version: 66.07.10.p01
glider: 574
mission: 7
dive: 146
start: 11 16 113 11 36 25
data:
$ID,574
$MISSION,7
$DIVE,146
$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,-13834.357
$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,50
$R_STBD_OVSHOOT,45
$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,125
$GPS1,161113,112734,-4258.147,829.891,46,0.8,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.7
$GPS2,161113,113530,-4258.126,829.939,18,0.8,19,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.070,-0.257
$KALMAN_X,-171373.6,46.1,55.8,65501.9,-90.2
$KALMAN_Y,461014.9,368.6,443.5,-668219.9,2847.1
$MHEAD_RNG_PITCHd_Wd,220.2,12766,-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,-155.6,0.0,0.0,0,51,0.00,0.00,-25.02,0.000,2,0.000,0.000,68,1919,2379,0,0,0,0,0,0
$GC,53,-0.59,-155.7,3.1,-1.4,4,115,12.32,2.30,-39.38,0.000,4,0.267,0.060,2830,3334,3237,0,0,0,0,0,0
$GC,212,-0.59,-155.7,13.9,-11.4,30,219,0.05,2.15,0.00,0.000,6,0.161,0.031,2846,1962,3239,0,0,0,0,0,0
$GC,268,-0.59,-155.7,20.4,-11.1,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1961,3239,0,0,0,0,0,0
$GC,411,-0.59,-155.7,38.0,-12.2,64,419,0.00,0.55,0.00,0.000,4,0.000,0.050,2846,1588,3240,0,0,0,0,0,0
$GC,493,-0.59,-155.7,47.5,-11.1,78,500,0.00,0.55,0.00,0.000,6,0.000,0.034,2845,1986,3240,0,0,0,0,0,0
$GC,843,-0.59,-155.7,87.9,-11.7,139,848,0.00,0.28,0.00,0.000,4,0.000,0.050,2844,2225,3240,0,0,0,0,0,0
$GC,1071,-0.59,-155.7,114.1,-11.6,169,1075,0.00,0.43,0.00,0.000,6,0.000,0.042,2844,1921,3241,0,0,0,0,0,0
$GC,1401,-0.59,-155.7,152.0,-11.5,200,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1921,3241,0,0,0,0,0,0
$GC,1720,-0.59,-155.7,187.1,-10.5,230,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1921,3242,0,0,0,0,0,0
$GC,2039,-0.59,-155.7,220.6,-10.7,260,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1921,3242,0,0,0,0,0,0
$GC,2357,-0.59,-155.7,253.6,-10.6,290,2361,0.00,0.52,0.00,0.000,4,0.000,0.050,2844,1559,3243,0,0,0,0,0,0
$GC,2516,-0.59,-155.7,270.4,-11.1,304,2520,0.00,0.52,0.00,0.000,6,0.000,0.034,2842,1949,3242,0,0,0,0,0,0
$GC,2846,-0.59,-155.7,307.5,-11.1,335,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3242,0,0,0,0,0,0
$GC,3167,-0.59,-155.7,344.4,-11.6,365,3171,0.00,0.60,0.00,0.000,4,0.000,0.040,2839,2384,3243,0,0,0,0,0,0
$GC,3341,-0.59,-155.7,363.8,-11.1,380,3348,0.00,0.65,0.00,0.000,6,0.000,0.037,2838,1944,3243,0,0,0,0,0,0
$GC,3667,-0.59,-155.7,397.7,-10.4,411,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1944,3242,0,0,0,0,0,0
$GC,3976,-0.59,-155.7,429.8,-10.4,427,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1944,3243,0,0,0,0,0,0
$GC,4285,-0.59,-155.7,461.7,-9.9,442,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1944,3243,0,0,0,0,0,0
$GC,4595,-0.59,-155.7,491.4,-9.6,457,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1945,3243,0,0,0,0,0,0
$GC,4904,-0.59,-155.7,520.5,-9.6,472,4908,0.00,0.57,0.00,0.000,4,0.000,0.051,2839,1553,3243,0,0,0,0,0,0
$GC,5062,-0.59,-155.7,535.6,-9.0,479,5066,0.00,0.55,0.00,0.000,6,0.000,0.034,2837,1956,3243,0,0,0,0,0,0
$GC,5394,-0.59,-155.7,566.4,-9.1,495,5398,0.00,0.40,0.00,0.000,4,0.000,0.044,2835,2266,3243,0,0,0,0,0,0
$GC,5553,-0.59,-155.7,581.0,-9.6,502,5556,0.00,0.45,0.00,0.000,6,0.000,0.041,2835,1943,3242,0,0,0,0,0,0
$GC,5885,-0.59,-155.7,612.5,-9.6,518,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1943,3242,0,0,0,0,0,0
$GC,6194,-0.59,-155.7,643.0,-10.0,533,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1943,3242,0,0,0,0,0,0
$GC,6503,-0.59,-155.7,673.9,-10.3,548,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1943,3242,0,0,0,0,0,0
$GC,6812,-0.59,-155.7,706.0,-10.2,563,6816,0.00,0.38,0.00,0.000,4,0.000,0.056,2835,1676,3242,0,0,0,0,0,0
$GC,6940,-0.59,-155.7,719.1,-10.1,568,6945,0.00,0.38,0.00,0.000,6,0.000,0.037,2834,1962,3241,0,0,0,0,0,0
$GC,7255,-0.59,-155.7,750.5,-9.9,584,7259,0.05,0.65,0.00,0.000,4,0.242,0.041,2842,2414,3241,0,0,0,0,0,0
$GC,7450,-0.59,-155.7,768.5,-9.0,592,7455,0.00,0.70,0.00,0.000,6,0.000,0.037,2842,1949,3241,0,0,0,0,0,0
$GC,7766,-0.59,-155.7,797.1,-9.0,608,7769,0.00,0.38,0.00,0.000,4,0.000,0.055,2842,1681,3241,0,0,0,0,0,0
$GC,8023,-0.59,-155.7,821.6,-9.2,619,8027,0.00,0.35,0.00,0.000,6,0.000,0.037,2841,1944,3241,0,0,0,0,0,0
$GC,8344,-0.59,-155.7,852.8,-9.8,635,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1944,3241,0,0,0,0,0,0
$GC,8653,-0.59,-155.7,883.3,-9.6,650,8657,0.00,0.77,0.00,0.000,4,0.000,0.040,2837,2476,3240,0,0,0,0,0,0
$GC,8865,-0.59,-155.7,903.2,-8.8,659,8870,0.00,0.80,0.00,0.000,6,0.000,0.037,2838,1950,3240,0,0,0,0,0,0
$GC,9187,-0.59,-155.7,931.0,-8.5,675,9191,0.00,0.55,0.00,0.000,4,0.000,0.051,2838,1572,3240,0,0,0,0,0,0
$GC,9412,-0.59,-155.7,949.6,-8.6,685,9416,0.00,0.50,0.00,0.000,6,0.000,0.035,2836,1941,3240,0,0,0,0,0,0
$GC,9744,-0.59,-155.7,976.5,-8.4,701,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1941,3240,0,0,0,0,0,0
$STATE,10032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10033,begin apogee
$GC,10037,-0.17,0.0,1000.7,8.4,715,10173,0.50,0.00,132.60,1.583,6,0.158,0.000,2979,1792,2600,0,0,0,0,0,0
$STATE,10174,end apogee,CONTROL_FINISHED_OK
$STATE,10174,begin climb
$GC,10175,0.59,155.7,1003.8,0.0,722,10326,0.77,1.73,143.20,1.544,4,0.109,0.057,3226,851,1964,0,0,0,0,0,0
$GC,10454,0.59,155.7,976.0,12.3,735,10459,0.00,1.55,0.00,0.000,6,0.000,0.024,3225,1803,1956,0,0,0,0,0,0
$GC,10781,0.59,155.7,937.0,12.0,751,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1804,1953,0,0,0,0,0,0
$GC,11091,0.59,155.7,902.1,11.0,766,11094,0.00,0.90,0.00,0.000,4,0.000,0.050,3226,1255,1953,0,0,0,0,0,0
$GC,11253,0.59,155.7,884.0,11.4,773,11257,0.00,0.85,0.00,0.000,6,0.000,0.025,3226,1821,1952,0,0,0,0,0,0
$GC,11579,0.59,155.7,848.3,10.9,789,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1822,1952,0,0,0,0,0,0
$GC,11888,0.59,155.7,814.0,11.1,804,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1821,1952,0,0,0,0,0,0
$GC,12198,0.59,155.7,779.2,11.6,819,12201,0.00,1.02,0.00,0.000,4,0.000,0.050,3228,1189,1952,0,0,0,0,0,0
$GC,12364,0.59,155.7,759.6,12.3,826,12369,0.00,0.95,0.00,0.000,6,0.000,0.026,3228,1830,1952,0,0,0,0,0,0
$GC,12686,0.59,155.7,723.1,11.2,842,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1830,1952,0,0,0,0,0,0
$GC,12995,0.59,155.7,689.9,10.6,857,12999,0.00,0.50,0.00,0.000,4,0.000,0.045,3229,1502,1952,0,0,0,0,0,0
$GC,13179,0.59,155.7,670.5,10.5,865,13183,0.00,0.43,0.00,0.000,6,0.000,0.031,3229,1805,1952,0,0,0,0,0,0
$GC,13505,0.59,155.7,636.7,10.1,881,13509,0.00,0.50,0.00,0.000,4,0.000,0.046,3230,1481,1952,0,0,0,0,0,0
$GC,13762,0.59,155.7,610.8,10.0,892,13766,0.00,0.47,0.00,0.000,6,0.000,0.032,3230,1820,1952,0,0,0,0,0,0
$GC,14083,0.59,155.7,578.5,10.4,908,14087,0.00,0.45,0.00,0.000,4,0.000,0.046,3231,1521,1952,0,0,0,0,0,0
$GC,14340,0.59,155.7,551.4,10.6,919,14344,0.00,0.40,0.00,0.000,6,0.000,0.034,3231,1804,1952,0,0,0,0,0,0
$GC,14661,0.59,155.7,517.4,10.6,935,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1804,1952,0,0,0,0,0,0
$GC,14970,0.59,155.7,485.0,10.4,950,14971,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1804,1952,0,0,0,0,0,0
$GC,15279,0.59,155.7,452.4,10.6,965,15283,0.00,0.70,0.00,0.000,4,0.000,0.047,3233,1361,1952,0,0,0,0,0,0
$GC,15459,0.59,155.7,433.3,10.4,973,15463,0.00,0.65,0.00,0.000,6,0.000,0.030,3233,1831,1952,0,0,0,0,0,0
$GC,15791,0.59,155.7,398.6,10.4,989,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1831,1952,0,0,0,0,0,0
$GC,16110,0.59,155.7,364.9,10.8,1019,16111,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1831,1952,0,0,0,0,0,0
$GC,16432,0.59,155.7,331.3,11.1,1049,16437,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1832,1952,0,0,0,0,0,0
$GC,16757,0.59,155.7,293.3,12.3,1080,16759,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1831,1952,0,0,0,0,0,0
$GC,17076,0.59,155.7,255.7,11.0,1110,17077,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1831,1953,0,0,0,0,0,0
$GC,17395,0.59,155.7,221.5,10.5,1140,17398,0.00,0.50,0.00,0.000,4,0.000,0.047,3235,1502,1953,0,0,0,0,0,0
$GC,17565,0.59,155.7,204.0,10.6,1155,17569,0.00,0.40,0.00,0.000,6,0.000,0.037,3235,1819,1953,0,0,0,0,0,0
$GC,17895,0.59,155.7,168.6,10.7,1186,17896,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1819,1953,0,0,0,0,0,0
$GC,18214,0.59,156.1,136.3,9.8,1216,18218,0.00,0.40,0.00,0.000,4,0.000,0.047,3235,1546,1953,0,0,0,0,0,0
$GC,18376,0.59,169.4,120.4,9.2,1230,18393,0.00,0.35,11.75,0.994,6,0.000,0.034,3236,1800,1908,0,0,0,0,0,0
$GC,18720,0.59,169.4,84.5,10.3,1274,18725,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1801,1906,0,0,0,0,0,0
$GC,19067,0.59,169.4,46.7,10.3,1335,19073,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1800,1906,0,0,0,0,0,0
$GC,19421,0.59,169.4,10.0,10.9,1396,19427,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1801,1906,0,0,0,0,0,0
$GC,19476,0.59,169.4,4.4,10.7,1405,19483,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1801,1906,0,0,0,0,0,0
$STATE,19489,end climb,SURFACE_DEPTH_REACHED
$STATE,19490,begin surface coast
$FINISH,1.8,1.026530
$STATE,19521,end surface coast,CONTROL_FINISHED_OK
$STATE,19521,begin surface
$SM_CCo,19537,6.82,0.817,0,0,1845,185.20
$SM_GC,4.07,0.00,0.00,6.82,0.000,0.000,0.817,76,1990,1845,-9.27,1.13,185.20
$IRIDIUM_FIX,-4242.04,833.59,161113,060631
$TT8_MAMPS,0.026964
$HUMID,62.83
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.6,24.281
$10V_AH,10.3,20.289
$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,22.300,29.100,287.550,6.825,0.000,25.074,25.245,303.998,0.250,0.000,21.133,3470.680,12314.558,358.922,3709.179,163.898,33.385,1757.899,0.000,3308.701,0.000,2.829,0.000
$DEVICE_MAMPS,266.985,60.435,1582.785,817.020,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.613,966.863,946.034,89.050,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,80178,1412
$CAP_FILE_SIZE,167271,0
$CFSIZE,2097086464,2075852800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161113,170334,-4258.732,828.811,51,0.9,51,-25.0