version: 66.07.10.p01
glider: 574
mission: 7
dive: 149
start: 11 17 113 3 58 47
data:
$ID,574
$MISSION,7
$DIVE,149
$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,-13843.625
$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,59
$R_STBD_OVSHOOT,67
$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,128
$GPS1,171113,035005,-4300.155,827.411,42,1.0,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-76.0
$GPS2,171113,035753,-4300.095,827.436,16,1.1,17,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.004,-0.266
$KALMAN_X,-171736.6,-88.5,-87.0,62654.6,133.2
$KALMAN_Y,474737.8,-330.2,-206.9,-684218.3,5556.3
$MHEAD_RNG_PITCHd_Wd,205.8,7947,-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,-25.00,0.000,2,0.000,0.000,67,1959,2185,0,0,0,0,0,0
$GC,53,-0.59,-155.7,3.1,-2.1,4,121,11.98,0.00,-51.85,0.000,6,0.256,0.000,2845,1957,3235,0,0,0,0,0,0
$GC,170,-0.59,-155.7,6.6,-9.9,23,176,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1957,3238,0,0,0,0,0,0
$GC,225,-0.59,-155.7,13.1,-12.1,32,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1957,3238,0,0,0,0,0,0
$GC,281,-0.59,-155.7,19.8,-12.3,41,288,0.00,0.38,0.00,0.000,4,0.000,0.051,2846,1694,3238,0,0,0,0,0,0
$GC,388,-0.59,-155.7,32.9,-12.1,59,393,0.00,0.32,0.00,0.000,6,0.000,0.038,2845,1951,3238,0,0,0,0,0,0
$GC,530,-0.59,-155.7,50.9,-13.1,84,537,0.00,0.93,0.00,0.000,4,0.000,0.040,2840,2569,3238,0,0,0,0,0,0
$GC,667,-0.59,-155.7,66.6,-11.2,108,674,0.00,0.93,0.00,0.000,6,0.000,0.036,2842,1959,3239,0,0,0,0,0,0
$GC,1017,-0.59,-155.7,107.8,-11.2,164,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3240,0,0,0,0,0,0
$GC,1335,-0.59,-155.7,145.1,-11.5,194,1339,0.00,0.43,0.00,0.000,4,0.000,0.052,2842,1654,3240,0,0,0,0,0,0
$GC,1497,-0.59,-155.7,164.6,-11.3,208,1505,0.00,0.40,0.00,0.000,6,0.000,0.036,2841,1968,3240,0,0,0,0,0,0
$GC,1824,-0.59,-155.7,199.2,-10.3,239,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1969,3240,0,0,0,0,0,0
$GC,2143,-0.59,-155.7,232.3,-10.5,269,2147,0.00,0.43,0.00,0.000,4,0.000,0.042,2839,2298,3241,0,0,0,0,0,0
$GC,2336,-0.59,-155.7,252.9,-10.8,286,2339,0.00,0.50,0.00,0.000,6,0.000,0.041,2839,1946,3240,0,0,0,0,0,0
$GC,2668,-0.59,-155.7,289.3,-10.9,317,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3241,0,0,0,0,0,0
$GC,2985,-0.59,-155.7,325.0,-11.2,347,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3241,0,0,0,0,0,0
$GC,3307,-0.59,-155.7,358.9,-10.3,377,3311,0.00,0.40,0.00,0.000,4,0.000,0.054,2839,1655,3241,0,0,0,0,0,0
$GC,3480,-0.59,-155.7,378.2,-10.6,392,3487,0.00,0.38,0.00,0.000,6,0.000,0.037,2838,1949,3241,0,0,0,0,0,0
$GC,3812,-0.59,-155.7,414.6,-11.2,418,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1949,3241,0,0,0,0,0,0
$GC,4121,-0.59,-155.7,450.1,-11.5,433,4124,0.00,0.55,0.00,0.000,4,0.000,0.042,2835,2349,3241,0,0,0,0,0,0
$GC,4346,-0.59,-155.7,475.1,-11.1,443,4349,0.00,0.57,0.00,0.000,6,0.000,0.040,2835,1951,3241,0,0,0,0,0,0
$GC,4678,-0.59,-155.7,512.5,-11.1,459,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1950,3241,0,0,0,0,0,0
$GC,4987,-0.59,-155.7,545.0,-10.5,474,4990,0.00,0.55,0.00,0.000,4,0.000,0.050,2835,1572,3241,0,0,0,0,0,0
$GC,5182,-0.59,-155.7,564.9,-10.3,482,5188,0.05,0.50,0.00,0.000,6,0.233,0.034,2843,1940,3240,0,0,0,0,0,0
$GC,5498,-0.59,-155.7,593.4,-9.0,498,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3240,0,0,0,0,0,0
$GC,5807,-0.59,-155.7,621.1,-9.2,513,5811,0.00,0.75,0.00,0.000,4,0.000,0.041,2841,2458,3240,0,0,0,0,0,0
$GC,6056,-0.59,-155.7,643.0,-8.7,524,6060,0.00,0.75,0.00,0.000,6,0.000,0.038,2842,1951,3239,0,0,0,0,0,0
$GC,6388,-0.59,-155.7,672.7,-8.8,540,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1951,3238,0,0,0,0,0,0
$GC,6698,-0.59,-155.7,700.2,-9.1,555,6701,0.00,0.45,0.00,0.000,4,0.000,0.054,2842,1634,3238,0,0,0,0,0,0
$GC,6842,-0.59,-155.7,713.9,-9.9,561,6846,0.00,0.43,0.00,0.000,6,0.000,0.037,2842,1958,3238,0,0,0,0,0,0
$GC,7163,-0.59,-155.7,742.6,-8.6,577,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1958,3238,0,0,0,0,0,0
$GC,7473,-0.59,-155.7,767.5,-7.7,592,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1958,3238,0,0,0,0,0,0
$GC,7782,-0.59,-155.7,790.6,-7.3,607,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1958,3237,0,0,0,0,0,0
$GC,8091,-0.59,-155.7,815.4,-8.1,622,8095,0.00,0.50,0.00,0.000,4,0.000,0.041,2839,2328,3237,0,0,0,0,0,0
$GC,8348,-0.59,-155.7,837.3,-8.9,633,8353,0.00,0.57,0.00,0.000,6,0.000,0.039,2839,1934,3237,0,0,0,0,0,0
$GC,8670,-0.59,-155.7,865.5,-8.9,649,8674,0.00,0.32,0.00,0.000,4,0.000,0.059,2839,1694,3237,0,0,0,0,0,0
$GC,8927,-0.59,-155.7,889.6,-9.7,660,8931,0.00,0.32,0.00,0.000,6,0.000,0.038,2838,1937,3236,0,0,0,0,0,0
$GC,9248,-0.59,-155.7,920.3,-9.6,676,9252,0.00,0.70,0.00,0.000,4,0.000,0.041,2836,2422,3236,0,0,0,0,0,0
$GC,9454,-0.59,-155.7,940.1,-9.5,685,9459,0.00,0.70,0.00,0.000,6,0.000,0.037,2836,1954,3236,0,0,0,0,0,0
$GC,9782,-0.59,-155.7,970.9,-9.2,701,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1953,3235,0,0,0,0,0,0
$GC,10091,-0.59,-155.7,999.2,-9.1,716,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3235,0,0,0,0,0,0
$STATE,10111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10111,begin apogee
$GC,10115,-0.17,0.0,1001.0,9.2,717,10251,0.50,0.00,131.25,1.591,6,0.155,0.000,2980,1807,2600,0,0,0,0,0,0
$STATE,10252,end apogee,CONTROL_FINISHED_OK
$STATE,10252,begin climb
$GC,10254,0.59,155.7,1005.2,0.0,724,10401,0.80,0.00,144.05,1.545,6,0.107,0.000,3222,1806,1965,0,0,0,0,0,0
$GC,10701,0.59,155.7,961.5,11.6,746,10705,0.00,1.60,0.00,0.000,4,0.000,0.057,3227,865,1954,0,0,0,0,0,0
$GC,10859,0.59,155.7,942.8,11.5,753,10863,0.00,1.45,0.00,0.000,6,0.000,0.026,3227,1799,1952,0,0,0,0,0,0
$GC,11191,0.59,155.7,903.7,11.7,769,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1798,1951,0,0,0,0,0,0
$GC,11500,0.59,155.7,866.6,12.1,784,11504,0.00,0.62,0.00,0.000,4,0.000,0.047,3226,1404,1951,0,0,0,0,0,0
$GC,11757,0.59,155.7,835.8,12.4,795,11761,0.00,0.60,0.00,0.000,6,0.000,0.027,3227,1806,1950,0,0,0,0,0,0
$GC,12078,0.59,155.7,797.6,11.7,811,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1805,1950,0,0,0,0,0,0
$GC,12387,0.59,155.7,761.8,11.5,826,12391,0.00,1.12,0.00,0.000,4,0.000,0.050,3229,1111,1949,0,0,0,0,0,0
$GC,12589,0.59,155.7,738.3,11.3,835,12593,0.00,1.05,0.00,0.000,6,0.000,0.027,3230,1826,1949,0,0,0,0,0,0
$GC,12921,0.59,155.7,701.4,11.0,851,12925,0.00,0.82,0.00,0.000,4,0.000,0.047,3232,1307,1949,0,0,0,0,0,0
$GC,13133,0.59,155.7,677.6,10.9,860,13137,0.00,0.75,0.00,0.000,6,0.000,0.025,3232,1799,1948,0,0,0,0,0,0
$GC,13454,0.59,155.7,642.2,11.0,876,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1799,1948,0,0,0,0,0,0
$GC,13763,0.59,155.7,608.7,10.7,891,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1799,1948,0,0,0,0,0,0
$GC,14073,0.59,155.7,576.3,10.5,906,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1799,1948,0,0,0,0,0,0
$GC,14382,0.59,155.7,542.6,11.1,921,14386,0.00,0.52,0.00,0.000,4,0.000,0.047,3233,1458,1948,0,0,0,0,0,0
$GC,14566,0.59,155.7,521.0,11.7,929,14570,0.00,0.55,0.00,0.000,6,0.000,0.032,3233,1856,1948,0,0,0,0,0,0
$GC,14892,0.59,155.7,482.1,11.7,945,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1856,1948,0,0,0,0,0,0
$GC,15202,0.59,155.7,446.6,11.1,960,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1856,1948,0,0,0,0,0,0
$GC,15511,0.59,155.7,412.1,10.9,975,15515,0.00,0.88,0.00,0.000,4,0.000,0.048,3235,1303,1948,0,0,0,0,0,0
$GC,15661,0.59,155.7,396.1,10.1,982,15667,0.00,0.73,0.00,0.000,6,0.000,0.028,3235,1812,1948,0,0,0,0,0,0
$GC,15988,0.59,155.7,362.6,10.3,1013,15990,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1812,1948,0,0,0,0,0,0
$GC,16306,0.59,155.7,329.0,10.2,1043,16309,0.00,0.40,0.00,0.000,4,0.000,0.047,3237,1543,1948,0,0,0,0,0,0
$GC,16446,0.59,155.7,313.8,12.2,1055,16451,0.00,0.35,0.00,0.000,6,0.000,0.035,3236,1792,1949,0,0,0,0,0,0
$GC,16771,0.59,155.7,278.4,11.0,1086,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1792,1948,0,0,0,0,0,0
$GC,17090,0.59,155.7,243.7,10.9,1116,17093,0.00,0.62,0.00,0.000,4,0.000,0.047,3238,1393,1948,0,0,0,0,0,0
$GC,17207,0.59,155.7,230.7,12.1,1126,17213,0.00,0.62,0.00,0.000,6,0.000,0.030,3238,1834,1948,0,0,0,0,0,0
$GC,17536,0.59,157.0,197.6,9.7,1157,17540,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1834,1948,0,0,0,0,0,0
$GC,17860,0.59,157.0,163.8,10.7,1188,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1834,1948,0,0,0,0,0,0
$GC,18179,0.59,157.0,129.3,11.5,1218,18181,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1834,1948,0,0,0,0,0,0
$GC,18503,0.59,157.0,94.3,11.8,1252,18508,0.00,0.60,0.00,0.000,4,0.000,0.046,3240,1444,1948,0,0,0,0,0,0
$GC,18709,0.59,157.0,71.3,11.7,1288,18714,0.00,0.50,0.00,0.000,6,0.000,0.033,3240,1826,1948,0,0,0,0,0,0
$GC,19058,0.59,157.0,31.5,11.1,1349,19062,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1826,1949,0,0,0,0,0,0
$GC,19203,0.59,157.0,16.2,10.4,1374,19210,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1826,1948,0,0,0,0,0,0
$GC,19258,0.59,157.0,10.3,11.2,1383,19265,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1826,1948,0,0,0,0,0,0
$GC,19314,0.59,157.6,4.7,9.8,1392,19321,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1826,1948,0,0,0,0,0,0
$STATE,19333,end climb,SURFACE_DEPTH_REACHED
$STATE,19333,begin surface coast
$FINISH,1.7,1.026547
$STATE,19364,end surface coast,CONTROL_FINISHED_OK
$STATE,19364,begin surface
$SM_CCo,19380,12.30,0.874,0,0,1844,185.20
$SM_GC,3.78,0.00,0.00,12.30,0.000,0.000,0.874,84,1968,1844,-9.24,0.51,185.20
$IRIDIUM_FIX,-4242.04,827.77,161113,222229
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.6,24.735
$10V_AH,10.2,20.655
$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,21.950,26.825,275.300,12.300,0.000,25.071,25.405,296.579,0.250,0.000,20.078,3445.225,12204.636,402.582,3651.995,154.680,33.376,1771.294,0.000,3255.775,0.000,2.830,0.000
$DEVICE_MAMPS,256.275,78.795,1591.200,874.395,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.806,963.513,939.883,86.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,80445,1400
$CAP_FILE_SIZE,166300,0
$CFSIZE,2097086464,2075459584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171113,092322,-4300.930,827.373,46,0.9,46,-25.0