version: 66.07.10.p01
glider: 574
mission: 7
dive: 142
start: 11 15 113 13 8 12
data:
$ID,574
$MISSION,7
$DIVE,142
$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,-13820.474
$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,40
$R_STBD_OVSHOOT,47
$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,121
$GPS1,151113,125853,-4255.512,834.208,42,1.2,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-71.6
$GPS2,151113,130717,-4255.527,834.287,18,1.4,18,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.061,-0.259
$KALMAN_X,-171956.8,118.4,95.0,72037.3,-662.9
$KALMAN_Y,446138.7,-208.5,99.9,-647587.9,2958.7
$MHEAD_RNG_PITCHd_Wd,218.5,20103,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,51,0.00,0.00,-25.17,0.000,2,0.000,0.000,65,1943,2357,0,0,0,0,0,0
$GC,54,-0.59,-155.7,3.1,-1.3,4,110,11.70,2.22,-38.67,0.000,4,0.249,0.057,2834,3340,3234,0,0,0,0,0,0
$GC,241,-0.59,-155.7,17.3,-11.8,35,248,0.00,2.17,0.00,0.000,6,0.000,0.033,2834,1953,3237,0,0,0,0,0,0
$GC,294,-0.59,-155.7,24.2,-13.1,44,302,0.05,0.00,0.00,0.000,6,0.239,0.000,2843,1953,3237,0,0,0,0,0,0
$GC,439,-0.59,-155.7,41.8,-12.3,69,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1952,3237,0,0,0,0,0,0
$GC,788,-0.59,-155.7,79.7,-10.7,130,793,0.00,0.38,0.00,0.000,4,0.000,0.053,2843,1680,3238,0,0,0,0,0,0
$GC,969,-0.59,-155.7,99.4,-10.6,162,976,0.00,0.40,0.00,0.000,6,0.000,0.037,2843,2000,3238,0,0,0,0,0,0
$GC,1300,-0.59,-155.7,134.8,-11.1,194,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2000,3239,0,0,0,0,0,0
$GC,1620,-0.59,-155.7,170.4,-11.4,224,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2000,3239,0,0,0,0,0,0
$GC,1938,-0.59,-155.7,206.7,-10.9,254,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1999,3239,0,0,0,0,0,0
$GC,2257,-0.59,-155.7,242.3,-11.4,284,2260,0.00,0.22,0.00,0.000,4,0.000,0.052,2842,2200,3239,0,0,0,0,0,0
$GC,2476,-0.59,-155.7,267.2,-10.3,303,2481,0.00,0.40,0.00,0.000,6,0.000,0.041,2842,1918,3239,0,0,0,0,0,0
$GC,2802,-0.59,-155.7,300.5,-10.0,334,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1917,3239,0,0,0,0,0,0
$GC,3120,-0.59,-155.7,332.0,-9.5,364,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1917,3239,0,0,0,0,0,0
$GC,3439,-0.59,-155.7,362.9,-9.5,394,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1917,3239,0,0,0,0,0,0
$GC,3757,-0.59,-155.7,394.9,-10.1,424,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1917,3239,0,0,0,0,0,0
$GC,4078,-0.59,-155.7,427.4,-10.1,442,4081,0.00,0.43,0.00,0.000,4,0.000,0.053,2842,1614,3239,0,0,0,0,0,0
$GC,4205,-0.59,-155.7,440.9,-10.2,447,4211,0.00,0.45,0.00,0.000,6,0.000,0.034,2840,1955,3239,0,0,0,0,0,0
$GC,4521,-0.59,-155.7,472.5,-10.0,463,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3239,0,0,0,0,0,0
$GC,4830,-0.59,-155.7,504.1,-9.8,478,4834,0.00,0.43,0.00,0.000,4,0.000,0.041,2838,2288,3238,0,0,0,0,0,0
$GC,4988,-0.59,-155.7,519.4,-9.4,485,4992,0.00,0.47,0.00,0.000,6,0.000,0.041,2838,1949,3238,0,0,0,0,0,0
$GC,5320,-0.59,-155.7,552.5,-10.0,501,5323,0.00,0.40,0.00,0.000,4,0.000,0.054,2838,1662,3238,0,0,0,0,0,0
$GC,5532,-0.59,-155.7,574.5,-9.8,510,5536,0.00,0.38,0.00,0.000,6,0.000,0.037,2837,1946,3237,0,0,0,0,0,0
$GC,5853,-0.59,-155.7,606.5,-9.8,526,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1948,3237,0,0,0,0,0,0
$GC,6162,-0.59,-155.7,634.7,-9.2,541,6166,0.00,0.43,0.00,0.000,4,0.000,0.044,2835,2276,3236,0,0,0,0,0,0
$GC,6343,-0.59,-155.7,650.1,-8.1,549,6346,0.00,0.45,0.00,0.000,6,0.000,0.042,2835,1950,3236,0,0,0,0,0,0
$GC,6675,-0.59,-155.7,678.7,-8.4,565,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1951,3236,0,0,0,0,0,0
$GC,6984,-0.59,-155.7,704.0,-8.2,580,6988,0.00,0.57,0.00,0.000,4,0.000,0.051,2835,1557,3235,0,0,0,0,0,0
$GC,7142,-0.59,-155.7,717.6,-9.3,587,7146,0.00,0.52,0.00,0.000,6,0.000,0.034,2833,1946,3235,0,0,0,0,0,0
$GC,7474,-0.59,-155.7,747.2,-9.0,603,7479,0.05,0.38,0.00,0.000,4,0.236,0.047,2843,2238,3234,0,0,0,0,0,0
$GC,7658,-0.59,-155.7,762.8,-8.7,611,7663,0.00,0.43,0.00,0.000,6,0.000,0.042,2843,1936,3234,0,0,0,0,0,0
$GC,7985,-0.59,-155.7,791.5,-8.9,627,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1936,3233,0,0,0,0,0,0
$GC,8295,-0.59,-155.7,819.2,-9.2,642,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1937,3233,0,0,0,0,0,0
$GC,8604,-0.59,-155.7,848.5,-9.9,657,8607,0.00,0.50,0.00,0.000,4,0.000,0.053,2843,1588,3233,0,0,0,0,0,0
$GC,8754,-0.59,-155.7,863.4,-9.8,663,8760,0.00,0.47,0.00,0.000,6,0.000,0.034,2841,1952,3232,0,0,0,0,0,0
$GC,9070,-0.59,-155.7,891.4,-8.5,679,9074,0.00,0.57,0.00,0.000,4,0.000,0.041,2838,2368,3233,0,0,0,0,0,0
$GC,9299,-0.59,-155.7,910.4,-8.0,689,9303,0.00,0.60,0.00,0.000,6,0.000,0.038,2838,1956,3232,0,0,0,0,0,0
$GC,9626,-0.59,-155.7,935.9,-7.8,705,9630,0.00,0.43,0.00,0.000,4,0.000,0.054,2838,1655,3232,0,0,0,0,0,0
$GC,9810,-0.59,-155.7,950.4,-7.7,713,9814,0.00,0.40,0.00,0.000,6,0.000,0.037,2837,1958,3232,0,0,0,0,0,0
$GC,10137,-0.59,-155.7,976.4,-8.3,729,10141,0.00,0.52,0.00,0.000,4,0.000,0.044,2835,2343,3231,0,0,0,0,0,0
$GC,10372,-0.59,-155.7,995.0,-7.4,739,10376,0.00,0.57,0.00,0.000,6,0.000,0.038,2835,1951,3231,0,0,0,0,0,0
$STATE,10445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10449,-0.17,0.0,1000.7,8.0,743,10586,0.50,0.00,130.10,1.580,6,0.151,0.000,2980,1806,2601,0,0,0,0,0,0
$STATE,10586,end apogee,CONTROL_FINISHED_OK
$STATE,10586,begin climb
$GC,10588,0.59,155.7,1002.8,0.0,750,10735,0.80,0.00,143.77,1.537,6,0.105,0.000,3224,1806,1965,0,0,0,0,0,0
$GC,11035,0.59,155.7,955.5,12.0,772,11039,0.00,1.27,0.00,0.000,4,0.000,0.055,3227,1049,1954,0,0,0,0,0,0
$GC,11215,0.59,155.7,933.3,12.5,780,11219,0.00,1.12,0.00,0.000,6,0.000,0.026,3226,1794,1952,0,0,0,0,0,0
$GC,11546,0.59,155.7,893.5,12.1,796,11550,0.00,0.95,0.00,0.000,4,0.000,0.050,3228,1213,1952,0,0,0,0,0,0
$GC,11726,0.59,155.7,871.3,12.2,804,11730,0.00,0.88,0.00,0.000,6,0.000,0.028,3228,1822,1951,0,0,0,0,0,0
$GC,12058,0.59,155.7,831.9,11.6,820,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1822,1950,0,0,0,0,0,0
$GC,12367,0.59,155.7,796.5,11.3,835,12371,0.00,1.48,0.00,0.000,4,0.000,0.054,3233,921,1950,0,0,0,0,0,0
$GC,12551,0.59,155.7,775.2,11.7,843,12556,0.00,1.35,0.00,0.000,6,0.000,0.025,3233,1808,1950,0,0,0,0,0,0
$GC,12878,0.59,155.7,738.1,11.1,859,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1808,1949,0,0,0,0,0,0
$GC,13188,0.59,155.7,704.8,10.7,874,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1808,1948,0,0,0,0,0,0
$GC,13497,0.59,155.7,671.9,10.5,889,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1808,1949,0,0,0,0,0,0
$GC,13806,0.59,155.7,639.5,10.7,904,13810,0.00,1.38,0.00,0.000,4,0.000,0.053,3237,962,1949,0,0,0,0,0,0
$GC,13996,0.59,155.7,619.1,9.8,912,14000,0.00,1.30,0.00,0.000,6,0.000,0.026,3237,1822,1948,0,0,0,0,0,0
$GC,14317,0.59,155.7,583.5,11.5,928,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1821,1948,0,0,0,0,0,0
$GC,14627,0.59,155.7,548.0,11.6,943,14631,0.00,0.77,0.00,0.000,4,0.000,0.049,3240,1333,1948,0,0,0,0,0,0
$GC,14799,0.59,155.7,527.1,11.7,950,14805,0.00,0.70,0.00,0.000,6,0.000,0.028,3240,1828,1948,0,0,0,0,0,0
$GC,15115,0.59,155.7,489.1,11.6,966,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1828,1948,0,0,0,0,0,0
$GC,15424,0.59,155.7,452.9,11.4,981,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1828,1948,0,0,0,0,0,0
$GC,15733,0.59,155.7,419.7,10.5,996,15737,0.00,0.88,0.00,0.000,4,0.000,0.050,3242,1277,1948,0,0,0,0,0,0
$GC,15900,0.59,155.7,401.4,10.9,1003,15904,0.00,0.77,0.00,0.000,6,0.000,0.028,3242,1807,1948,0,0,0,0,0,0
$GC,16232,0.59,155.7,366.7,11.1,1033,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1807,1948,0,0,0,0,0,0
$GC,16549,0.59,155.7,331.3,11.1,1063,16550,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1807,1948,0,0,0,0,0,0
$GC,16871,0.59,155.7,294.7,11.4,1093,16875,0.00,0.38,0.00,0.000,4,0.000,0.044,3241,2107,1948,0,0,0,0,0,0
$GC,16973,0.59,155.7,282.6,11.2,1102,16976,0.00,0.40,0.00,0.000,6,0.000,0.046,3242,1828,1948,0,0,0,0,0,0
$GC,17306,0.59,155.7,246.4,10.3,1133,17310,0.00,0.80,0.00,0.000,4,0.000,0.054,3245,1316,1948,0,0,0,0,0,0
$GC,17475,0.59,155.7,228.5,10.3,1148,17479,0.03,0.70,0.00,0.000,6,0.174,0.029,3235,1829,1948,0,0,0,0,0,0
$GC,17804,0.59,155.7,193.9,11.2,1179,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1829,1948,0,0,0,0,0,0
$GC,18126,0.59,155.7,159.2,11.3,1209,18127,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1829,1948,0,0,0,0,0,0
$GC,18442,0.59,155.7,123.4,11.4,1239,18446,0.00,0.47,0.00,0.000,4,0.000,0.044,3236,1513,1949,0,0,0,0,0,0
$GC,18686,0.59,155.7,96.0,11.0,1263,18693,0.00,0.38,0.00,0.000,6,0.000,0.036,3236,1805,1949,0,0,0,0,0,0
$GC,19036,0.59,155.7,56.7,11.8,1324,19040,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1805,1948,0,0,0,0,0,0
$GC,19385,0.59,155.7,19.1,11.8,1385,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1805,1949,0,0,0,0,0,0
$GC,19441,0.59,174.4,13.7,9.0,1394,19454,0.00,0.00,8.30,0.870,6,0.000,0.000,3236,1805,1889,0,0,0,0,0,0
$GC,19503,0.59,174.4,7.1,12.1,1404,19510,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1805,1887,0,0,0,0,0,0
$STATE,19540,end climb,SURFACE_DEPTH_REACHED
$STATE,19540,begin surface coast
$FINISH,1.8,1.015934
$STATE,19565,end surface coast,CONTROL_FINISHED_OK
$STATE,19565,begin surface
$SM_CCo,19581,4.15,0.714,0,0,1845,185.20
$SM_GC,3.73,0.00,0.00,4.15,0.000,0.000,0.714,81,1968,1845,-9.24,0.51,185.20
$IRIDIUM_FIX,-4242.04,845.66,151113,070757
$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.7,23.695
$10V_AH,10.2,19.782
$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,21.750,31.500,282.175,4.150,0.000,30.583,41.511,310.943,0.250,0.000,20.843,3495.134,12306.511,384.594,3744.699,154.641,33.381,1769.146,0.000,3308.690,0.000,2.833,0.000
$DEVICE_MAMPS,248.625,78.030,1579.725,713.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,990.091,963.444,943.791,86.540,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,80214,1414
$CAP_FILE_SIZE,169441,0
$CFSIZE,2097086464,2076377088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151113,183634,-4256.764,833.184,82,1.0,82,-25.1