version: 66.07.10.p01
glider: 574
mission: 4
dive: 311
start: 12 3 112 12 13 44
data:
$ID,574
$MISSION,4
$DIVE,311
$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,-6837.3198
$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,26
$R_STBD_OVSHOOT,38
$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,290
$GPS1,031212,120535,-4156.748,-623.720,41,1.3,41,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-71.9
$GPS2,031212,121323,-4156.712,-623.591,43,1.7,44,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4202.112,-610.999
$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,-145.9,0.0,0.0,0,76,0.00,0.00,-48.17,0.000,2,0.000,0.000,66,1997,1928,0,0,0,0,0,0
$GC,78,-1.03,-145.9,3.0,-0.6,8,163,12.52,2.30,-61.50,0.000,4,0.281,0.066,2662,3399,3423,0,0,0,0,0,0
$GC,243,-0.96,-145.9,17.6,-14.2,35,251,0.12,2.28,0.00,0.000,6,0.177,0.047,2698,1982,3424,0,0,0,0,0,0
$GC,325,-1.02,-145.9,27.7,-11.6,48,332,0.00,1.62,0.00,0.000,4,0.000,0.063,2698,989,3425,0,0,0,0,0,0
$GC,369,-0.98,-145.9,33.1,-12.5,55,374,0.00,1.55,0.00,0.000,6,0.000,0.037,2691,1980,3424,0,0,0,0,0,0
$GC,605,-1.04,-145.9,60.5,-11.3,96,612,0.00,2.33,0.00,0.000,4,0.000,0.061,2692,568,3425,0,0,0,0,0,0
$GC,674,-1.00,-145.9,69.7,-13.3,108,681,0.00,2.20,0.00,0.000,6,0.000,0.037,2683,1969,3425,0,0,0,0,0,0
$GC,1026,-1.00,-145.9,112.4,-13.0,159,1030,0.00,2.22,0.00,0.000,4,0.000,0.050,2672,3389,3425,0,0,0,0,0,0
$GC,1091,-0.97,-145.9,121.2,-13.7,163,1096,0.10,2.20,0.00,0.000,6,0.193,0.042,2694,1969,3425,0,0,0,0,0,0
$GC,1416,-1.01,-145.9,161.2,-12.1,184,1420,0.00,2.22,0.00,0.000,4,0.000,0.047,2685,3387,3425,0,0,0,0,0,0
$GC,1480,-1.04,-145.9,169.5,-12.7,188,1484,0.00,2.17,0.00,0.000,6,0.000,0.040,2685,1971,3426,0,0,0,0,0,0
$GC,1807,-1.07,-145.9,211.1,-12.9,209,1811,0.00,2.22,0.00,0.000,4,0.000,0.047,2675,3394,3426,0,0,0,0,0,0
$GC,1868,-1.07,-145.9,220.4,-13.9,212,1876,0.00,2.20,0.00,0.000,6,0.000,0.039,2675,1977,3426,0,0,0,0,0,0
$GC,2191,-1.07,-145.9,262.3,-12.9,232,2195,0.00,2.20,0.00,0.000,4,0.000,0.047,2665,3387,3426,0,0,0,0,0,0
$GC,2259,-1.04,-145.9,271.7,-13.3,235,2263,0.00,2.15,0.00,0.000,6,0.000,0.038,2665,1978,3426,0,0,0,0,0,0
$GC,2588,-1.04,-145.9,312.0,-12.0,251,2592,0.00,2.22,0.00,0.000,4,0.000,0.056,2665,576,3427,0,0,0,0,0,0
$GC,2681,-1.00,-145.9,324.4,-13.4,255,2686,0.12,2.15,0.00,0.000,6,0.196,0.033,2685,1991,3426,0,0,0,0,0,0
$GC,3011,-1.06,-145.9,360.7,-10.9,271,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1991,3426,0,0,0,0,0,0
$GC,3317,-1.11,-145.9,394.0,-10.6,286,3322,0.10,2.17,0.00,0.000,4,0.116,0.046,2640,3388,3426,0,0,0,0,0,0
$GC,3384,-1.03,-145.9,402.7,-13.1,289,3388,0.10,2.17,0.00,0.000,6,0.173,0.037,2677,1978,3426,0,0,0,0,0,0
$GC,3719,-1.08,-145.9,442.4,-11.9,300,3723,0.00,2.20,0.00,0.000,4,0.000,0.046,2668,3384,3426,0,0,0,0,0,0
$GC,3781,-1.08,-145.9,450.4,-12.8,302,3785,0.00,2.15,0.00,0.000,6,0.000,0.037,2668,1975,3426,0,0,0,0,0,0
$GC,4116,-1.11,-145.9,493.1,-12.6,313,4120,0.00,2.20,0.00,0.000,4,0.000,0.046,2657,3384,3426,0,0,0,0,0,0
$GC,4199,-1.08,-145.9,504.5,-14.3,315,4203,0.00,2.15,0.00,0.000,6,0.000,0.035,2657,1972,3426,0,0,0,0,0,0
$GC,4512,-1.08,-145.9,544.0,-12.6,325,4516,0.00,2.17,0.00,0.000,4,0.000,0.053,2657,582,3426,0,0,0,0,0,0
$GC,4595,-1.01,-145.9,555.6,-14.2,327,4600,0.15,2.12,0.00,0.000,6,0.187,0.033,2684,1989,3426,0,0,0,0,0,0
$GC,4908,-1.07,-145.9,590.2,-10.7,337,4912,0.00,2.22,0.00,0.000,4,0.000,0.051,2684,580,3425,0,0,0,0,0,0
$GC,4986,-1.07,-145.9,599.7,-12.0,339,4990,0.00,2.15,0.00,0.000,6,0.000,0.033,2675,1972,3425,0,0,0,0,0,0
$GC,5311,-1.11,-145.9,635.2,-10.9,350,5315,0.05,2.20,0.00,0.000,4,0.175,0.046,2644,3382,3425,0,0,0,0,0,0
$GC,5377,-1.07,-145.9,643.8,-12.8,352,5381,0.10,2.12,0.00,0.000,6,0.194,0.035,2667,1980,3424,0,0,0,0,0,0
$GC,5712,-1.10,-145.9,682.4,-11.6,363,5716,0.00,2.20,0.00,0.000,4,0.000,0.046,2657,3381,3423,0,0,0,0,0,0
$GC,5789,-1.10,-145.9,692.3,-12.5,365,5794,0.00,2.17,0.00,0.000,6,0.000,0.036,2657,1975,3423,0,0,0,0,0,0
$GC,6114,-1.13,-145.9,730.2,-11.7,376,6118,0.00,2.20,0.00,0.000,4,0.000,0.051,2658,577,3422,0,0,0,0,0,0
$GC,6180,-1.07,-145.9,739.2,-13.7,378,6184,0.08,2.17,0.00,0.000,6,0.216,0.034,2661,1990,3422,0,0,0,0,0,0
$GC,6516,-1.10,-145.9,777.5,-11.4,389,6519,0.00,0.62,0.00,0.000,4,0.000,0.049,2662,1571,3421,0,0,0,0,0,0
$GC,6542,-1.10,-145.9,781.1,-11.5,389,6548,0.00,0.65,0.00,0.000,6,0.000,0.041,2660,1995,3421,0,0,0,0,0,0
$GC,6856,-1.17,-145.9,816.5,-11.3,400,6861,0.08,2.17,0.00,0.000,4,0.137,0.047,2622,3384,3420,0,0,0,0,0,0
$GC,6918,-1.07,-145.9,824.8,-13.8,402,6923,0.17,2.15,0.00,0.000,6,0.188,0.037,2668,1978,3420,0,0,0,0,0,0
$GC,7253,-1.14,-145.9,863.6,-10.6,413,7258,0.08,2.22,0.00,0.000,4,0.139,0.047,2632,3383,3420,0,0,0,0,0,0
$GC,7316,-1.07,-145.9,871.5,-13.5,415,7320,0.15,2.15,0.00,0.000,6,0.189,0.037,2668,1976,3420,0,0,0,0,0,0
$GC,7650,-1.09,-145.9,909.6,-11.4,426,7654,0.00,0.77,0.00,0.000,4,0.000,0.050,2669,1466,3419,0,0,0,0,0,0
$GC,7719,-1.03,-145.9,918.6,-14.1,428,7722,0.00,0.77,0.00,0.000,6,0.000,0.043,2666,1970,3420,0,0,0,0,0,0
$STATE,7812,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7813,begin apogee
$GC,7818,-0.21,0.0,932.7,14.8,431,7949,1.00,0.00,127.32,1.448,6,0.177,0.000,2939,1541,2827,0,0,0,0,0,0
$STATE,7949,end apogee,CONTROL_FINISHED_OK
$STATE,7950,begin climb
$GC,7951,1.03,145.9,940.7,0.0,435,8090,1.20,0.00,132.82,1.429,6,0.060,0.000,3346,1540,2232,0,0,0,0,0,0
$GC,8380,0.76,230.9,924.5,8.8,449,8458,0.35,0.00,75.35,1.395,6,0.217,0.000,3265,1540,1885,0,0,0,0,0,0
$GC,8746,0.68,290.9,887.6,10.5,461,8807,0.12,2.17,53.45,1.369,4,0.225,0.046,3238,2824,1639,0,0,0,0,0,0
$GC,8863,0.68,334.4,874.7,11.6,464,8908,0.00,2.08,39.45,1.324,6,0.000,0.047,3246,1565,1462,0,0,0,0,0,0
$GC,9244,0.73,379.5,830.8,11.5,477,9287,0.00,0.00,41.05,1.315,6,0.000,0.000,3246,1565,1278,0,0,0,0,0,0
$GC,9580,0.87,432.8,791.5,11.0,488,9635,0.12,2.25,48.90,1.304,4,0.099,0.069,3293,263,1062,0,0,0,0,0,0
$GC,9675,0.87,432.8,778.7,14.8,491,9679,0.00,2.08,0.00,0.000,6,0.000,0.038,3293,1561,1058,0,0,0,0,0,0
$GC,10011,0.90,447.5,731.9,13.5,502,10030,0.00,0.77,13.70,1.171,4,0.000,0.042,3293,2066,1001,0,0,0,0,0,0
$GC,10064,0.94,471.9,724.5,12.9,503,10094,0.03,0.85,23.88,1.228,6,0.106,0.057,3312,1543,902,0,0,0,0,0,0
$GC,10413,0.97,479.0,675.2,14.0,515,10423,0.00,0.62,6.90,0.981,4,0.000,0.043,3311,1942,873,0,0,0,0,0,0
$GC,10456,0.99,483.5,668.9,14.2,516,10465,0.00,0.62,5.97,0.929,6,0.000,0.057,3314,1551,855,0,0,0,0,0,0
$GC,10779,1.03,483.5,621.9,14.6,527,10784,0.08,0.70,0.00,0.000,4,0.132,0.043,3342,2005,853,0,0,0,0,0,0
$GC,10813,1.03,483.5,616.7,16.3,528,10817,0.00,0.73,0.00,0.000,6,0.000,0.057,3345,1551,852,0,0,0,0,0,0
$GC,11154,1.00,483.5,560.1,16.8,539,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1551,853,0,0,0,0,0,0
$GC,11460,0.97,483.5,507.8,16.9,549,11464,0.08,0.60,0.00,0.000,4,0.230,0.065,3334,1174,852,0,0,0,0,0,0
$GC,11498,0.95,483.5,501.2,17.1,550,11503,0.03,0.60,0.00,0.000,6,0.284,0.044,3325,1570,851,0,0,0,0,0,0
$GC,11833,0.95,483.5,448.5,15.7,561,11837,0.00,0.73,0.00,0.000,4,0.000,0.064,3328,1114,851,0,0,0,0,0,0
$GC,11866,0.95,483.5,443.3,16.8,562,11870,0.00,0.65,0.00,0.000,6,0.000,0.043,3328,1552,850,0,0,0,0,0,0
$GC,12198,0.95,483.5,394.1,14.5,573,12202,0.00,1.02,0.00,0.000,4,0.000,0.043,3328,2226,850,0,0,0,0,0,0
$GC,12236,0.95,488.0,388.0,14.2,574,12246,0.03,1.08,4.93,0.746,6,0.205,0.054,3326,1554,836,0,0,0,0,0,0
$GC,12554,0.95,499.1,344.3,13.8,590,12575,0.00,2.35,11.60,0.945,4,0.000,0.070,3334,163,792,0,0,0,0,0,0
$GC,12623,0.95,499.1,334.3,15.0,593,12628,0.03,2.17,0.00,0.000,6,0.270,0.040,3325,1542,790,0,0,0,0,0,0
$GC,12953,1.00,514.2,288.7,13.5,609,12970,0.00,0.00,15.02,0.939,6,0.000,0.000,3325,1552,730,0,0,0,0,0,0
$GC,13290,1.13,543.0,246.0,12.6,626,13323,0.15,2.25,26.38,0.959,4,0.092,0.046,3381,2958,612,0,0,0,0,0,0
$GC,13379,1.13,543.0,231.4,16.3,631,13384,0.03,2.25,0.00,0.000,6,0.288,0.048,3384,1548,611,0,0,0,0,0,0
$GC,13701,1.16,543.0,180.3,16.4,651,13705,0.00,2.22,0.00,0.000,4,0.000,0.044,3384,2966,609,0,0,0,0,0,0
$GC,13748,1.14,543.0,172.2,16.6,654,13752,0.00,2.25,0.00,0.000,6,0.000,0.046,3392,1546,609,0,0,0,0,0,0
$GC,14074,1.08,543.0,114.9,17.2,675,14079,0.12,2.20,0.00,0.000,4,0.210,0.042,3363,2956,609,0,0,0,0,0,0
$GC,14138,1.08,543.0,104.7,15.1,679,14142,0.00,2.22,0.00,0.000,6,0.000,0.047,3372,1546,609,0,0,0,0,0,0
$GC,14480,1.08,543.0,50.2,16.0,736,14487,0.00,2.22,0.00,0.000,4,0.000,0.042,3371,2954,609,0,0,0,0,0,0
$GC,14547,1.08,543.0,39.9,16.1,747,14552,0.10,2.20,0.00,0.000,6,0.210,0.047,3361,1544,608,0,0,0,0,0,0
$GC,14789,1.12,543.0,4.6,15.4,788,14796,0.00,2.25,0.00,0.000,4,0.000,0.044,3360,2964,608,0,0,0,0,0,0
$STATE,14802,end climb,SURFACE_DEPTH_REACHED
$STATE,14802,begin surface coast
$FINISH,1.9,1.026062
$STATE,14827,end surface coast,CONTROL_FINISHED_OK
$STATE,14827,begin surface
$SM_CCo,14906,0.00,0.000,0,0,607,544.56
$SM_GC,2.83,9.12,0.00,0.00,0.057,0.000,0.000,83,1967,607,-9.11,-0.37,544.56
$IRIDIUM_FIX,-4140.91,-628.72,031212,030318
$TT8_MAMPS,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,12.70
$XPDR_PINGS,0
$24V_AH,22.1,73.520
$10V_AH,10.0,48.073
$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,26.500,125.000,626.725,0.000,0.000,31.451,37.200,250.722,0.000,0.000,46.141,2026.670,9859.308,675.058,2645.755,165.631,0.000,1715.185,0.000,2256.303,0.000,1.014,0.000
$DEVICE_MAMPS,288.405,69.615,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.950,930.974,514.195,68.627,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354528
$DATA_FILE_SIZE,47040,794
$CAP_FILE_SIZE,152962,0
$CFSIZE,2097086464,2051211264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,031212,162323,-4156.736,-622.068,40,1.2,40,-22.1