version: 66.07.10.p01
glider: 574
mission: 7
dive: 139
start: 11 14 113 20 29 12
data:
$ID,574
$MISSION,7
$DIVE,139
$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,340
$T_MISSION,380
$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,185
$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,-13810.625
$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,30
$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,1950
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,73
$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,118
$GPS1,141113,202004,-4251.692,836.436,46,0.9,46,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-74.1
$GPS2,141113,202817,-4251.665,836.486,19,1.0,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.060,-0.259
$KALMAN_X,-170913.0,21.0,-99.5,74358.1,-373.6
$KALMAN_Y,437126.0,11.4,-40.0,-631501.1,3003.6
$MHEAD_RNG_PITCHd_Wd,218.2,27630,-17.4,-9.804
$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,24,-0.59,-155.7,0.0,0.0,0,57,0.00,0.00,-30.70,0.000,2,0.000,0.000,66,1971,2526,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.1,-1.1,5,109,12.00,2.17,-29.02,0.000,4,0.258,0.062,2832,3308,3236,0,0,0,0,0,0
$GC,217,-0.59,-155.7,15.7,-10.9,31,225,0.03,2.12,0.00,0.000,6,0.196,0.034,2839,1953,3238,0,0,0,0,0,0
$GC,271,-0.59,-155.7,22.4,-12.5,40,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1953,3238,0,0,0,0,0,0
$GC,415,-0.59,-155.7,40.8,-12.4,65,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1953,3239,0,0,0,0,0,0
$GC,761,-0.59,-155.7,81.1,-10.4,126,768,0.00,0.57,0.00,0.000,4,0.000,0.050,2840,1563,3240,0,0,0,0,0,0
$GC,872,-0.59,-155.7,93.1,-11.1,145,877,0.00,0.52,0.00,0.000,6,0.000,0.034,2840,1951,3240,0,0,0,0,0,0
$GC,1203,-0.59,-155.7,131.5,-12.3,181,1207,0.00,0.35,0.00,0.000,4,0.000,0.044,2838,2232,3241,0,0,0,0,0,0
$GC,1462,-0.59,-155.7,163.9,-12.7,204,1466,0.00,0.43,0.00,0.000,6,0.000,0.042,2838,1928,3242,0,0,0,0,0,0
$GC,1792,-0.59,-155.7,204.5,-11.9,235,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1928,3242,0,0,0,0,0,0
$GC,2115,-0.59,-155.7,240.4,-10.6,265,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1928,3242,0,0,0,0,0,0
$GC,2440,-0.59,-155.7,277.1,-11.8,296,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1928,3242,0,0,0,0,0,0
$GC,2758,-0.59,-155.7,315.5,-12.0,326,2762,0.00,0.43,0.00,0.000,4,0.000,0.037,2837,2247,3242,0,0,0,0,0,0
$GC,2951,-0.59,-155.7,337.9,-11.1,343,2955,0.00,0.43,0.00,0.000,6,0.000,0.043,2837,1942,3242,0,0,0,0,0,0
$GC,3281,-0.59,-155.7,374.2,-10.8,374,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1941,3242,0,0,0,0,0,0
$GC,3598,-0.59,-155.7,407.3,-10.3,401,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3242,0,0,0,0,0,0
$GC,3908,-0.59,-155.7,437.8,-9.5,416,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1942,3242,0,0,0,0,0,0
$GC,4217,-0.59,-155.7,468.2,-9.9,431,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1942,3242,0,0,0,0,0,0
$GC,4526,-0.59,-155.7,497.8,-9.3,446,4530,0.00,0.65,0.00,0.000,4,0.000,0.051,2837,1508,3242,0,0,0,0,0,0
$GC,4671,-0.59,-155.7,511.5,-9.4,452,4676,0.00,0.62,0.00,0.000,6,0.000,0.033,2834,1948,3242,0,0,0,0,0,0
$GC,4993,-0.59,-155.7,542.3,-9.6,468,4995,0.05,0.00,0.00,0.000,6,0.239,0.000,2845,1948,3242,0,0,0,0,0,0
$GC,5302,-0.59,-155.7,571.4,-9.7,483,5306,0.00,0.85,0.00,0.000,4,0.000,0.042,2842,2528,3242,0,0,0,0,0,0
$GC,5453,-0.59,-155.7,585.8,-9.7,489,5458,0.00,0.85,0.00,0.000,6,0.000,0.039,2841,1959,3242,0,0,0,0,0,0
$GC,5768,-0.59,-155.7,616.8,-9.9,505,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3241,0,0,0,0,0,0
$GC,6078,-0.59,-155.7,647.3,-9.6,520,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3241,0,0,0,0,0,0
$GC,6387,-0.59,-155.7,677.5,-9.8,535,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1959,3240,0,0,0,0,0,0
$GC,6697,-0.59,-155.7,707.9,-9.7,550,6700,0.00,0.52,0.00,0.000,4,0.000,0.055,2842,1597,3240,0,0,0,0,0,0
$GC,6842,-0.59,-155.7,722.3,-9.2,556,6846,0.00,0.50,0.00,0.000,6,0.000,0.034,2840,1960,3239,0,0,0,0,0,0
$GC,7163,-0.59,-155.7,753.5,-9.9,572,7166,0.00,1.00,0.00,0.000,4,0.000,0.043,2836,2621,3239,0,0,0,0,0,0
$GC,7343,-0.59,-155.7,770.6,-8.9,580,7346,0.00,1.02,0.00,0.000,6,0.000,0.038,2835,1949,3238,0,0,0,0,0,0
$GC,7675,-0.59,-155.7,800.3,-9.1,596,7678,0.00,0.47,0.00,0.000,4,0.000,0.054,2835,1619,3238,0,0,0,0,0,0
$GC,7825,-0.59,-155.7,814.0,-9.0,602,7831,0.05,0.45,0.00,0.000,6,0.232,0.037,2844,1952,3238,0,0,0,0,0,0
$GC,8141,-0.59,-155.7,838.4,-7.7,618,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1952,3237,0,0,0,0,0,0
$GC,8451,-0.59,-155.7,862.8,-8.1,633,8454,0.00,0.43,0.00,0.000,4,0.000,0.046,2843,2278,3237,0,0,0,0,0,0
$GC,8640,-0.59,-155.7,879.3,-8.8,641,8644,0.00,0.50,0.00,0.000,6,0.000,0.043,2843,1940,3236,0,0,0,0,0,0
$GC,8961,-0.59,-155.7,907.3,-9.1,657,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3236,0,0,0,0,0,0
$GC,9271,-0.59,-155.7,934.7,-8.8,672,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1940,3236,0,0,0,0,0,0
$GC,9580,-0.59,-155.7,959.5,-7.7,687,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3236,0,0,0,0,0,0
$GC,9889,-0.59,-155.7,983.1,-7.7,702,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1940,3236,0,0,0,0,0,0
$STATE,10117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10118,begin apogee
$GC,10122,-0.17,0.0,1000.7,8.0,713,10256,0.47,0.00,131.48,1.585,6,0.148,0.000,2982,1800,2600,0,0,0,0,0,0
$STATE,10257,end apogee,CONTROL_FINISHED_OK
$STATE,10257,begin climb
$GC,10259,0.59,155.7,1003.3,0.0,720,10406,0.80,0.00,143.43,1.535,6,0.106,0.000,3225,1800,1965,0,0,0,0,0,0
$GC,10706,0.59,155.7,954.9,12.2,742,10709,0.00,1.60,0.00,0.000,4,0.000,0.060,3229,863,1954,0,0,0,0,0,0
$GC,10850,0.59,155.7,937.0,12.5,748,10855,0.00,1.45,0.00,0.000,6,0.000,0.027,3230,1794,1953,0,0,0,0,0,0
$GC,11172,0.59,155.7,899.8,11.6,764,11175,0.00,0.38,0.00,0.000,4,0.000,0.047,3230,1544,1952,0,0,0,0,0,0
$GC,11428,0.59,155.7,870.2,10.9,775,11433,0.00,0.40,0.00,0.000,6,0.000,0.034,3230,1819,1951,0,0,0,0,0,0
$GC,11749,0.59,155.7,832.4,11.9,791,11753,0.00,2.30,0.00,0.000,4,0.000,0.062,3240,425,1950,0,0,0,0,0,0
$GC,11860,0.59,155.7,818.4,12.2,796,11865,0.00,2.12,0.00,0.000,6,0.000,0.028,3240,1799,1950,0,0,0,0,0,0
$GC,12187,0.59,155.7,776.5,12.9,812,12191,0.00,0.75,0.00,0.000,4,0.000,0.051,3242,1330,1949,0,0,0,0,0,0
$GC,12382,0.59,155.7,751.8,12.3,820,12388,0.00,0.75,0.00,0.000,6,0.000,0.030,3242,1841,1949,0,0,0,0,0,0
$GC,12698,0.59,155.7,712.8,12.3,836,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1841,1949,0,0,0,0,0,0
$GC,13007,0.59,155.7,675.3,12.3,851,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1841,1948,0,0,0,0,0,0
$GC,13316,0.59,155.7,637.5,12.0,866,13320,0.00,0.65,0.00,0.000,4,0.000,0.048,3243,1424,1949,0,0,0,0,0,0
$GC,13519,0.59,155.7,613.3,12.5,875,13523,0.03,0.52,0.00,0.000,6,0.170,0.034,3234,1815,1949,0,0,0,0,0,0
$GC,13850,0.59,155.7,576.6,11.2,891,13853,0.00,0.68,0.00,0.000,4,0.000,0.050,3236,1388,1949,0,0,0,0,0,0
$GC,14031,0.59,155.7,555.9,11.6,899,14035,0.00,0.57,0.00,0.000,6,0.000,0.031,3236,1794,1949,0,0,0,0,0,0
$GC,14363,0.59,155.7,517.3,11.7,915,14366,0.00,0.65,0.00,0.000,4,0.000,0.050,3237,1383,1948,0,0,0,0,0,0
$GC,14535,0.59,155.7,497.4,11.3,922,14541,0.00,0.62,0.00,0.000,6,0.000,0.031,3237,1831,1949,0,0,0,0,0,0
$GC,14851,0.59,155.7,462.5,10.9,938,14852,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1831,1949,0,0,0,0,0,0
$GC,15160,0.59,155.7,426.4,12.0,953,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1831,1949,0,0,0,0,0,0
$GC,15472,0.59,155.7,388.9,12.1,972,15475,0.00,1.35,0.00,0.000,4,0.000,0.055,3242,996,1949,0,0,0,0,0,0
$GC,15641,0.59,155.7,367.9,13.0,987,15645,0.00,1.17,0.00,0.000,6,0.000,0.029,3241,1788,1949,0,0,0,0,0,0
$GC,15971,0.59,155.7,326.9,12.7,1018,15972,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1787,1949,0,0,0,0,0,0
$GC,16290,0.59,155.7,287.2,11.6,1048,16291,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1787,1949,0,0,0,0,0,0
$GC,16610,0.59,155.7,249.7,11.6,1078,16611,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1787,1949,0,0,0,0,0,0
$GC,16927,0.59,155.7,213.1,11.4,1108,16928,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1787,1949,0,0,0,0,0,0
$GC,17246,0.59,155.7,177.9,11.3,1138,17250,0.00,0.52,0.00,0.000,4,0.000,0.049,3243,1450,1949,0,0,0,0,0,0
$GC,17386,0.59,155.7,161.3,12.0,1150,17392,0.00,0.52,0.00,0.000,6,0.000,0.033,3243,1838,1949,0,0,0,0,0,0
$GC,17715,0.59,155.7,124.0,11.3,1181,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1838,1949,0,0,0,0,0,0
$GC,18047,0.59,155.7,84.3,11.8,1223,18052,0.00,0.62,0.00,0.000,4,0.000,0.047,3245,1434,1950,0,0,0,0,0,0
$GC,18171,0.59,155.7,69.1,11.6,1245,18179,0.03,0.47,0.00,0.000,6,0.178,0.034,3235,1807,1950,0,0,0,0,0,0
$GC,18521,0.59,166.7,33.5,9.3,1306,18533,0.00,0.52,5.95,0.887,4,0.000,0.048,3236,1472,1920,0,0,0,0,0,0
$GC,18726,0.59,166.7,12.9,11.3,1341,18733,0.00,0.43,0.00,0.000,6,0.000,0.037,3236,1806,1919,0,0,0,0,0,0
$GC,18782,0.59,166.7,6.8,11.0,1350,18789,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1806,1919,0,0,0,0,0,0
$STATE,18824,end climb,SURFACE_DEPTH_REACHED
$STATE,18825,begin surface coast
$FINISH,1.6,1.026635
$STATE,18862,end surface coast,CONTROL_FINISHED_OK
$STATE,18862,begin surface
$SM_CCo,18877,8.30,0.833,0,0,1845,185.20
$SM_GC,3.79,0.00,0.00,8.30,0.000,0.000,0.833,81,1982,1845,-9.24,0.88,185.20
$IRIDIUM_FIX,-4233.25,835.62,141113,141434
$TT8_MAMPS,0.026964
$HUMID,61.93
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.7,23.254
$10V_AH,10.3,19.404
$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,21.950,34.275,280.850,8.300,0.000,27.048,41.536,302.296,0.500,0.000,22.228,3341.779,11991.684,387.800,3508.178,146.043,33.380,1673.778,0.000,3089.003,0.000,5.656,0.000
$DEVICE_MAMPS,257.805,80.325,1585.080,833.085,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.408,934.087,904.432,87.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,76992,1363
$CAP_FILE_SIZE,160243,0
$CFSIZE,2097086464,2076803072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151113,014522,-4252.664,835.221,50,0.9,50,-25.1