version: 66.07.10.p01
glider: 574
mission: 4
dive: 316
start: 12 4 112 10 29 44
data:
$ID,574
$MISSION,4
$DIVE,316
$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,-6854.6304
$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,29
$R_STBD_OVSHOOT,42
$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,295
$GPS1,041212,102135,-4159.158,-617.138,38,0.9,38,-22.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-71.2
$GPS2,041212,102923,-4159.159,-617.062,40,1.3,41,-22.1
$SPEED_LIMITS,0.251,0.290
$TGT_NAME,HEADING
$TGT_LATLONG,-4204.559,-604.462
$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,-145.9,0.0,0.0,0,87,0.00,0.00,-59.85,0.000,2,0.000,0.000,67,1937,2170,0,0,0,0,0,0
$GC,90,-1.03,-145.9,3.1,-1.3,10,157,11.77,2.33,-49.30,0.000,4,0.259,0.070,2678,505,3420,0,0,0,0,0,0
$GC,230,-0.95,-145.9,15.9,-16.5,33,238,0.10,2.22,0.00,0.000,6,0.181,0.039,2698,1904,3422,0,0,0,0,0,0
$GC,311,-0.95,-145.9,26.6,-12.6,46,318,0.00,2.00,0.00,0.000,4,0.000,0.050,2689,3156,3422,0,0,0,0,0,0
$GC,371,-0.92,-145.9,35.0,-13.6,56,378,0.08,1.95,0.00,0.000,6,0.164,0.044,2712,1927,3422,0,0,0,0,0,0
$GC,610,-0.99,-145.9,63.6,-11.6,97,614,0.00,2.22,0.00,0.000,4,0.000,0.047,2703,3337,3422,0,0,0,0,0,0
$GC,682,-1.04,-145.9,72.9,-12.3,110,688,0.08,2.22,0.00,0.000,6,0.134,0.043,2673,1911,3422,0,0,0,0,0,0
$GC,1029,-1.06,-145.9,115.0,-11.9,157,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1911,3422,0,0,0,0,0,0
$GC,1341,-1.09,-145.9,150.9,-11.3,177,1345,0.00,2.22,0.00,0.000,4,0.000,0.057,2673,511,3422,0,0,0,0,0,0
$GC,1422,-1.04,-145.9,161.3,-12.7,182,1426,0.00,2.15,0.00,0.000,6,0.000,0.032,2663,1939,3422,0,0,0,0,0,0
$GC,1749,-1.04,-145.9,199.7,-11.9,203,1753,0.00,1.70,0.00,0.000,4,0.000,0.054,2663,885,3422,0,0,0,0,0,0
$GC,1786,-0.99,-145.9,204.4,-13.0,205,1790,0.10,1.60,0.00,0.000,6,0.165,0.034,2694,1921,3422,0,0,0,0,0,0
$GC,2116,-1.05,-145.9,242.6,-11.9,226,2120,0.00,2.17,0.00,0.000,4,0.000,0.046,2684,3322,3422,0,0,0,0,0,0
$GC,2133,-1.11,-145.9,245.0,-11.8,227,2138,0.10,2.17,0.00,0.000,6,0.112,0.039,2644,1907,3422,0,0,0,0,0,0
$GC,2466,-1.08,-145.9,290.1,-13.7,244,2470,0.08,2.00,0.00,0.000,4,0.220,0.042,2651,3192,3423,0,0,0,0,0,0
$GC,2526,-1.02,-145.9,299.0,-14.6,246,2535,0.10,1.98,0.00,0.000,6,0.167,0.037,2682,1910,3422,0,0,0,0,0,0
$GC,2844,-1.06,-145.9,337.0,-11.7,262,2848,0.00,2.17,0.00,0.000,4,0.000,0.054,2682,517,3423,0,0,0,0,0,0
$GC,2911,-1.03,-145.9,345.9,-13.0,265,2915,0.00,2.15,0.00,0.000,6,0.000,0.031,2673,1933,3423,0,0,0,0,0,0
$GC,3241,-1.06,-145.9,384.2,-11.9,281,3245,0.00,1.30,0.00,0.000,4,0.000,0.041,2666,2795,3423,0,0,0,0,0,0
$GC,3290,-1.06,-145.9,390.9,-12.5,283,3295,0.00,1.35,0.00,0.000,6,0.000,0.039,2666,1921,3423,0,0,0,0,0,0
$GC,3616,-1.06,-145.9,430.6,-12.5,295,3619,0.00,1.30,0.00,0.000,4,0.000,0.041,2660,2762,3422,0,0,0,0,0,0
$GC,3665,-1.06,-145.9,437.1,-13.1,296,3669,0.00,1.30,0.00,0.000,6,0.000,0.039,2660,1920,3423,0,0,0,0,0,0
$GC,3989,-1.06,-145.9,477.5,-12.6,307,3993,0.00,2.17,0.00,0.000,4,0.000,0.044,2650,3318,3422,0,0,0,0,0,0
$GC,4067,-1.03,-145.9,488.1,-14.0,309,4072,0.12,2.12,0.00,0.000,6,0.184,0.036,2680,1917,3422,0,0,0,0,0,0
$GC,4397,-1.07,-145.9,526.5,-11.5,320,4401,0.00,1.02,0.00,0.000,4,0.000,0.050,2680,1257,3422,0,0,0,0,0,0
$GC,4424,-1.07,-145.9,530.0,-12.0,320,4430,0.00,1.00,0.00,0.000,6,0.000,0.033,2676,1926,3422,0,0,0,0,0,0
$GC,4738,-1.12,-145.9,566.2,-11.7,331,4742,0.08,2.17,0.00,0.000,4,0.137,0.044,2637,3324,3422,0,0,0,0,0,0
$GC,4832,-1.04,-145.9,579.4,-14.3,333,4838,0.15,2.15,0.00,0.000,6,0.188,0.036,2674,1913,3421,0,0,0,0,0,0
$GC,5145,-1.08,-145.9,614.5,-10.9,344,5149,0.00,2.20,0.00,0.000,4,0.000,0.054,2674,519,3421,0,0,0,0,0,0
$GC,5189,-1.06,-145.9,620.2,-12.1,345,5194,0.00,2.15,0.00,0.000,6,0.000,0.032,2665,1914,3421,0,0,0,0,0,0
$GC,5519,-1.09,-145.9,655.6,-10.6,356,5523,0.00,1.02,0.00,0.000,4,0.000,0.041,2660,2602,3420,0,0,0,0,0,0
$GC,5569,-1.09,-145.9,661.5,-11.8,357,5573,0.00,1.05,0.00,0.000,6,0.000,0.040,2660,1918,3420,0,0,0,0,0,0
$GC,5894,-1.13,-145.9,698.2,-11.5,368,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1918,3419,0,0,0,0,0,0
$GC,6200,-1.15,-145.9,734.3,-12.1,378,6203,0.00,1.27,0.00,0.000,4,0.000,0.050,2660,1105,3418,0,0,0,0,0,0
$GC,6234,-1.13,-145.9,738.8,-13.0,379,6238,0.00,1.25,0.00,0.000,6,0.000,0.037,2654,1915,3418,0,0,0,0,0,0
$GC,6575,-1.13,-145.9,782.4,-13.0,390,6579,0.00,1.73,0.00,0.000,4,0.000,0.044,2645,3046,3418,0,0,0,0,0,0
$GC,6630,-1.08,-145.9,790.7,-15.1,391,6635,0.05,1.75,0.00,0.000,6,0.181,0.037,2659,1912,3417,0,0,0,0,0,0
$GC,6949,-1.12,-145.9,832.7,-13.2,402,6952,0.00,1.35,0.00,0.000,4,0.000,0.050,2659,1051,3417,0,0,0,0,0,0
$GC,7004,-1.12,-145.9,840.6,-13.8,403,7008,0.00,1.35,0.00,0.000,6,0.000,0.035,2655,1923,3416,0,0,0,0,0,0
$GC,7322,-1.12,-145.9,882.9,-13.3,414,7326,0.00,2.22,0.00,0.000,4,0.000,0.052,2655,517,3416,0,0,0,0,0,0
$GC,7383,-1.05,-145.9,892.1,-14.8,415,7389,0.08,2.17,0.00,0.000,6,0.178,0.033,2681,1919,3415,0,0,0,0,0,0
$GC,7697,-1.12,-145.9,929.1,-11.7,426,7701,0.10,0.55,0.00,0.000,4,0.116,0.050,2644,1559,3414,0,0,0,0,0,0
$GC,7712,-1.12,-145.9,931.3,-11.7,426,7716,0.00,0.55,0.00,0.000,6,0.000,0.040,2642,1930,3414,0,0,0,0,0,0
$GC,8036,-1.12,-145.9,972.6,-13.0,437,8040,0.00,0.38,0.00,0.000,4,0.000,0.049,2640,2212,3413,0,0,0,0,0,0
$GC,8070,-1.12,-145.9,977.0,-13.2,438,8074,0.00,0.43,0.00,0.000,6,0.000,0.047,2640,1914,3413,0,0,0,0,0,0
$STATE,8257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8257,begin apogee
$GC,8262,-0.21,0.0,1004.5,14.8,444,8393,1.08,0.00,127.90,1.499,6,0.171,0.000,2937,1560,2827,0,0,0,0,0,0
$STATE,8394,end apogee,CONTROL_FINISHED_OK
$STATE,8394,begin climb
$GC,8396,1.03,145.9,1012.5,0.0,448,8538,1.23,2.42,133.60,1.450,4,0.066,0.043,3341,2944,2231,0,0,0,0,0,0
$GC,8706,0.76,237.9,1005.8,8.4,457,8798,0.40,2.25,82.70,1.414,6,0.229,0.044,3263,1559,1856,0,0,0,0,0,0
$GC,9111,0.70,306.4,965.7,9.9,471,9176,0.10,0.47,61.08,1.404,4,0.237,0.037,3243,1890,1576,0,0,0,0,0,0
$GC,9220,0.73,369.1,954.1,10.3,474,9282,0.00,0.57,57.90,1.373,6,0.000,0.054,3244,1550,1321,0,0,0,0,0,0
$GC,9601,0.79,415.7,911.1,11.4,487,9651,0.08,2.33,42.50,1.362,4,0.129,0.044,3269,2941,1131,0,0,0,0,0,0
$GC,9718,0.85,446.9,896.1,12.4,490,9753,0.00,2.25,29.67,1.320,6,0.000,0.047,3279,1557,1005,0,0,0,0,0,0
$GC,10068,0.92,468.7,849.9,13.0,502,10094,0.10,2.33,20.33,1.274,4,0.119,0.070,3320,163,915,0,0,0,0,0,0
$GC,10166,0.92,468.7,834.1,16.5,504,10171,0.03,2.20,0.00,0.000,6,0.203,0.037,3314,1539,911,0,0,0,0,0,0
$GC,10501,0.94,468.7,783.7,15.1,515,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1547,909,0,0,0,0,0,0
$GC,10807,0.94,468.7,737.1,15.2,525,10811,0.00,0.40,0.00,0.000,4,0.000,0.066,3314,1289,908,0,0,0,0,0,0
$GC,10850,0.94,468.7,730.3,15.8,526,10854,0.00,0.43,0.00,0.000,6,0.000,0.044,3315,1581,908,0,0,0,0,0,0
$GC,11180,0.97,468.7,682.0,14.7,537,11183,0.00,2.08,0.00,0.000,4,0.000,0.067,3324,309,908,0,0,0,0,0,0
$GC,11235,0.97,469.4,673.5,14.4,538,11239,0.00,1.92,0.00,0.000,6,0.000,0.038,3324,1533,906,0,0,0,0,0,0
$GC,11553,0.97,469.4,623.1,16.4,549,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1541,907,0,0,0,0,0,0
$GC,11859,0.97,469.4,574.7,15.3,559,11863,0.00,0.93,0.00,0.000,4,0.000,0.044,3324,2162,906,0,0,0,0,0,0
$GC,11897,0.97,469.4,568.6,15.9,560,11902,0.00,1.00,0.00,0.000,6,0.000,0.054,3328,1547,906,0,0,0,0,0,0
$GC,12233,0.97,469.4,517.5,15.0,571,12236,0.00,0.70,0.00,0.000,4,0.000,0.063,3331,1097,906,0,0,0,0,0,0
$GC,12271,0.94,469.4,511.5,15.6,572,12276,0.05,0.75,0.00,0.000,6,0.248,0.042,3322,1587,906,0,0,0,0,0,0
$GC,12606,0.94,484.2,464.9,13.5,583,12622,0.00,0.00,14.15,1.047,6,0.000,0.000,3322,1586,853,0,0,0,0,0,0
$GC,12912,0.94,499.9,423.7,13.4,593,12933,0.00,2.38,15.73,1.031,4,0.000,0.068,3333,164,788,0,0,0,0,0,0
$GC,13006,0.94,499.9,410.1,14.9,596,13011,0.05,2.17,0.00,0.000,6,0.234,0.041,3322,1538,785,0,0,0,0,0,0
$GC,13324,0.98,510.2,366.6,13.8,610,13336,0.00,0.00,10.18,0.930,6,0.000,0.000,3322,1548,747,0,0,0,0,0,0
$GC,13634,1.14,536.2,324.1,12.8,625,13662,0.17,0.00,24.50,1.004,6,0.086,0.000,3387,1549,640,0,0,0,0,0,0
$GC,13968,1.08,536.2,262.3,19.1,641,13973,0.10,2.28,0.00,0.000,4,0.208,0.046,3364,2970,636,0,0,0,0,0,0
$GC,14017,1.08,536.2,252.7,17.1,643,14021,0.00,2.28,0.00,0.000,6,0.000,0.047,3373,1557,636,0,0,0,0,0,0
$GC,14348,1.06,536.2,193.1,18.2,664,14353,0.08,2.25,0.00,0.000,4,0.243,0.044,3358,2975,636,0,0,0,0,0,0
$GC,14397,1.09,536.2,184.3,15.8,667,14401,0.00,2.28,0.00,0.000,6,0.000,0.048,3367,1558,636,0,0,0,0,0,0
$GC,14722,1.09,536.2,129.4,17.0,688,14725,0.00,0.62,0.00,0.000,4,0.000,0.043,3368,1980,635,0,0,0,0,0,0
$GC,14743,1.09,536.2,125.7,16.0,689,14747,0.00,0.70,0.00,0.000,6,0.000,0.057,3371,1553,635,0,0,0,0,0,0
$GC,15075,1.09,536.2,69.5,17.3,731,15078,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1553,635,0,0,0,0,0,0
$GC,15427,1.09,536.2,10.6,16.5,792,15434,0.00,2.22,0.00,0.000,4,0.000,0.042,3370,2961,635,0,0,0,0,0,0
$STATE,15476,end climb,SURFACE_DEPTH_REACHED
$STATE,15476,begin surface coast
$FINISH,1.7,1.022952
$STATE,15483,end surface coast,CONTROL_FINISHED_OK
$STATE,15483,begin surface
$SM_CCo,15562,0.00,0.000,0,0,633,538.18
$SM_GC,2.76,9.07,0.00,0.00,0.054,0.000,0.000,96,1916,633,-9.08,-0.08,538.18
$IRIDIUM_FIX,-4140.91,-619.77,041212,050514
$TT8_MAMPS,0.026964
$HUMID,49.52
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,22.1,74.833
$10V_AH,10.0,48.560
$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,25.500,113.000,620.225,0.000,0.000,31.406,42.333,245.691,0.250,0.000,43.552,2049.867,10521.937,632.510,2651.019,172.355,0.000,1700.719,0.000,2262.620,0.000,2.832,0.000
$DEVICE_MAMPS,259.335,69.615,1499.400,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.563,884.533,527.954,65.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,46937,801
$CAP_FILE_SIZE,153591,0
$CFSIZE,2097086464,2050555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,041212,145005,-4159.595,-615.366,26,1.2,26,-22.1