version: 66.07.10.p01
glider: 574
mission: 7
dive: 147
start: 11 16 113 17 12 18
data:
$ID,574
$MISSION,7
$DIVE,147
$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,-13837.252
$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,79
$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,126
$GPS1,161113,170334,-4258.732,828.811,51,0.9,51,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-76.6
$GPS2,161113,171123,-4258.681,828.853,20,1.1,20,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.036,-0.264
$KALMAN_X,-171248.5,-67.3,-44.2,64075.5,211.8
$KALMAN_Y,465979.9,155.2,-86.4,-673459.2,4412.3
$MHEAD_RNG_PITCHd_Wd,212.8,11145,-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,-155.7,0.0,0.0,0,51,0.00,0.00,-25.08,0.000,2,0.000,0.000,67,1984,2386,0,0,0,0,0,0
$GC,54,-0.59,-155.7,3.0,-1.1,4,108,12.23,0.00,-38.20,0.000,6,0.264,0.000,2842,1983,3233,0,0,0,0,0,0
$GC,157,-0.59,-155.7,7.9,-10.1,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1983,3235,0,0,0,0,0,0
$GC,213,-0.59,-155.7,14.7,-11.8,30,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1984,3236,0,0,0,0,0,0
$GC,268,-0.59,-155.7,21.7,-13.0,39,273,0.00,0.57,0.00,0.000,4,0.000,0.041,2842,1596,3236,0,0,0,0,0,0
$GC,376,-0.59,-155.7,35.7,-12.2,58,383,0.00,0.47,0.00,0.000,6,0.000,0.035,2842,1941,3237,0,0,0,0,0,0
$GC,520,-0.59,-155.7,52.4,-11.3,83,525,0.00,0.45,0.00,0.000,4,0.000,0.043,2840,2276,3236,0,0,0,0,0,0
$GC,780,-0.59,-155.7,82.0,-11.1,129,787,0.00,0.47,0.00,0.000,6,0.000,0.041,2840,1942,3237,0,0,0,0,0,0
$GC,1116,-0.59,-155.7,119.7,-11.4,174,1119,0.00,0.38,0.00,0.000,4,0.000,0.038,2839,2242,3237,0,0,0,0,0,0
$GC,1378,-0.59,-155.7,149.7,-10.8,197,1382,0.00,0.40,0.00,0.000,6,0.000,0.041,2839,1942,3238,0,0,0,0,0,0
$GC,1708,-0.59,-155.7,189.6,-11.9,228,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1941,3238,0,0,0,0,0,0
$GC,2027,-0.59,-155.7,226.1,-10.9,258,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1942,3238,0,0,0,0,0,0
$GC,2346,-0.59,-155.7,260.4,-10.6,288,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1942,3238,0,0,0,0,0,0
$GC,2665,-0.59,-155.7,294.8,-10.7,318,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1942,3238,0,0,0,0,0,0
$GC,2983,-0.59,-155.7,328.3,-10.0,348,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1941,3238,0,0,0,0,0,0
$GC,3302,-0.59,-155.7,361.3,-10.5,378,3306,0.00,0.55,0.00,0.000,4,0.000,0.050,2839,1557,3239,0,0,0,0,0,0
$GC,3450,-0.59,-155.7,377.1,-10.8,391,3453,0.00,0.55,0.00,0.000,6,0.000,0.033,2837,1965,3238,0,0,0,0,0,0
$GC,3777,-0.59,-155.7,411.8,-10.5,417,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1965,3239,0,0,0,0,0,0
$GC,4086,-0.59,-155.7,443.4,-10.3,432,4089,0.00,0.68,0.00,0.000,4,0.000,0.040,2834,2442,3239,0,0,0,0,0,0
$GC,4288,-0.59,-155.7,464.6,-11.3,441,4292,0.03,0.70,0.00,0.000,6,0.192,0.037,2842,1951,3239,0,0,0,0,0,0
$GC,4619,-0.59,-155.7,498.5,-10.2,457,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3239,0,0,0,0,0,0
$GC,4928,-0.59,-155.7,531.4,-10.9,472,4932,0.00,0.52,0.00,0.000,4,0.000,0.050,2842,1585,3238,0,0,0,0,0,0
$GC,5079,-0.59,-155.7,548.3,-11.3,478,5084,0.00,0.50,0.00,0.000,6,0.000,0.033,2841,1954,3238,0,0,0,0,0,0
$GC,5394,-0.59,-155.7,582.6,-10.6,494,5398,0.00,0.35,0.00,0.000,4,0.000,0.045,2839,2236,3238,0,0,0,0,0,0
$GC,5651,-0.59,-155.7,609.8,-10.7,505,5655,0.00,0.40,0.00,0.000,6,0.000,0.041,2838,1946,3238,0,0,0,0,0,0
$GC,5973,-0.59,-155.7,642.8,-10.2,521,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3237,0,0,0,0,0,0
$GC,6281,-0.59,-155.7,674.5,-10.4,536,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1946,3237,0,0,0,0,0,0
$GC,6591,-0.59,-155.7,705.4,-9.9,551,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3237,0,0,0,0,0,0
$GC,6900,-0.59,-155.7,735.5,-10.1,566,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3236,0,0,0,0,0,0
$GC,7210,-0.59,-155.7,764.8,-9.2,581,7213,0.00,0.40,0.00,0.000,4,0.000,0.053,2839,1662,3236,0,0,0,0,0,0
$GC,7466,-0.59,-155.7,790.2,-10.9,592,7470,0.00,0.40,0.00,0.000,6,0.000,0.036,2838,1966,3236,0,0,0,0,0,0
$GC,7787,-0.59,-155.7,823.7,-10.8,608,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1967,3235,0,0,0,0,0,0
$GC,8097,-0.59,-155.7,855.5,-9.9,623,8100,0.00,0.70,0.00,0.000,4,0.000,0.041,2835,2450,3235,0,0,0,0,0,0
$GC,8314,-0.59,-155.7,876.1,-9.1,632,8320,0.00,0.73,0.00,0.000,6,0.000,0.035,2835,1960,3235,0,0,0,0,0,0
$GC,8630,-0.59,-155.7,903.5,-8.3,648,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1961,3234,0,0,0,0,0,0
$GC,8939,-0.59,-155.7,929.4,-8.3,663,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1961,3234,0,0,0,0,0,0
$GC,9249,-0.59,-155.7,955.8,-8.6,678,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1961,3233,0,0,0,0,0,0
$GC,9558,-0.59,-155.7,982.3,-8.6,693,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1960,3233,0,0,0,0,0,0
$STATE,9765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9765,begin apogee
$GC,9770,-0.17,0.0,1000.5,9.1,703,9904,0.50,0.00,131.15,1.590,6,0.155,0.000,2980,1803,2600,0,0,0,0,0,0
$STATE,9905,end apogee,CONTROL_FINISHED_OK
$STATE,9905,begin climb
$GC,9907,0.59,155.7,1004.0,0.0,710,10055,0.80,0.00,144.32,1.545,6,0.109,0.000,3226,1803,1965,0,0,0,0,0,0
$GC,10357,0.59,155.7,958.6,11.5,732,10361,0.00,1.17,0.00,0.000,4,0.000,0.054,3229,1103,1954,0,0,0,0,0,0
$GC,10537,0.59,155.7,937.8,11.3,740,10540,0.00,1.02,0.00,0.000,6,0.000,0.024,3229,1785,1953,0,0,0,0,0,0
$GC,10868,0.59,155.7,899.5,11.1,756,10872,0.00,0.52,0.00,0.000,4,0.000,0.045,3230,1454,1952,0,0,0,0,0,0
$GC,11116,0.59,155.7,872.6,10.6,767,11119,0.00,0.50,0.00,0.000,6,0.000,0.030,3230,1816,1953,0,0,0,0,0,0
$GC,11447,0.59,155.7,836.4,11.1,783,11451,0.00,0.60,0.00,0.000,4,0.000,0.045,3231,1432,1952,0,0,0,0,0,0
$GC,11605,0.59,155.7,818.3,11.7,790,11609,0.00,0.52,0.00,0.000,6,0.000,0.030,3231,1827,1952,0,0,0,0,0,0
$GC,11937,0.59,155.7,779.9,11.5,806,11940,0.00,0.45,0.00,0.000,4,0.000,0.046,3233,1528,1952,0,0,0,0,0,0
$GC,12193,0.59,155.7,749.6,11.5,817,12198,0.00,0.38,0.00,0.000,6,0.000,0.033,3233,1800,1952,0,0,0,0,0,0
$GC,12514,0.59,155.7,712.6,11.3,833,12518,0.00,0.40,0.00,0.000,4,0.000,0.046,3234,1534,1952,0,0,0,0,0,0
$GC,12771,0.59,155.7,683.4,10.3,844,12775,0.00,0.38,0.00,0.000,6,0.000,0.033,3233,1808,1952,0,0,0,0,0,0
$GC,13092,0.59,155.7,647.1,11.5,860,13096,0.00,1.60,0.00,0.000,4,0.000,0.054,3239,828,1952,0,0,0,0,0,0
$GC,13242,0.59,155.7,628.6,13.5,866,13248,0.00,1.45,0.00,0.000,6,0.000,0.026,3239,1796,1951,0,0,0,0,0,0
$GC,13558,0.59,155.7,589.2,12.8,882,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1796,1952,0,0,0,0,0,0
$GC,13868,0.59,155.7,549.7,12.6,897,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1796,1952,0,0,0,0,0,0
$GC,14177,0.59,155.7,511.8,12.4,912,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1796,1952,0,0,0,0,0,0
$GC,14486,0.59,155.7,473.8,12.0,927,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1796,1952,0,0,0,0,0,0
$GC,14796,0.59,155.7,437.4,11.6,942,14797,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1796,1952,0,0,0,0,0,0
$GC,15105,0.59,155.7,402.8,10.9,957,15108,0.00,0.60,0.00,0.000,4,0.000,0.047,3240,1409,1952,0,0,0,0,0,0
$GC,15324,0.59,155.7,376.8,12.0,974,15330,0.00,0.60,0.00,0.000,6,0.000,0.030,3240,1846,1952,0,0,0,0,0,0
$GC,15651,0.59,155.7,338.8,11.5,1005,15652,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1846,1952,0,0,0,0,0,0
$GC,15968,0.59,155.7,302.5,11.2,1035,15971,0.00,0.45,0.00,0.000,4,0.000,0.046,3240,1544,1952,0,0,0,0,0,0
$GC,16229,0.59,155.7,273.8,10.0,1058,16233,0.00,0.30,0.00,0.000,6,0.000,0.037,3241,1784,1952,0,0,0,0,0,0
$GC,16562,0.59,155.7,237.9,11.4,1089,16567,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1785,1952,0,0,0,0,0,0
$GC,16887,0.59,155.7,202.6,10.2,1120,16888,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1785,1952,0,0,0,0,0,0
$GC,17206,0.59,155.7,168.6,10.6,1150,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1784,1952,0,0,0,0,0,0
$GC,17525,0.59,155.7,134.8,10.8,1180,17526,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1785,1952,0,0,0,0,0,0
$GC,17843,0.59,155.7,99.8,11.5,1210,17848,0.00,0.35,0.00,0.000,4,0.000,0.046,3240,1551,1953,0,0,0,0,0,0
$GC,18059,0.59,155.7,75.5,10.4,1248,18066,0.00,0.32,0.00,0.000,6,0.000,0.037,3241,1799,1953,0,0,0,0,0,0
$GC,18409,0.59,155.7,38.6,11.5,1309,18414,0.00,0.90,0.00,0.000,4,0.000,0.049,3243,1235,1953,0,0,0,0,0,0
$GC,18606,0.59,156.1,17.2,9.8,1343,18613,0.00,0.82,0.00,0.000,6,0.000,0.026,3243,1810,1953,0,0,0,0,0,0
$GC,18662,0.59,156.1,11.4,10.1,1352,18669,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1810,1953,0,0,0,0,0,0
$GC,18718,0.59,162.1,5.8,9.6,1361,18726,0.00,0.75,2.10,0.392,4,0.000,0.043,3245,1334,1939,0,0,0,0,0,0
$STATE,18744,end climb,SURFACE_DEPTH_REACHED
$STATE,18744,begin surface coast
$FINISH,1.8,1.026540
$STATE,18769,end surface coast,CONTROL_FINISHED_OK
$STATE,18769,begin surface
$SM_CCo,18785,10.95,0.861,0,0,1845,185.20
$SM_GC,4.44,0.00,0.00,10.95,0.000,0.000,0.861,81,1986,1845,-9.25,1.02,185.20
$IRIDIUM_FIX,-4244.98,828.21,161113,111112
$TT8_MAMPS,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.6,24.425
$10V_AH,10.3,20.410
$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,22.100,24.450,277.575,10.950,0.000,23.431,21.911,299.202,0.250,0.000,22.266,3352.370,11838.800,376.234,3538.264,155.737,33.379,1688.218,0.000,3148.838,0.000,2.829,0.000
$DEVICE_MAMPS,263.925,71.910,1589.670,860.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.670,943.851,914.386,85.234,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354704
$DATA_FILE_SIZE,76820,1369
$CAP_FILE_SIZE,158884,0
$CFSIZE,2097086464,2075754496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161113,222658,-4259.348,828.177,49,0.9,49,-25.0