version: 66.07.10.p01
glider: 574
mission: 7
dive: 141
start: 11 15 113 7 27 38
data:
$ID,574
$MISSION,7
$DIVE,141
$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,-13817.57
$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,63
$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,120
$GPS1,151113,071822,-4254.108,834.608,35,0.9,52,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-74.5
$GPS2,151113,072643,-4254.199,834.738,19,0.9,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.026,-0.265
$KALMAN_X,-171865.2,129.2,85.3,72572.7,-811.1
$KALMAN_Y,443354.2,-26.8,-237.7,-642189.4,3609.7
$MHEAD_RNG_PITCHd_Wd,210.7,22430,-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,-155.7,0.0,0.0,0,41,0.00,0.00,-14.20,0.000,2,0.000,0.000,65,1953,2152,0,0,0,0,0,0
$GC,43,-0.59,-155.7,3.0,-4.4,2,116,11.65,2.30,-55.05,0.000,4,0.246,0.075,2846,553,3232,0,0,0,0,0,0
$GC,380,-0.59,-155.7,32.3,-11.8,59,385,0.00,2.10,0.00,0.000,6,0.000,0.027,2836,1935,3235,0,0,0,0,0,0
$GC,522,-0.59,-155.7,49.8,-12.2,84,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1935,3235,0,0,0,0,0,0
$GC,870,-0.59,-155.7,92.1,-11.7,145,875,0.00,1.00,0.00,0.000,4,0.000,0.040,2831,2600,3236,0,0,0,0,0,0
$GC,1062,-0.59,-155.7,114.4,-11.0,168,1066,0.05,1.00,0.00,0.000,6,0.162,0.036,2847,1938,3237,0,0,0,0,0,0
$GC,1392,-0.59,-155.7,148.4,-10.2,199,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1937,3237,0,0,0,0,0,0
$GC,1713,-0.59,-155.7,180.7,-10.4,229,1717,0.00,0.55,0.00,0.000,4,0.000,0.050,2847,1557,3238,0,0,0,0,0,0
$GC,1883,-0.59,-155.7,198.5,-10.9,244,1887,0.00,0.57,0.00,0.000,6,0.000,0.033,2846,1979,3238,0,0,0,0,0,0
$GC,2213,-0.59,-155.7,232.8,-10.6,275,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1980,3238,0,0,0,0,0,0
$GC,2534,-0.59,-155.7,267.3,-10.8,305,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1979,3238,0,0,0,0,0,0
$GC,2851,-0.59,-155.7,300.8,-10.5,335,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1979,3239,0,0,0,0,0,0
$GC,3173,-0.59,-155.7,334.5,-10.5,365,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1979,3239,0,0,0,0,0,0
$GC,3498,-0.59,-155.7,368.5,-10.6,396,3502,0.00,0.45,0.00,0.000,4,0.000,0.042,2844,2319,3240,0,0,0,0,0,0
$GC,3738,-0.59,-155.7,393.2,-10.0,417,3741,0.00,0.52,0.00,0.000,6,0.000,0.041,2844,1944,3239,0,0,0,0,0,0
$GC,4060,-0.59,-155.7,426.0,-10.1,436,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1944,3239,0,0,0,0,0,0
$GC,4370,-0.59,-155.7,457.0,-9.5,451,4374,0.00,0.32,0.00,0.000,4,0.000,0.057,2844,1699,3240,0,0,0,0,0,0
$GC,4542,-0.59,-155.7,474.0,-10.2,458,4548,0.00,0.32,0.00,0.000,6,0.000,0.039,2843,1946,3240,0,0,0,0,0,0
$GC,4858,-0.59,-155.7,504.2,-9.9,474,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1946,3240,0,0,0,0,0,0
$GC,5167,-0.59,-155.7,535.3,-10.4,489,5171,0.00,0.47,0.00,0.000,4,0.000,0.043,2841,2305,3239,0,0,0,0,0,0
$GC,5424,-0.59,-155.7,562.2,-9.9,500,5428,0.00,0.52,0.00,0.000,6,0.000,0.040,2841,1943,3240,0,0,0,0,0,0
$GC,5745,-0.59,-155.7,595.2,-10.3,516,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1943,3239,0,0,0,0,0,0
$GC,6055,-0.59,-155.7,624.9,-9.5,531,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1943,3239,0,0,0,0,0,0
$GC,6364,-0.59,-155.7,653.5,-8.8,546,6367,0.00,0.35,0.00,0.000,4,0.000,0.056,2841,1690,3238,0,0,0,0,0,0
$GC,6559,-0.59,-155.7,671.2,-9.3,554,6564,0.00,0.35,0.00,0.000,6,0.000,0.038,2840,1958,3238,0,0,0,0,0,0
$GC,6875,-0.59,-155.7,700.1,-9.6,570,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1958,3238,0,0,0,0,0,0
$GC,7184,-0.59,-155.7,731.3,-10.7,585,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1958,3237,0,0,0,0,0,0
$GC,7493,-0.59,-155.7,764.4,-10.3,600,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1958,3237,0,0,0,0,0,0
$GC,7803,-0.59,-155.7,794.2,-8.9,615,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1959,3237,0,0,0,0,0,0
$GC,8112,-0.59,-155.7,821.7,-8.7,630,8116,0.00,0.57,0.00,0.000,4,0.000,0.041,2837,2371,3236,0,0,0,0,0,0
$GC,8324,-0.59,-155.7,839.6,-7.6,639,8328,0.00,0.62,0.00,0.000,6,0.000,0.039,2837,1951,3235,0,0,0,0,0,0
$GC,8646,-0.59,-155.7,868.0,-9.2,655,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3236,0,0,0,0,0,0
$GC,8955,-0.59,-155.7,895.2,-8.6,670,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3235,0,0,0,0,0,0
$GC,9264,-0.59,-155.7,921.1,-8.3,685,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3235,0,0,0,0,0,0
$GC,9574,-0.59,-155.7,946.0,-7.9,700,9577,0.00,0.57,0.00,0.000,4,0.000,0.052,2837,1557,3235,0,0,0,0,0,0
$GC,9757,-0.59,-155.7,961.5,-8.7,708,9762,0.00,0.55,0.00,0.000,6,0.000,0.034,2836,1946,3235,0,0,0,0,0,0
$GC,10085,-0.59,-155.7,987.6,-8.4,724,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1947,3234,0,0,0,0,0,0
$STATE,10228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10228,begin apogee
$GC,10232,-0.17,0.0,1000.0,8.5,731,10369,0.50,0.00,130.93,1.580,6,0.151,0.000,2983,1801,2601,0,0,0,0,0,0
$STATE,10369,end apogee,CONTROL_FINISHED_OK
$STATE,10370,begin climb
$GC,10371,0.59,155.7,1003.0,0.0,738,10522,0.75,1.12,142.85,1.535,4,0.106,0.056,3221,1185,1964,0,0,0,0,0,0
$GC,10700,0.59,155.7,974.0,10.3,753,10705,0.00,0.98,0.00,0.000,6,0.000,0.026,3222,1808,1955,0,0,0,0,0,0
$GC,11022,0.59,155.7,940.5,10.8,769,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1808,1953,0,0,0,0,0,0
$GC,11331,0.59,155.7,907.0,11.1,784,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1808,1952,0,0,0,0,0,0
$GC,11640,0.59,155.7,874.7,10.6,799,11644,0.00,0.47,0.00,0.000,4,0.000,0.047,3222,1499,1952,0,0,0,0,0,0
$GC,11897,0.59,155.7,847.9,10.0,810,11901,0.00,0.45,0.00,0.000,6,0.000,0.031,3222,1809,1952,0,0,0,0,0,0
$GC,12218,0.59,155.7,815.2,10.1,826,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1809,1952,0,0,0,0,0,0
$GC,12527,0.59,155.7,783.0,10.7,841,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1809,1951,0,0,0,0,0,0
$GC,12837,0.59,155.7,748.4,11.6,856,12840,0.00,1.05,0.00,0.000,4,0.000,0.052,3226,1167,1952,0,0,0,0,0,0
$GC,13003,0.59,155.7,728.7,10.8,863,13008,0.00,0.98,0.00,0.000,6,0.000,0.027,3226,1826,1951,0,0,0,0,0,0
$GC,13325,0.59,155.7,690.7,12.0,879,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1826,1951,0,0,0,0,0,0
$GC,13634,0.59,155.7,653.0,12.1,894,13638,0.00,0.93,0.00,0.000,4,0.000,0.052,3228,1246,1951,0,0,0,0,0,0
$GC,13794,0.59,155.7,634.4,11.2,901,13797,0.00,0.80,0.00,0.000,6,0.000,0.028,3228,1799,1951,0,0,0,0,0,0
$GC,14125,0.59,155.7,597.5,10.6,917,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1799,1951,0,0,0,0,0,0
$GC,14435,0.59,155.7,563.8,11.0,932,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1799,1951,0,0,0,0,0,0
$GC,14744,0.59,155.7,531.0,10.5,947,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1799,1951,0,0,0,0,0,0
$GC,15053,0.59,155.7,499.9,9.8,962,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1799,1952,0,0,0,0,0,0
$GC,15363,0.59,159.7,469.0,9.6,977,15364,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1799,1951,0,0,0,0,0,0
$GC,15672,0.59,180.9,440.5,8.9,992,15696,0.00,0.00,21.62,1.226,6,0.000,0.000,3228,1799,1861,0,0,0,0,0,0
$GC,16002,0.59,193.6,410.0,9.3,1008,16017,0.00,0.55,12.50,1.166,4,0.000,0.047,3229,1466,1809,0,0,0,0,0,0
$GC,16232,0.59,193.6,387.1,10.5,1023,16235,0.00,0.47,0.00,0.000,6,0.000,0.033,3229,1809,1807,0,0,0,0,0,0
$GC,16562,0.59,193.6,351.8,11.3,1054,16563,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1809,1806,0,0,0,0,0,0
$GC,16881,0.59,193.6,318.0,10.2,1084,16882,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1809,1805,0,0,0,0,0,0
$GC,17200,0.59,193.6,283.1,11.7,1114,17203,0.00,0.47,0.00,0.000,4,0.000,0.045,3230,1494,1805,0,0,0,0,0,0
$GC,17373,0.59,193.6,262.9,12.1,1129,17379,0.00,0.45,0.00,0.000,6,0.000,0.033,3230,1821,1805,0,0,0,0,0,0
$GC,17698,0.59,193.6,223.1,12.8,1160,17701,0.00,0.43,0.00,0.000,4,0.000,0.047,3231,1529,1805,0,0,0,0,0,0
$GC,17914,0.59,193.6,198.2,10.7,1179,17917,0.00,0.35,0.00,0.000,6,0.000,0.036,3231,1792,1805,0,0,0,0,0,0
$GC,18244,0.59,193.6,164.5,9.9,1210,18247,0.00,0.65,0.00,0.000,4,0.000,0.040,3231,2261,1805,0,0,0,0,0,0
$GC,18371,0.59,195.0,152.1,9.7,1221,18374,0.00,0.65,0.00,0.000,6,0.000,0.042,3233,1822,1805,0,0,0,0,0,0
$GC,18700,0.59,195.0,116.6,11.6,1252,18704,0.00,1.02,0.00,0.000,4,0.000,0.055,3238,1169,1805,0,0,0,0,0,0
$GC,18836,0.59,195.0,101.0,10.7,1264,18840,0.00,0.93,0.00,0.000,6,0.000,0.027,3238,1811,1805,0,0,0,0,0,0
$GC,19185,0.59,195.0,60.2,11.0,1324,19189,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1811,1805,0,0,0,0,0,0
$GC,19533,0.59,195.0,22.8,9.9,1385,19537,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1811,1805,0,0,0,0,0,0
$GC,19680,0.59,195.0,7.2,11.2,1410,19687,0.00,0.40,0.00,0.000,4,0.000,0.048,3239,1540,1805,0,0,0,0,0,0
$STATE,19718,end climb,SURFACE_DEPTH_REACHED
$STATE,19718,begin surface coast
$FINISH,2.2,1.026550
$STATE,19725,end surface coast,CONTROL_FINISHED_OK
$STATE,19725,begin surface
$SM_CCo,19801,0.00,0.000,0,0,1801,195.75
$SM_GC,2.82,8.60,0.00,0.00,0.052,0.000,0.000,80,1934,1801,-9.19,-0.45,195.75
$IRIDIUM_FIX,-4236.17,835.62,151113,010151
$TT8_MAMPS,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.7,23.550
$10V_AH,10.3,19.654
$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,21.550,27.100,307.900,0.000,0.000,27.459,45.289,305.543,0.250,0.000,22.503,3459.661,12681.424,363.014,3644.753,147.783,33.381,1703.776,0.000,3213.988,0.000,2.833,0.000
$DEVICE_MAMPS,246.330,74.970,1579.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.250,956.885,941.555,86.867,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,80229,1417
$CAP_FILE_SIZE,162240,0
$CFSIZE,2097086464,2076540928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151113,125853,-4255.512,834.208,42,1.2,42,-25.1