version: 66.07.10.p01
glider: 574
mission: 7
dive: 161
start: 11 19 113 10 9 12
data:
$ID,574
$MISSION,7
$DIVE,161
$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,-13878.472
$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,42
$R_STBD_OVSHOOT,60
$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,140
$GPS1,191113,100133,-4302.293,829.336,65,1.1,78,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.3
$GPS2,191113,100817,-4302.252,829.420,16,1.2,16,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.143,-0.195
$KALMAN_X,-161876.7,11.0,260.4,55103.8,3732.4
$KALMAN_Y,512977.3,-1195.9,-405.2,-725366.5,8126.3
$MHEAD_RNG_PITCHd_Wd,241.2,4244,-19.4,-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,22,begin dive
$GC,24,-0.65,-126.1,0.0,0.0,0,51,0.00,0.00,-25.42,0.000,2,0.000,0.000,67,1975,2375,0,0,0,0,0,0
$GC,53,-0.65,-155.7,3.1,-2.5,4,115,12.35,1.52,-41.17,0.000,4,0.270,0.060,2812,2934,3235,0,0,0,0,0,0
$GC,142,-0.65,-155.7,5.2,-8.1,18,149,0.00,1.52,0.00,0.000,6,0.000,0.031,2817,1953,3236,0,0,0,0,0,0
$GC,198,-0.65,-155.7,13.4,-15.3,27,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1953,3236,0,0,0,0,0,0
$GC,251,-0.65,-155.7,21.5,-15.9,36,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1953,3237,0,0,0,0,0,0
$GC,397,-0.65,-155.7,43.6,-14.8,61,402,0.00,0.73,0.00,0.000,4,0.000,0.047,2817,1474,3237,0,0,0,0,0,0
$GC,501,-0.65,-155.7,57.2,-12.5,79,506,0.00,0.68,0.00,0.000,6,0.000,0.030,2816,1951,3237,0,0,0,0,0,0
$GC,851,-0.65,-155.7,101.5,-12.9,140,855,0.00,1.15,0.00,0.000,4,0.000,0.040,2810,2706,3238,0,0,0,0,0,0
$GC,975,-0.65,-155.7,117.7,-12.6,151,979,0.03,1.15,0.00,0.000,6,0.199,0.034,2818,1952,3239,0,0,0,0,0,0
$GC,1304,-0.65,-155.7,159.1,-12.9,182,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1951,3240,0,0,0,0,0,0
$GC,1623,-0.65,-155.7,198.0,-12.0,212,1627,0.00,0.38,0.00,0.000,4,0.000,0.053,2818,1680,3240,0,0,0,0,0,0
$GC,1727,-0.65,-155.7,210.8,-12.4,221,1731,0.00,0.35,0.00,0.000,6,0.000,0.037,2818,1967,3241,0,0,0,0,0,0
$GC,2057,-0.65,-155.7,253.1,-13.0,252,2061,0.00,0.65,0.00,0.000,4,0.000,0.039,2815,2426,3240,0,0,0,0,0,0
$GC,2182,-0.65,-155.7,269.4,-13.3,263,2186,0.03,0.70,0.00,0.000,6,0.191,0.036,2824,1933,3240,0,0,0,0,0,0
$GC,2511,-0.65,-155.7,311.6,-12.4,294,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1933,3241,0,0,0,0,0,0
$GC,2831,-0.65,-155.7,352.0,-12.5,324,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1934,3241,0,0,0,0,0,0
$GC,3151,-0.65,-155.7,391.8,-12.2,354,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1933,3241,0,0,0,0,0,0
$GC,3470,-0.65,-155.7,429.7,-11.7,373,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1933,3241,0,0,0,0,0,0
$GC,3779,-0.65,-155.7,465.3,-11.4,388,3783,0.00,0.45,0.00,0.000,4,0.000,0.051,2824,1618,3241,0,0,0,0,0,0
$GC,3923,-0.65,-155.7,482.1,-11.1,394,3927,0.00,0.45,0.00,0.000,6,0.000,0.034,2824,1956,3241,0,0,0,0,0,0
$GC,4245,-0.65,-155.7,518.4,-11.4,410,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1956,3241,0,0,0,0,0,0
$GC,4554,-0.65,-155.7,554.3,-11.8,425,4557,0.00,0.70,0.00,0.000,4,0.000,0.040,2820,2445,3241,0,0,0,0,0,0
$GC,4712,-0.65,-155.7,571.8,-10.9,432,4715,0.00,0.70,0.00,0.000,6,0.000,0.037,2820,1962,3240,0,0,0,0,0,0
$GC,5044,-0.65,-155.7,608.3,-10.6,448,5047,0.00,0.47,0.00,0.000,4,0.000,0.051,2820,1628,3240,0,0,0,0,0,0
$GC,5180,-0.65,-155.7,623.1,-11.0,454,5183,0.00,0.40,0.00,0.000,6,0.000,0.037,2819,1948,3240,0,0,0,0,0,0
$GC,5512,-0.65,-155.7,659.2,-10.9,470,5515,0.00,0.43,0.00,0.000,4,0.000,0.044,2817,2280,3239,0,0,0,0,0,0
$GC,5759,-0.65,-155.7,685.7,-9.7,481,5763,0.00,0.45,0.00,0.000,6,0.000,0.041,2817,1952,3239,0,0,0,0,0,0
$GC,6091,-0.65,-155.7,719.7,-10.3,497,6095,0.00,0.40,0.00,0.000,4,0.000,0.054,2817,1666,3239,0,0,0,0,0,0
$GC,6260,-0.65,-155.7,737.1,-9.7,504,6264,0.00,0.35,0.00,0.000,6,0.000,0.037,2816,1945,3238,0,0,0,0,0,0
$GC,6581,-0.65,-155.7,770.8,-10.7,520,6585,0.00,0.88,0.00,0.000,4,0.000,0.041,2811,2541,3238,0,0,0,0,0,0
$GC,6716,-0.65,-155.7,785.0,-10.3,526,6720,0.03,0.88,0.00,0.000,6,0.189,0.036,2820,1949,3238,0,0,0,0,0,0
$GC,7047,-0.65,-155.7,820.6,-11.0,542,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1949,3237,0,0,0,0,0,0
$GC,7356,-0.65,-155.7,854.9,-11.1,557,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1948,3237,0,0,0,0,0,0
$GC,7665,-0.65,-155.7,888.2,-10.7,572,7669,0.00,0.52,0.00,0.000,4,0.000,0.051,2820,1586,3237,0,0,0,0,0,0
$GC,7825,-0.65,-155.7,904.6,-10.0,579,7829,0.00,0.47,0.00,0.000,6,0.000,0.034,2820,1945,3236,0,0,0,0,0,0
$GC,8157,-0.65,-155.7,936.5,-9.2,595,8161,0.00,0.38,0.00,0.000,4,0.000,0.044,2817,2241,3236,0,0,0,0,0,0
$GC,8409,-0.65,-155.7,960.2,-9.4,606,8413,0.00,0.43,0.00,0.000,6,0.000,0.041,2817,1936,3236,0,0,0,0,0,0
$GC,8736,-0.65,-155.7,989.9,-8.9,622,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1936,3236,0,0,0,0,0,0
$STATE,8860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8860,begin apogee
$GC,8865,-0.17,0.0,1001.0,9.2,628,9000,0.57,0.00,131.68,1.597,6,0.165,0.000,2980,1808,2600,0,0,0,0,0,0
$STATE,9000,end apogee,CONTROL_FINISHED_OK
$STATE,9000,begin climb
$GC,9002,0.65,155.7,1003.7,0.0,635,9155,0.88,0.65,144.65,1.548,4,0.109,0.053,3244,1450,1964,0,0,0,0,0,0
$GC,9295,0.65,155.7,972.0,12.1,649,9299,0.00,0.50,0.00,0.000,6,0.000,0.028,3245,1792,1955,0,0,0,0,0,0
$GC,9627,0.65,155.7,931.1,12.1,665,9631,0.00,0.65,0.00,0.000,4,0.000,0.048,3246,1395,1953,0,0,0,0,0,0
$GC,9884,0.65,155.7,898.6,12.7,676,9888,0.00,0.62,0.00,0.000,6,0.000,0.027,3246,1817,1951,0,0,0,0,0,0
$GC,10205,0.65,155.7,857.2,13.1,692,10209,0.00,1.23,0.00,0.000,4,0.000,0.053,3250,1074,1951,0,0,0,0,0,0
$GC,10310,0.65,155.7,843.2,13.4,696,10316,0.00,1.12,0.00,0.000,6,0.000,0.025,3250,1821,1951,0,0,0,0,0,0
$GC,10626,0.65,155.7,800.9,13.5,712,10630,0.00,0.52,0.00,0.000,4,0.000,0.046,3251,1483,1950,0,0,0,0,0,0
$GC,10883,0.65,155.7,765.8,14.2,723,10887,0.00,0.47,0.00,0.000,6,0.000,0.031,3251,1835,1950,0,0,0,0,0,0
$GC,11204,0.65,155.7,723.2,13.4,739,11208,0.00,2.28,0.00,0.000,4,0.000,0.062,3253,432,1949,0,0,0,0,0,0
$GC,11333,0.65,155.7,706.0,13.5,745,11336,0.00,2.03,0.00,0.000,6,0.000,0.026,3253,1779,1949,0,0,0,0,0,0
$GC,11664,0.65,155.7,663.7,12.5,761,11668,0.00,0.40,0.00,0.000,4,0.000,0.047,3253,1513,1949,0,0,0,0,0,0
$GC,11921,0.65,155.7,632.2,11.3,772,11926,0.00,0.45,0.00,0.000,6,0.000,0.030,3253,1845,1949,0,0,0,0,0,0
$GC,12242,0.65,155.7,595.5,11.2,788,12246,0.00,2.30,0.00,0.000,4,0.000,0.060,3261,431,1949,0,0,0,0,0,0
$GC,12371,0.65,155.7,580.5,11.9,794,12375,0.00,2.03,0.00,0.000,6,0.000,0.026,3261,1783,1948,0,0,0,0,0,0
$GC,12703,0.65,155.7,541.4,12.0,810,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1784,1948,0,0,0,0,0,0
$GC,13012,0.65,155.7,505.4,11.6,825,13016,0.00,2.17,0.00,0.000,4,0.000,0.059,3270,431,1948,0,0,0,0,0,0
$GC,13150,0.65,155.7,487.6,12.7,831,13156,0.05,2.10,0.00,0.000,6,0.167,0.025,3257,1821,1948,0,0,0,0,0,0
$GC,13478,0.65,155.7,447.2,12.9,847,13481,0.00,1.52,0.00,0.000,4,0.000,0.055,3260,885,1948,0,0,0,0,0,0
$GC,13612,0.65,155.7,429.6,12.7,853,13616,0.00,1.38,0.00,0.000,6,0.000,0.024,3261,1812,1949,0,0,0,0,0,0
$GC,13940,0.65,155.7,387.0,13.4,873,13944,0.00,1.52,0.00,0.000,4,0.000,0.054,3266,870,1948,0,0,0,0,0,0
$GC,14034,0.65,155.7,374.2,13.3,881,14041,0.08,1.42,0.00,0.000,6,0.200,0.024,3251,1820,1948,0,0,0,0,0,0
$GC,14360,0.65,155.7,335.1,12.2,912,14363,0.00,0.77,0.00,0.000,4,0.000,0.050,3252,1331,1948,0,0,0,0,0,0
$GC,14510,0.65,155.7,317.6,11.2,925,14513,0.00,0.68,0.00,0.000,6,0.000,0.028,3252,1825,1948,0,0,0,0,0,0
$GC,14840,0.65,155.7,277.4,11.9,956,14843,0.00,1.30,0.00,0.000,4,0.000,0.054,3256,1019,1948,0,0,0,0,0,0
$GC,14953,0.65,155.7,263.8,11.3,966,14957,0.00,1.12,0.00,0.000,6,0.000,0.026,3256,1787,1948,0,0,0,0,0,0
$GC,15286,0.65,155.7,224.2,11.9,997,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1787,1948,0,0,0,0,0,0
$GC,15611,0.65,155.7,185.8,11.9,1028,15615,0.00,1.38,0.00,0.000,4,0.000,0.053,3261,936,1948,0,0,0,0,0,0
$GC,15752,0.65,155.7,170.1,10.8,1040,15760,0.00,1.27,0.00,0.000,6,0.000,0.026,3261,1801,1948,0,0,0,0,0,0
$GC,16079,0.65,155.7,132.3,12.2,1071,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1801,1948,0,0,0,0,0,0
$GC,16400,0.65,155.7,92.2,13.1,1106,16405,0.00,0.70,0.00,0.000,4,0.000,0.047,3263,1353,1949,0,0,0,0,0,0
$GC,16515,0.65,155.7,77.9,12.6,1126,16520,0.00,0.65,0.00,0.000,6,0.000,0.028,3263,1829,1949,0,0,0,0,0,0
$GC,16863,0.65,155.7,34.4,11.4,1187,16868,0.00,0.68,0.00,0.000,4,0.000,0.047,3266,1395,1949,0,0,0,0,0,0
$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,1.8,1.026529
$STATE,17126,end surface coast,CONTROL_FINISHED_OK
$STATE,17126,begin surface
$SM_CCo,17143,12.52,0.861,0,0,1845,185.20
$SM_GC,3.75,0.00,0.00,12.52,0.000,0.000,0.861,79,1942,1845,-9.25,-0.23,185.20
$IRIDIUM_FIX,-4247.91,828.64,191113,060610
$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.6,26.415
$10V_AH,10.3,21.885
$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,22.725,52.050,276.325,12.525,0.000,27.185,18.656,251.082,0.250,0.000,18.426,3100.473,10565.994,375.140,3380.543,142.919,33.357,1679.810,0.000,3032.064,0.000,2.829,0.000
$DEVICE_MAMPS,270.045,84.915,1596.555,860.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.954,834.543,816.455,74.101,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,70218,1232
$CAP_FILE_SIZE,158426,0
$CFSIZE,2097086464,2073919488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191113,145658,-4301.495,828.344,76,0.8,76,-25.0