version: 66.07.10.p01
glider: 574
mission: 7
dive: 150
start: 11 17 113 9 32 38
data:
$ID,574
$MISSION,7
$DIVE,150
$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,-13847.107
$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,53
$R_STBD_OVSHOOT,81
$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,129
$GPS1,171113,092322,-4300.930,827.373,46,0.9,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-75.4
$GPS2,171113,093143,-4300.882,827.442,20,1.0,21,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.004,-0.266
$KALMAN_X,-171925.7,33.3,57.8,62581.9,-246.5
$KALMAN_Y,478514.2,-133.5,-217.3,-689632.8,5162.5
$MHEAD_RNG_PITCHd_Wd,204.1,6653,-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,-155.7,0.0,0.0,0,45,0.00,0.00,-19.15,0.000,2,0.000,0.000,67,1968,2254,0,0,0,0,0,0
$GC,48,-0.59,-155.7,3.1,-2.1,3,115,12.10,0.82,-48.42,0.000,4,0.260,0.073,2841,2510,3235,0,0,0,0,0,0
$GC,253,-0.59,-155.7,17.8,-12.3,37,260,0.00,0.82,0.00,0.000,6,0.000,0.037,2841,1962,3237,0,0,0,0,0,0
$GC,307,-0.59,-155.7,24.7,-12.4,46,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1962,3238,0,0,0,0,0,0
$GC,451,-0.59,-155.7,43.6,-13.2,71,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1962,3238,0,0,0,0,0,0
$GC,796,-0.59,-155.7,87.2,-12.3,132,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1962,3239,0,0,0,0,0,0
$GC,1128,-0.59,-155.7,127.3,-11.8,172,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1962,3240,0,0,0,0,0,0
$GC,1447,-0.59,-155.7,165.9,-11.8,202,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1962,3240,0,0,0,0,0,0
$GC,1765,-0.59,-155.7,204.3,-12.1,232,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1962,3241,0,0,0,0,0,0
$GC,2084,-0.59,-155.7,242.8,-11.9,262,2088,0.00,0.57,0.00,0.000,4,0.000,0.050,2841,1564,3241,0,0,0,0,0,0
$GC,2190,-0.59,-155.7,256.1,-12.2,271,2196,0.00,0.52,0.00,0.000,6,0.000,0.034,2840,1940,3241,0,0,0,0,0,0
$GC,2515,-0.59,-155.7,293.2,-11.3,302,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1941,3241,0,0,0,0,0,0
$GC,2834,-0.59,-155.7,327.4,-10.4,332,2838,0.00,1.08,0.00,0.000,4,0.000,0.041,2835,2649,3241,0,0,0,0,0,0
$GC,3029,-0.59,-155.7,346.3,-9.5,349,3032,0.00,1.05,0.00,0.000,6,0.000,0.035,2835,1956,3241,0,0,0,0,0,0
$GC,3358,-0.59,-155.7,380.3,-9.8,380,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1956,3242,0,0,0,0,0,0
$GC,3673,-0.59,-155.7,414.0,-11.1,404,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1956,3241,0,0,0,0,0,0
$GC,3983,-0.59,-155.7,448.1,-10.9,419,3986,0.00,0.52,0.00,0.000,4,0.000,0.050,2835,1589,3241,0,0,0,0,0,0
$GC,4110,-0.59,-155.7,463.2,-12.0,424,4116,0.05,0.50,0.00,0.000,6,0.233,0.033,2843,1958,3242,0,0,0,0,0,0
$GC,4426,-0.59,-155.7,497.8,-11.2,440,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1958,3242,0,0,0,0,0,0
$GC,4735,-0.59,-155.7,532.1,-11.0,455,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1958,3242,0,0,0,0,0,0
$GC,5044,-0.59,-155.7,565.9,-10.8,470,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1958,3241,0,0,0,0,0,0
$GC,5354,-0.59,-155.7,598.1,-10.2,485,5357,0.00,0.40,0.00,0.000,4,0.000,0.044,2842,2268,3241,0,0,0,0,0,0
$GC,5571,-0.59,-155.7,620.1,-10.2,494,5576,0.00,0.47,0.00,0.000,6,0.000,0.039,2842,1933,3241,0,0,0,0,0,0
$GC,5886,-0.59,-155.7,651.6,-10.0,510,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3241,0,0,0,0,0,0
$GC,6196,-0.59,-155.7,682.9,-10.2,525,6200,0.00,0.50,0.00,0.000,4,0.000,0.051,2842,1584,3240,0,0,0,0,0,0
$GC,6346,-0.59,-155.7,698.0,-9.9,531,6351,0.00,0.50,0.00,0.000,6,0.000,0.033,2841,1950,3240,0,0,0,0,0,0
$GC,6662,-0.59,-155.7,728.5,-9.5,547,6666,0.00,0.35,0.00,0.000,4,0.000,0.044,2839,2234,3240,0,0,0,0,0,0
$GC,6919,-0.59,-155.7,752.0,-8.8,558,6923,0.00,0.40,0.00,0.000,6,0.000,0.041,2839,1945,3239,0,0,0,0,0,0
$GC,7240,-0.59,-155.7,778.6,-8.3,574,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1944,3239,0,0,0,0,0,0
$GC,7550,-0.59,-155.7,803.7,-8.1,589,7553,0.00,0.62,0.00,0.000,4,0.000,0.050,2839,1522,3239,0,0,0,0,0,0
$GC,7712,-0.59,-155.7,817.6,-8.7,596,7716,0.00,0.60,0.00,0.000,6,0.000,0.031,2837,1950,3239,0,0,0,0,0,0
$GC,8039,-0.59,-155.7,848.1,-9.4,612,8042,0.00,0.57,0.00,0.000,4,0.000,0.041,2834,2366,3238,0,0,0,0,0,0
$GC,8189,-0.59,-155.7,862.3,-9.3,618,8195,0.05,0.60,0.00,0.000,6,0.223,0.038,2845,1949,3238,0,0,0,0,0,0
$GC,8505,-0.59,-155.7,892.0,-9.7,634,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1949,3238,0,0,0,0,0,0
$GC,8814,-0.59,-155.7,921.0,-9.2,649,8818,0.00,0.57,0.00,0.000,4,0.000,0.050,2845,1555,3237,0,0,0,0,0,0
$GC,9032,-0.59,-155.7,940.9,-9.4,658,9038,0.00,0.55,0.00,0.000,6,0.000,0.032,2844,1950,3237,0,0,0,0,0,0
$GC,9348,-0.59,-155.7,968.8,-8.8,674,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1950,3237,0,0,0,0,0,0
$GC,9657,-0.59,-155.7,996.5,-9.2,689,9661,0.00,0.85,0.00,0.000,4,0.000,0.041,2840,2531,3237,0,0,0,0,0,0
$STATE,9702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9702,begin apogee
$GC,9707,-0.17,0.0,1000.3,8.2,691,9843,0.47,0.00,131.82,1.593,6,0.147,0.000,2979,1837,2600,0,0,0,0,0,0
$STATE,9843,end apogee,CONTROL_FINISHED_OK
$STATE,9843,begin climb
$GC,9845,0.59,155.7,1004.6,0.0,698,9995,0.77,1.62,143.45,1.552,4,0.107,0.056,3225,946,1964,0,0,0,0,0,0
$GC,10134,0.59,155.7,978.4,11.2,711,10141,0.00,1.38,0.00,0.000,6,0.000,0.024,3225,1800,1956,0,0,0,0,0,0
$GC,10451,0.59,155.7,942.6,11.6,727,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1800,1954,0,0,0,0,0,0
$GC,10760,0.59,155.7,906.7,11.9,742,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1800,1953,0,0,0,0,0,0
$GC,11069,0.59,155.7,870.3,11.5,757,11073,0.00,0.55,0.00,0.000,4,0.000,0.046,3225,1451,1953,0,0,0,0,0,0
$GC,11318,0.59,155.7,842.8,10.9,768,11322,0.00,0.52,0.00,0.000,6,0.000,0.031,3227,1826,1953,0,0,0,0,0,0
$GC,11650,0.59,155.7,805.3,11.3,784,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1826,1953,0,0,0,0,0,0
$GC,11959,0.59,155.7,769.5,11.4,799,11963,0.00,0.82,0.00,0.000,4,0.000,0.048,3227,1313,1953,0,0,0,0,0,0
$GC,12110,0.59,155.7,752.4,11.8,805,12116,0.00,0.73,0.00,0.000,6,0.000,0.026,3227,1806,1953,0,0,0,0,0,0
$GC,12425,0.59,155.7,717.1,11.2,821,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1806,1953,0,0,0,0,0,0
$GC,12735,0.59,155.7,683.2,10.9,836,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1806,1953,0,0,0,0,0,0
$GC,13044,0.59,155.7,648.8,11.1,851,13048,0.00,0.73,0.00,0.000,4,0.000,0.047,3229,1348,1953,0,0,0,0,0,0
$GC,13223,0.59,155.7,629.4,10.2,859,13227,0.00,0.68,0.00,0.000,6,0.000,0.028,3229,1829,1953,0,0,0,0,0,0
$GC,13555,0.59,155.7,593.4,10.8,875,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1829,1953,0,0,0,0,0,0
$GC,13864,0.59,155.7,561.0,10.2,890,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1829,1953,0,0,0,0,0,0
$GC,14174,0.59,155.7,528.3,10.7,905,14177,0.00,0.75,0.00,0.000,4,0.000,0.046,3231,1353,1953,0,0,0,0,0,0
$GC,14402,0.59,155.7,502.5,12.4,915,14407,0.00,0.68,0.00,0.000,6,0.000,0.028,3231,1827,1953,0,0,0,0,0,0
$GC,14729,0.59,155.7,464.8,11.4,931,14730,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1827,1953,0,0,0,0,0,0
$GC,15039,0.59,155.7,430.5,10.8,946,15042,0.00,0.52,0.00,0.000,4,0.000,0.046,3233,1482,1953,0,0,0,0,0,0
$GC,15211,0.59,155.7,412.0,10.8,953,15216,0.00,0.45,0.00,0.000,6,0.000,0.033,3233,1824,1954,0,0,0,0,0,0
$GC,15533,0.59,157.9,379.8,9.7,978,15534,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1824,1954,0,0,0,0,0,0
$GC,15851,0.59,173.6,350.3,9.1,1008,15870,0.00,0.00,16.17,1.170,6,0.000,0.000,3233,1824,1892,0,0,0,0,0,0
$GC,16189,0.59,173.6,317.3,9.9,1040,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1824,1890,0,0,0,0,0,0
$GC,16509,0.59,185.2,286.5,9.3,1070,16523,0.00,0.70,11.50,1.105,4,0.000,0.043,3235,1371,1846,0,0,0,0,0,0
$GC,16651,0.59,185.2,272.6,10.5,1082,16657,0.00,0.62,0.00,0.000,6,0.000,0.028,3235,1813,1843,0,0,0,0,0,0
$GC,16978,0.59,211.5,242.9,8.7,1113,17006,0.00,0.00,24.58,1.106,6,0.000,0.000,3235,1813,1737,0,0,0,0,0,0
$GC,17325,0.59,226.3,211.3,9.2,1146,17344,0.00,0.00,13.90,1.053,6,0.000,0.000,3235,1813,1677,0,0,0,0,0,0
$GC,17664,0.59,230.6,179.4,9.6,1178,17675,0.00,0.50,4.72,0.855,4,0.000,0.045,3236,1493,1659,0,0,0,0,0,0
$GC,17815,0.59,242.7,164.6,9.3,1191,17834,0.00,0.43,12.12,1.014,6,0.000,0.031,3236,1794,1610,0,0,0,0,0,0
$GC,18150,0.59,242.7,128.7,10.8,1223,18154,0.00,0.43,0.00,0.000,4,0.000,0.044,3237,1509,1607,0,0,0,0,0,0
$GC,18302,0.59,242.7,110.8,10.7,1236,18310,0.00,0.43,0.00,0.000,6,0.000,0.032,3237,1820,1606,0,0,0,0,0,0
$GC,18643,0.59,242.7,69.2,12.0,1289,18648,0.00,0.68,0.00,0.000,4,0.000,0.045,3239,1389,1606,0,0,0,0,0,0
$GC,18779,0.59,242.7,53.3,11.2,1313,18785,0.00,0.57,0.00,0.000,6,0.000,0.029,3239,1815,1606,0,0,0,0,0,0
$GC,19130,0.59,242.7,15.8,11.6,1374,19137,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1815,1605,0,0,0,0,0,0
$GC,19186,0.59,242.7,9.8,11.4,1383,19193,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1815,1605,0,0,0,0,0,0
$GC,19242,0.59,242.7,3.8,11.0,1392,19248,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1814,1605,0,0,0,0,0,0
$STATE,19255,end climb,SURFACE_DEPTH_REACHED
$STATE,19255,begin surface coast
$FINISH,1.7,1.026395
$STATE,19286,end surface coast,CONTROL_FINISHED_OK
$STATE,19286,begin surface
$SM_CCo,19362,0.00,0.000,0,0,1600,245.05
$SM_GC,2.91,8.55,0.00,0.00,0.047,0.000,0.000,88,1959,1600,-9.17,0.25,245.05
$IRIDIUM_FIX,-4242.04,827.77,171113,030337
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.24311
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.6,24.903
$10V_AH,10.3,20.780
$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,22.000,27.850,358.275,0.000,0.000,31.223,49.995,296.015,0.250,0.000,22.953,3397.630,12219.430,420.497,3647.604,172.397,33.376,1799.737,0.000,3232.818,0.000,2.829,0.000
$DEVICE_MAMPS,260.100,74.970,1593.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.654,969.885,944.969,85.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,80190,1399
$CAP_FILE_SIZE,166267,0
$CFSIZE,2097086464,2075328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171113,145629,-4301.893,827.766,36,0.9,36,-25.0