version: 66.07.10.p01
glider: 574
mission: 7
dive: 140
start: 11 15 113 1 54 6
data:
$ID,574
$MISSION,7
$DIVE,140
$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,-13814.076
$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,49
$R_STBD_OVSHOOT,103
$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,119
$GPS1,151113,014522,-4252.664,835.221,50,0.9,50,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-73.8
$GPS2,151113,015311,-4252.665,835.269,16,1.0,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.027,-0.265
$KALMAN_X,-171671.0,85.3,124.6,73130.0,-1129.1
$KALMAN_Y,440354.8,71.6,100.5,-636791.0,2939.3
$MHEAD_RNG_PITCHd_Wd,210.9,25174,-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,-155.7,0.0,0.0,0,45,0.00,0.00,-19.08,0.000,2,0.000,0.000,66,1982,2262,0,0,0,0,0,0
$GC,48,-0.59,-155.7,3.0,-2.0,3,116,11.75,1.77,-45.75,0.000,4,0.250,0.065,2837,3069,3237,0,0,0,0,0,0
$GC,247,-0.59,-155.7,18.8,-12.0,36,254,0.00,1.73,0.00,0.000,6,0.000,0.034,2836,1966,3239,0,0,0,0,0,0
$GC,302,-0.59,-155.7,25.6,-12.1,45,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1966,3239,0,0,0,0,0,0
$GC,447,-0.59,-155.7,43.5,-11.8,70,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1966,3240,0,0,0,0,0,0
$GC,794,-0.59,-155.7,82.6,-10.6,131,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1966,3241,0,0,0,0,0,0
$GC,1133,-0.59,-155.7,122.5,-12.4,176,1137,0.00,0.45,0.00,0.000,4,0.000,0.051,2836,1646,3242,0,0,0,0,0,0
$GC,1283,-0.59,-155.7,140.7,-12.3,189,1286,0.00,0.35,0.00,0.000,6,0.000,0.038,2835,1931,3242,0,0,0,0,0,0
$GC,1613,-0.59,-155.7,182.7,-12.8,220,1616,0.00,0.70,0.00,0.000,4,0.000,0.040,2832,2424,3242,0,0,0,0,0,0
$GC,1827,-0.59,-155.7,209.2,-12.6,239,1832,0.03,0.73,0.00,0.000,6,0.187,0.037,2841,1927,3243,0,0,0,0,0,0
$GC,2158,-0.59,-155.7,247.6,-10.8,270,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,2475,-0.59,-155.7,281.0,-10.1,300,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1926,3243,0,0,0,0,0,0
$GC,2794,-0.59,-155.7,313.5,-10.5,330,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,3113,-0.59,-155.7,348.4,-11.3,360,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,3431,-0.59,-155.7,384.4,-11.1,390,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,3745,-0.59,-155.7,417.3,-10.0,412,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,4054,-0.59,-155.7,446.0,-8.9,427,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,4364,-0.59,-155.7,475.0,-9.5,442,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,4673,-0.59,-155.7,504.3,-9.5,457,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,4982,-0.59,-155.7,534.8,-10.2,472,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3243,0,0,0,0,0,0
$GC,5291,-0.59,-155.7,566.1,-10.1,487,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3242,0,0,0,0,0,0
$GC,5601,-0.59,-155.7,598.9,-10.6,502,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3242,0,0,0,0,0,0
$GC,5910,-0.59,-155.7,631.9,-10.6,517,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1926,3242,0,0,0,0,0,0
$GC,6219,-0.59,-155.7,663.9,-10.3,532,6223,0.00,0.38,0.00,0.000,4,0.000,0.056,2841,1659,3241,0,0,0,0,0,0
$GC,6363,-0.59,-155.7,679.3,-10.9,538,6367,0.00,0.38,0.00,0.000,6,0.000,0.037,2841,1941,3241,0,0,0,0,0,0
$GC,6685,-0.59,-155.7,711.3,-9.7,554,6689,0.00,0.52,0.00,0.000,4,0.000,0.041,2838,2328,3240,0,0,0,0,0,0
$GC,6887,-0.59,-155.7,730.5,-9.8,563,6891,0.00,0.52,0.00,0.000,6,0.000,0.041,2838,1955,3240,0,0,0,0,0,0
$GC,7219,-0.59,-155.7,762.0,-9.3,579,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3240,0,0,0,0,0,0
$GC,7529,-0.59,-155.7,790.9,-9.1,594,7532,0.00,0.45,0.00,0.000,4,0.000,0.054,2838,1641,3239,0,0,0,0,0,0
$GC,7709,-0.59,-155.7,807.9,-9.6,602,7712,0.00,0.40,0.00,0.000,6,0.000,0.038,2837,1955,3238,0,0,0,0,0,0
$GC,8041,-0.59,-155.7,839.5,-9.6,618,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1955,3238,0,0,0,0,0,0
$GC,8350,-0.59,-155.7,867.8,-9.1,633,8354,0.00,0.62,0.00,0.000,4,0.000,0.042,2834,2400,3238,0,0,0,0,0,0
$GC,8562,-0.59,-155.7,887.7,-9.6,642,8567,0.05,0.68,0.00,0.000,6,0.219,0.039,2845,1946,3238,0,0,0,0,0,0
$GC,8883,-0.59,-155.7,915.0,-8.3,658,8887,0.00,0.62,0.00,0.000,4,0.000,0.051,2845,1525,3237,0,0,0,0,0,0
$GC,9067,-0.59,-155.7,930.5,-8.7,666,9072,0.00,0.60,0.00,0.000,6,0.000,0.034,2844,1948,3237,0,0,0,0,0,0
$GC,9394,-0.59,-155.7,955.5,-7.4,682,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1948,3237,0,0,0,0,0,0
$GC,9704,-0.59,-155.7,977.4,-7.0,697,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1948,3237,0,0,0,0,0,0
$GC,10013,-0.59,-155.7,999.9,-7.2,712,10019,0.00,0.35,0.00,0.000,4,0.000,0.047,2843,2225,3236,0,0,0,0,0,0
$STATE,10022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10022,begin apogee
$GC,10026,-0.17,0.0,1000.8,7.3,712,10161,0.45,0.00,131.60,1.583,6,0.150,0.000,2979,1810,2600,0,0,0,0,0,0
$STATE,10162,end apogee,CONTROL_FINISHED_OK
$STATE,10162,begin climb
$GC,10163,0.59,155.7,1003.2,0.0,719,10313,0.80,1.12,142.85,1.538,4,0.108,0.054,3226,1163,1964,0,0,0,0,0,0
$GC,10502,0.59,155.7,970.5,11.4,734,10507,0.00,1.00,0.00,0.000,6,0.000,0.027,3225,1799,1955,0,0,0,0,0,0
$GC,10824,0.59,155.7,936.2,10.7,750,10827,0.00,0.52,0.00,0.000,4,0.000,0.046,3226,1471,1953,0,0,0,0,0,0
$GC,11080,0.59,155.7,909.0,10.5,761,11085,0.00,0.50,0.00,0.000,6,0.000,0.031,3226,1813,1952,0,0,0,0,0,0
$GC,11401,0.59,155.7,876.3,10.2,777,11405,0.00,0.68,0.00,0.000,4,0.000,0.048,3226,1392,1951,0,0,0,0,0,0
$GC,11635,0.59,155.7,852.3,10.3,787,11639,0.00,0.62,0.00,0.000,6,0.000,0.028,3226,1799,1951,0,0,0,0,0,0
$GC,11956,0.59,155.7,819.1,10.4,803,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1799,1951,0,0,0,0,0,0
$GC,12266,0.59,155.7,787.0,10.2,818,12269,0.00,1.15,0.00,0.000,4,0.000,0.054,3230,1093,1949,0,0,0,0,0,0
$GC,12494,0.59,155.7,762.9,10.6,828,12499,0.00,1.12,0.00,0.000,6,0.000,0.027,3229,1840,1949,0,0,0,0,0,0
$GC,12821,0.59,155.7,727.5,11.1,844,12825,0.00,0.80,0.00,0.000,4,0.000,0.048,3232,1338,1949,0,0,0,0,0,0
$GC,13016,0.59,155.7,705.1,11.6,852,13022,0.00,0.70,0.00,0.000,6,0.000,0.028,3232,1823,1949,0,0,0,0,0,0
$GC,13332,0.59,155.7,667.0,12.3,868,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1823,1949,0,0,0,0,0,0
$GC,13643,0.59,155.7,628.4,12.6,883,13646,0.00,0.98,0.00,0.000,4,0.000,0.052,3235,1214,1949,0,0,0,0,0,0
$GC,13832,0.59,155.7,604.3,11.8,891,13836,0.00,0.88,0.00,0.000,6,0.000,0.026,3235,1799,1949,0,0,0,0,0,0
$GC,14153,0.59,155.7,566.5,11.5,907,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1799,1949,0,0,0,0,0,0
$GC,14463,0.59,155.7,531.5,11.1,922,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1799,1949,0,0,0,0,0,0
$GC,14772,0.59,155.7,495.5,11.7,937,14776,0.00,0.57,0.00,0.000,4,0.000,0.048,3236,1430,1949,0,0,0,0,0,0
$GC,14930,0.59,155.7,477.3,10.7,944,14933,0.00,0.55,0.00,0.000,6,0.000,0.032,3237,1844,1949,0,0,0,0,0,0
$GC,15262,0.59,155.7,440.9,10.7,960,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1844,1949,0,0,0,0,0,0
$GC,15571,0.59,155.7,407.4,11.0,975,15574,0.00,0.75,0.00,0.000,4,0.000,0.047,3239,1368,1949,0,0,0,0,0,0
$GC,15796,0.59,155.7,382.9,10.9,992,15800,0.00,0.60,0.00,0.000,6,0.000,0.031,3239,1809,1949,0,0,0,0,0,0
$GC,16126,0.59,155.7,347.2,11.6,1023,16127,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1810,1949,0,0,0,0,0,0
$GC,16447,0.59,155.7,312.5,11.2,1053,16448,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1809,1949,0,0,0,0,0,0
$GC,16764,0.59,155.7,278.1,10.9,1083,16768,0.00,0.40,0.00,0.000,4,0.000,0.041,3239,2119,1949,0,0,0,0,0,0
$GC,16855,0.59,155.7,268.2,10.4,1091,16858,0.00,0.45,0.00,0.000,6,0.000,0.045,3240,1812,1949,0,0,0,0,0,0
$GC,17185,0.59,155.7,233.6,10.2,1122,17188,0.00,1.30,0.00,0.000,4,0.000,0.058,3245,997,1949,0,0,0,0,0,0
$GC,17336,0.59,155.7,217.7,10.2,1135,17342,0.03,1.17,0.00,0.000,6,0.174,0.027,3235,1798,1949,0,0,0,0,0,0
$GC,17661,0.59,155.7,182.3,11.7,1166,17662,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1949,0,0,0,0,0,0
$GC,17980,0.59,155.7,144.8,10.9,1196,17981,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1949,0,0,0,0,0,0
$GC,18300,0.59,155.7,109.1,10.6,1226,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1949,0,0,0,0,0,0
$GC,18632,0.59,155.7,73.0,11.0,1278,18639,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1949,0,0,0,0,0,0
$GC,18981,0.59,155.7,35.9,10.8,1339,18986,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1950,0,0,0,0,0,0
$GC,19125,0.59,163.1,20.2,9.5,1364,19132,0.00,0.00,2.53,0.549,6,0.000,0.000,3235,1798,1933,0,0,0,0,0,0
$GC,19276,0.59,163.1,5.2,11.7,1389,19282,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1807,1933,0,0,0,0,0,0
$STATE,19301,end climb,SURFACE_DEPTH_REACHED
$STATE,19301,begin surface coast
$FINISH,1.7,1.014107
$STATE,19343,end surface coast,CONTROL_FINISHED_OK
$STATE,19344,begin surface
$SM_CCo,19359,10.25,0.845,0,0,1845,185.20
$SM_GC,4.05,0.00,0.00,10.25,0.000,0.000,0.845,74,1952,1845,-9.26,0.14,185.20
$IRIDIUM_FIX,-4236.17,835.62,141113,202037
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.2,10.7
$24V_AH,22.7,23.398
$10V_AH,10.3,19.529
$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,21.575,27.900,276.975,10.250,0.000,23.385,19.459,305.729,0.500,0.000,19.299,3439.409,12256.429,346.981,3633.056,160.364,33.378,1704.763,0.000,3238.653,0.000,5.471,0.000
$DEVICE_MAMPS,250.155,65.025,1582.785,845.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,982.756,963.747,938.558,90.665,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,80366,1400
$CAP_FILE_SIZE,164100,0
$CFSIZE,2097086464,2076639232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151113,071822,-4254.108,834.608,35,0.9,52,-25.1