version: 66.07.10.p01
glider: 574
mission: 7
dive: 151
start: 11 17 113 15 5 24
data:
$ID,574
$MISSION,7
$DIVE,151
$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,-13849.439
$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,32
$R_STBD_OVSHOOT,90
$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,130
$GPS1,171113,145629,-4301.893,827.766,36,0.9,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-74.2
$GPS2,171113,150430,-4301.825,827.893,18,0.9,18,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.035,-0.264
$KALMAN_X,-171619.3,206.5,119.8,62665.1,-361.9
$KALMAN_Y,482018.0,-60.5,-125.0,-695049.1,4313.0
$MHEAD_RNG_PITCHd_Wd,212.5,5617,-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,25,-0.59,-155.7,0.0,0.0,0,58,0.00,0.00,-31.17,0.000,2,0.000,0.000,67,1969,2281,0,0,0,0,0,0
$GC,60,-0.59,-155.7,3.0,-1.1,5,128,12.05,0.75,-47.97,0.000,4,0.259,0.079,2838,2465,3236,0,0,0,0,0,0
$GC,394,-0.59,-155.7,12.6,-11.9,61,401,0.00,0.80,0.00,0.000,6,0.000,0.037,2839,1933,3237,0,0,0,0,0,0
$GC,450,-0.59,-155.7,19.7,-12.5,70,457,0.00,0.45,0.00,0.000,4,0.000,0.036,2837,2262,3238,0,0,0,0,0,0
$GC,702,-0.59,-155.7,50.4,-11.3,114,710,0.00,0.45,0.00,0.000,6,0.000,0.039,2837,1943,3238,0,0,0,0,0,0
$GC,1052,-0.59,-155.7,93.2,-12.9,175,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3239,0,0,0,0,0,0
$GC,1379,-0.59,-155.7,135.7,-12.7,210,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3240,0,0,0,0,0,0
$GC,1698,-0.59,-155.7,175.2,-11.9,240,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3240,0,0,0,0,0,0
$GC,2017,-0.59,-155.7,209.9,-10.3,270,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3240,0,0,0,0,0,0
$GC,2336,-0.59,-155.7,243.4,-10.6,300,2339,0.00,0.38,0.00,0.000,4,0.000,0.054,2838,1672,3240,0,0,0,0,0,0
$GC,2464,-0.59,-155.7,257.4,-10.6,311,2470,0.00,0.35,0.00,0.000,6,0.000,0.037,2837,1941,3240,0,0,0,0,0,0
$GC,2789,-0.59,-155.7,290.3,-10.0,342,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1941,3240,0,0,0,0,0,0
$GC,3109,-0.59,-155.7,320.9,-9.1,372,3112,0.00,0.38,0.00,0.000,4,0.000,0.044,2834,2240,3240,0,0,0,0,0,0
$GC,3369,-0.59,-155.7,343.7,-8.9,395,3372,0.00,0.40,0.00,0.000,6,0.000,0.041,2834,1944,3240,0,0,0,0,0,0
$GC,3699,-0.59,-155.7,374.4,-9.7,426,3701,0.05,0.00,0.00,0.000,6,0.225,0.000,2844,1944,3240,0,0,0,0,0,0
$GC,4017,-0.59,-155.7,402.5,-8.6,455,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1944,3240,0,0,0,0,0,0
$GC,4326,-0.59,-155.7,429.1,-8.7,470,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1944,3240,0,0,0,0,0,0
$GC,4635,-0.59,-155.7,456.7,-8.8,485,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1945,3239,0,0,0,0,0,0
$GC,4945,-0.59,-155.7,484.2,-9.2,500,4949,0.00,0.68,0.00,0.000,4,0.000,0.049,2844,1493,3239,0,0,0,0,0,0
$GC,5134,-0.59,-155.7,503.0,-9.9,508,5138,0.00,0.65,0.00,0.000,6,0.000,0.030,2843,1951,3238,0,0,0,0,0,0
$GC,5455,-0.59,-155.7,534.6,-10.0,524,5459,0.00,0.30,0.00,0.000,4,0.000,0.048,2842,2204,3238,0,0,0,0,0,0
$GC,5712,-0.59,-155.7,559.7,-9.4,535,5716,0.00,0.35,0.00,0.000,6,0.000,0.043,2841,1956,3238,0,0,0,0,0,0
$GC,6033,-0.59,-155.7,590.5,-9.9,551,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3237,0,0,0,0,0,0
$GC,6343,-0.59,-155.7,619.5,-9.3,566,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3237,0,0,0,0,0,0
$GC,6652,-0.59,-155.7,648.9,-9.4,581,6656,0.00,0.40,0.00,0.000,4,0.000,0.054,2842,1671,3236,0,0,0,0,0,0
$GC,6792,-0.59,-155.7,662.3,-8.9,587,6796,0.00,0.38,0.00,0.000,6,0.000,0.037,2841,1958,3236,0,0,0,0,0,0
$GC,7118,-0.59,-155.7,694.2,-10.1,603,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1958,3236,0,0,0,0,0,0
$GC,7428,-0.59,-155.7,725.5,-10.2,618,7431,0.00,0.65,0.00,0.000,4,0.000,0.041,2837,2415,3235,0,0,0,0,0,0
$GC,7667,-0.59,-155.7,749.4,-10.5,628,7673,0.00,0.70,0.00,0.000,6,0.000,0.037,2837,1950,3235,0,0,0,0,0,0
$GC,7983,-0.59,-155.7,779.6,-9.5,644,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1949,3235,0,0,0,0,0,0
$GC,8293,-0.59,-155.7,807.3,-8.7,659,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1949,3234,0,0,0,0,0,0
$GC,8602,-0.59,-155.7,832.8,-8.1,674,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1949,3234,0,0,0,0,0,0
$GC,8911,-0.59,-155.7,858.0,-8.2,689,8915,0.00,0.43,0.00,0.000,4,0.000,0.052,2837,1647,3233,0,0,0,0,0,0
$GC,9070,-0.59,-155.7,871.3,-8.7,696,9073,0.00,0.38,0.00,0.000,6,0.000,0.038,2836,1947,3233,0,0,0,0,0,0
$GC,9402,-0.59,-155.7,899.6,-8.4,712,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1947,3232,0,0,0,0,0,0
$GC,9711,-0.59,-155.7,925.3,-8.1,727,9715,0.00,0.38,0.00,0.000,4,0.000,0.045,2835,2241,3232,0,0,0,0,0,0
$GC,9907,-0.59,-155.7,940.9,-7.4,735,9912,0.00,0.43,0.00,0.000,6,0.000,0.041,2835,1939,3232,0,0,0,0,0,0
$GC,10222,-0.59,-155.7,965.4,-8.0,751,10224,0.03,0.00,0.00,0.000,6,0.275,0.000,2843,1939,3232,0,0,0,0,0,0
$GC,10532,-0.59,-155.7,988.6,-7.9,766,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1939,3232,0,0,0,0,0,0
$STATE,10699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10699,begin apogee
$GC,10704,-0.17,0.0,1001.5,7.9,774,10837,0.47,0.00,130.35,1.601,6,0.153,0.000,2982,1812,2600,0,0,0,0,0,0
$STATE,10838,end apogee,CONTROL_FINISHED_OK
$STATE,10838,begin climb
$GC,10839,0.59,155.7,1005.1,0.0,781,10987,0.80,0.00,144.02,1.554,6,0.106,0.000,3224,1812,1965,0,0,0,0,0,0
$GC,11286,0.59,155.7,961.5,10.4,803,11290,0.00,2.35,0.00,0.000,4,0.000,0.063,3230,432,1954,0,0,0,0,0,0
$GC,11430,0.59,155.7,945.2,11.8,809,11436,0.00,2.12,0.00,0.000,6,0.000,0.026,3230,1782,1952,0,0,0,0,0,0
$GC,11746,0.59,155.7,910.0,11.1,825,11750,0.00,0.35,0.00,0.000,4,0.000,0.045,3231,1545,1952,0,0,0,0,0,0
$GC,12003,0.59,155.7,881.4,11.8,836,12007,0.00,0.40,0.00,0.000,6,0.000,0.032,3231,1826,1950,0,0,0,0,0,0
$GC,12323,0.59,155.7,845.8,11.4,852,12327,0.00,1.23,0.00,0.000,4,0.000,0.051,3235,1076,1950,0,0,0,0,0,0
$GC,12468,0.59,155.7,828.6,12.4,858,12472,0.00,1.10,0.00,0.000,6,0.000,0.026,3235,1820,1949,0,0,0,0,0,0
$GC,12789,0.59,155.7,789.3,12.4,874,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1820,1949,0,0,0,0,0,0
$GC,13098,0.59,155.7,750.7,12.5,889,13102,0.00,1.30,0.00,0.000,4,0.000,0.053,3240,1019,1948,0,0,0,0,0,0
$GC,13256,0.59,155.7,730.2,12.3,896,13260,0.00,1.17,0.00,0.000,6,0.000,0.026,3240,1812,1949,0,0,0,0,0,0
$GC,13588,0.59,155.7,688.3,12.6,912,13592,0.00,0.40,0.00,0.000,4,0.000,0.046,3240,1545,1948,0,0,0,0,0,0
$GC,13794,0.59,155.7,662.4,12.7,921,13798,0.00,0.38,0.00,0.000,6,0.000,0.033,3240,1813,1948,0,0,0,0,0,0
$GC,14122,0.59,155.7,623.0,11.8,937,14126,0.00,0.55,0.00,0.000,4,0.000,0.047,3240,1459,1948,0,0,0,0,0,0
$GC,14317,0.59,155.7,599.8,12.4,945,14323,0.00,0.52,0.00,0.000,6,0.000,0.030,3240,1842,1948,0,0,0,0,0,0
$GC,14633,0.59,155.7,562.0,12.1,961,14636,0.00,0.95,0.00,0.000,4,0.000,0.049,3243,1248,1947,0,0,0,0,0,0
$GC,14805,0.59,155.7,541.8,11.6,968,14811,0.00,0.80,0.00,0.000,6,0.000,0.025,3243,1794,1947,0,0,0,0,0,0
$GC,15121,0.59,155.7,504.2,12.3,984,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1794,1947,0,0,0,0,0,0
$GC,15430,0.59,155.7,466.6,12.0,999,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1795,1947,0,0,0,0,0,0
$GC,15739,0.59,155.7,428.9,12.1,1014,15741,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1794,1947,0,0,0,0,0,0
$GC,16051,0.59,155.7,392.4,11.6,1032,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1794,1947,0,0,0,0,0,0
$GC,16370,0.59,155.7,355.6,11.1,1062,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1794,1947,0,0,0,0,0,0
$GC,16689,0.59,155.7,322.4,10.2,1092,16692,0.00,0.38,0.00,0.000,4,0.000,0.047,3243,1535,1947,0,0,0,0,0,0
$GC,16817,0.59,155.7,309.4,10.1,1103,16822,0.00,0.38,0.00,0.000,6,0.000,0.033,3244,1805,1947,0,0,0,0,0,0
$GC,17142,0.59,160.4,277.7,9.6,1134,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1805,1948,0,0,0,0,0,0
$GC,17461,0.59,160.4,246.6,10.1,1164,17464,0.00,0.43,0.00,0.000,4,0.000,0.045,3245,1511,1947,0,0,0,0,0,0
$GC,17721,0.59,160.4,221.4,10.0,1187,17725,0.03,0.40,0.00,0.000,6,0.160,0.036,3235,1841,1947,0,0,0,0,0,0
$GC,18050,0.59,160.4,189.1,10.2,1218,18053,0.00,0.65,0.00,0.000,4,0.000,0.046,3237,1421,1947,0,0,0,0,0,0
$GC,18221,0.59,160.4,171.7,10.4,1233,18225,0.00,0.50,0.00,0.000,6,0.000,0.031,3237,1811,1947,0,0,0,0,0,0
$GC,18551,0.59,160.4,137.8,10.6,1264,18552,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1811,1947,0,0,0,0,0,0
$GC,18872,0.59,160.4,104.1,10.5,1294,18876,0.00,0.40,0.00,0.000,4,0.000,0.042,3237,1541,1947,0,0,0,0,0,0
$GC,19128,0.59,160.4,76.2,11.3,1335,19135,0.00,0.30,0.00,0.000,6,0.000,0.037,3237,1793,1947,0,0,0,0,0,0
$GC,19475,0.59,160.4,38.1,10.7,1396,19483,0.00,0.65,0.00,0.000,4,0.000,0.046,3239,1375,1948,0,0,0,0,0,0
$GC,19745,0.59,160.4,10.1,11.8,1442,19753,0.00,0.57,0.00,0.000,6,0.000,0.029,3239,1821,1947,0,0,0,0,0,0
$GC,19802,0.59,160.4,4.1,11.0,1451,19808,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1821,1947,0,0,0,0,0,0
$STATE,19815,end climb,SURFACE_DEPTH_REACHED
$STATE,19815,begin surface coast
$FINISH,1.9,1.026531
$STATE,19846,end surface coast,CONTROL_FINISHED_OK
$STATE,19846,begin surface
$SM_CCo,19861,12.23,0.876,0,0,1844,185.20
$SM_GC,3.87,0.00,0.00,12.23,0.000,0.000,0.876,79,1955,1844,-9.25,0.14,185.20
$IRIDIUM_FIX,-4244.98,840.29,171113,090909
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.6,25.049
$10V_AH,10.2,20.912
$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,21.875,28.150,274.375,12.225,0.000,23.929,26.415,308.370,0.500,0.000,20.359,3567.641,12430.513,394.138,3796.583,161.795,33.380,1777.601,0.000,3393.512,0.000,5.656,0.000
$DEVICE_MAMPS,275.400,96.390,1601.145,875.925,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.401,1085.551,977.913,105.919,0.000,0.000,0.000,0.000,0.000,0.000
$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,83494,1458
$CAP_FILE_SIZE,168493,0
$CFSIZE,2097086464,2075197440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171113,203759,-4302.605,827.779,46,0.8,46,-25.0