version: 66.07.10.p01
glider: 574
mission: 7
dive: 162
start: 11 19 113 15 5 47
data:
$ID,574
$MISSION,7
$DIVE,162
$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,-13880.805
$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,54
$R_STBD_OVSHOOT,55
$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,141
$GPS1,191113,145658,-4301.495,828.344,76,0.8,76,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-72.7
$GPS2,191113,150453,-4301.424,828.399,19,0.9,19,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.027,-0.265
$KALMAN_X,-160259.5,204.7,-271.9,52420.0,2975.9
$KALMAN_Y,517565.2,-729.9,-229.8,-729075.9,8263.6
$MHEAD_RNG_PITCHd_Wd,210.8,3415,-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,-24.98,0.000,2,0.000,0.000,66,1942,2378,0,0,0,0,0,0
$GC,54,-0.59,-155.7,3.0,-0.8,4,108,12.35,0.00,-35.33,0.000,6,0.267,0.000,2840,1939,3235,0,0,0,0,0,0
$GC,157,-0.59,-155.7,9.5,-10.1,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1939,3237,0,0,0,0,0,0
$GC,213,-0.59,-155.7,16.5,-12.8,30,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1939,3237,0,0,0,0,0,0
$GC,267,-0.59,-155.7,23.3,-13.3,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1939,3238,0,0,0,0,0,0
$GC,414,-0.59,-155.7,41.0,-10.4,64,419,0.00,0.55,0.00,0.000,4,0.000,0.047,2840,1565,3238,0,0,0,0,0,0
$GC,527,-0.59,-155.7,53.1,-9.7,84,534,0.00,0.55,0.00,0.000,6,0.000,0.032,2838,1967,3239,0,0,0,0,0,0
$GC,877,-0.59,-155.7,88.4,-10.8,145,882,0.00,0.30,0.00,0.000,4,0.000,0.047,2836,2218,3240,0,0,0,0,0,0
$GC,1058,-0.59,-155.7,108.5,-10.8,171,1062,0.00,0.38,0.00,0.000,6,0.000,0.041,2836,1934,3240,0,0,0,0,0,0
$GC,1388,-0.59,-155.7,146.5,-11.7,202,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1934,3241,0,0,0,0,0,0
$GC,1707,-0.59,-155.7,185.1,-12.4,232,1711,0.00,0.40,0.00,0.000,4,0.000,0.051,2836,1641,3241,0,0,0,0,0,0
$GC,1859,-0.59,-155.7,204.8,-12.9,245,1864,0.00,0.43,0.00,0.000,6,0.000,0.035,2835,1960,3241,0,0,0,0,0,0
$GC,2184,-0.59,-155.7,246.2,-12.7,276,2186,0.03,0.00,0.00,0.000,6,0.291,0.000,2843,1960,3242,0,0,0,0,0,0
$GC,2502,-0.59,-155.7,283.8,-11.1,306,2506,0.00,0.55,0.00,0.000,4,0.000,0.041,2842,2361,3242,0,0,0,0,0,0
$GC,2765,-0.59,-155.7,312.6,-10.3,329,2769,0.00,0.57,0.00,0.000,6,0.000,0.037,2841,1951,3243,0,0,0,0,0,0
$GC,3095,-0.59,-155.7,346.4,-10.0,360,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3242,0,0,0,0,0,0
$GC,3414,-0.59,-155.7,377.6,-10.1,390,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1951,3243,0,0,0,0,0,0
$GC,3740,-0.59,-155.7,410.3,-9.8,416,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3243,0,0,0,0,0,0
$GC,4049,-0.59,-155.7,439.7,-9.3,431,4053,0.00,0.45,0.00,0.000,4,0.000,0.050,2841,1631,3243,0,0,0,0,0,0
$GC,4207,-0.59,-155.7,454.9,-9.9,438,4211,0.00,0.40,0.00,0.000,6,0.000,0.036,2841,1955,3243,0,0,0,0,0,0
$GC,4539,-0.59,-155.7,485.8,-9.1,454,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3243,0,0,0,0,0,0
$GC,4849,-0.59,-155.7,513.3,-8.9,469,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3243,0,0,0,0,0,0
$GC,5158,-0.59,-155.7,541.0,-9.1,484,5162,0.00,0.35,0.00,0.000,4,0.000,0.044,2839,2241,3243,0,0,0,0,0,0
$GC,5415,-0.59,-155.7,564.3,-9.1,495,5419,0.00,0.43,0.00,0.000,6,0.000,0.040,2838,1933,3244,0,0,0,0,0,0
$GC,5736,-0.59,-155.7,595.5,-10.0,511,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1933,3243,0,0,0,0,0,0
$GC,6046,-0.59,-155.7,626.0,-10.2,526,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1933,3243,0,0,0,0,0,0
$GC,6355,-0.59,-155.7,655.9,-9.1,541,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1932,3243,0,0,0,0,0,0
$GC,6665,-0.59,-155.7,683.3,-8.8,556,6668,0.00,0.43,0.00,0.000,4,0.000,0.052,2838,1630,3243,0,0,0,0,0,0
$GC,6876,-0.59,-155.7,703.4,-10.1,565,6880,0.00,0.43,0.00,0.000,6,0.000,0.035,2837,1955,3243,0,0,0,0,0,0
$GC,7197,-0.59,-155.7,734.6,-10.0,581,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1955,3242,0,0,0,0,0,0
$GC,7507,-0.59,-155.7,766.6,-10.5,596,7511,0.00,0.32,0.00,0.000,4,0.000,0.047,2835,2223,3243,0,0,0,0,0,0
$GC,7763,-0.59,-155.7,793.0,-10.7,607,7767,0.00,0.38,0.00,0.000,6,0.000,0.041,2835,1950,3243,0,0,0,0,0,0
$GC,8084,-0.59,-155.7,824.8,-10.0,623,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1950,3243,0,0,0,0,0,0
$GC,8394,-0.59,-155.7,854.0,-9.6,638,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1950,3243,0,0,0,0,0,0
$GC,8703,-0.59,-155.7,882.7,-9.0,653,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1950,3243,0,0,0,0,0,0
$GC,9013,-0.59,-155.7,909.1,-8.2,668,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1949,3243,0,0,0,0,0,0
$GC,9322,-0.59,-155.7,934.0,-8.0,683,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1949,3243,0,0,0,0,0,0
$GC,9631,-0.59,-155.7,959.2,-8.3,698,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1949,3244,0,0,0,0,0,0
$GC,9941,-0.59,-155.7,986.6,-9.2,713,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1949,3244,0,0,0,0,0,0
$STATE,10106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10107,begin apogee
$GC,10111,-0.17,0.0,1001.3,8.9,721,10248,0.50,0.00,133.73,1.591,6,0.158,0.000,2978,1816,2600,0,0,0,0,0,0
$STATE,10249,end apogee,CONTROL_FINISHED_OK
$STATE,10249,begin climb
$GC,10250,0.59,155.7,1004.7,0.0,728,10399,0.82,0.00,145.35,1.539,6,0.108,0.000,3226,1815,1964,0,0,0,0,0,0
$GC,10694,0.59,155.7,957.4,11.4,750,10698,0.00,1.50,0.00,0.000,4,0.000,0.056,3233,932,1954,0,0,0,0,0,0
$GC,10833,0.59,155.7,940.6,11.4,756,10838,0.00,1.33,0.00,0.000,6,0.000,0.024,3232,1783,1953,0,0,0,0,0,0
$GC,11161,0.59,155.7,902.7,11.6,772,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1783,1952,0,0,0,0,0,0
$GC,11470,0.59,155.7,866.8,11.6,787,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1783,1951,0,0,0,0,0,0
$GC,11779,0.59,155.7,832.3,10.8,802,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1783,1952,0,0,0,0,0,0
$GC,12089,0.59,155.7,798.2,10.9,817,12092,0.00,0.55,0.00,0.000,4,0.000,0.047,3234,1428,1952,0,0,0,0,0,0
$GC,12317,0.59,155.7,772.2,11.2,827,12321,0.00,0.57,0.00,0.000,6,0.000,0.029,3233,1827,1951,0,0,0,0,0,0
$GC,12644,0.59,155.7,735.0,11.4,843,12648,0.00,0.43,0.00,0.000,4,0.000,0.046,3234,1541,1951,0,0,0,0,0,0
$GC,12901,0.59,155.7,706.3,11.5,854,12905,0.00,0.38,0.00,0.000,6,0.000,0.034,3234,1812,1951,0,0,0,0,0,0
$GC,13222,0.59,155.7,671.8,10.7,870,13226,0.00,0.80,0.00,0.000,4,0.000,0.048,3236,1312,1951,0,0,0,0,0,0
$GC,13405,0.59,155.7,651.6,10.8,878,13410,0.00,0.73,0.00,0.000,6,0.000,0.026,3236,1805,1951,0,0,0,0,0,0
$GC,13732,0.59,155.7,616.2,11.1,894,13736,0.00,0.50,0.00,0.000,4,0.000,0.046,3237,1477,1952,0,0,0,0,0,0
$GC,13989,0.59,155.7,587.4,11.0,905,13993,0.00,0.47,0.00,0.000,6,0.000,0.031,3237,1824,1951,0,0,0,0,0,0
$GC,14310,0.59,155.7,551.0,11.0,921,14314,0.00,0.60,0.00,0.000,4,0.000,0.047,3239,1439,1952,0,0,0,0,0,0
$GC,14538,0.59,155.9,527.0,9.8,931,14542,0.00,0.52,0.00,0.000,6,0.000,0.031,3239,1827,1951,0,0,0,0,0,0
$GC,14865,0.59,155.9,493.5,10.4,947,14868,0.00,0.55,0.00,0.000,4,0.000,0.047,3239,1470,1951,0,0,0,0,0,0
$GC,15122,0.59,155.9,465.3,10.5,958,15126,0.00,0.45,0.00,0.000,6,0.000,0.030,3239,1799,1951,0,0,0,0,0,0
$GC,15442,0.59,155.9,429.8,11.4,974,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1799,1951,0,0,0,0,0,0
$GC,15754,0.59,155.9,393.6,11.5,991,15758,0.00,0.65,0.00,0.000,4,0.000,0.048,3240,1385,1952,0,0,0,0,0,0
$GC,15970,0.59,155.9,368.4,11.2,1010,15973,0.00,0.57,0.00,0.000,6,0.000,0.030,3240,1808,1951,0,0,0,0,0,0
$GC,16302,0.59,155.9,330.8,11.4,1041,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1808,1951,0,0,0,0,0,0
$GC,16619,0.59,155.9,294.5,11.3,1071,16623,0.00,0.70,0.00,0.000,4,0.000,0.048,3240,1364,1951,0,0,0,0,0,0
$GC,16782,0.59,155.9,274.7,10.9,1085,16788,0.00,0.62,0.00,0.000,6,0.000,0.029,3239,1822,1951,0,0,0,0,0,0
$GC,17107,0.59,155.9,235.3,11.8,1116,17108,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1822,1951,0,0,0,0,0,0
$GC,17427,0.59,155.9,199.1,11.3,1146,17430,0.00,0.55,0.00,0.000,4,0.000,0.045,3240,1466,1952,0,0,0,0,0,0
$GC,17598,0.59,155.9,180.0,9.9,1161,17602,0.00,0.43,0.00,0.000,6,0.000,0.034,3240,1802,1951,0,0,0,0,0,0
$GC,17928,0.59,155.9,143.1,11.1,1192,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1802,1951,0,0,0,0,0,0
$GC,18248,0.59,155.9,106.8,11.3,1222,18249,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1802,1952,0,0,0,0,0,0
$GC,18585,0.59,155.9,68.6,11.3,1276,18590,0.00,0.62,0.00,0.000,4,0.000,0.047,3240,1400,1952,0,0,0,0,0,0
$GC,18761,0.59,155.9,48.5,9.8,1307,18766,0.00,0.55,0.00,0.000,6,0.000,0.031,3240,1823,1952,0,0,0,0,0,0
$GC,19114,0.59,155.9,10.7,10.2,1368,19121,0.00,0.62,0.00,0.000,4,0.000,0.047,3240,1420,1952,0,0,0,0,0,0
$STATE,19193,end climb,SURFACE_DEPTH_REACHED
$STATE,19193,begin surface coast
$FINISH,1.6,1.026570
$STATE,19224,end surface coast,CONTROL_FINISHED_OK
$STATE,19225,begin surface
$SM_CCo,19241,12.82,0.861,0,0,1844,185.20
$SM_GC,3.58,0.00,0.00,12.82,0.000,0.000,0.861,87,1956,1844,-9.23,0.17,185.20
$IRIDIUM_FIX,-4247.91,828.21,191113,101056
$TT8_MAMPS,0.025466
$HUMID,62.52
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.6,26.561
$10V_AH,10.3,22.009
$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,22.400,22.500,279.075,12.825,0.000,24.826,20.630,310.229,0.250,0.000,21.707,3411.379,12169.801,385.218,3600.682,160.211,33.369,1704.122,0.000,3202.557,0.000,2.832,0.000
$DEVICE_MAMPS,291.465,81.090,1591.200,860.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.952,940.388,918.687,87.471,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,80170,1386
$CAP_FILE_SIZE,161110,0
$CFSIZE,2097086464,2073788416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191113,202828,-4302.568,828.348,71,0.8,71,-25.0