version: 66.07.10.p01
glider: 574
mission: 4
dive: 310
start: 12 3 112 7 53 27
data:
$ID,574
$MISSION,4
$DIVE,310
$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,-6833.8359
$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,31
$R_STBD_OVSHOOT,34
$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,289
$GPS1,031212,074529,-4155.944,-625.092,63,1.0,63,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.1
$GPS2,031212,075305,-4155.983,-625.061,50,1.3,51,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4201.383,-612.471
$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,-145.9,0.0,0.0,0,75,0.00,0.00,-48.25,0.000,2,0.000,0.000,66,1986,1984,0,0,0,0,0,0
$GC,77,-1.03,-145.9,3.0,-0.7,8,151,11.52,2.22,-55.83,0.000,4,0.254,0.063,2666,3382,3421,0,0,0,0,0,0
$GC,237,-0.98,-145.9,18.3,-13.6,34,245,0.10,2.22,0.00,0.000,6,0.175,0.046,2695,1989,3421,0,0,0,0,0,0
$GC,318,-1.02,-145.9,28.7,-12.2,47,325,0.00,1.98,0.00,0.000,4,0.000,0.063,2695,784,3421,0,0,0,0,0,0
$GC,369,-0.97,-145.9,35.7,-14.1,55,374,0.00,1.85,0.00,0.000,6,0.000,0.037,2687,1983,3421,0,0,0,0,0,0
$GC,601,-1.01,-145.9,63.8,-11.2,96,608,0.00,2.30,0.00,0.000,4,0.000,0.059,2687,576,3422,0,0,0,0,0,0
$GC,679,-0.97,-145.9,73.2,-12.7,109,684,0.08,2.17,0.00,0.000,6,0.213,0.037,2692,1978,3422,0,0,0,0,0,0
$GC,1013,-1.02,-145.9,110.8,-11.2,158,1017,0.00,1.73,0.00,0.000,4,0.000,0.055,2693,900,3422,0,0,0,0,0,0
$GC,1048,-1.02,-145.9,115.1,-12.0,160,1052,0.00,1.70,0.00,0.000,6,0.000,0.037,2686,1987,3422,0,0,0,0,0,0
$GC,1381,-1.06,-145.9,155.4,-12.6,181,1385,0.00,2.28,0.00,0.000,4,0.000,0.057,2686,570,3422,0,0,0,0,0,0
$GC,1430,-1.03,-145.9,163.0,-14.1,184,1434,0.00,2.17,0.00,0.000,6,0.000,0.036,2676,1982,3423,0,0,0,0,0,0
$GC,1758,-1.05,-145.9,206.1,-13.3,205,1762,0.00,2.08,0.00,0.000,4,0.000,0.056,2676,675,3423,0,0,0,0,0,0
$GC,1797,-1.02,-145.9,212.3,-14.4,207,1802,0.08,2.00,0.00,0.000,6,0.210,0.035,2681,1983,3423,0,0,0,0,0,0
$GC,2128,-1.07,-145.9,254.2,-12.4,228,2131,0.00,1.02,0.00,0.000,4,0.000,0.050,2681,1331,3424,0,0,0,0,0,0
$GC,2155,-1.07,-145.9,258.2,-12.1,229,2159,0.00,0.98,0.00,0.000,6,0.000,0.034,2678,1984,3424,0,0,0,0,0,0
$GC,2485,-1.13,-145.9,296.9,-11.4,245,2490,0.10,1.38,0.00,0.000,4,0.115,0.052,2637,1137,3424,0,0,0,0,0,0
$GC,2523,-1.03,-145.9,302.5,-14.3,246,2531,0.15,1.27,0.00,0.000,6,0.171,0.036,2676,1962,3424,0,0,0,0,0,0
$GC,2840,-1.05,-145.9,339.5,-11.6,262,2844,0.00,1.25,0.00,0.000,4,0.000,0.053,2678,1171,3424,0,0,0,0,0,0
$GC,2873,-1.05,-145.9,344.2,-13.0,263,2877,0.00,1.25,0.00,0.000,6,0.000,0.036,2674,1981,3424,0,0,0,0,0,0
$GC,3198,-1.09,-145.9,383.9,-12.4,279,3201,0.00,1.70,0.00,0.000,4,0.000,0.052,2674,923,3424,0,0,0,0,0,0
$GC,3236,-1.05,-145.9,389.8,-14.2,280,3244,0.00,1.62,0.00,0.000,6,0.000,0.034,2667,1969,3424,0,0,0,0,0,0
$GC,3570,-1.05,-145.9,431.3,-12.3,293,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1969,3424,0,0,0,0,0,0
$GC,3877,-1.08,-145.9,471.2,-13.2,303,3881,0.00,2.25,0.00,0.000,4,0.000,0.054,2666,560,3424,0,0,0,0,0,0
$GC,3932,-1.04,-145.9,479.1,-13.9,304,3938,0.10,2.17,0.00,0.000,6,0.194,0.033,2678,1995,3424,0,0,0,0,0,0
$GC,4245,-1.09,-145.9,516.7,-12.0,315,4249,0.00,1.92,0.00,0.000,4,0.000,0.045,2670,3223,3424,0,0,0,0,0,0
$GC,4306,-1.13,-145.9,524.7,-12.5,316,4312,0.05,1.92,0.00,0.000,6,0.173,0.036,2648,1958,3424,0,0,0,0,0,0
$GC,4619,-1.16,-145.9,564.8,-13.0,327,4623,0.00,2.22,0.00,0.000,4,0.000,0.045,2637,3379,3424,0,0,0,0,0,0
$GC,4681,-1.08,-145.9,573.7,-14.1,329,4686,0.10,2.12,0.00,0.000,6,0.198,0.034,2660,1972,3423,0,0,0,0,0,0
$GC,5016,-1.08,-145.9,617.2,-13.0,340,5020,0.00,2.20,0.00,0.000,4,0.000,0.050,2660,576,3423,0,0,0,0,0,0
$GC,5105,-1.02,-145.9,630.0,-14.1,342,5111,0.12,2.15,0.00,0.000,6,0.190,0.032,2681,1982,3423,0,0,0,0,0,0
$GC,5418,-1.07,-145.9,668.1,-12.2,353,5422,0.00,1.15,0.00,0.000,4,0.000,0.042,2677,2737,3423,0,0,0,0,0,0
$GC,5468,-1.12,-145.9,674.8,-13.5,354,5472,0.05,1.15,0.00,0.000,6,0.083,0.039,2651,1983,3423,0,0,0,0,0,0
$GC,5792,-1.12,-145.9,719.1,-13.6,365,5796,0.00,2.20,0.00,0.000,4,0.000,0.051,2651,578,3422,0,0,0,0,0,0
$GC,5874,-1.05,-145.9,731.5,-15.3,367,5879,0.08,2.17,0.00,0.000,6,0.179,0.034,2677,1980,3422,0,0,0,0,0,0
$GC,6199,-1.12,-145.9,771.1,-12.0,378,6203,0.08,2.25,0.00,0.000,4,0.134,0.051,2649,580,3421,0,0,0,0,0,0
$GC,6253,-1.05,-145.9,779.1,-14.5,379,6259,0.08,2.17,0.00,0.000,6,0.179,0.033,2674,1984,3421,0,0,0,0,0,0
$GC,6567,-1.09,-145.9,815.4,-11.4,390,6571,0.00,2.22,0.00,0.000,4,0.000,0.052,2676,577,3421,0,0,0,0,0,0
$GC,6629,-1.09,-145.9,823.3,-12.5,392,6633,0.00,2.15,0.00,0.000,6,0.000,0.034,2667,1979,3420,0,0,0,0,0,0
$GC,6970,-1.15,-145.9,861.9,-11.3,403,6974,0.08,2.20,0.00,0.000,4,0.141,0.050,2638,584,3420,0,0,0,0,0,0
$GC,7047,-1.06,-145.9,873.3,-14.8,405,7052,0.10,2.17,0.00,0.000,6,0.183,0.035,2670,1977,3419,0,0,0,0,0,0
$GC,7371,-1.11,-145.9,911.8,-11.9,416,7375,0.00,2.22,0.00,0.000,4,0.000,0.051,2670,583,3419,0,0,0,0,0,0
$GC,7427,-1.09,-145.9,919.5,-13.7,417,7432,0.00,2.15,0.00,0.000,6,0.000,0.034,2662,1984,3419,0,0,0,0,0,0
$GC,7740,-1.14,-145.9,958.8,-12.4,428,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1984,3419,0,0,0,0,0,0
$STATE,7830,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7830,begin apogee
$GC,7835,-0.21,0.0,970.4,12.6,431,7968,0.98,0.00,129.05,1.493,6,0.160,0.000,2938,1554,2827,0,0,0,0,0,0
$STATE,7968,end apogee,CONTROL_FINISHED_OK
$STATE,7968,begin climb
$GC,7970,1.03,145.9,980.5,0.0,435,8109,1.23,0.00,133.40,1.441,6,0.067,0.000,3343,1554,2231,0,0,0,0,0,0
$GC,8399,0.76,253.1,969.7,7.4,449,8499,0.35,1.12,95.28,1.423,4,0.223,0.042,3264,2206,1794,0,0,0,0,0,0
$GC,8562,0.71,314.2,954.6,10.4,454,8623,0.08,1.10,56.58,1.395,6,0.196,0.048,3249,1544,1545,0,0,0,0,0,0
$GC,8947,0.71,355.6,910.7,11.7,467,8992,0.00,2.35,37.65,1.357,4,0.000,0.044,3249,2949,1376,0,0,0,0,0,0
$GC,9071,0.75,375.7,894.9,13.2,470,9096,0.00,2.25,19.25,1.291,6,0.000,0.047,3256,1555,1294,0,0,0,0,0,0
$GC,9416,0.87,412.7,852.9,12.0,482,9454,0.10,0.00,34.55,1.327,6,0.110,0.000,3291,1555,1143,0,0,0,0,0,0
$GC,9755,0.96,425.6,807.3,13.6,493,9775,0.10,2.35,12.32,1.192,4,0.117,0.067,3336,168,1090,0,0,0,0,0,0
$GC,9824,0.91,425.6,795.1,18.6,495,9830,0.10,2.20,0.00,0.000,6,0.186,0.038,3308,1547,1089,0,0,0,0,0,0
$GC,10159,0.91,425.6,741.2,16.0,506,10163,0.00,1.77,0.00,0.000,4,0.000,0.046,3308,2692,1086,0,0,0,0,0,0
$GC,10208,0.91,425.6,733.0,16.0,507,10213,0.00,1.85,0.00,0.000,6,0.000,0.050,3315,1543,1086,0,0,0,0,0,0
$GC,10532,0.91,425.6,682.0,15.5,518,10536,0.00,1.67,0.00,0.000,4,0.000,0.067,3324,503,1085,0,0,0,0,0,0
$GC,10582,0.85,425.6,673.9,16.5,519,10587,0.10,1.65,0.00,0.000,6,0.191,0.039,3296,1557,1084,0,0,0,0,0,0
$GC,10907,0.93,444.6,629.0,13.2,530,10927,0.00,0.00,18.08,1.166,6,0.000,0.000,3296,1562,1014,0,0,0,0,0,0
$GC,11213,1.03,468.2,589.2,12.9,540,11244,0.15,1.27,23.17,1.167,4,0.092,0.063,3358,811,918,0,0,0,0,0,0
$GC,11271,0.96,468.2,579.3,18.6,541,11278,0.12,1.17,0.00,0.000,6,0.193,0.040,3325,1563,916,0,0,0,0,0,0
$GC,11584,0.96,468.2,529.0,16.0,552,11588,0.00,0.55,0.00,0.000,4,0.000,0.065,3327,1211,915,0,0,0,0,0,0
$GC,11618,0.93,468.2,523.7,16.6,553,11622,0.00,0.50,0.00,0.000,6,0.000,0.046,3327,1550,914,0,0,0,0,0,0
$GC,11959,0.93,468.2,469.9,15.3,564,11962,0.00,1.15,0.00,0.000,4,0.000,0.042,3327,2294,914,0,0,0,0,0,0
$GC,12002,0.93,468.2,462.9,15.9,565,12007,0.05,1.20,0.00,0.000,6,0.191,0.053,3318,1544,913,0,0,0,0,0,0
$GC,12332,1.01,475.6,416.9,14.0,576,12344,0.08,0.95,7.57,0.904,4,0.133,0.061,3351,968,888,0,0,0,0,0,0
$GC,12366,0.97,475.6,411.3,16.4,577,12370,0.08,0.88,0.00,0.000,6,0.187,0.041,3331,1545,888,0,0,0,0,0,0
$GC,12686,1.02,475.6,363.9,14.7,591,12690,0.00,2.28,0.00,0.000,4,0.000,0.069,3340,165,887,0,0,0,0,0,0
$GC,12741,0.98,475.6,354.1,16.8,593,12747,0.03,2.17,0.00,0.000,6,0.215,0.041,3333,1532,885,0,0,0,0,0,0
$GC,13061,1.04,490.9,309.3,13.5,609,13081,0.00,0.80,15.40,0.962,4,0.000,0.058,3336,1049,824,0,0,0,0,0,0
$GC,13107,1.08,504.6,302.6,13.6,611,13128,0.03,0.80,13.65,0.949,6,0.109,0.041,3355,1573,769,0,0,0,0,0,0
$GC,13440,1.12,505.9,254.6,14.4,627,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1573,766,0,0,0,0,0,0
$GC,13762,1.17,508.6,208.3,14.3,647,13772,0.10,0.93,4.22,0.610,4,0.116,0.043,3394,2172,753,0,0,0,0,0,0
$GC,13798,1.12,508.6,202.3,17.1,649,13802,0.08,1.00,0.00,0.000,6,0.195,0.054,3379,1547,753,0,0,0,0,0,0
$GC,14129,1.07,508.6,142.7,17.8,670,14134,0.10,2.20,0.00,0.000,4,0.220,0.045,3356,2939,753,0,0,0,0,0,0
$GC,14178,1.07,508.6,134.4,17.3,673,14182,0.00,2.17,0.00,0.000,6,0.000,0.049,3365,1553,753,0,0,0,0,0,0
$GC,14505,1.10,508.6,79.8,15.4,707,14509,0.00,1.62,0.00,0.000,4,0.000,0.067,3368,550,753,0,0,0,0,0,0
$GC,14543,1.07,508.6,73.2,16.5,714,14550,0.00,1.52,0.00,0.000,6,0.000,0.039,3368,1534,752,0,0,0,0,0,0
$GC,14896,1.05,508.6,12.9,17.0,775,14904,0.08,0.65,0.00,0.000,4,0.230,0.063,3356,1136,752,0,0,0,0,0,0
$GC,14924,1.00,521.0,8.9,13.7,779,14939,0.05,0.62,6.25,0.602,6,0.197,0.043,3343,1560,702,0,0,0,0,0,0
$STATE,14957,end climb,SURFACE_DEPTH_REACHED
$STATE,14957,begin surface coast
$FINISH,1.8,1.012746
$STATE,14976,end surface coast,CONTROL_FINISHED_OK
$STATE,14977,begin surface
$SM_CCo,15054,0.00,0.000,0,0,700,521.74
$SM_GC,2.66,9.10,0.00,0.00,0.060,0.000,0.000,94,1996,700,-9.08,0.62,521.74
$IRIDIUM_FIX,-4140.91,-628.72,031212,030318
$TT8_MAMPS,0.026964
$HUMID,48.93
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.1,73.267
$10V_AH,10.1,47.976
$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,25.900,120.475,606.425,0.000,0.000,23.426,36.862,241.437,0.000,0.000,53.156,2012.739,10118.706,642.161,2565.107,171.131,0.000,1678.239,0.000,2185.527,0.000,1.014,0.000
$DEVICE_MAMPS,253.980,68.850,1493.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.182,888.123,514.546,65.430,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,46743,787
$CAP_FILE_SIZE,156441,0
$CFSIZE,2097086464,2051342336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031212,120535,-4156.748,-623.720,41,1.3,41,-22.1