version: 66.07.10.p01
glider: 574
mission: 7
dive: 145
start: 11 16 113 6 8 26
data:
$ID,574
$MISSION,7
$DIVE,145
$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,-13830.905
$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,69
$R_STBD_OVSHOOT,53
$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,124
$GPS1,161113,055858,-4258.299,831.340,47,0.9,47,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.1
$GPS2,161113,060731,-4258.260,831.400,19,1.0,21,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.109,-0.243
$KALMAN_X,-171548.4,96.7,-8.3,67726.6,22.2
$KALMAN_Y,456039.4,331.9,269.5,-663272.7,2331.0
$MHEAD_RNG_PITCHd_Wd,229.2,13710,-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,-25.00,0.000,2,0.000,0.000,66,1919,2384,0,0,0,0,0,0
$GC,53,-0.59,-155.7,3.1,-1.4,4,115,12.00,0.45,-41.03,0.000,4,0.258,0.102,2841,2241,3235,0,0,0,0,0,0
$GC,379,-0.59,-155.7,33.8,-12.0,59,384,0.00,0.38,0.00,0.000,6,0.000,0.043,2842,1963,3238,0,0,0,0,0,0
$GC,520,-0.59,-155.7,50.6,-11.9,84,528,0.00,0.55,0.00,0.000,4,0.000,0.035,2840,2353,3239,0,0,0,0,0,0
$GC,615,-0.59,-155.7,60.8,-11.1,100,620,0.00,0.57,0.00,0.000,6,0.000,0.040,2840,1956,3239,0,0,0,0,0,0
$GC,961,-0.59,-155.7,99.6,-11.0,161,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3240,0,0,0,0,0,0
$GC,1286,-0.59,-155.7,137.1,-11.6,192,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3241,0,0,0,0,0,0
$GC,1605,-0.59,-155.7,176.2,-12.4,222,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3241,0,0,0,0,0,0
$GC,1923,-0.59,-155.7,214.7,-12.2,252,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3241,0,0,0,0,0,0
$GC,2242,-0.59,-155.7,252.7,-11.6,282,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3241,0,0,0,0,0,0
$GC,2561,-0.59,-155.7,289.7,-11.5,312,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3242,0,0,0,0,0,0
$GC,2879,-0.59,-155.7,324.2,-11.3,342,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3242,0,0,0,0,0,0
$GC,3198,-0.59,-155.7,359.3,-11.0,372,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3242,0,0,0,0,0,0
$GC,3517,-0.59,-155.7,394.4,-11.0,402,3520,0.00,0.35,0.00,0.000,4,0.000,0.055,2840,1695,3242,0,0,0,0,0,0
$GC,3644,-0.59,-155.7,408.7,-10.7,410,3650,0.00,0.38,0.00,0.000,6,0.000,0.037,2839,1986,3242,0,0,0,0,0,0
$GC,3960,-0.59,-155.7,443.1,-11.1,426,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1986,3242,0,0,0,0,0,0
$GC,4269,-0.59,-155.7,477.7,-11.4,441,4273,0.00,0.55,0.00,0.000,4,0.000,0.043,2836,2381,3242,0,0,0,0,0,0
$GC,4408,-0.59,-155.7,493.3,-11.1,447,4412,0.00,0.65,0.00,0.000,6,0.000,0.037,2836,1943,3242,0,0,0,0,0,0
$GC,4735,-0.59,-155.7,528.8,-10.9,463,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1943,3242,0,0,0,0,0,0
$GC,5044,-0.59,-155.7,561.9,-10.8,478,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1943,3242,0,0,0,0,0,0
$GC,5353,-0.59,-155.7,596.0,-10.9,493,5357,0.00,0.65,0.00,0.000,4,0.000,0.037,2834,2396,3242,0,0,0,0,0,0
$GC,5582,-0.59,-155.7,620.6,-10.1,503,5587,0.05,0.68,0.00,0.000,6,0.219,0.038,2845,1943,3241,0,0,0,0,0,0
$GC,5908,-0.59,-155.7,653.0,-9.9,519,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1943,3241,0,0,0,0,0,0
$GC,6218,-0.59,-155.7,683.4,-10.0,534,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1943,3241,0,0,0,0,0,0
$GC,6527,-0.59,-155.7,713.9,-9.9,549,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1943,3241,0,0,0,0,0,0
$GC,6837,-0.59,-155.7,742.5,-9.1,564,6840,0.00,0.65,0.00,0.000,4,0.000,0.037,2843,2397,3241,0,0,0,0,0,0
$GC,7009,-0.59,-155.7,758.0,-8.7,571,7015,0.00,0.68,0.00,0.000,6,0.000,0.038,2843,1947,3241,0,0,0,0,0,0
$GC,7325,-0.59,-155.7,786.4,-9.1,587,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1947,3241,0,0,0,0,0,0
$GC,7635,-0.59,-155.7,813.7,-8.8,602,7639,0.00,0.55,0.00,0.000,4,0.000,0.037,2842,2342,3241,0,0,0,0,0,0
$GC,7863,-0.59,-155.7,833.9,-8.9,612,7868,0.00,0.57,0.00,0.000,6,0.000,0.039,2842,1949,3240,0,0,0,0,0,0
$GC,8191,-0.59,-155.7,862.7,-8.9,628,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3240,0,0,0,0,0,0
$GC,8502,-0.59,-155.7,890.9,-9.0,643,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3241,0,0,0,0,0,0
$GC,8809,-0.59,-155.7,918.8,-8.7,658,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3241,0,0,0,0,0,0
$GC,9119,-0.59,-155.7,944.7,-8.4,673,9122,0.00,0.43,0.00,0.000,4,0.000,0.054,2842,1649,3241,0,0,0,0,0,0
$GC,9235,-0.59,-155.7,954.4,-7.9,678,9239,0.00,0.40,0.00,0.000,6,0.000,0.038,2841,1953,3241,0,0,0,0,0,0
$GC,9562,-0.59,-155.7,982.7,-9.2,694,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1954,3241,0,0,0,0,0,0
$STATE,9768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9768,begin apogee
$GC,9772,-0.17,0.0,1001.6,9.5,704,9908,0.47,0.00,132.80,1.585,6,0.154,0.000,2978,1809,2600,0,0,0,0,0,0
$STATE,9909,end apogee,CONTROL_FINISHED_OK
$STATE,9909,begin climb
$GC,9911,0.59,155.7,1006.1,0.0,711,10060,0.82,0.82,143.35,1.542,4,0.107,0.052,3230,1356,1965,0,0,0,0,0,0
$GC,10225,0.59,155.7,979.1,10.9,726,10229,0.00,0.65,0.00,0.000,6,0.000,0.027,3230,1774,1955,0,0,0,0,0,0
$GC,10557,0.59,155.7,944.4,10.3,742,10560,0.00,0.55,0.00,0.000,4,0.000,0.046,3231,1431,1953,0,0,0,0,0,0
$GC,10813,0.59,155.7,917.3,10.6,753,10818,0.00,0.60,0.00,0.000,6,0.000,0.029,3231,1837,1952,0,0,0,0,0,0
$GC,11134,0.59,155.7,882.3,11.1,769,11137,0.00,1.10,0.00,0.000,4,0.000,0.051,3235,1168,1951,0,0,0,0,0,0
$GC,11295,0.59,155.7,864.2,11.2,776,11300,0.00,0.98,0.00,0.000,6,0.000,0.027,3235,1818,1950,0,0,0,0,0,0
$GC,11622,0.59,155.7,825.8,11.6,792,11626,0.00,1.17,0.00,0.000,4,0.000,0.051,3239,1095,1950,0,0,0,0,0,0
$GC,11791,0.59,155.7,806.1,11.0,799,11795,0.03,1.05,0.00,0.000,6,0.166,0.028,3230,1810,1950,0,0,0,0,0,0
$GC,12111,0.59,155.7,770.9,10.9,815,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1811,1949,0,0,0,0,0,0
$GC,12420,0.59,155.7,736.2,11.1,830,12423,0.00,0.70,0.00,0.000,4,0.000,0.048,3232,1368,1948,0,0,0,0,0,0
$GC,12592,0.59,155.7,716.3,11.6,837,12598,0.00,0.65,0.00,0.000,6,0.000,0.030,3231,1822,1949,0,0,0,0,0,0
$GC,12908,0.59,155.7,681.0,11.2,853,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1822,1949,0,0,0,0,0,0
$GC,13217,0.59,155.7,646.6,11.3,868,13221,0.00,0.98,0.00,0.000,4,0.000,0.051,3235,1212,1949,0,0,0,0,0,0
$GC,13375,0.59,155.7,628.6,11.5,875,13379,0.00,0.85,0.00,0.000,6,0.000,0.028,3235,1794,1948,0,0,0,0,0,0
$GC,13706,0.59,155.7,590.1,11.4,891,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1794,1948,0,0,0,0,0,0
$GC,14016,0.59,155.7,554.7,11.4,906,14017,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1794,1948,0,0,0,0,0,0
$GC,14325,0.59,155.7,520.6,10.7,921,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1794,1949,0,0,0,0,0,0
$GC,14634,0.59,155.7,488.1,10.3,936,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1794,1948,0,0,0,0,0,0
$GC,14944,0.59,155.7,456.0,10.3,951,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1793,1948,0,0,0,0,0,0
$GC,15253,0.59,155.7,422.7,11.0,966,15257,0.00,0.45,0.00,0.000,4,0.000,0.047,3236,1499,1949,0,0,0,0,0,0
$GC,15500,0.59,155.7,394.9,10.9,978,15504,0.00,0.43,0.00,0.000,6,0.000,0.036,3236,1809,1949,0,0,0,0,0,0
$GC,15834,0.59,155.7,357.9,11.1,1009,15838,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1809,1948,0,0,0,0,0,0
$GC,16159,0.59,155.7,321.4,11.2,1040,16162,0.00,0.77,0.00,0.000,4,0.000,0.050,3238,1324,1949,0,0,0,0,0,0
$GC,16329,0.59,155.7,302.6,11.7,1055,16333,0.00,0.70,0.00,0.000,6,0.000,0.030,3238,1820,1949,0,0,0,0,0,0
$GC,16659,0.59,155.7,265.5,11.8,1086,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1820,1949,0,0,0,0,0,0
$GC,16978,0.59,155.7,227.8,12.1,1116,16982,0.00,0.60,0.00,0.000,4,0.000,0.047,3240,1437,1948,0,0,0,0,0,0
$GC,17114,0.59,155.7,211.5,12.6,1128,17117,0.00,0.50,0.00,0.000,6,0.000,0.034,3240,1824,1949,0,0,0,0,0,0
$GC,17444,0.59,155.7,172.5,12.3,1159,17445,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1824,1948,0,0,0,0,0,0
$GC,17765,0.59,155.7,135.1,12.0,1189,17768,0.00,0.68,0.00,0.000,4,0.000,0.047,3241,1391,1948,0,0,0,0,0,0
$GC,17938,0.59,155.7,114.6,10.3,1204,17946,0.00,0.57,0.00,0.000,6,0.000,0.031,3241,1812,1949,0,0,0,0,0,0
$GC,18276,0.59,155.7,78.7,10.0,1253,18281,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1812,1949,0,0,0,0,0,0
$GC,18623,0.59,155.7,43.4,10.9,1314,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1812,1949,0,0,0,0,0,0
$GC,18977,0.59,155.7,6.2,11.1,1375,18984,0.00,0.40,0.00,0.000,4,0.000,0.045,3242,1538,1948,0,0,0,0,0,0
$STATE,19009,end climb,SURFACE_DEPTH_REACHED
$STATE,19009,begin surface coast
$FINISH,1.6,1.024632
$STATE,19039,end surface coast,CONTROL_FINISHED_OK
$STATE,19039,begin surface
$SM_CCo,19055,12.38,0.865,0,0,1844,185.20
$SM_GC,3.67,0.00,0.00,12.38,0.000,0.000,0.865,81,1923,1844,-9.25,-0.76,185.20
$IRIDIUM_FIX,-4242.04,830.68,161113,000038
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.6,24.134
$10V_AH,10.3,20.162
$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,21.925,24.450,276.150,12.375,0.000,25.035,46.661,308.796,0.250,0.000,23.298,3376.898,12118.256,353.200,3583.678,144.536,33.384,1660.688,0.000,3143.084,0.000,2.829,0.000
$DEVICE_MAMPS,257.805,101.745,1585.080,865.215,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.689,957.068,919.914,90.636,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,80098,1385
$CAP_FILE_SIZE,157564,0
$CFSIZE,2097086464,2076016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161113,112734,-4258.147,829.891,46,0.8,46,-25.0