version: 66.07.10.p01
glider: 574
mission: 7
dive: 153
start: 11 18 113 0 13 32
data:
$ID,574
$MISSION,7
$DIVE,153
$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,-13856.377
$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,46
$R_STBD_OVSHOOT,58
$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,132
$GPS1,181113,000547,-4300.887,830.660,16,1.2,16,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.0
$GPS2,181113,001237,-4300.848,830.779,22,0.9,23,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.076,-0.251
$KALMAN_X,-170143.8,63.0,129.1,65348.9,460.3
$KALMAN_Y,489014.8,-239.1,-412.7,-699769.8,6674.1
$MHEAD_RNG_PITCHd_Wd,221.8,1892,-17.7,-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,-0.60,-150.1,0.0,0.0,0,46,0.00,0.00,-19.77,0.000,2,0.000,0.000,67,1977,2261,0,0,0,0,0,0
$GC,49,-0.60,-155.7,3.0,-2.5,3,110,11.90,1.48,-42.95,0.000,4,0.256,0.061,2833,2897,3234,0,0,0,0,0,0
$GC,212,-0.60,-155.7,16.4,-12.1,30,219,0.00,1.45,0.00,0.000,6,0.000,0.031,2833,1967,3237,0,0,0,0,0,0
$GC,268,-0.60,-155.7,23.4,-12.5,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1967,3237,0,0,0,0,0,0
$GC,412,-0.60,-155.7,42.6,-14.0,64,417,0.00,0.43,0.00,0.000,4,0.000,0.051,2833,1670,3237,0,0,0,0,0,0
$GC,567,-0.60,-155.7,63.8,-13.3,91,572,0.00,0.40,0.00,0.000,6,0.000,0.036,2832,1986,3237,0,0,0,0,0,0
$GC,916,-0.60,-155.7,106.3,-11.9,148,919,0.00,0.25,0.00,0.000,4,0.000,0.050,2830,2207,3238,0,0,0,0,0,0
$GC,1176,-0.60,-155.7,137.1,-12.1,171,1180,0.00,0.38,0.00,0.000,6,0.000,0.042,2830,1931,3239,0,0,0,0,0,0
$GC,1506,-0.60,-155.7,176.7,-11.9,202,1508,0.05,0.00,0.00,0.000,6,0.237,0.000,2840,1930,3240,0,0,0,0,0,0
$GC,1824,-0.60,-155.7,212.6,-11.2,232,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1930,3240,0,0,0,0,0,0
$GC,2144,-0.60,-155.7,247.5,-10.9,262,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1930,3240,0,0,0,0,0,0
$GC,2462,-0.60,-155.7,281.5,-10.5,292,2466,0.00,0.35,0.00,0.000,4,0.000,0.040,2840,2207,3240,0,0,0,0,0,0
$GC,2647,-0.60,-155.7,300.6,-9.6,308,2655,0.00,0.38,0.00,0.000,6,0.000,0.041,2839,1939,3239,0,0,0,0,0,0
$GC,2974,-0.60,-155.7,329.2,-10.3,339,2977,0.00,1.00,0.00,0.000,4,0.000,0.049,2840,1292,3240,0,0,0,0,0,0
$GC,3147,-0.60,-155.7,349.1,-11.1,354,3153,0.00,0.95,0.00,0.000,6,0.000,0.028,2836,1927,3240,0,0,0,0,0,0
$GC,3474,-0.60,-155.7,385.7,-11.0,385,3478,0.00,0.95,0.00,0.000,4,0.000,0.040,2831,2572,3240,0,0,0,0,0,0
$GC,3659,-0.60,-155.7,406.9,-11.3,399,3664,0.00,0.95,0.00,0.000,6,0.000,0.035,2831,1951,3240,0,0,0,0,0,0
$GC,3986,-0.60,-155.7,444.6,-11.5,415,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1950,3240,0,0,0,0,0,0
$GC,4296,-0.60,-155.7,479.0,-10.9,430,4299,0.00,0.40,0.00,0.000,4,0.000,0.051,2831,1658,3240,0,0,0,0,0,0
$GC,4423,-0.60,-155.7,493.7,-11.2,435,4429,0.00,0.43,0.00,0.000,6,0.000,0.036,2830,1981,3240,0,0,0,0,0,0
$GC,4739,-0.60,-155.7,527.6,-10.6,451,4740,0.05,0.00,0.00,0.000,6,0.240,0.000,2840,1981,3240,0,0,0,0,0,0
$GC,5048,-0.60,-155.7,559.2,-10.1,466,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1981,3239,0,0,0,0,0,0
$GC,5358,-0.60,-155.7,589.6,-9.7,481,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1981,3239,0,0,0,0,0,0
$GC,5666,-0.60,-155.7,620.1,-9.9,496,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3238,0,0,0,0,0,0
$GC,5976,-0.60,-155.7,650.1,-9.5,511,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3238,0,0,0,0,0,0
$GC,6286,-0.60,-155.7,678.8,-8.9,526,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3238,0,0,0,0,0,0
$GC,6595,-0.60,-155.7,709.4,-10.1,541,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3237,0,0,0,0,0,0
$GC,6904,-0.60,-155.7,739.7,-9.4,556,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3237,0,0,0,0,0,0
$GC,7214,-0.60,-155.7,767.8,-9.0,571,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3237,0,0,0,0,0,0
$GC,7523,-0.60,-155.7,794.1,-8.5,586,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3236,0,0,0,0,0,0
$GC,7832,-0.60,-155.7,820.6,-8.6,601,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3236,0,0,0,0,0,0
$GC,8142,-0.60,-155.7,845.3,-7.7,616,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3235,0,0,0,0,0,0
$GC,8451,-0.60,-155.7,869.5,-7.9,631,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3235,0,0,0,0,0,0
$GC,8760,-0.60,-155.7,893.7,-7.7,646,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3235,0,0,0,0,0,0
$GC,9070,-0.60,-155.7,918.1,-7.9,661,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3234,0,0,0,0,0,0
$GC,9379,-0.60,-155.7,942.7,-7.9,676,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1983,3233,0,0,0,0,0,0
$GC,9688,-0.60,-155.7,967.2,-7.8,691,9692,0.00,0.55,0.00,0.000,4,0.000,0.044,2840,1611,3234,0,0,0,0,0,0
$GC,9810,-0.60,-155.7,977.1,-7.2,696,9814,0.00,0.45,0.00,0.000,6,0.000,0.037,2840,1940,3233,0,0,0,0,0,0
$STATE,10110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10111,begin apogee
$GC,10115,-0.17,0.0,1000.5,8.0,711,10251,0.47,0.00,131.18,1.593,6,0.152,0.000,2978,1795,2599,0,0,0,0,0,0
$STATE,10252,end apogee,CONTROL_FINISHED_OK
$STATE,10252,begin climb
$GC,10253,0.60,155.7,1003.9,0.0,718,10403,0.82,1.05,143.48,1.552,4,0.106,0.054,3231,1226,1964,0,0,0,0,0,0
$GC,10544,0.60,155.7,976.3,10.8,732,10548,0.00,0.88,0.00,0.000,6,0.000,0.027,3231,1798,1956,0,0,0,0,0,0
$GC,10876,0.60,155.7,939.3,10.9,748,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1798,1952,0,0,0,0,0,0
$GC,11185,0.60,155.7,904.5,11.3,763,11189,0.00,0.70,0.00,0.000,4,0.000,0.048,3233,1367,1952,0,0,0,0,0,0
$GC,11419,0.60,155.7,876.1,12.8,773,11424,0.00,0.65,0.00,0.000,6,0.000,0.029,3233,1824,1951,0,0,0,0,0,0
$GC,11741,0.60,155.7,837.0,12.4,789,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1824,1951,0,0,0,0,0,0
$GC,12050,0.60,155.7,797.6,12.7,804,12054,0.00,1.20,0.00,0.000,4,0.000,0.052,3237,1087,1951,0,0,0,0,0,0
$GC,12200,0.60,155.7,778.2,13.1,810,12206,0.00,1.08,0.00,0.000,6,0.000,0.026,3238,1814,1950,0,0,0,0,0,0
$GC,12516,0.60,155.7,737.9,12.5,826,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1814,1950,0,0,0,0,0,0
$GC,12825,0.60,155.7,700.5,11.8,841,12829,0.00,1.00,0.00,0.000,4,0.000,0.051,3240,1194,1949,0,0,0,0,0,0
$GC,12960,0.60,155.7,685.3,11.1,847,12964,0.00,0.90,0.00,0.000,6,0.000,0.028,3240,1813,1949,0,0,0,0,0,0
$GC,13292,0.60,155.7,648.1,11.2,863,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1949,0,0,0,0,0,0
$GC,13601,0.60,155.7,611.6,12.2,878,13605,0.00,0.65,0.00,0.000,4,0.000,0.048,3241,1396,1949,0,0,0,0,0,0
$GC,13759,0.60,155.7,591.8,12.8,885,13763,0.00,0.57,0.00,0.000,6,0.000,0.031,3241,1808,1949,0,0,0,0,0,0
$GC,14091,0.60,155.7,550.0,12.3,901,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1949,0,0,0,0,0,0
$GC,14400,0.60,155.7,512.6,11.9,916,14404,0.00,0.65,0.00,0.000,4,0.000,0.047,3243,1393,1949,0,0,0,0,0,0
$GC,14634,0.60,155.7,484.8,11.6,926,14639,0.00,0.62,0.00,0.000,6,0.000,0.031,3243,1834,1949,0,0,0,0,0,0
$GC,14956,0.60,155.7,447.6,11.4,942,14957,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1834,1949,0,0,0,0,0,0
$GC,15265,0.60,155.7,411.0,11.9,957,15269,0.00,0.68,0.00,0.000,4,0.000,0.048,3245,1399,1949,0,0,0,0,0,0
$GC,15458,0.60,155.7,387.9,11.3,969,15462,0.00,0.55,0.00,0.000,6,0.000,0.031,3245,1789,1949,0,0,0,0,0,0
$GC,15788,0.60,155.7,348.7,11.6,1000,15789,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1789,1949,0,0,0,0,0,0
$GC,16107,0.60,155.7,311.2,11.7,1030,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1789,1949,0,0,0,0,0,0
$GC,16426,0.60,155.7,274.0,11.5,1060,16430,0.00,1.27,0.00,0.000,4,0.000,0.054,3249,1000,1949,0,0,0,0,0,0
$GC,16576,0.60,155.7,257.4,10.7,1073,16580,0.03,1.20,0.00,0.000,6,0.180,0.029,3240,1809,1949,0,0,0,0,0,0
$GC,16906,0.60,156.1,223.1,9.8,1104,16907,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1809,1949,0,0,0,0,0,0
$GC,17225,0.60,156.1,190.5,10.4,1134,17226,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1809,1949,0,0,0,0,0,0
$GC,17543,0.60,156.1,157.1,10.5,1164,17547,0.00,0.45,0.00,0.000,4,0.000,0.047,3240,1509,1949,0,0,0,0,0,0
$GC,17773,0.60,156.1,132.7,10.9,1184,17781,0.00,0.45,0.00,0.000,6,0.000,0.034,3240,1844,1950,0,0,0,0,0,0
$GC,18101,0.60,156.1,98.0,10.8,1216,18106,0.00,0.62,0.00,0.000,4,0.000,0.045,3242,1439,1949,0,0,0,0,0,0
$GC,18307,0.60,156.1,77.1,10.3,1252,18312,0.00,0.50,0.00,0.000,6,0.000,0.033,3242,1816,1950,0,0,0,0,0,0
$GC,18657,0.60,156.1,38.9,11.6,1313,18662,0.00,0.60,0.00,0.000,4,0.000,0.040,3242,2244,1950,0,0,0,0,0,0
$GC,18739,0.60,156.1,29.9,10.8,1327,18744,0.00,0.62,0.00,0.000,6,0.000,0.042,3244,1822,1950,0,0,0,0,0,0
$GC,18885,0.60,156.1,14.9,9.9,1352,18892,0.00,1.08,0.00,0.000,4,0.000,0.057,3249,1142,1950,0,0,0,0,0,0
$STATE,18998,end climb,SURFACE_DEPTH_REACHED
$STATE,18998,begin surface coast
$FINISH,2.1,1.026565
$STATE,19023,end surface coast,CONTROL_FINISHED_OK
$STATE,19024,begin surface
$SM_CCo,19039,12.40,0.868,0,0,1844,185.20
$SM_GC,3.75,0.00,0.00,12.40,0.000,0.000,0.868,87,1953,1844,-9.22,0.08,185.20
$IRIDIUM_FIX,-4244.98,828.21,171113,202037
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.6,25.328
$10V_AH,10.2,21.114
$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,21.825,30.150,274.650,12.400,0.000,25.303,45.124,226.727,0.250,0.000,25.649,3343.112,12239.890,354.927,3386.766,143.911,33.374,1621.266,0.000,3037.981,0.000,2.830,0.000
$DEVICE_MAMPS,255.510,61.200,1593.495,867.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.198,930.501,918.156,82.697,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,76834,1375
$CAP_FILE_SIZE,155819,0
$CFSIZE,2097086464,2074968064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181113,053358,-4301.212,830.171,140,1.4,140,-25.0