version: 66.07.10.p01
glider: 574
mission: 7
dive: 166
start: 11 20 113 7 30 48
data:
$ID,574
$MISSION,7
$DIVE,166
$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,-13893.055
$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,41
$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,145
$GPS1,201113,072304,-4302.528,827.509,173,1.0,173,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-73.3
$GPS2,201113,072953,-4302.472,827.538,20,0.9,20,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,-0.261
$KALMAN_X,-157899.4,14.4,-214.6,48997.3,2771.8
$KALMAN_Y,529691.1,-969.6,-563.2,-742559.2,10416.6
$MHEAD_RNG_PITCHd_Wd,193.9,5664,-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,22,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,51,0.00,0.00,-25.55,0.000,2,0.000,0.000,65,1968,2389,0,0,0,0,0,0
$GC,54,-0.59,-155.7,3.2,-1.7,4,109,12.35,1.12,-38.72,0.000,4,0.267,0.071,2833,2663,3236,0,0,0,0,0,0
$GC,298,-0.59,-155.7,24.3,-13.0,45,304,0.03,1.10,0.00,0.000,6,0.209,0.035,2841,1949,3239,0,0,0,0,0,0
$GC,446,-0.59,-155.7,40.8,-11.8,70,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1949,3239,0,0,0,0,0,0
$GC,792,-0.59,-155.7,82.4,-10.6,131,797,0.00,1.12,0.00,0.000,4,0.000,0.047,2841,1235,3240,0,0,0,0,0,0
$GC,941,-0.59,-155.7,98.3,-10.8,157,946,0.00,1.08,0.00,0.000,6,0.000,0.028,2838,1952,3240,0,0,0,0,0,0
$GC,1269,-0.59,-155.7,135.3,-11.4,189,1273,0.00,0.68,0.00,0.000,4,0.000,0.041,2835,2426,3241,0,0,0,0,0,0
$GC,1496,-0.59,-155.7,161.3,-11.4,209,1500,0.00,0.70,0.00,0.000,6,0.000,0.037,2835,1944,3241,0,0,0,0,0,0
$GC,1826,-0.59,-155.7,198.6,-10.9,240,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1945,3242,0,0,0,0,0,0
$GC,2145,-0.59,-155.7,234.4,-11.0,270,2149,0.00,0.35,0.00,0.000,4,0.000,0.054,2835,1687,3242,0,0,0,0,0,0
$GC,2281,-0.59,-155.7,250.6,-11.4,282,2285,0.00,0.38,0.00,0.000,6,0.000,0.037,2834,1982,3242,0,0,0,0,0,0
$GC,2615,-0.59,-155.7,289.1,-11.7,313,2619,0.05,0.38,0.00,0.000,4,0.249,0.045,2842,2268,3242,0,0,0,0,0,0
$GC,2786,-0.59,-155.7,308.6,-11.2,328,2794,0.00,0.47,0.00,0.000,6,0.000,0.037,2842,1933,3242,0,0,0,0,0,0
$GC,3113,-0.59,-155.7,342.6,-10.7,359,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3242,0,0,0,0,0,0
$GC,3433,-0.59,-155.7,374.1,-9.5,389,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3242,0,0,0,0,0,0
$GC,3747,-0.59,-155.7,404.9,-9.9,417,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3242,0,0,0,0,0,0
$GC,4056,-0.59,-155.7,435.2,-9.8,432,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,4366,-0.59,-155.7,464.3,-9.4,447,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3242,0,0,0,0,0,0
$GC,4675,-0.59,-155.7,493.1,-9.2,462,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3242,0,0,0,0,0,0
$GC,4984,-0.59,-155.7,522.2,-9.6,477,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3242,0,0,0,0,0,0
$GC,5294,-0.59,-155.7,551.5,-9.6,492,5297,0.00,0.45,0.00,0.000,4,0.000,0.051,2842,1613,3242,0,0,0,0,0,0
$GC,5461,-0.59,-155.7,567.8,-9.9,499,5465,0.00,0.47,0.00,0.000,6,0.000,0.034,2841,1964,3241,0,0,0,0,0,0
$GC,5783,-0.59,-155.7,598.3,-9.6,515,5786,0.00,0.32,0.00,0.000,4,0.000,0.046,2840,2235,3241,0,0,0,0,0,0
$GC,6039,-0.59,-155.7,623.4,-9.9,526,6043,0.00,0.40,0.00,0.000,6,0.000,0.041,2839,1947,3241,0,0,0,0,0,0
$GC,6361,-0.59,-155.7,654.6,-9.5,542,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3241,0,0,0,0,0,0
$GC,6670,-0.59,-155.7,682.7,-9.0,557,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3240,0,0,0,0,0,0
$GC,6979,-0.59,-155.7,710.5,-9.1,572,6983,0.00,0.62,0.00,0.000,4,0.000,0.048,2839,1523,3240,0,0,0,0,0,0
$GC,7147,-0.59,-155.7,725.9,-8.4,579,7151,0.00,0.60,0.00,0.000,6,0.000,0.031,2837,1950,3239,0,0,0,0,0,0
$GC,7468,-0.59,-155.7,754.5,-8.9,595,7472,0.00,0.35,0.00,0.000,4,0.000,0.045,2836,2228,3239,0,0,0,0,0,0
$GC,7726,-0.59,-155.7,778.1,-9.2,606,7730,0.00,0.40,0.00,0.000,6,0.000,0.041,2835,1937,3239,0,0,0,0,0,0
$GC,8047,-0.59,-155.7,809.1,-9.8,622,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1937,3239,0,0,0,0,0,0
$GC,8356,-0.59,-155.7,838.9,-9.8,637,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3239,0,0,0,0,0,0
$GC,8665,-0.59,-155.7,869.1,-9.9,652,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1937,3239,0,0,0,0,0,0
$GC,8975,-0.59,-155.7,898.1,-9.3,667,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1937,3238,0,0,0,0,0,0
$GC,9284,-0.59,-155.7,927.6,-9.7,682,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3238,0,0,0,0,0,0
$GC,9594,-0.59,-155.7,956.5,-9.1,697,9597,0.00,0.43,0.00,0.000,4,0.000,0.053,2836,1635,3237,0,0,0,0,0,0
$GC,9739,-0.59,-155.7,970.0,-9.6,703,9743,0.00,0.45,0.00,0.000,6,0.000,0.035,2834,1967,3237,0,0,0,0,0,0
$GC,10060,-0.59,-155.7,998.2,-8.7,719,10062,0.05,0.00,0.00,0.000,6,0.246,0.000,2843,1967,3237,0,0,0,0,0,0
$STATE,10101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10101,begin apogee
$GC,10105,-0.17,0.0,1001.7,8.4,721,10241,0.47,0.00,132.52,1.666,6,0.158,0.000,2980,1821,2600,0,0,0,0,0,0
$STATE,10242,end apogee,CONTROL_FINISHED_OK
$STATE,10242,begin climb
$GC,10244,0.59,155.7,1004.9,0.0,728,10397,0.82,1.02,145.52,1.608,4,0.109,0.055,3231,1259,1964,0,0,0,0,0,0
$GC,10575,0.59,155.7,973.2,10.9,743,10581,0.00,0.85,0.00,0.000,6,0.000,0.025,3231,1798,1955,0,0,0,0,0,0
$GC,10893,0.59,155.7,939.5,10.5,759,10896,0.00,0.50,0.00,0.000,4,0.000,0.047,3232,1483,1953,0,0,0,0,0,0
$GC,11149,0.59,155.7,912.1,10.0,770,11154,0.00,0.50,0.00,0.000,6,0.000,0.031,3231,1838,1952,0,0,0,0,0,0
$GC,11471,0.59,155.7,876.4,11.2,786,11474,0.00,0.62,0.00,0.000,4,0.000,0.047,3234,1446,1952,0,0,0,0,0,0
$GC,11727,0.59,155.7,847.0,12.7,797,11731,0.00,0.52,0.00,0.000,6,0.000,0.031,3234,1823,1951,0,0,0,0,0,0
$GC,12048,0.59,155.7,810.4,11.5,813,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1823,1951,0,0,0,0,0,0
$GC,12358,0.59,155.7,773.4,12.1,828,12362,0.00,0.57,0.00,0.000,4,0.000,0.047,3235,1455,1951,0,0,0,0,0,0
$GC,12538,0.59,155.7,751.5,11.0,836,12541,0.00,0.47,0.00,0.000,6,0.000,0.032,3235,1803,1950,0,0,0,0,0,0
$GC,12869,0.59,155.7,711.1,11.7,852,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1803,1950,0,0,0,0,0,0
$GC,13179,0.59,155.7,675.0,11.4,867,13182,0.00,0.73,0.00,0.000,4,0.000,0.048,3237,1347,1950,0,0,0,0,0,0
$GC,13351,0.59,155.7,654.7,12.1,874,13357,0.00,0.68,0.00,0.000,6,0.000,0.028,3237,1809,1950,0,0,0,0,0,0
$GC,13667,0.59,155.7,618.9,11.3,890,13670,0.00,0.93,0.00,0.000,4,0.000,0.051,3240,1238,1950,0,0,0,0,0,0
$GC,13869,0.59,155.7,595.9,10.8,899,13873,0.00,0.82,0.00,0.000,6,0.000,0.028,3240,1801,1950,0,0,0,0,0,0
$GC,14201,0.59,155.7,559.9,10.7,915,14202,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,14510,0.59,155.7,527.3,10.4,930,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1800,1950,0,0,0,0,0,0
$GC,14819,0.59,155.7,494.2,10.9,945,14820,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,15129,0.59,155.7,460.1,11.1,960,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,15438,0.59,155.7,426.5,10.7,975,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,15751,0.59,155.7,391.5,11.2,993,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,16068,0.59,155.7,354.7,11.8,1023,16070,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,16391,0.59,155.7,320.1,10.4,1053,16395,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,16716,0.59,155.7,286.8,10.4,1084,16717,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,17034,0.59,155.7,252.5,10.7,1114,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,17353,0.59,155.7,215.7,11.8,1144,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,17672,0.59,155.7,179.7,11.0,1174,17673,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1800,1950,0,0,0,0,0,0
$GC,17990,0.59,155.7,143.1,11.4,1204,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,18309,0.59,155.7,105.3,12.1,1234,18310,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1801,1950,0,0,0,0,0,0
$GC,18645,0.59,155.7,63.3,12.1,1289,18650,0.00,0.80,0.00,0.000,4,0.000,0.053,3240,1299,1951,0,0,0,0,0,0
$GC,18866,0.59,155.7,37.7,10.5,1328,18873,0.00,0.75,0.00,0.000,6,0.000,0.028,3240,1835,1951,0,0,0,0,0,0
$GC,19013,0.59,155.7,21.9,11.0,1353,19017,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1835,1951,0,0,0,0,0,0
$GC,19160,0.59,155.7,6.5,10.2,1378,19167,0.00,0.57,0.00,0.000,4,0.000,0.050,3241,1467,1951,0,0,0,0,0,0
$STATE,19192,end climb,SURFACE_DEPTH_REACHED
$STATE,19192,begin surface coast
$FINISH,1.6,1.012662
$STATE,19217,end surface coast,CONTROL_FINISHED_OK
$STATE,19217,begin surface
$SM_CCo,19233,13.05,0.959,0,0,1845,185.20
$SM_GC,4.16,0.00,0.00,13.05,0.000,0.000,0.959,80,1930,1845,-9.25,-0.57,185.20
$IRIDIUM_FIX,-4247.91,825.29,201113,030324
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,22.6,27.099
$10V_AH,10.2,22.382
$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,22.300,23.125,278.050,13.050,0.000,27.891,21.992,249.297,0.250,0.000,22.946,3389.553,12297.016,357.107,3471.466,148.888,33.376,1650.227,0.000,3121.524,0.000,2.830,0.000
$DEVICE_MAMPS,266.985,71.145,1666.170,958.545,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.596,949.938,927.421,87.449,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,80219,1387
$CAP_FILE_SIZE,156857,0
$CFSIZE,2097086464,2073296896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201113,125258,-4303.843,828.995,48,0.9,48,-25.0