version: 66.07.10.p01
glider: 574
mission: 7
dive: 17
start: 10 14 113 12 18 14
data:
$ID,574
$MISSION,7
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,450
$T_MISSION,520
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,53599
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4200
$TGT_DEFAULT_LON,-900
$TGT_AUTO_DEFAULT,0
$SM_CC,509.7251
$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,-13336.216
$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,3000
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,13
$ROLL_MIN,160
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,45
$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,2600
$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,-58.423965
$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,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,141013,120304,-4110.540,1010.092,30,0.9,30,-25.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.5
$GPS2,141013,121753,-4110.585,1010.176,16,1.0,16,-25.4
$SPEED_LIMITS,0.128,0.248
$TGT_NAME,WP1
$TGT_LATLONG,-4205.000,900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,249.1,139498,-12.9,-7.407
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.52,-165.4,0.0,0.0,0,138,0.00,0.00,-112.90,0.000,6,0.000,0.000,62,2204,3275,0,0,0,0,0,0
$GC,140,-0.52,-165.4,3.6,-3.8,19,160,12.25,2.30,0.00,0.000,4,0.269,0.046,2830,782,3278,0,0,0,0,0,0
$GC,421,-0.52,-165.4,50.5,-12.9,67,426,0.00,2.20,0.00,0.000,6,0.000,0.037,2822,2193,3279,0,0,0,0,0,0
$GC,563,-0.52,-165.4,69.8,-13.3,92,570,0.00,1.38,0.00,0.000,4,0.000,0.050,2822,1337,3280,0,0,0,0,0,0
$GC,756,-0.52,-165.4,95.2,-13.4,125,760,0.00,1.35,0.00,0.000,6,0.000,0.038,2817,2205,3279,0,0,0,0,0,0
$GC,897,-0.52,-165.4,114.1,-13.1,150,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2206,3280,0,0,0,0,0,0
$GC,1242,-0.52,-165.4,160.4,-13.5,211,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2206,3279,0,0,0,0,0,0
$GC,1587,-0.52,-165.4,206.1,-13.1,272,1594,0.00,0.60,0.00,0.000,4,0.000,0.047,2817,1800,3280,0,0,0,0,0,0
$GC,1848,-0.52,-165.4,240.9,-13.6,318,1854,0.00,0.60,0.00,0.000,6,0.000,0.041,2815,2214,3280,0,0,0,0,0,0
$GC,2193,-0.52,-165.4,288.4,-14.1,379,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2215,3281,0,0,0,0,0,0
$GC,2536,-0.52,-165.4,335.7,-13.8,440,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2214,3281,0,0,0,0,0,0
$GC,2884,-0.52,-165.4,379.7,-12.0,501,2889,0.00,0.65,0.00,0.000,4,0.000,0.047,2815,1778,3281,0,0,0,0,0,0
$GC,3143,-0.52,-165.4,412.4,-12.5,547,3149,0.03,0.62,0.00,0.000,6,0.194,0.041,2822,2211,3281,0,0,0,0,0,0
$GC,3487,-0.52,-165.4,452.3,-11.4,608,3494,0.00,0.82,0.00,0.000,4,0.000,0.048,2822,1673,3282,0,0,0,0,0,0
$GC,3671,-0.52,-165.4,473.2,-11.2,640,3678,0.00,0.77,0.00,0.000,6,0.000,0.041,2820,2196,3281,0,0,0,0,0,0
$GC,4020,-0.52,-165.4,509.7,-10.3,701,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2197,3281,0,0,0,0,0,0
$GC,4364,-0.52,-165.4,546.5,-10.8,762,4369,0.00,0.65,0.00,0.000,4,0.000,0.050,2820,1761,3280,0,0,0,0,0,0
$GC,4623,-0.52,-165.4,574.7,-10.8,808,4630,0.00,0.62,0.00,0.000,6,0.000,0.044,2818,2193,3280,0,0,0,0,0,0
$GC,4971,-0.52,-165.4,612.2,-11.0,869,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2193,3280,0,0,0,0,0,0
$GC,5316,-0.52,-165.4,651.2,-11.6,930,5321,0.00,0.52,0.00,0.000,4,0.000,0.052,2819,1835,3278,0,0,0,0,0,0
$GC,5575,-0.52,-165.4,681.2,-12.1,976,5582,0.00,0.52,0.00,0.000,6,0.000,0.046,2817,2201,3278,0,0,0,0,0,0
$GC,5924,-0.52,-165.4,722.9,-12.6,1037,5929,0.00,0.68,0.00,0.000,4,0.000,0.053,2817,1747,3278,0,0,0,0,0,0
$GC,6183,-0.52,-165.4,754.1,-11.4,1083,6189,0.00,0.68,0.00,0.000,6,0.000,0.044,2815,2203,3277,0,0,0,0,0,0
$GC,6530,-0.52,-165.4,792.4,-10.7,1144,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2203,3275,0,0,0,0,0,0
$GC,6877,-0.52,-165.4,830.3,-10.7,1205,6882,0.00,0.68,0.00,0.000,4,0.000,0.054,2815,1750,3274,0,0,0,0,0,0
$GC,7128,-0.52,-165.4,857.5,-10.6,1249,7133,0.03,0.68,0.00,0.000,6,0.191,0.044,2822,2204,3275,0,0,0,0,0,0
$GC,7473,-0.52,-165.4,890.7,-9.3,1310,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2204,3274,0,0,0,0,0,0
$GC,7817,-0.52,-165.4,923.0,-9.7,1371,7822,0.00,0.50,0.00,0.000,4,0.000,0.054,2822,1859,3273,0,0,0,0,0,0
$GC,8079,-0.52,-165.4,948.3,-9.8,1417,8084,0.00,0.50,0.00,0.000,6,0.000,0.046,2822,2206,3273,0,0,0,0,0,0
$GC,8423,-0.52,-165.4,982.1,-9.6,1478,8428,0.00,0.80,0.00,0.000,4,0.000,0.054,2822,1683,3272,0,0,0,0,0,0
$STATE,8618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8618,begin apogee
$GC,8622,-0.20,0.0,1000.3,9.3,1512,8760,0.35,0.00,133.90,1.445,6,0.168,0.000,2927,1646,2600,0,0,0,0,0,0
$STATE,8761,end apogee,CONTROL_FINISHED_OK
$STATE,8761,begin climb
$GC,8762,0.52,165.4,1006.4,0.0,1538,8916,0.80,0.57,145.12,1.415,4,0.138,0.070,3158,1325,1925,0,0,0,0,0,0
$GC,8978,0.52,168.5,994.3,7.3,1578,8985,0.00,0.50,3.28,0.672,6,0.000,0.040,3158,1654,1912,0,0,0,0,0,0
$GC,9325,0.53,183.9,969.2,6.9,1639,9345,0.00,0.00,14.75,1.292,6,0.000,0.000,3158,1654,1849,0,0,0,0,0,0
$GC,9685,0.53,214.9,945.3,6.5,1703,9719,0.00,0.50,28.15,1.352,4,0.000,0.063,3158,1364,1724,0,0,0,0,0,0
$GC,9770,0.53,246.5,939.9,6.5,1718,9808,0.00,0.43,29.85,1.343,6,0.000,0.043,3158,1660,1595,0,0,0,0,0,0
$GC,10150,0.53,266.4,914.3,6.8,1785,10172,0.00,0.80,18.40,1.309,4,0.000,0.070,3158,1202,1512,0,0,0,0,0,0
$GC,10220,0.53,293.2,909.6,6.6,1797,10251,0.00,0.68,25.90,1.324,6,0.000,0.037,3158,1644,1403,0,0,0,0,0,0
$GC,10591,0.81,293.2,877.1,9.6,1863,10596,0.28,0.00,0.00,0.000,6,0.102,0.000,3251,1654,1398,0,0,0,0,0,0
$GC,10936,0.81,293.2,845.3,9.2,1924,10943,0.00,1.52,0.00,0.000,4,0.000,0.071,3252,734,1397,0,0,0,0,0,0
$GC,10960,0.81,293.2,843.1,9.1,1928,10967,0.00,1.42,0.00,0.000,6,0.000,0.037,3252,1653,1397,0,0,0,0,0,0
$GC,11308,0.81,293.2,802.9,11.4,1989,11313,0.00,0.60,0.00,0.000,4,0.000,0.070,3252,1294,1396,0,0,0,0,0,0
$GC,11400,0.81,293.2,792.4,11.1,2005,11405,0.00,0.52,0.00,0.000,6,0.000,0.041,3252,1654,1396,0,0,0,0,0,0
$GC,11744,0.81,293.2,752.5,11.2,2066,11749,0.00,1.12,0.00,0.000,4,0.000,0.070,3253,978,1396,0,0,0,0,0,0
$GC,11824,0.81,293.2,743.3,11.8,2080,11831,0.00,1.02,0.00,0.000,6,0.000,0.036,3253,1649,1396,0,0,0,0,0,0
$GC,12172,0.81,293.2,700.5,13.2,2141,12177,0.00,1.02,0.00,0.000,4,0.000,0.070,3252,1032,1396,0,0,0,0,0,0
$GC,12241,0.81,293.2,691.5,13.2,2153,12246,0.00,0.95,0.00,0.000,6,0.000,0.037,3252,1656,1395,0,0,0,0,0,0
$GC,12586,0.81,293.2,646.3,13.1,2214,12591,0.00,0.62,0.00,0.000,4,0.000,0.070,3253,1277,1394,0,0,0,0,0,0
$GC,12672,0.81,293.2,634.7,13.6,2229,12677,0.00,0.55,0.00,0.000,6,0.000,0.042,3253,1652,1396,0,0,0,0,0,0
$GC,13016,0.81,293.2,589.6,12.3,2290,13021,0.00,2.35,0.00,0.000,4,0.000,0.077,3253,234,1395,0,0,0,0,0,0
$GC,13073,0.81,293.2,582.9,12.3,2300,13080,0.00,2.17,0.00,0.000,6,0.000,0.037,3253,1640,1395,0,0,0,0,0,0
$GC,13421,0.81,293.2,542.3,11.2,2361,13426,0.00,0.43,0.00,0.000,4,0.000,0.070,3253,1379,1395,0,0,0,0,0,0
$GC,13545,0.81,293.2,528.4,10.8,2383,13550,0.00,0.40,0.00,0.000,6,0.000,0.045,3253,1674,1395,0,0,0,0,0,0
$GC,13889,0.81,293.2,491.2,10.8,2444,13896,0.00,2.38,0.00,0.000,4,0.000,0.078,3253,245,1395,0,0,0,0,0,0
$GC,13953,0.81,293.2,484.5,10.8,2455,13958,0.00,2.12,0.00,0.000,6,0.000,0.039,3253,1635,1394,0,0,0,0,0,0
$GC,14297,0.81,293.2,447.2,11.3,2516,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1642,1394,0,0,0,0,0,0
$GC,14644,0.81,293.2,405.3,12.4,2577,14649,0.00,1.62,0.00,0.000,4,0.000,0.073,3253,653,1395,0,0,0,0,0,0
$GC,14706,0.81,293.2,397.2,13.1,2588,14713,0.00,1.52,0.00,0.000,6,0.000,0.037,3253,1660,1394,0,0,0,0,0,0
$GC,15054,0.81,293.2,355.0,12.1,2649,15059,0.00,1.02,0.00,0.000,4,0.000,0.068,3253,1032,1394,0,0,0,0,0,0
$GC,15138,0.81,293.2,344.9,11.7,2664,15145,0.00,0.93,0.00,0.000,6,0.000,0.037,3253,1644,1394,0,0,0,0,0,0
$GC,15486,0.81,293.2,306.7,10.9,2725,15491,0.00,0.80,0.00,0.000,4,0.000,0.067,3253,1153,1395,0,0,0,0,0,0
$GC,15555,0.81,293.2,299.4,10.5,2737,15560,0.00,0.75,0.00,0.000,6,0.000,0.038,3253,1661,1395,0,0,0,0,0,0
$GC,15899,0.81,293.2,261.7,10.9,2798,15904,0.00,1.77,0.00,0.000,4,0.000,0.070,3253,570,1395,0,0,0,0,0,0
$GC,15963,0.81,293.2,254.6,11.6,2809,15968,0.00,1.62,0.00,0.000,6,0.000,0.036,3253,1641,1394,0,0,0,0,0,0
$GC,16307,0.81,293.2,214.9,11.4,2870,16311,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1642,1394,0,0,0,0,0,0
$GC,16651,0.81,293.2,176.8,10.7,2931,16656,0.00,2.28,0.00,0.000,4,0.000,0.073,3253,234,1395,0,0,0,0,0,0
$GC,16710,0.81,293.2,170.7,10.8,2941,16715,0.00,2.15,0.00,0.000,6,0.000,0.037,3253,1652,1395,0,0,0,0,0,0
$GC,17054,0.81,293.2,133.0,11.0,3002,17059,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1652,1395,0,0,0,0,0,0
$GC,17402,0.81,293.2,94.1,11.0,3063,17407,0.00,0.68,0.00,0.000,4,0.000,0.065,3253,1234,1395,0,0,0,0,0,0
$GC,17453,0.81,293.2,88.3,11.3,3072,17460,0.00,0.62,0.00,0.000,6,0.000,0.039,3253,1666,1395,0,0,0,0,0,0
$GC,17600,0.81,293.2,72.2,11.0,3097,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1666,1395,0,0,0,0,0,0
$GC,17742,0.81,293.2,55.6,11.2,3122,17749,0.00,1.00,0.00,0.000,4,0.000,0.066,3253,1052,1395,0,0,0,0,0,0
$GC,17842,0.81,293.2,43.0,12.9,3139,17847,0.00,0.90,0.00,0.000,6,0.000,0.035,3253,1654,1396,0,0,0,0,0,0
$GC,17985,0.81,293.2,27.3,9.2,3164,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1665,1396,0,0,0,0,0,0
$GC,18133,0.81,336.5,13.6,6.1,3189,18159,0.00,0.73,22.35,0.720,4,0.000,0.066,3253,1229,1227,0,0,0,0,0,0
$GC,18196,0.81,336.5,8.1,9.5,3199,18203,0.00,0.62,0.00,0.000,6,0.000,0.037,3253,1644,1224,0,0,0,0,0,0
$STATE,18245,end climb,SURFACE_DEPTH_REACHED
$STATE,18245,begin surface coast
$FINISH,0.5,1.013133
$STATE,18276,end surface coast,CONTROL_FINISHED_OK
$STATE,18276,begin surface
$SM_CCo,18291,84.28,0.682,0,0,521,509.73
$SM_GC,1.28,0.00,0.00,84.28,0.000,0.000,0.682,69,2202,521,-9.12,-0.08,509.73
$IRIDIUM_FIX,-4054.98,1012.41,141013,060622
$TT8_MAMPS,0.026964
$HUMID,58.50
$INTERNAL_PRESSURE,9.21381
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.5,4.154
$10V_AH,10.4,2.540
$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,22.225,60.725,421.700,84.275,0.000,51.085,63.691,556.877,0.500,0.000,18.977,7092.057,4205.098,557.367,7205.203,179.155,0.000,2919.456,0.000,6419.688,0.000,5.323,0.000
$DEVICE_MAMPS,269.280,231.795,1445.085,682.380,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,2232.221,2996.378,846.633,76.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,176836,3212
$CAP_FILE_SIZE,250727,0
$CFSIZE,2097086464,2092695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141013,172534,-4110.369,1006.305,31,1.1,31,-25.3