-1.10,-145.9,567.3,-13.1,329,4762,0.00,2.15,0.00,0.000,6,0.000,0.035,2663,1983,3422,0,0,0,0,0,0
$GC,5094,-1.13,-145.9,609.4,-12.7,340,5098,0.00,2.20,0.00,0.000,4,0.000,0.045,2653,3388,3422,0,0,0,0,0,0
$GC,5160,-1.10,-145.9,618.9,-14.3,342,5164,0.00,2.15,0.00,0.000,6,0.000,0.035,2653,1976,3422,0,0,0,0,0,0
$GC,5496,-1.10,-145.9,661.8,-12.9,353,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1975,3421,0,0,0,0,0,0
$GC,5802,-1.10,-145.9,700.4,-12.5,363,5805,0.00,1.17,0.00,0.000,4,0.000,0.050,2653,1224,3420,0,0,0,0,0,0
$GC,5829,-1.08,-145.9,704.2,-12.6,363,5835,0.03,1.15,0.00,0.000,6,0.209,0.036,2655,1978,3420,0,0,0,0,0,0
$GC,6142,-1.08,-145.9,742.4,-12.2,374,6146,0.00,0.60,0.00,0.000,4,0.000,0.049,2655,1581,3419,0,0,0,0,0,0
$GC,6163,-1.08,-145.9,745.2,-11.8,374,6167,0.00,0.62,0.00,0.000,6,0.000,0.040,2654,1994,3419,0,0,0,0,0,0
$GC,6482,-1.08,-145.9,782.2,-11.6,385,6485,0.00,1.55,0.00,0.000,4,0.000,0.051,2657,1028,3418,0,0,0,0,0,0
$GC,6520,-1.04,-145.9,787.2,-12.5,386,6525,0.08,1.45,0.00,0.000,6,0.172,0.035,2674,1967,3418,0,0,0,0,0,0
$GC,6856,-1.08,-145.9,823.8,-11.0,397,6860,0.00,0.82,0.00,0.000,4,0.000,0.044,2671,2524,3417,0,0,0,0,0,0
$GC,6906,-1.14,-145.9,829.6,-11.0,398,6910,0.05,0.82,0.00,0.000,6,0.092,0.042,2646,1976,3417,0,0,0,0,0,0
$GC,7229,-1.14,-145.9,868.6,-12.3,409,7233,0.00,1.42,0.00,0.000,4,0.000,0.042,2640,2891,3417,0,0,0,0,0,0
$GC,7279,-1.06,-145.9,875.5,-14.4,410,7283,0.08,1.40,0.00,0.000,6,0.178,0.039,2661,1983,3417,0,0,0,0,0,0
$GC,7603,-1.03,-145.9,920.4,-14.2,421,7607,0.08,1.95,0.00,0.000,4,0.224,0.053,2678,738,3416,0,0,0,0,0,0
$GC,7657,-1.03,-145.9,928.2,-14.2,422,7661,0.00,1.92,0.00,0.000,6,0.000,0.034,2670,1978,3416,0,0,0,0,0,0
$STATE,7821,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7821,begin apogee
$GC,7826,-0.21,0.0,949.2,12.8,428,7957,0.93,0.00,127.18,1.457,6,0.152,0.000,2938,1549,2827,0,0,0,0,0,0
$STATE,7958,end apogee,CONTROL_FINISHED_OK
$STATE,7958,begin climb
$GC,7959,1.03,145.9,958.7,0.0,432,8100,1.20,2.50,131.45,1.379,4,0.066,0.044,3338,2944,2231,0,0,0,0,0,0
$GC,8268,0.76,245.5,954.2,7.9,441,8365,0.32,2.28,89.57,1.415,6,0.223,0.044,3262,1564,1825,0,0,0,0,0,0
$GC,8678,0.70,302.0,912.6,10.7,455,8734,0.10,2.28,50.03,1.377,4,0.242,0.044,3242,2944,1594,0,0,0,0,0,0
$GC,8803,0.71,345.4,898.9,11.6,458,8848,0.00,2.28,39.97,1.358,6,0.000,0.046,3251,1543,1417,0,0,0,0,0,0
$GC,9167,0.77,390.9,856.5,11.5,470,9214,0.00,0.82,41.45,1.330,4,0.000,0.042,3251,2044,1232,0,0,0,0,0,0
$GC,9254,0.93,428.2,846.4,12.0,472,9294,0.15,0.82,35.50,1.287,6,0.064,0.054,3313,1544,1080,0,0,0,0,0,0
$GC,9629,0.93,431.0,791.7,14.3,485,9633,0.00,2.25,0.00,0.000,4,0.000,0.067,3323,168,1071,0,0,0,0,0,0
$GC,9696,0.91,431.0,781.6,15.8,487,9700,0.03,2.17,0.00,0.000,6,0.214,0.039,3316,1541,1069,0,0,0,0,0,0
$GC,10031,0.91,446.0,735.6,13.5,498,10052,0.00,2.30,15.73,1.186,4,0.000,0.067,3325,174,1008,0,0,0,0,0,0
$GC,10113,0.91,450.4,723.9,14.2,500,10125,0.08,2.20,5.22,0.900,6,0.221,0.038,3310,1568,991,0,0,0,0,0,0
$GC,10431,0.91,468.6,681.6,13.3,511,10455,0.00,2.12,19.02,1.183,4,0.000,0.069,3319,319,915,0,0,0,0,0,0
$GC,10500,0.94,481.9,672.0,13.6,513,10520,0.00,1.98,13.40,1.135,6,0.000,0.039,3319,1558,862,0,0,0,0,0,0
$GC,10834,0.96,487.0,625.0,14.2,524,10842,0.00,0.00,5.82,0.912,6,0.000,0.000,3319,1564,841,0,0,0,0,0,0
$GC,11139,0.96,487.0,579.9,15.4,534,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1564,839,0,0,0,0,0,0
$GC,11446,0.98,487.0,531.6,15.9,544,11450,0.00,1.00,0.00,0.000,4,0.000,0.064,3323,951,839,0,0,0,0,0,0
$GC,11489,0.98,487.0,524.1,17.1,545,11493,0.00,0.98,0.00,0.000,6,0.000,0.041,3323,1569,838,0,0,0,0,0,0
$GC,11819,0.98,487.0,469.7,16.3,556,11822,0.00,1.65,0.00,0.000,4,0.000,0.066,3330,544,838,0,0,0,0,0,0
$GC,11862,0.98,487.0,462.3,17.4,557,11867,0.00,1.58,0.00,0.000,6,0.000,0.039,3330,1547,836,0,0,0,0,0,0
$GC,12192,0.98,487.0,409.2,16.0,568,12196,0.00,2.28,0.00,0.000,4,0.000,0.068,3341,170,836,0,0,0,0,0,0
$GC,12240,0.98,487.0,401.2,16.5,569,12245,0.00,2.17,0.00,0.000,6,0.000,0.040,3341,1543,835,0,0,0,0,0,0
$GC,12565,0.98,487.0,350.4,15.8,585,12568,0.00,2.03,0.00,0.000,4,0.000,0.068,3347,317,835,0,0,0,0,0,0
$GC,12612,0.98,487.0,342.8,16.1,587,12616,0.08,1.92,0.00,0.000,6,0.215,0.039,3333,1560,835,0,0,0,0,0,0
$GC,12945,0.98,487.0,293.6,14.8,603,12949,0.00,1.23,0.00,0.000,4,0.000,0.045,3333,2359,834,0,0,0,0,0,0
$GC,12983,0.98,493.7,287.5,14.0,604,12995,0.00,1.27,6.53,0.786,6,0.000,0.052,3338,1560,814,0,0,0,0,0,0
$GC,13318,0.98,493.7,237.6,15.3,622,13322,0.00,2.28,0.00,0.000,4,0.000,0.068,3347,170,814,0,0,0,0,0,0
$GC,13372,0.98,493.7,228.3,16.3,625,13379,0.05,2.17,0.00,0.000,6,0.195,0.039,3333,1543,813,0,0,0,0,0,0
$GC,13693,1.07,493.7,181.1,14.5,646,13697,0.08,1.30,0.00,0.000,4,0.132,0.065,3368,764,813,0,0,0,0,0,0
$GC,13719,1.07,493.7,176.4,16.2,647,13725,0.00,1.25,0.00,0.000,6,0.000,0.038,3368,1559,813,0,0,0,0,0,0
$GC,14040,1.03,493.7,120.3,17.5,668,14045,0.10,2.35,0.00,0.000,4,0.220,0.070,3357,160,813,0,0,0,0,0,0
$GC,14123,0.97,493.7,105.6,16.7,673,14128,0.08,2.17,0.00,0.000,6,0.184,0.039,3335,1538,813,0,0,0,0,0,0
$GC,14467,1.05,505.7,54.9,13.7,729,14485,0.00,2.12,12.38,0.771,4,0.000,0.044,3335,2867,764,0,0,0,0,0,0
$GC,14528,1.10,505.9,46.2,14.5,739,14534,0.08,2.08,0.00,0.000,6,0.127,0.046,3373,1540,765,0,0,0,0,0,0
$GC,14770,1.05,505.9,4.8,18.8,780,14777,0.10,2.25,0.00,0.000,4,0.213,0.065,3361,177,765,0,0,0,0,0,0
$STATE,14784,end climb,SURFACE_DEPTH_REACHED
$STATE,14784,begin surface coast
$FINISH,1.8,1.003849
$STATE,14803,end surface coast,CONTROL_FINISHED_OK
$STATE,14803,begin surface
$SM_CCo,14883,0.00,0.000,0,0,760,506.78
$SM_GC,2.69,9.25,0.00,0.00,0.063,0.000,0.000,94,1988,760,-9.08,0.23,506.78
$IRIDIUM_FIX,-4140.91,-622.65,021212,232318
$TT8_MAMPS,0.026964
$HUMID,48.81
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,22.2,73.018
$10V_AH,10.0,47.881
$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,25.850,124.400,593.250,0.000,0.000,51.768,120.990,250.105,0.000,0.000,43.889,2009.876,9999.481,617.041,2720.750,170.588,0.000,1675.216,0.000,2221.841,0.000,1.014,0.000
$DEVICE_MAMPS,268.515,69.615,1457.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.024,891.630,511.609,64.511,0.000,0.000,0.000,0.000,0.000,0.000
$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,47125,785
$CAP_FILE_SIZE,154228,0
$CFSIZE,2097086464,2051473408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031212,074529,-4155.944,-625.092,63,1.0,63,-22.1