version: 66.07.10.p01
glider: 574
mission: 4
dive: 314
start: 12 4 112 1 31 14
data:
$ID,574
$MISSION,4
$DIVE,314
$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,275
$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,-6847.708
$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,1920
$C_ROLL_CLIMB,1560
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,67
$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,293
$GPS1,041212,011805,-4158.022,-620.273,29,1.2,29,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-72.7
$GPS2,041212,013052,-4157.980,-620.209,27,1.4,45,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4203.379,-607.613
$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,-48.50,0.000,2,0.000,0.000,67,1939,1972,0,0,0,0,0,0
$GC,78,-1.03,-145.9,3.1,-1.4,8,158,12.32,2.20,-57.92,0.000,4,0.275,0.066,2659,3289,3422,0,0,0,0,0,0
$GC,214,-0.95,-145.9,13.5,-14.4,30,222,0.15,2.20,0.00,0.000,6,0.183,0.046,2701,1916,3424,0,0,0,0,0,0
$GC,296,-1.00,-145.9,24.3,-12.9,43,303,0.00,1.88,0.00,0.000,4,0.000,0.062,2701,771,3424,0,0,0,0,0,0
$GC,347,-0.95,-145.9,31.1,-13.8,51,352,0.00,1.70,0.00,0.000,6,0.000,0.035,2694,1890,3424,0,0,0,0,0,0
$GC,581,-0.98,-145.9,62.1,-12.7,92,586,0.00,2.28,0.00,0.000,4,0.000,0.050,2683,3333,3424,0,0,0,0,0,0
$GC,671,-0.98,-145.9,74.3,-13.4,108,678,0.00,2.22,0.00,0.000,6,0.000,0.042,2683,1922,3424,0,0,0,0,0,0
$GC,1019,-1.02,-145.9,117.9,-12.6,153,1022,0.00,0.52,0.00,0.000,4,0.000,0.057,2683,1570,3424,0,0,0,0,0,0
$GC,1038,-1.04,-145.9,120.4,-12.9,154,1042,0.00,0.52,0.00,0.000,6,0.000,0.040,2681,1932,3424,0,0,0,0,0,0
$GC,1371,-1.04,-145.9,161.3,-12.1,175,1375,0.00,0.73,0.00,0.000,4,0.000,0.051,2680,1462,3425,0,0,0,0,0,0
$GC,1389,-1.04,-145.9,163.7,-12.1,176,1393,0.00,0.68,0.00,0.000,6,0.000,0.039,2677,1914,3425,0,0,0,0,0,0
$GC,1722,-1.08,-145.9,202.5,-11.6,197,1726,0.00,1.73,0.00,0.000,4,0.000,0.047,2669,3028,3425,0,0,0,0,0,0
$GC,1783,-1.06,-145.9,210.7,-12.8,200,1791,0.00,1.75,0.00,0.000,6,0.000,0.042,2669,1911,3425,0,0,0,0,0,0
$GC,2106,-1.08,-145.9,248.5,-12.3,221,2109,0.00,1.73,0.00,0.000,4,0.000,0.044,2661,3024,3425,0,0,0,0,0,0
$GC,2155,-1.06,-145.9,255.6,-12.6,224,2159,0.00,1.73,0.00,0.000,6,0.000,0.041,2662,1923,3426,0,0,0,0,0,0
$GC,2483,-1.06,-145.9,296.9,-13.1,240,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1922,3425,0,0,0,0,0,0
$GC,2794,-1.06,-145.9,338.1,-13.3,255,2798,0.00,2.25,0.00,0.000,4,0.000,0.056,2661,506,3426,0,0,0,0,0,0
$GC,2860,-0.99,-145.9,348.2,-14.4,258,2865,0.15,2.12,0.00,0.000,6,0.181,0.031,2688,1922,3426,0,0,0,0,0,0
$GC,3189,-1.05,-145.9,387.2,-11.9,274,3193,0.00,2.25,0.00,0.000,4,0.000,0.054,2689,512,3425,0,0,0,0,0,0
$GC,3254,-1.08,-145.9,395.4,-13.1,277,3258,0.00,2.12,0.00,0.000,6,0.000,0.033,2680,1921,3425,0,0,0,0,0,0
$GC,3568,-1.11,-145.9,435.0,-12.5,288,3573,0.08,2.28,0.00,0.000,4,0.138,0.054,2652,507,3425,0,0,0,0,0,0
$GC,3645,-1.06,-145.9,446.3,-14.5,290,3650,0.12,2.12,0.00,0.000,6,0.192,0.033,2671,1921,3425,0,0,0,0,0,0
$GC,3975,-1.08,-145.9,484.9,-11.5,301,3979,0.00,2.22,0.00,0.000,4,0.000,0.053,2672,511,3425,0,0,0,0,0,0
$GC,4046,-1.08,-145.9,494.1,-12.6,303,4051,0.00,2.15,0.00,0.000,6,0.000,0.031,2663,1910,3425,0,0,0,0,0,0
$GC,4376,-1.08,-145.9,533.8,-12.3,314,4380,0.00,2.17,0.00,0.000,4,0.000,0.045,2652,3317,3424,0,0,0,0,0,0
$GC,4473,-1.05,-145.9,546.4,-13.2,317,4478,0.08,2.15,0.00,0.000,6,0.204,0.036,2667,1906,3424,0,0,0,0,0,0
$GC,4809,-1.08,-145.9,586.3,-11.6,328,4813,0.00,0.82,0.00,0.000,4,0.000,0.049,2668,1357,3424,0,0,0,0,0,0
$GC,4831,-1.10,-145.9,589.2,-12.7,328,4835,0.00,0.85,0.00,0.000,6,0.000,0.037,2666,1920,3424,0,0,0,0,0,0
$GC,5149,-1.10,-145.9,627.8,-12.3,339,5153,0.00,2.17,0.00,0.000,4,0.000,0.046,2654,3318,3423,0,0,0,0,0,0
$GC,5226,-1.10,-145.9,638.2,-13.5,341,5230,0.00,2.15,0.00,0.000,6,0.000,0.036,2655,1910,3422,0,0,0,0,0,0
$GC,5550,-1.10,-145.9,678.5,-12.4,352,5554,0.00,2.17,0.00,0.000,4,0.000,0.052,2654,514,3422,0,0,0,0,0,0
$GC,5623,-1.06,-145.9,688.5,-13.6,354,5628,0.08,2.17,0.00,0.000,6,0.175,0.032,2676,1923,3422,0,0,0,0,0,0
$GC,5952,-1.10,-145.9,724.9,-10.9,365,5956,0.00,2.17,0.00,0.000,4,0.000,0.046,2666,3322,3420,0,0,0,0,0,0
$GC,6049,-1.06,-145.9,736.8,-12.3,368,6053,0.00,2.15,0.00,0.000,6,0.000,0.037,2667,1920,3420,0,0,0,0,0,0
$GC,6384,-1.11,-145.9,771.7,-9.7,379,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1920,3420,0,0,0,0,0,0
$GC,6690,-1.16,-145.9,801.0,-9.7,389,6695,0.10,2.12,0.00,0.000,4,0.122,0.053,2630,581,3419,0,0,0,0,0,0
$GC,6734,-1.05,-145.9,806.6,-13.3,390,6738,0.20,2.05,0.00,0.000,6,0.190,0.034,2671,1921,3419,0,0,0,0,0,0
$GC,7058,-1.09,-145.9,840.2,-10.4,401,7062,0.00,2.17,0.00,0.000,4,0.000,0.047,2662,3328,3419,0,0,0,0,0,0
$GC,7141,-1.09,-145.9,850.4,-12.6,403,7146,0.00,2.17,0.00,0.000,6,0.000,0.036,2662,1921,3419,0,0,0,0,0,0
$GC,7461,-1.13,-145.9,886.4,-11.3,414,7465,0.00,2.20,0.00,0.000,4,0.000,0.046,2652,3321,3419,0,0,0,0,0,0
$GC,7557,-1.10,-145.9,898.8,-13.1,417,7561,0.00,2.17,0.00,0.000,6,0.000,0.036,2652,1905,3418,0,0,0,0,0,0
$GC,7892,-1.02,-145.9,946.5,-14.8,428,7894,0.12,0.00,0.00,0.000,6,0.205,0.000,2681,1900,3417,0,0,0,0,0,0
$GC,8198,-1.02,-145.9,988.8,-14.1,438,8202,0.00,1.88,0.00,0.000,4,0.000,0.044,2673,3101,3417,0,0,0,0,0,0
$STATE,8257,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,8257,begin apogee
$GC,8264,-0.21,0.0,997.7,14.0,439,8396,0.93,0.00,128.45,1.496,6,0.166,0.000,2937,1563,2827,0,0,0,0,0,0
$STATE,8397,end apogee,CONTROL_FINISHED_OK
$STATE,8397,begin climb
$GC,8399,1.03,145.9,1008.2,0.0,444,8540,1.25,0.00,134.82,1.451,6,0.070,0.000,3341,1563,2232,0,0,0,0,0,0
$GC,8848,0.77,243.8,995.3,8.0,459,8939,0.32,0.00,87.60,1.431,6,0.226,0.000,3268,1563,1833,0,0,0,0,0,0
$GC,9244,0.70,289.8,952.6,11.4,472,9290,0.10,2.28,40.78,1.394,4,0.228,0.041,3246,2957,1645,0,0,0,0,0,0
$GC,9351,0.70,327.1,939.3,12.0,475,9391,0.00,2.28,34.50,1.352,6,0.000,0.044,3254,1553,1491,0,0,0,0,0,0
$GC,9706,0.73,355.8,894.9,12.6,487,9734,0.00,0.00,26.75,1.337,6,0.000,0.000,3254,1553,1375,0,0,0,0,0,0
$GC,10041,0.76,394.5,853.0,11.9,498,10079,0.00,0.00,36.25,1.325,6,0.000,0.000,3253,1553,1218,0,0,0,0,0,0
$GC,10377,0.84,433.4,812.0,11.9,509,10416,0.10,0.00,36.35,1.300,6,0.114,0.000,3289,1553,1059,0,0,0,0,0,0
$GC,10714,0.87,452.9,766.8,13.2,520,10738,0.00,1.20,18.45,1.226,4,0.000,0.040,3289,2294,980,0,0,0,0,0,0
$GC,10779,0.92,467.7,758.2,13.5,522,10798,0.00,1.20,14.95,1.183,6,0.000,0.050,3294,1554,919,0,0,0,0,0,0
$GC,11118,1.02,510.7,716.5,11.6,533,11164,0.12,2.35,39.45,1.257,4,0.099,0.070,3347,174,744,0,0,0,0,0,0
$GC,11213,1.02,510.7,702.7,16.4,536,11218,0.00,2.22,0.00,0.000,6,0.000,0.037,3347,1551,741,0,0,0,0,0,0
$GC,11549,1.02,510.7,650.3,15.7,547,11552,0.00,1.80,0.00,0.000,4,0.000,0.066,3353,457,739,0,0,0,0,0,0
$GC,11598,0.99,510.7,641.9,16.8,548,11603,0.05,1.75,0.00,0.000,6,0.191,0.038,3338,1574,737,0,0,0,0,0,0
$GC,11922,0.99,510.7,590.0,16.3,559,11925,0.00,0.88,0.00,0.000,4,0.000,0.060,3341,1035,736,0,0,0,0,0,0
$GC,11961,0.97,510.7,583.3,17.4,560,11966,0.03,0.82,0.00,0.000,6,0.216,0.041,3334,1580,736,0,0,0,0,0,0
$GC,12296,0.97,510.7,525.9,17.4,571,12299,0.00,1.52,0.00,0.000,4,0.000,0.045,3334,2553,735,0,0,0,0,0,0
$GC,12340,0.99,510.7,518.0,18.3,572,12344,0.00,1.60,0.00,0.000,6,0.000,0.051,3340,1560,735,0,0,0,0,0,0
$GC,12669,0.99,510.7,459.0,18.0,583,12673,0.00,1.67,0.00,0.000,4,0.000,0.065,3347,502,734,0,0,0,0,0,0
$GC,12713,0.96,510.7,450.8,18.0,584,12718,0.08,1.62,0.00,0.000,6,0.177,0.038,3324,1548,733,0,0,0,0,0,0
$GC,13042,1.05,510.7,398.1,14.8,595,13047,0.08,0.68,0.00,0.000,4,0.133,0.044,3356,2013,733,0,0,0,0,0,0
$GC,13075,1.15,517.2,393.4,14.1,596,13089,0.03,0.73,5.30,0.784,6,0.103,0.056,3379,1560,717,0,0,0,0,0,0
$GC,13397,1.10,517.2,339.2,16.8,612,13401,0.00,1.95,0.00,0.000,4,0.000,0.067,3387,369,717,0,0,0,0,0,0
$GC,13452,1.01,517.2,329.0,17.3,614,13457,0.15,1.85,0.00,0.000,6,0.188,0.039,3346,1554,717,0,0,0,0,0,0
$GC,13774,1.01,522.1,283.0,14.2,630,13783,0.00,1.05,6.05,0.774,4,0.000,0.060,3351,888,697,0,0,0,0,0,0
$GC,13822,0.97,522.1,275.7,14.5,632,13827,0.08,1.05,0.00,0.000,6,0.179,0.037,3328,1581,698,0,0,0,0,0,0
$GC,14151,1.12,558.8,236.3,12.0,650,14191,0.12,1.92,33.50,0.967,4,0.098,0.065,3385,454,547,0,0,0,0,0,0
$GC,14220,1.09,558.8,225.5,16.4,654,14224,0.05,1.73,0.00,0.000,6,0.197,0.037,3372,1541,545,0,0,0,0,0,0
$GC,14546,1.09,558.8,172.1,16.5,675,14550,0.00,2.30,0.00,0.000,4,0.000,0.070,3381,167,544,0,0,0,0,0,0
$GC,14626,1.03,558.8,157.1,18.3,680,14631,0.15,2.17,0.00,0.000,6,0.194,0.037,3346,1553,542,0,0,0,0,0,0
$GC,14954,1.18,573.7,112.2,13.5,701,14970,0.12,0.00,13.15,0.821,6,0.098,0.000,3394,1563,487,0,0,0,0,0,0
$GC,15304,1.23,573.7,54.2,16.6,754,15311,0.00,2.33,0.00,0.000,4,0.000,0.068,3401,170,485,0,0,0,0,0,0
$GC,15371,1.17,573.7,42.0,18.9,765,15376,0.00,2.17,0.00,0.000,6,0.000,0.036,3401,1568,483,0,0,0,0,0,0
$STATE,15581,end climb,SURFACE_DEPTH_REACHED
$STATE,15582,begin surface coast
$FINISH,1.8,1.012852
$STATE,15595,end surface coast,CONTROL_FINISHED_OK
$STATE,15595,begin surface
$SM_CCo,15673,0.00,0.000,0,0,482,575.22
$SM_GC,2.71,9.32,0.00,0.00,0.061,0.000,0.000,87,1944,482,-9.10,0.65,575.22
$IRIDIUM_FIX,-4143.80,-701.03,031212,202046
$TT8_MAMPS,0.026964
$HUMID,49.44
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,12.50
$XPDR_PINGS,0
$24V_AH,22.0,74.317
$10V_AH,10.0,48.365
$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,26.475,119.225,656.350,0.000,0.000,23.844,43.230,503.986,0.000,0.000,47.643,2053.840,10611.312,723.463,2825.839,206.881,0.000,1725.502,0.000,2192.217,0.000,1.015,0.000
$DEVICE_MAMPS,275.400,70.380,1495.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.259,878.009,535.109,62.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354516
$DATA_FILE_SIZE,46988,803
$CAP_FILE_SIZE,156890,0
$CFSIZE,2097086464,2050818048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041212,055335,-4158.385,-618.491,35,0.9,35,-22.1