version: 66.07.10.p01
glider: 574
mission: 7
dive: 170
start: 11 21 113 3 42 56
data:
$ID,574
$MISSION,7
$DIVE,170
$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,-13902.379
$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,55
$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,149
$GPS1,211113,033306,-4259.423,829.587,36,0.9,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-69.8
$GPS2,211113,034201,-4259.409,829.638,23,1.2,23,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.088,-0.251
$KALMAN_X,-151394.9,28.1,-507.8,45694.2,3133.6
$KALMAN_Y,543904.1,563.2,-302.6,-752914.2,6459.4
$MHEAD_RNG_PITCHd_Wd,224.2,1200,-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,-155.7,0.0,0.0,0,45,0.00,0.00,-19.60,0.000,2,0.000,0.000,65,1970,2236,0,0,0,0,0,0
$GC,48,-0.59,-155.7,3.0,-3.2,3,115,12.43,2.15,-48.25,0.000,4,0.268,0.056,2831,3331,3233,0,0,0,0,0,0
$GC,217,-0.59,-155.7,16.3,-12.2,31,225,0.03,2.12,0.00,0.000,6,0.193,0.032,2839,1972,3234,0,0,0,0,0,0
$GC,272,-0.59,-155.7,24.6,-14.6,40,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1972,3235,0,0,0,0,0,0
$GC,416,-0.59,-155.7,41.8,-10.7,65,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1972,3235,0,0,0,0,0,0
$GC,761,-0.59,-155.7,84.0,-11.6,126,768,0.00,1.23,0.00,0.000,4,0.000,0.050,2839,1197,3236,0,0,0,0,0,0
$GC,922,-0.59,-155.7,103.6,-11.8,152,925,0.00,1.12,0.00,0.000,6,0.000,0.028,2836,1946,3236,0,0,0,0,0,0
$GC,1251,-0.59,-155.7,143.7,-12.3,183,1255,0.00,0.82,0.00,0.000,4,0.000,0.039,2832,2514,3237,0,0,0,0,0,0
$GC,1432,-0.59,-155.7,165.0,-11.6,199,1436,0.03,0.85,0.00,0.000,6,0.196,0.035,2840,1933,3237,0,0,0,0,0,0
$GC,1762,-0.59,-155.7,204.2,-11.9,230,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1933,3237,0,0,0,0,0,0
$GC,2081,-0.59,-155.7,243.1,-12.0,260,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3237,0,0,0,0,0,0
$GC,2402,-0.59,-155.7,280.7,-11.7,290,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1933,3237,0,0,0,0,0,0
$GC,2719,-0.59,-155.7,316.4,-10.9,320,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1933,3237,0,0,0,0,0,0
$GC,3037,-0.59,-155.7,350.2,-10.6,350,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1933,3237,0,0,0,0,0,0
$GC,3356,-0.59,-155.7,381.6,-9.7,380,3360,0.00,0.50,0.00,0.000,4,0.000,0.050,2840,1583,3237,0,0,0,0,0,0
$GC,3485,-0.59,-155.7,394.7,-10.1,391,3490,0.00,0.55,0.00,0.000,6,0.000,0.032,2838,1981,3237,0,0,0,0,0,0
$GC,3812,-0.59,-155.7,427.4,-10.0,410,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1980,3237,0,0,0,0,0,0
$GC,4122,-0.59,-155.7,459.0,-10.2,425,4125,0.00,0.40,0.00,0.000,4,0.000,0.043,2837,2290,3237,0,0,0,0,0,0
$GC,4378,-0.59,-155.7,485.0,-10.2,436,4383,0.00,0.50,0.00,0.000,6,0.000,0.038,2837,1942,3237,0,0,0,0,0,0
$GC,4700,-0.59,-155.7,516.6,-9.7,452,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3236,0,0,0,0,0,0
$GC,5009,-0.59,-155.7,546.2,-9.3,467,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3236,0,0,0,0,0,0
$GC,5318,-0.59,-155.7,575.3,-9.1,482,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1942,3236,0,0,0,0,0,0
$GC,5628,-0.59,-155.7,604.9,-9.8,497,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3235,0,0,0,0,0,0
$GC,5937,-0.59,-155.7,635.2,-9.8,512,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3235,0,0,0,0,0,0
$GC,6246,-0.59,-155.7,665.1,-9.6,527,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1942,3234,0,0,0,0,0,0
$GC,6556,-0.59,-155.7,694.8,-9.4,542,6559,0.00,0.35,0.00,0.000,4,0.000,0.056,2837,1692,3234,0,0,0,0,0,0
$GC,6782,-0.59,-155.7,715.6,-8.2,552,6786,0.00,0.32,0.00,0.000,6,0.000,0.040,2836,1947,3233,0,0,0,0,0,0
$GC,7115,-0.59,-155.7,746.0,-9.3,568,7118,0.00,0.47,0.00,0.000,4,0.000,0.041,2834,2306,3233,0,0,0,0,0,0
$GC,7266,-0.59,-155.7,760.1,-9.7,574,7271,0.03,0.50,0.00,0.000,6,0.195,0.039,2843,1939,3233,0,0,0,0,0,0
$GC,7581,-0.59,-155.7,788.0,-9.0,590,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1939,3233,0,0,0,0,0,0
$GC,7890,-0.59,-155.7,816.4,-9.3,605,7894,0.00,0.38,0.00,0.000,4,0.000,0.056,2842,1673,3233,0,0,0,0,0,0
$GC,7990,-0.59,-155.7,826.3,-9.8,609,7994,0.00,0.38,0.00,0.000,6,0.000,0.037,2842,1956,3233,0,0,0,0,0,0
$GC,8311,-0.59,-155.7,857.5,-9.5,625,8315,0.00,0.75,0.00,0.000,4,0.000,0.040,2838,2477,3232,0,0,0,0,0,0
$GC,8473,-0.59,-155.7,873.1,-9.2,632,8477,0.00,0.75,0.00,0.000,6,0.000,0.037,2838,1967,3232,0,0,0,0,0,0
$GC,8800,-0.59,-155.7,904.0,-9.5,648,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1967,3232,0,0,0,0,0,0
$GC,9110,-0.59,-155.7,932.4,-9.2,663,9113,0.00,0.70,0.00,0.000,4,0.000,0.051,2838,1505,3231,0,0,0,0,0,0
$GC,9272,-0.59,-155.7,947.2,-8.9,670,9276,0.00,0.62,0.00,0.000,6,0.000,0.032,2836,1947,3231,0,0,0,0,0,0
$GC,9599,-0.59,-155.7,976.0,-9.0,686,9602,0.00,0.73,0.00,0.000,4,0.000,0.041,2833,2447,3230,0,0,0,0,0,0
$GC,9749,-0.59,-155.7,989.8,-9.3,692,9755,0.03,0.73,0.00,0.000,6,0.182,0.036,2841,1939,3231,0,0,0,0,0,0
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9883,-0.17,0.0,1000.7,8.5,699,10019,0.47,0.00,131.40,1.655,6,0.157,0.000,2978,1813,2599,0,0,0,0,0,0
$STATE,10020,end apogee,CONTROL_FINISHED_OK
$STATE,10020,begin climb
$GC,10022,0.59,155.7,1004.0,0.0,706,10171,0.82,0.00,146.00,1.599,6,0.109,0.000,3225,1813,1965,0,0,0,0,0,0
$GC,10469,0.59,155.7,958.0,11.6,728,10473,0.00,2.38,0.00,0.000,4,0.000,0.063,3232,422,1954,0,0,0,0,0,0
$GC,10624,0.59,155.7,938.8,12.2,735,10629,0.00,2.15,0.00,0.000,6,0.000,0.025,3232,1790,1953,0,0,0,0,0,0
$GC,10951,0.59,155.7,902.3,11.0,751,10955,0.00,0.55,0.00,0.000,4,0.000,0.047,3233,1442,1952,0,0,0,0,0,0
$GC,11208,0.59,155.7,875.0,10.4,762,11212,0.00,0.57,0.00,0.000,6,0.000,0.030,3233,1851,1952,0,0,0,0,0,0
$GC,11529,0.59,155.7,841.2,10.8,778,11533,0.00,0.77,0.00,0.000,4,0.000,0.049,3235,1371,1951,0,0,0,0,0,0
$GC,11741,0.59,155.7,817.8,10.8,787,11745,0.00,0.62,0.00,0.000,6,0.000,0.029,3235,1809,1951,0,0,0,0,0,0
$GC,12062,0.59,155.7,782.3,11.3,803,12066,0.00,0.73,0.00,0.000,4,0.000,0.049,3237,1357,1951,0,0,0,0,0,0
$GC,12246,0.59,155.7,760.6,10.9,811,12250,0.00,0.65,0.00,0.000,6,0.000,0.028,3237,1808,1951,0,0,0,0,0,0
$GC,12573,0.59,155.7,720.9,12.2,827,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1808,1951,0,0,0,0,0,0
$GC,12882,0.59,155.7,683.2,12.2,842,12886,0.00,1.08,0.00,0.000,4,0.000,0.052,3240,1145,1951,0,0,0,0,0,0
$GC,13054,0.59,155.7,662.3,11.8,849,13060,0.00,0.98,0.00,0.000,6,0.000,0.027,3240,1803,1951,0,0,0,0,0,0
$GC,13370,0.59,155.7,627.1,10.7,865,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1803,1951,0,0,0,0,0,0
$GC,13680,0.59,155.7,593.8,10.9,880,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1803,1951,0,0,0,0,0,0
$GC,13989,0.59,155.7,558.8,11.2,895,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1804,1951,0,0,0,0,0,0
$GC,14298,0.59,155.7,524.3,11.2,910,14302,0.00,0.65,0.00,0.000,4,0.000,0.049,3241,1391,1951,0,0,0,0,0,0
$GC,14443,0.59,155.7,508.1,11.5,916,14448,0.00,0.62,0.00,0.000,6,0.000,0.030,3241,1837,1951,0,0,0,0,0,0
$GC,14764,0.59,155.7,472.2,11.1,932,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1837,1951,0,0,0,0,0,0
$GC,15074,0.59,155.7,437.1,11.5,947,15077,0.00,0.62,0.00,0.000,4,0.000,0.048,3241,1436,1951,0,0,0,0,0,0
$GC,15276,0.59,155.7,412.9,13.1,956,15280,0.00,0.50,0.00,0.000,6,0.000,0.033,3242,1815,1951,0,0,0,0,0,0
$GC,15604,0.59,155.7,371.3,13.0,982,15608,0.00,0.52,0.00,0.000,4,0.000,0.047,3243,1475,1951,0,0,0,0,0,0
$GC,15763,0.59,155.7,351.0,12.8,996,15767,0.00,0.43,0.00,0.000,6,0.000,0.034,3243,1797,1951,0,0,0,0,0,0
$GC,16093,0.59,155.7,310.2,11.7,1027,16094,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1797,1951,0,0,0,0,0,0
$GC,16414,0.59,155.7,272.9,11.4,1057,16418,0.00,0.88,0.00,0.000,4,0.000,0.050,3246,1248,1951,0,0,0,0,0,0
$GC,16542,0.59,155.7,257.5,11.4,1068,16551,0.08,0.82,0.00,0.000,6,0.185,0.028,3228,1817,1951,0,0,0,0,0,0
$GC,16869,0.59,155.7,222.4,10.2,1099,16872,0.00,0.77,0.00,0.000,4,0.000,0.049,3230,1323,1951,0,0,0,0,0,0
$GC,17032,0.59,155.7,205.4,10.4,1113,17038,0.00,0.70,0.00,0.000,6,0.000,0.028,3230,1822,1951,0,0,0,0,0,0
$GC,17357,0.59,155.7,172.2,10.7,1144,17358,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1822,1952,0,0,0,0,0,0
$GC,17676,0.59,155.7,139.4,10.0,1174,17680,0.00,0.62,0.00,0.000,4,0.000,0.046,3232,1416,1952,0,0,0,0,0,0
$GC,17824,0.59,155.7,123.9,10.1,1187,17828,0.00,0.52,0.00,0.000,6,0.000,0.032,3233,1819,1952,0,0,0,0,0,0
$GC,18157,0.59,155.7,89.9,10.3,1225,18161,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1819,1952,0,0,0,0,0,0
$GC,18502,0.59,155.7,54.0,10.2,1286,18507,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1820,1952,0,0,0,0,0,0
$GC,18852,0.59,155.7,19.5,11.3,1347,18859,0.00,1.23,0.00,0.000,4,0.000,0.051,3237,1058,1953,0,0,0,0,0,0
$GC,18991,0.59,168.1,5.2,9.3,1370,19005,0.00,1.05,5.10,0.803,6,0.000,0.027,3237,1774,1913,0,0,0,0,0,0
$STATE,19011,end climb,SURFACE_DEPTH_REACHED
$STATE,19012,begin surface coast
$FINISH,1.7,1.026565
$STATE,19048,end surface coast,CONTROL_FINISHED_OK
$STATE,19049,begin surface
$SM_CCo,19065,7.72,0.864,0,0,1845,185.20
$SM_GC,3.71,0.00,0.00,7.72,0.000,0.000,0.864,76,1952,1845,-9.26,0.08,185.20
$IRIDIUM_FIX,-4244.98,831.12,201113,212135
$TT8_MAMPS,0.026964
$HUMID,62.71
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.6,27.709
$10V_AH,10.1,22.835
$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,22.500,37.700,282.500,7.725,0.000,30.300,47.290,326.707,0.250,0.000,25.320,3401.962,11983.919,393.926,3662.723,161.614,33.363,1733.992,0.000,3204.786,0.000,2.828,0.000
$DEVICE_MAMPS,267.750,83.385,1655.460,864.450,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.205,943.687,916.102,86.821,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,77036,1379
$CAP_FILE_SIZE,165676,0
$CFSIZE,2097086464,2072739840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211113,090304,-4259.866,828.852,100,1.0,100,-25.0