version: 66.07.10.p01
glider: 574
mission: 7
dive: 74
start: 10 30 113 0 10 37
data:
$ID,574
$MISSION,7
$DIVE,74
$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,-13588.857
$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,34
$R_STBD_OVSHOOT,57
$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,53
$GPS1,301013,000135,-4209.435,859.447,35,0.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-71.5
$GPS2,301013,000942,-4209.427,859.425,13,0.9,15,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.142,-0.213
$KALMAN_X,-123489.2,663.4,376.8,57815.5,-3187.6
$KALMAN_Y,161593.2,-107.1,-662.0,-276998.1,4975.6
$MHEAD_RNG_PITCHd_Wd,171.4,111285,-15.7,-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,-155.7,0.0,0.0,0,93,0.00,0.00,-66.40,0.000,2,0.000,0.000,66,2006,3121,0,0,0,0,0,0
$GC,95,-0.55,-155.7,3.6,-2.5,11,115,11.98,0.35,-2.65,0.000,4,0.262,0.118,2852,2284,3237,0,0,0,0,0,0
$GC,146,-0.55,-155.7,14.0,-16.2,19,154,0.00,0.43,0.00,0.000,6,0.000,0.042,2852,1979,3239,0,0,0,0,0,0
$GC,203,-0.55,-155.7,20.6,-11.9,28,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1979,3240,0,0,0,0,0,0
$GC,348,-0.55,-155.7,36.5,-10.9,53,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1978,3240,0,0,0,0,0,0
$GC,490,-0.55,-155.7,52.4,-10.8,78,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1979,3240,0,0,0,0,0,0
$GC,839,-0.55,-155.7,91.8,-11.7,139,844,0.00,0.40,0.00,0.000,4,0.000,0.055,2852,1696,3240,0,0,0,0,0,0
$GC,1101,-0.55,-155.7,121.4,-10.6,169,1104,0.00,0.43,0.00,0.000,6,0.000,0.038,2851,2021,3241,0,0,0,0,0,0
$GC,1430,-0.55,-155.7,157.7,-10.6,200,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2021,3241,0,0,0,0,0,0
$GC,1749,-0.55,-155.7,191.7,-10.5,230,1753,0.00,0.28,0.00,0.000,4,0.000,0.052,2849,2255,3241,0,0,0,0,0,0
$GC,1889,-0.55,-155.7,206.2,-9.8,242,1895,0.00,0.35,0.00,0.000,6,0.000,0.045,2849,2002,3241,0,0,0,0,0,0
$GC,2217,-0.55,-155.7,239.2,-10.1,273,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2002,3241,0,0,0,0,0,0
$GC,2542,-0.55,-155.7,272.0,-9.9,304,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2002,3241,0,0,0,0,0,0
$GC,2860,-0.55,-155.7,304.7,-10.8,334,2864,0.00,0.38,0.00,0.000,4,0.000,0.057,2849,1727,3241,0,0,0,0,0,0
$GC,3123,-0.55,-155.7,332.7,-11.1,357,3127,0.00,0.35,0.00,0.000,6,0.000,0.041,2849,2003,3241,0,0,0,0,0,0
$GC,3453,-0.55,-155.7,370.0,-11.3,388,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2003,3241,0,0,0,0,0,0
$GC,3770,-0.55,-155.7,404.8,-10.7,416,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2004,3241,0,0,0,0,0,0
$GC,4079,-0.55,-155.7,435.8,-9.9,431,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2003,3240,0,0,0,0,0,0
$GC,4389,-0.55,-155.7,466.0,-9.4,446,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2003,3240,0,0,0,0,0,0
$GC,4698,-0.55,-155.7,495.6,-9.8,461,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2004,3240,0,0,0,0,0,0
$GC,5007,-0.55,-155.7,525.9,-9.9,476,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2004,3240,0,0,0,0,0,0
$GC,5317,-0.55,-155.7,556.9,-10.0,491,5320,0.00,0.65,0.00,0.000,4,0.000,0.044,2845,2457,3240,0,0,0,0,0,0
$GC,5541,-0.55,-155.7,579.2,-9.3,501,5546,0.03,0.65,0.00,0.000,6,0.183,0.042,2854,2009,3239,0,0,0,0,0,0
$GC,5873,-0.55,-155.7,610.2,-9.2,517,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2008,3239,0,0,0,0,0,0
$GC,6183,-0.55,-155.7,636.0,-8.1,532,6186,0.00,1.05,0.00,0.000,4,0.000,0.054,2855,1335,3238,0,0,0,0,0,0
$GC,6372,-0.55,-155.7,651.1,-7.8,540,6377,0.00,0.98,0.00,0.000,6,0.000,0.032,2852,1982,3236,0,0,0,0,0,0
$GC,6694,-0.55,-155.7,675.0,-7.4,556,6697,0.00,0.47,0.00,0.000,4,0.000,0.045,2849,2331,3236,0,0,0,0,0,0
$GC,6896,-0.55,-155.7,690.4,-8.0,565,6900,0.00,0.47,0.00,0.000,6,0.000,0.045,2849,1995,3236,0,0,0,0,0,0
$GC,7228,-0.55,-155.7,717.4,-8.2,581,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1995,3235,0,0,0,0,0,0
$GC,7537,-0.55,-155.7,743.1,-8.1,596,7541,0.00,0.38,0.00,0.000,4,0.000,0.058,2849,1723,3235,0,0,0,0,0,0
$GC,7744,-0.55,-155.7,761.1,-8.9,605,7748,0.00,0.40,0.00,0.000,6,0.000,0.041,2848,2021,3234,0,0,0,0,0,0
$GC,8070,-0.55,-155.7,789.8,-9.1,621,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2021,3233,0,0,0,0,0,0
$GC,8379,-0.55,-155.7,818.4,-9.3,636,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2021,3233,0,0,0,0,0,0
$GC,8689,-0.55,-155.7,846.6,-9.0,651,8692,0.00,0.38,0.00,0.000,4,0.000,0.050,2846,2309,3232,0,0,0,0,0,0
$GC,8833,-0.55,-155.7,859.3,-8.8,657,8838,0.03,0.45,0.00,0.000,6,0.261,0.045,2856,1984,3232,0,0,0,0,0,0
$GC,9154,-0.55,-155.7,884.4,-7.6,673,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1984,3232,0,0,0,0,0,0
$GC,9463,-0.55,-155.7,906.5,-6.7,688,9467,0.00,0.35,0.00,0.000,4,0.000,0.060,2856,1728,3231,0,0,0,0,0,0
$GC,9720,-0.55,-155.7,923.7,-7.2,699,9725,0.00,0.38,0.00,0.000,6,0.000,0.043,2856,2006,3231,0,0,0,0,0,0
$GC,10042,-0.55,-155.7,944.7,-6.6,715,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2006,3230,0,0,0,0,0,0
$GC,10351,-0.55,-155.7,965.3,-7.0,730,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2006,3230,0,0,0,0,0,0
$GC,10660,-0.55,-155.7,987.0,-7.2,745,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2006,3229,0,0,0,0,0,0
$STATE,10869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10869,begin apogee
$GC,10873,-0.17,0.0,1001.4,7.0,755,11006,0.43,0.00,129.27,1.548,6,0.155,0.000,2981,1821,2600,0,0,0,0,0,0
$STATE,11007,end apogee,CONTROL_FINISHED_OK
$STATE,11007,begin climb
$GC,11008,0.55,155.7,1004.4,0.0,762,11153,0.77,0.70,139.32,1.502,4,0.110,0.057,3218,1427,1965,0,0,0,0,0,0
$GC,11405,0.55,155.7,966.2,11.2,780,11410,0.00,0.55,0.00,0.000,6,0.000,0.033,3217,1783,1955,0,0,0,0,0,0
$GC,11720,0.55,155.7,933.6,10.5,796,11724,0.00,0.57,0.00,0.000,4,0.000,0.051,3219,1426,1953,0,0,0,0,0,0
$GC,11977,0.55,155.7,907.6,9.8,807,11981,0.00,0.55,0.00,0.000,6,0.000,0.034,3219,1790,1951,0,0,0,0,0,0
$GC,12298,0.55,155.7,875.3,10.0,823,12301,0.00,0.65,0.00,0.000,4,0.000,0.053,3221,1387,1950,0,0,0,0,0,0
$GC,12524,0.55,155.7,852.6,10.3,833,12528,0.00,0.60,0.00,0.000,6,0.000,0.034,3221,1790,1950,0,0,0,0,0,0
$GC,12856,0.55,155.7,817.2,10.8,849,12859,0.00,0.77,0.00,0.000,4,0.000,0.056,3223,1315,1949,0,0,0,0,0,0
$GC,13035,0.55,155.7,796.9,11.6,857,13039,0.00,0.70,0.00,0.000,6,0.000,0.032,3223,1782,1949,0,0,0,0,0,0
$GC,13367,0.55,155.7,759.8,10.8,873,13370,0.00,0.82,0.00,0.000,4,0.000,0.056,3226,1270,1948,0,0,0,0,0,0
$GC,13601,0.55,155.7,735.1,10.2,883,13605,0.00,0.80,0.00,0.000,6,0.000,0.031,3226,1790,1948,0,0,0,0,0,0
$GC,13922,0.55,155.7,702.1,10.1,899,13923,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1790,1948,0,0,0,0,0,0
$GC,14231,0.55,155.7,670.8,10.0,914,14235,0.00,0.65,0.00,0.000,4,0.000,0.054,3227,1384,1948,0,0,0,0,0,0
$GC,14433,0.55,155.7,651.6,9.2,923,14437,0.00,0.60,0.00,0.000,6,0.000,0.034,3227,1795,1948,0,0,0,0,0,0
$GC,14765,0.55,155.7,621.1,9.4,939,14768,0.00,0.52,0.00,0.000,4,0.000,0.053,3227,1461,1948,0,0,0,0,0,0
$GC,15021,0.55,155.7,596.9,10.0,950,15026,0.00,0.50,0.00,0.000,6,0.000,0.034,3227,1801,1948,0,0,0,0,0,0
$GC,15342,0.55,155.7,564.5,10.3,966,15345,0.00,0.70,0.00,0.000,4,0.000,0.055,3228,1363,1948,0,0,0,0,0,0
$GC,15576,0.55,155.7,540.9,10.3,976,15580,0.00,0.65,0.00,0.000,6,0.000,0.032,3228,1799,1948,0,0,0,0,0,0
$GC,15897,0.55,155.7,508.2,10.2,992,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1799,1948,0,0,0,0,0,0
$GC,16206,0.55,155.7,476.0,10.3,1007,16210,0.00,0.98,0.00,0.000,4,0.000,0.057,3231,1193,1948,0,0,0,0,0,0
$GC,16386,0.55,155.7,456.7,11.0,1015,16389,0.00,0.88,0.00,0.000,6,0.000,0.032,3231,1789,1948,0,0,0,0,0,0
$GC,16717,0.55,155.7,421.8,10.6,1031,16718,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1789,1948,0,0,0,0,0,0
$GC,17029,0.55,155.7,389.5,9.8,1050,17033,0.00,0.62,0.00,0.000,4,0.000,0.053,3233,1390,1948,0,0,0,0,0,0
$GC,17281,0.55,155.7,362.7,10.8,1072,17290,0.05,0.60,0.00,0.000,6,0.207,0.034,3220,1810,1947,0,0,0,0,0,0
$GC,17606,0.55,155.7,330.7,9.6,1103,17609,0.00,0.50,0.00,0.000,4,0.000,0.051,3221,1485,1948,0,0,0,0,0,0
$GC,17866,0.55,155.7,304.7,10.4,1126,17870,0.00,0.40,0.00,0.000,6,0.000,0.037,3221,1779,1948,0,0,0,0,0,0
$GC,18199,0.55,155.7,271.6,9.7,1157,18203,0.00,0.43,0.00,0.000,4,0.000,0.052,3222,1499,1948,0,0,0,0,0,0
$GC,18458,0.55,155.7,245.1,9.8,1180,18462,0.00,0.40,0.00,0.000,6,0.000,0.038,3222,1789,1947,0,0,0,0,0,0
$GC,18788,0.55,155.7,213.2,9.6,1211,18792,0.00,0.52,0.00,0.000,4,0.000,0.052,3223,1450,1948,0,0,0,0,0,0
$GC,19048,0.55,155.7,187.2,11.2,1234,19052,0.00,0.47,0.00,0.000,6,0.000,0.036,3223,1789,1948,0,0,0,0,0,0
$GC,19381,0.55,155.7,154.4,9.7,1265,19385,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1789,1948,0,0,0,0,0,0
$GC,19706,0.55,155.7,121.5,10.5,1296,19709,0.00,0.60,0.00,0.000,4,0.000,0.052,3225,1404,1948,0,0,0,0,0,0
$GC,19900,0.55,155.7,101.9,9.9,1313,19904,0.00,0.55,0.00,0.000,6,0.000,0.034,3225,1799,1948,0,0,0,0,0,0
$GC,20248,0.55,155.7,67.9,9.7,1372,20252,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1799,1948,0,0,0,0,0,0
$GC,20595,0.55,155.7,33.2,11.6,1433,20600,0.00,0.65,0.00,0.000,4,0.000,0.051,3226,1385,1948,0,0,0,0,0,0
$GC,20863,0.55,155.7,5.3,10.3,1479,20870,0.00,0.55,0.00,0.000,6,0.000,0.032,3226,1795,1949,0,0,0,0,0,0
$STATE,20883,end climb,SURFACE_DEPTH_REACHED
$STATE,20883,begin surface coast
$FINISH,1.3,1.002234
$STATE,20908,end surface coast,CONTROL_FINISHED_OK
$STATE,20909,begin surface
$SM_CCo,20923,19.08,0.812,0,0,1784,200.16
$SM_GC,2.08,0.00,0.00,19.08,0.000,0.000,0.812,78,1987,1784,-9.26,-0.37,200.16
$IRIDIUM_FIX,-4152.48,859.57,291013,171709
$TT8_MAMPS,0.026964
$HUMID,61.34
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.4,8.0
$24V_AH,23.2,13.215
$10V_AH,10.3,10.816
$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,21.750,28.550,268.600,19.075,0.000,23.199,18.842,328.747,0.500,0.000,17.584,3708.180,13125.395,381.836,4058.461,147.891,33.362,1910.094,0.000,3635.206,0.000,5.865,0.000
$DEVICE_MAMPS,261.630,117.810,1548.360,812.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.304,963.597,985.527,84.007,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,83495,1486
$CAP_FILE_SIZE,182071,0
$CFSIZE,2097086464,2085289984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,301013,060052,-4211.436,901.857,38,1.1,38,-25.1