version: 66.07.10.p01
glider: 574
mission: 7
dive: 70
start: 10 29 113 1 32 18
data:
$ID,574
$MISSION,7
$DIVE,70
$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,380
$T_MISSION,420
$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,160
$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,1
$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,200
$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,-13575.597
$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,3040
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,29
$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,2000
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,66
$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,49
$GPS1,291013,012304,-4204.657,902.133,65,0.9,66,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-76.0
$GPS2,291013,013123,-4204.614,902.048,17,1.5,18,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4205.000,900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.096,-0.236
$KALMAN_X,-117846.9,798.9,575.9,55485.4,-5028.0
$KALMAN_Y,150091.7,-640.5,60.6,-256770.5,4659.4
$MHEAD_RNG_PITCHd_Wd,183.0,2904,-15.8,-8.772
$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,-0.55,-154.0,0.0,0.0,0,75,0.00,0.00,-49.22,0.000,2,0.000,0.000,66,2025,2890,0,0,0,0,0,0
$GC,77,-0.55,-155.7,3.1,-1.5,8,104,12.12,1.35,-9.98,0.000,4,0.268,0.073,2856,1192,3235,0,0,0,0,0,0
$GC,290,-0.55,-155.7,26.2,-10.9,44,298,0.00,1.20,0.00,0.000,6,0.000,0.030,2852,1982,3239,0,0,0,0,0,0
$GC,435,-0.55,-155.7,42.0,-10.8,69,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1982,3239,0,0,0,0,0,0
$GC,783,-0.55,-155.7,78.3,-10.8,130,788,0.00,0.75,0.00,0.000,4,0.000,0.041,2849,2493,3240,0,0,0,0,0,0
$GC,948,-0.55,-155.7,95.7,-10.2,159,955,0.00,0.75,0.00,0.000,6,0.000,0.039,2849,1985,3240,0,0,0,0,0,0
$GC,1281,-0.55,-155.7,130.0,-11.1,194,1285,0.00,0.45,0.00,0.000,4,0.000,0.054,2848,1670,3241,0,0,0,0,0,0
$GC,1500,-0.55,-155.7,154.1,-11.7,213,1506,0.00,0.50,0.00,0.000,6,0.000,0.035,2847,2025,3241,0,0,0,0,0,0
$GC,1825,-0.55,-155.7,189.5,-11.2,244,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2025,3241,0,0,0,0,0,0
$GC,2144,-0.55,-155.7,224.7,-10.4,274,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2025,3241,0,0,0,0,0,0
$GC,2463,-0.55,-155.7,258.0,-10.4,304,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2025,3241,0,0,0,0,0,0
$GC,2781,-0.55,-155.7,291.9,-11.1,334,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2025,3241,0,0,0,0,0,0
$GC,3100,-0.55,-155.7,324.2,-9.8,364,3103,0.00,0.40,0.00,0.000,4,0.000,0.045,2845,2333,3242,0,0,0,0,0,0
$GC,3360,-0.55,-155.7,348.6,-8.8,387,3364,0.00,0.47,0.00,0.000,6,0.000,0.042,2845,1992,3241,0,0,0,0,0,0
$GC,3690,-0.55,-155.7,379.4,-9.3,418,3694,0.05,0.65,0.00,0.000,4,0.226,0.051,2857,1555,3241,0,0,0,0,0,0
$GC,3871,-0.55,-155.7,395.4,-8.3,434,3874,0.00,0.62,0.00,0.000,6,0.000,0.034,2856,2007,3241,0,0,0,0,0,0
$GC,4192,-0.55,-155.7,423.5,-9.0,452,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2007,3241,0,0,0,0,0,0
$GC,4502,-0.55,-155.7,451.3,-9.1,467,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2007,3241,0,0,0,0,0,0
$GC,4811,-0.55,-155.7,480.6,-9.8,482,4814,0.00,0.40,0.00,0.000,4,0.000,0.044,2854,2315,3241,0,0,0,0,0,0
$GC,5022,-0.55,-155.7,501.7,-9.5,491,5027,0.00,0.45,0.00,0.000,6,0.000,0.042,2854,1993,3241,0,0,0,0,0,0
$GC,5343,-0.55,-155.7,533.1,-9.9,507,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1992,3240,0,0,0,0,0,0
$GC,5653,-0.55,-155.7,561.8,-9.0,522,5656,0.00,0.60,0.00,0.000,4,0.000,0.052,2855,1579,3241,0,0,0,0,0,0
$GC,5820,-0.55,-155.7,577.1,-9.0,529,5824,0.00,0.60,0.00,0.000,6,0.000,0.034,2854,2003,3240,0,0,0,0,0,0
$GC,6141,-0.55,-155.7,605.7,-8.8,545,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2003,3239,0,0,0,0,0,0
$GC,6450,-0.55,-155.7,631.7,-8.2,560,6454,0.00,0.35,0.00,0.000,4,0.000,0.047,2852,2279,3239,0,0,0,0,0,0
$GC,6679,-0.55,-155.7,649.8,-8.1,570,6683,0.00,0.40,0.00,0.000,6,0.000,0.044,2852,1995,3238,0,0,0,0,0,0
$GC,7006,-0.55,-155.7,674.7,-7.6,586,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1995,3238,0,0,0,0,0,0
$GC,7315,-0.55,-155.7,698.5,-7.6,601,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1995,3237,0,0,0,0,0,0
$GC,7625,-0.55,-155.7,721.3,-7.3,616,7628,0.00,0.52,0.00,0.000,4,0.000,0.054,2852,1633,3237,0,0,0,0,0,0
$GC,7794,-0.55,-155.7,734.5,-8.3,623,7797,0.00,0.50,0.00,0.000,6,0.000,0.037,2851,1996,3237,0,0,0,0,0,0
$GC,8116,-0.55,-155.7,761.0,-8.4,639,8120,0.00,0.35,0.00,0.000,4,0.000,0.048,2849,2269,3236,0,0,0,0,0,0
$GC,8367,-0.55,-155.7,782.7,-9.0,650,8369,0.00,0.38,0.00,0.000,6,0.000,0.046,2849,2004,3236,0,0,0,0,0,0
$GC,8690,-0.55,-155.7,811.4,-9.1,666,8693,0.00,0.65,0.00,0.000,4,0.000,0.055,2849,1564,3235,0,0,0,0,0,0
$GC,8857,-0.55,-155.7,826.8,-9.5,673,8861,0.00,0.62,0.00,0.000,6,0.000,0.034,2847,2001,3235,0,0,0,0,0,0
$GC,9178,-0.55,-155.7,855.2,-8.7,689,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2002,3234,0,0,0,0,0,0
$GC,9488,-0.55,-155.7,881.8,-8.7,704,9491,0.00,0.43,0.00,0.000,4,0.000,0.045,2845,2326,3233,0,0,0,0,0,0
$GC,9649,-0.55,-155.7,895.0,-7.9,711,9654,0.05,0.47,0.00,0.000,6,0.221,0.044,2854,1990,3233,0,0,0,0,0,0
$GC,9976,-0.55,-155.7,919.3,-7.6,727,9979,0.00,0.38,0.00,0.000,4,0.000,0.060,2855,1721,3233,0,0,0,0,0,0
$GC,10201,-0.55,-155.7,936.9,-7.8,737,10204,0.00,0.35,0.00,0.000,6,0.000,0.042,2855,1996,3233,0,0,0,0,0,0
$GC,10533,-0.55,-155.7,962.3,-7.8,753,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1997,3233,0,0,0,0,0,0
$GC,10842,-0.55,-155.7,987.1,-8.3,768,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1997,3233,0,0,0,0,0,0
$STATE,11009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11010,begin apogee
$GC,11014,-0.17,0.0,1001.5,9.0,776,11147,0.43,0.00,130.15,1.551,6,0.152,0.000,2980,1819,2600,0,0,0,0,0,0
$STATE,11148,end apogee,CONTROL_FINISHED_OK
$STATE,11148,begin climb
$GC,11149,0.55,155.7,1006.4,0.0,783,11292,0.77,0.00,139.57,1.502,6,0.109,0.000,3216,1818,1965,0,0,0,0,0,0
$GC,11596,0.55,155.7,968.6,9.8,805,11600,0.00,1.83,0.00,0.000,4,0.000,0.063,3223,729,1955,0,0,0,0,0,0
$GC,11785,0.55,155.7,948.8,10.7,813,11791,0.00,1.65,0.00,0.000,6,0.000,0.028,3223,1777,1954,0,0,0,0,0,0
$GC,12107,0.55,155.7,917.5,9.6,829,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1778,1954,0,0,0,0,0,0
$GC,12417,0.55,155.7,885.3,10.7,844,12420,0.00,0.57,0.00,0.000,4,0.000,0.052,3224,1417,1954,0,0,0,0,0,0
$GC,12673,0.55,155.7,857.5,9.7,855,12677,0.00,0.57,0.00,0.000,6,0.000,0.032,3224,1798,1954,0,0,0,0,0,0
$GC,12994,0.55,155.7,824.0,10.6,871,12998,0.00,0.65,0.00,0.000,4,0.000,0.053,3226,1390,1954,0,0,0,0,0,0
$GC,13206,0.55,155.7,802.1,10.0,880,13210,0.00,0.60,0.00,0.000,6,0.000,0.032,3226,1792,1954,0,0,0,0,0,0
$GC,13527,0.55,155.7,767.4,11.1,896,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1792,1954,0,0,0,0,0,0
$GC,13836,0.55,155.7,733.2,11.0,911,13840,0.00,0.90,0.00,0.000,4,0.000,0.056,3227,1237,1954,0,0,0,0,0,0
$GC,14087,0.55,155.7,705.3,10.4,922,14092,0.00,0.85,0.00,0.000,6,0.000,0.030,3226,1796,1954,0,0,0,0,0,0
$GC,14414,0.55,155.7,671.0,10.1,938,14418,0.00,0.73,0.00,0.000,4,0.000,0.054,3227,1344,1954,0,0,0,0,0,0
$GC,14603,0.55,155.7,652.0,9.5,946,14607,0.00,0.68,0.00,0.000,6,0.000,0.031,3227,1789,1954,0,0,0,0,0,0
$GC,14924,0.55,155.7,620.9,9.7,962,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1789,1954,0,0,0,0,0,0
$GC,15234,0.55,155.7,590.6,10.0,977,15237,0.00,0.75,0.00,0.000,4,0.000,0.054,3229,1321,1954,0,0,0,0,0,0
$GC,15451,0.55,155.7,568.3,10.0,986,15456,0.00,0.73,0.00,0.000,6,0.000,0.031,3229,1806,1954,0,0,0,0,0,0
$GC,15766,0.55,155.7,537.0,9.9,1002,15770,0.00,0.55,0.00,0.000,4,0.000,0.051,3230,1453,1954,0,0,0,0,0,0
$GC,15991,0.55,155.7,515.2,9.2,1012,15994,0.00,0.47,0.00,0.000,6,0.000,0.034,3230,1790,1954,0,0,0,0,0,0
$GC,16322,0.55,155.7,481.3,10.6,1028,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1790,1954,0,0,0,0,0,0
$GC,16632,0.55,155.7,444.6,12.6,1043,16636,0.00,0.82,0.00,0.000,4,0.000,0.054,3233,1273,1955,0,0,0,0,0,0
$GC,16815,0.55,155.7,421.1,13.0,1051,16820,0.05,0.77,0.00,0.000,6,0.208,0.030,3220,1785,1954,0,0,0,0,0,0
$GC,17135,0.55,155.7,385.8,10.4,1072,17139,0.00,0.40,0.00,0.000,4,0.000,0.050,3222,1513,1954,0,0,0,0,0,0
$GC,17396,0.55,155.7,358.2,10.7,1095,17399,0.00,0.38,0.00,0.000,6,0.000,0.037,3222,1798,1954,0,0,0,0,0,0
$GC,17725,0.55,155.7,324.5,10.7,1126,17729,0.00,0.60,0.00,0.000,4,0.000,0.051,3223,1411,1955,0,0,0,0,0,0
$GC,17906,0.55,155.7,305.8,10.1,1142,17910,0.00,0.52,0.00,0.000,6,0.000,0.034,3223,1796,1955,0,0,0,0,0,0
$GC,18238,0.55,155.7,273.6,9.6,1173,18239,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1796,1956,0,0,0,0,0,0
$GC,18555,0.55,155.7,243.5,9.0,1203,18558,0.00,0.93,0.00,0.000,4,0.000,0.054,3226,1216,1957,0,0,0,0,0,0
$GC,18737,0.55,155.7,226.5,9.0,1219,18740,0.00,0.82,0.00,0.000,6,0.000,0.029,3226,1779,1957,0,0,0,0,0,0
$GC,19066,0.55,155.7,194.1,9.9,1250,19067,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1779,1958,0,0,0,0,0,0
$GC,19385,0.55,155.7,163.3,10.1,1280,19389,0.00,0.62,0.00,0.000,4,0.000,0.050,3227,1374,1958,0,0,0,0,0,0
$GC,19645,0.55,155.7,136.8,11.8,1303,19649,0.00,0.60,0.00,0.000,6,0.000,0.031,3227,1797,1958,0,0,0,0,0,0
$GC,19975,0.55,155.7,103.7,9.4,1334,19978,0.00,0.70,0.00,0.000,4,0.000,0.050,3228,1349,1959,0,0,0,0,0,0
$GC,20197,0.55,155.7,82.9,9.0,1369,20203,0.00,0.62,0.00,0.000,6,0.000,0.032,3228,1795,1959,0,0,0,0,0,0
$GC,20543,0.55,155.7,47.4,10.5,1430,20547,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1795,1960,0,0,0,0,0,0
$GC,20894,0.55,155.7,11.7,10.3,1491,20902,0.00,1.05,0.00,0.000,4,0.000,0.054,3231,1139,1960,0,0,0,0,0,0
$STATE,20985,end climb,SURFACE_DEPTH_REACHED
$STATE,20985,begin surface coast
$FINISH,1.3,1.015118
$STATE,21022,end surface coast,CONTROL_FINISHED_OK
$STATE,21022,begin surface
$SM_CCo,21038,20.52,0.806,0,0,1783,200.16
$SM_GC,2.10,0.00,0.00,20.52,0.000,0.000,0.806,84,2021,1783,-9.24,0.59,200.16
$IRIDIUM_FIX,-4149.58,901.52,281013,191924
$TT8_MAMPS,0.026964
$HUMID,61.41
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,23.3,12.640
$10V_AH,10.3,10.307
$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,21.925,36.525,269.725,20.525,0.000,28.663,41.239,309.270,0.500,0.000,19.951,3776.579,13121.980,388.463,4113.715,150.640,33.391,1905.034,0.000,3678.379,0.000,5.326,0.000
$DEVICE_MAMPS,267.750,72.675,1551.420,806.310,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.722,1016.757,1008.486,92.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,86867,1512
$CAP_FILE_SIZE,183084,0
$CFSIZE,2097086464,2085814272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291013,072433,-4206.035,901.376,39,1.2,42,-25.1