version: 66.07.10.p01
glider: 574
mission: 7
dive: 144
start: 11 16 113 0 28 54
data:
$ID,574
$MISSION,7
$DIVE,144
$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,-13827.419
$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,51
$R_STBD_OVSHOOT,87
$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,123
$GPS1,161113,001959,-4257.676,832.481,57,0.9,57,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-75.4
$GPS2,161113,002759,-4257.696,832.601,15,1.0,16,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.090,-0.251
$KALMAN_X,-171789.4,38.4,137.2,69554.5,-327.8
$KALMAN_Y,452250.9,216.8,111.2,-658159.7,2738.7
$MHEAD_RNG_PITCHd_Wd,224.8,15558,-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,-19.05,0.000,2,0.000,0.000,66,1986,2255,0,0,0,0,0,0
$GC,47,-0.59,-155.7,3.1,-2.0,3,109,11.90,2.30,-44.28,0.000,4,0.254,0.063,2845,556,3233,0,0,0,0,0,0
$GC,371,-0.59,-155.7,35.7,-12.0,58,378,0.00,2.08,0.00,0.000,6,0.000,0.027,2837,1907,3236,0,0,0,0,0,0
$GC,514,-0.59,-155.7,55.0,-12.4,83,519,0.00,0.70,0.00,0.000,4,0.000,0.040,2834,2394,3236,0,0,0,0,0,0
$GC,638,-0.59,-155.7,70.6,-12.7,105,646,0.03,0.65,0.00,0.000,6,0.196,0.039,2842,1944,3236,0,0,0,0,0,0
$GC,986,-0.59,-155.7,111.5,-11.6,158,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1944,3237,0,0,0,0,0,0
$GC,1305,-0.59,-155.7,148.9,-11.7,188,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1944,3238,0,0,0,0,0,0
$GC,1624,-0.59,-155.7,185.8,-11.4,218,1627,0.00,0.45,0.00,0.000,4,0.000,0.051,2842,1627,3238,0,0,0,0,0,0
$GC,1821,-0.59,-155.7,208.1,-10.9,235,1826,0.00,0.50,0.00,0.000,6,0.000,0.034,2841,1984,3239,0,0,0,0,0,0
$GC,2147,-0.59,-155.7,241.6,-10.1,266,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1984,3239,0,0,0,0,0,0
$GC,2465,-0.59,-155.7,273.5,-9.9,296,2468,0.00,0.45,0.00,0.000,4,0.000,0.044,2839,2320,3239,0,0,0,0,0,0
$GC,2650,-0.59,-155.7,292.4,-10.8,312,2658,0.00,0.55,0.00,0.000,6,0.000,0.040,2839,1949,3239,0,0,0,0,0,0
$GC,2976,-0.59,-155.7,325.8,-10.0,343,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1949,3239,0,0,0,0,0,0
$GC,3296,-0.59,-155.7,359.2,-10.5,373,3300,0.00,0.68,0.00,0.000,4,0.000,0.049,2839,1491,3239,0,0,0,0,0,0
$GC,3479,-0.59,-155.7,378.8,-10.3,389,3483,0.00,0.62,0.00,0.000,6,0.000,0.033,2837,1941,3239,0,0,0,0,0,0
$GC,3806,-0.59,-155.7,414.2,-10.7,414,3809,0.00,0.68,0.00,0.000,4,0.000,0.042,2834,2415,3239,0,0,0,0,0,0
$GC,3967,-0.59,-155.7,431.5,-11.0,421,3972,0.05,0.70,0.00,0.000,6,0.219,0.038,2844,1947,3239,0,0,0,0,0,0
$GC,4294,-0.59,-155.7,465.3,-10.5,437,4298,0.00,0.43,0.00,0.000,4,0.000,0.053,2844,1642,3239,0,0,0,0,0,0
$GC,4498,-0.59,-155.7,487.0,-10.8,446,4502,0.00,0.43,0.00,0.000,6,0.000,0.038,2844,1969,3239,0,0,0,0,0,0
$GC,4830,-0.59,-155.7,521.0,-10.1,462,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1969,3239,0,0,0,0,0,0
$GC,5140,-0.59,-155.7,550.5,-9.3,477,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1970,3238,0,0,0,0,0,0
$GC,5449,-0.59,-155.7,578.5,-9.3,492,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1970,3238,0,0,0,0,0,0
$GC,5758,-0.59,-155.7,607.5,-9.6,507,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1970,3238,0,0,0,0,0,0
$GC,6067,-0.59,-155.7,637.7,-9.9,522,6071,0.00,0.28,0.00,0.000,4,0.000,0.052,2842,2204,3237,0,0,0,0,0,0
$GC,6229,-0.59,-155.7,653.9,-9.9,529,6233,0.00,0.38,0.00,0.000,6,0.000,0.044,2842,1943,3237,0,0,0,0,0,0
$GC,6556,-0.59,-155.7,684.8,-9.2,545,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1943,3237,0,0,0,0,0,0
$GC,6865,-0.59,-155.7,712.6,-8.8,560,6869,0.00,0.52,0.00,0.000,4,0.000,0.054,2842,1583,3236,0,0,0,0,0,0
$GC,7077,-0.59,-155.7,731.5,-9.1,569,7081,0.00,0.50,0.00,0.000,6,0.000,0.035,2841,1945,3236,0,0,0,0,0,0
$GC,7399,-0.59,-155.7,758.6,-8.5,585,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1945,3237,0,0,0,0,0,0
$GC,7708,-0.59,-155.7,785.0,-8.6,600,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1945,3235,0,0,0,0,0,0
$GC,8017,-0.59,-155.7,812.0,-8.8,615,8021,0.00,0.43,0.00,0.000,4,0.000,0.044,2839,2269,3235,0,0,0,0,0,0
$GC,8190,-0.59,-155.7,827.0,-8.5,622,8195,0.00,0.47,0.00,0.000,6,0.000,0.041,2839,1943,3236,0,0,0,0,0,0
$GC,8506,-0.59,-155.7,855.0,-8.9,638,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1943,3235,0,0,0,0,0,0
$GC,8815,-0.59,-155.7,883.3,-9.1,653,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1943,3235,0,0,0,0,0,0
$GC,9124,-0.59,-155.7,911.5,-9.0,668,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1943,3233,0,0,0,0,0,0
$GC,9434,-0.59,-155.7,937.6,-7.9,683,9437,0.00,0.55,0.00,0.000,4,0.000,0.053,2839,1568,3233,0,0,0,0,0,0
$GC,9636,-0.59,-155.7,954.1,-7.6,692,9640,0.00,0.52,0.00,0.000,6,0.000,0.035,2837,1947,3233,0,0,0,0,0,0
$GC,9968,-0.59,-155.7,979.9,-7.8,708,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1947,3233,0,0,0,0,0,0
$STATE,10258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10258,begin apogee
$GC,10262,-0.17,0.0,1001.4,7.5,722,10397,0.50,0.00,130.98,1.587,6,0.156,0.000,2981,1800,2600,0,0,0,0,0,0
$STATE,10398,end apogee,CONTROL_FINISHED_OK
$STATE,10398,begin climb
$GC,10399,0.59,155.7,1003.0,0.0,729,10549,0.80,1.08,143.27,1.541,4,0.106,0.055,3226,1220,1965,0,0,0,0,0,0
$GC,10694,0.59,155.7,970.9,11.3,743,10698,0.00,0.93,0.00,0.000,6,0.000,0.028,3226,1815,1956,0,0,0,0,0,0
$GC,11021,0.59,155.7,932.2,11.2,759,11024,0.00,0.50,0.00,0.000,4,0.000,0.045,3226,1499,1952,0,0,0,0,0,0
$GC,11277,0.59,155.7,903.9,10.9,770,11282,0.00,0.45,0.00,0.000,6,0.000,0.031,3226,1815,1952,0,0,0,0,0,0
$GC,11599,0.59,155.7,869.4,10.8,786,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1815,1951,0,0,0,0,0,0
$GC,11908,0.59,155.7,835.7,11.0,801,11912,0.00,0.73,0.00,0.000,4,0.000,0.049,3227,1367,1951,0,0,0,0,0,0
$GC,12067,0.59,155.7,818.5,10.9,808,12071,0.00,0.62,0.00,0.000,6,0.000,0.028,3226,1787,1950,0,0,0,0,0,0
$GC,12398,0.59,155.7,782.2,10.7,824,12402,0.00,0.43,0.00,0.000,4,0.000,0.047,3226,1510,1950,0,0,0,0,0,0
$GC,12655,0.59,155.7,755.7,10.6,835,12659,0.00,0.45,0.00,0.000,6,0.000,0.033,3226,1819,1950,0,0,0,0,0,0
$GC,12976,0.59,155.7,722.6,10.4,851,12980,0.00,1.20,0.00,0.000,4,0.000,0.053,3230,1080,1949,0,0,0,0,0,0
$GC,13138,0.59,155.7,705.5,10.1,858,13142,0.00,1.12,0.00,0.000,6,0.000,0.028,3230,1833,1949,0,0,0,0,0,0
$GC,13465,0.59,155.7,672.2,10.2,874,13468,0.00,0.93,0.00,0.000,4,0.000,0.049,3233,1255,1949,0,0,0,0,0,0
$GC,13599,0.59,155.7,658.1,10.2,880,13603,0.00,0.80,0.00,0.000,6,0.000,0.028,3233,1799,1949,0,0,0,0,0,0
$GC,13931,0.59,155.7,623.4,10.4,896,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1799,1949,0,0,0,0,0,0
$GC,14240,0.59,155.7,589.9,11.2,911,14244,0.00,0.65,0.00,0.000,4,0.000,0.050,3235,1386,1949,0,0,0,0,0,0
$GC,14407,0.59,155.7,570.8,11.4,918,14411,0.00,0.65,0.00,0.000,6,0.000,0.031,3235,1841,1949,0,0,0,0,0,0
$GC,14728,0.59,155.7,533.8,11.6,934,14732,0.00,0.47,0.00,0.000,4,0.000,0.048,3235,1524,1948,0,0,0,0,0,0
$GC,14985,0.59,155.7,504.6,10.7,945,14989,0.00,0.40,0.00,0.000,6,0.000,0.037,3235,1803,1948,0,0,0,0,0,0
$GC,15306,0.59,155.7,469.1,11.2,961,15310,0.00,0.85,0.00,0.000,4,0.000,0.052,3238,1274,1948,0,0,0,0,0,0
$GC,15444,0.59,155.7,453.4,10.9,967,15449,0.00,0.80,0.00,0.000,6,0.000,0.028,3238,1805,1948,0,0,0,0,0,0
$GC,15771,0.59,155.7,417.8,10.9,983,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1806,1948,0,0,0,0,0,0
$GC,16084,0.59,155.7,384.2,11.0,1004,16085,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,16405,0.59,155.7,348.5,11.8,1034,16406,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,16722,0.59,155.7,312.0,12.0,1064,16723,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,17041,0.59,155.7,274.0,11.7,1094,17042,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1805,1948,0,0,0,0,0,0
$GC,17359,0.59,155.7,237.9,11.4,1124,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1805,1948,0,0,0,0,0,0
$GC,17678,0.59,155.7,203.3,10.0,1154,17679,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1805,1948,0,0,0,0,0,0
$GC,17997,0.59,159.9,172.3,9.6,1184,17998,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,18315,0.59,159.9,142.8,10.0,1214,18316,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,18634,0.59,159.9,109.4,10.4,1244,18635,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1949,0,0,0,0,0,0
$GC,18968,0.59,159.9,74.4,10.6,1295,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,19313,0.59,159.9,39.1,11.1,1356,19320,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1806,1948,0,0,0,0,0,0
$GC,19459,0.59,159.9,23.7,10.0,1381,19463,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1948,0,0,0,0,0,0
$GC,19606,0.59,159.9,9.0,10.1,1406,19612,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1806,1949,0,0,0,0,0,0
$GC,19661,0.59,159.9,3.2,11.3,1415,19668,0.00,0.52,0.00,0.000,4,0.000,0.037,3238,2204,1949,0,0,0,0,0,0
$STATE,19675,end climb,SURFACE_DEPTH_REACHED
$STATE,19675,begin surface coast
$FINISH,1.6,1.017787
$STATE,19695,end surface coast,CONTROL_FINISHED_OK
$STATE,19695,begin surface
$SM_CCo,19710,12.30,0.868,0,0,1844,185.20
$SM_GC,4.33,0.00,0.00,12.30,0.000,0.000,0.868,74,1922,1844,-9.26,-0.82,185.20
$IRIDIUM_FIX,-4239.11,836.50,151113,181817
$TT8_MAMPS,0.026964
$HUMID,62.67
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,22.6,23.988
$10V_AH,10.3,20.038
$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,21.750,29.000,274.250,12.300,0.000,30.604,18.056,310.793,0.250,0.000,18.775,3502.035,12478.539,353.267,3709.890,154.073,33.381,1739.890,0.000,3302.809,0.000,2.829,0.000
$DEVICE_MAMPS,253.980,62.730,1586.610,867.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,995.199,957.247,955.847,86.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,80364,1420
$CAP_FILE_SIZE,167278,0
$CFSIZE,2097086464,2076114944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161113,055858,-4258.299,831.340,47,0.9,47,-25.0