version: 66.07.10.p01
glider: 574
mission: 7
dive: 173
start: 11 21 113 18 32 19
data:
$ID,574
$MISSION,7
$DIVE,173
$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,-13909.357
$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,50
$R_STBD_OVSHOOT,25
$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,152
$GPS1,211113,182205,-4301.019,828.843,81,0.9,81,-25.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-69.5
$GPS2,211113,183125,-4301.009,829.003,26,0.8,26,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.008,-0.266
$KALMAN_X,-148835.3,-129.9,-451.4,42350.3,2979.9
$KALMAN_Y,557182.3,-1178.5,-675.8,-767032.4,9207.4
$MHEAD_RNG_PITCHd_Wd,206.8,2306,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.59,-155.7,0.0,0.0,0,58,0.00,0.00,-31.12,0.000,2,0.000,0.000,66,1929,2498,0,0,0,0,0,0
$GC,60,-0.59,-155.7,3.0,-1.2,5,110,12.85,1.90,-30.15,0.000,4,0.279,0.058,2829,3115,3237,0,0,0,0,0,0
$GC,290,-0.59,-155.7,30.0,-13.1,44,298,0.05,1.80,0.00,0.000,6,0.169,0.033,2845,1965,3239,0,0,0,0,0,0
$GC,436,-0.59,-155.7,45.3,-11.6,69,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1965,3240,0,0,0,0,0,0
$GC,785,-0.59,-155.7,84.5,-10.7,130,790,0.00,0.77,0.00,0.000,4,0.000,0.048,2845,1458,3241,0,0,0,0,0,0
$GC,923,-0.59,-155.7,98.9,-10.4,154,928,0.00,0.77,0.00,0.000,6,0.000,0.032,2843,1991,3241,0,0,0,0,0,0
$GC,1252,-0.59,-155.7,133.2,-11.0,186,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1991,3241,0,0,0,0,0,0
$GC,1572,-0.59,-155.7,169.0,-11.5,216,1575,0.00,0.40,0.00,0.000,4,0.000,0.045,2841,2294,3242,0,0,0,0,0,0
$GC,1724,-0.59,-155.7,186.6,-11.3,229,1729,0.00,0.52,0.00,0.000,6,0.000,0.038,2841,1931,3242,0,0,0,0,0,0
$GC,2048,-0.59,-155.7,223.1,-11.2,260,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1931,3242,0,0,0,0,0,0
$GC,2368,-0.59,-155.7,256.8,-10.0,290,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1931,3242,0,0,0,0,0,0
$GC,2686,-0.59,-155.7,288.5,-10.1,320,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1931,3242,0,0,0,0,0,0
$GC,3005,-0.59,-155.7,321.7,-10.4,350,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1931,3242,0,0,0,0,0,0
$GC,3324,-0.59,-155.7,355.6,-11.1,380,3327,0.00,0.45,0.00,0.000,4,0.000,0.051,2841,1614,3242,0,0,0,0,0,0
$GC,3509,-0.59,-155.7,376.5,-11.4,396,3516,0.00,0.47,0.00,0.000,6,0.000,0.036,2840,1958,3242,0,0,0,0,0,0
$GC,3831,-0.59,-155.7,411.8,-11.2,422,3835,0.00,0.38,0.00,0.000,4,0.000,0.045,2838,2249,3242,0,0,0,0,0,0
$GC,4088,-0.59,-155.7,440.5,-10.9,433,4092,0.00,0.43,0.00,0.000,6,0.000,0.039,2837,1943,3242,0,0,0,0,0,0
$GC,4409,-0.59,-155.7,475.4,-10.5,449,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1943,3242,0,0,0,0,0,0
$GC,4718,-0.59,-155.7,508.6,-10.8,464,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1943,3242,0,0,0,0,0,0
$GC,5028,-0.59,-155.7,541.4,-10.5,479,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1943,3242,0,0,0,0,0,0
$GC,5337,-0.59,-155.7,574.3,-10.6,494,5340,0.00,0.68,0.00,0.000,4,0.000,0.049,2838,1493,3241,0,0,0,0,0,0
$GC,5472,-0.59,-155.7,589.0,-11.1,500,5475,0.00,0.62,0.00,0.000,6,0.000,0.032,2835,1941,3241,0,0,0,0,0,0
$GC,5804,-0.59,-155.7,625.9,-11.1,516,5807,0.00,0.38,0.00,0.000,4,0.000,0.046,2833,2235,3240,0,0,0,0,0,0
$GC,6060,-0.59,-155.7,654.0,-10.4,527,6065,0.05,0.40,0.00,0.000,6,0.225,0.041,2843,1933,3240,0,0,0,0,0,0
$GC,6381,-0.59,-155.7,683.4,-8.5,543,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1932,3239,0,0,0,0,0,0
$GC,6691,-0.59,-155.7,708.5,-7.9,558,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1932,3239,0,0,0,0,0,0
$GC,7000,-0.59,-155.7,733.0,-7.9,573,7003,0.00,0.40,0.00,0.000,4,0.000,0.053,2844,1645,3239,0,0,0,0,0,0
$GC,7234,-0.59,-155.7,752.3,-8.1,583,7239,0.00,0.43,0.00,0.000,6,0.000,0.036,2843,1972,3239,0,0,0,0,0,0
$GC,7556,-0.59,-155.7,778.1,-8.2,599,7559,0.00,0.30,0.00,0.000,4,0.000,0.050,2842,2226,3238,0,0,0,0,0,0
$GC,7813,-0.59,-155.7,798.5,-7.8,610,7817,0.00,0.38,0.00,0.000,6,0.000,0.042,2842,1955,3238,0,0,0,0,0,0
$GC,8134,-0.59,-155.7,822.7,-7.3,626,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3238,0,0,0,0,0,0
$GC,8444,-0.59,-155.7,846.2,-7.6,641,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3237,0,0,0,0,0,0
$GC,8753,-0.59,-155.7,870.5,-7.9,656,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3237,0,0,0,0,0,0
$GC,9062,-0.59,-155.7,895.4,-8.1,671,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3236,0,0,0,0,0,0
$GC,9372,-0.59,-155.7,920.6,-8.3,686,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1955,3236,0,0,0,0,0,0
$GC,9681,-0.59,-155.7,945.0,-7.5,701,9685,0.00,0.60,0.00,0.000,4,0.000,0.051,2842,1547,3236,0,0,0,0,0,0
$GC,9899,-0.59,-155.7,962.6,-8.7,710,9904,0.00,0.55,0.00,0.000,6,0.000,0.034,2840,1940,3236,0,0,0,0,0,0
$GC,10215,-0.59,-155.7,988.0,-8.2,726,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1940,3236,0,0,0,0,0,0
$STATE,10360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10360,begin apogee
$GC,10365,-0.17,0.0,1000.1,8.4,733,10501,0.50,0.00,133.60,1.655,6,0.158,0.000,2983,1797,2600,0,0,0,0,0,0
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10504,0.59,155.7,1003.7,0.0,740,10655,0.77,1.60,144.50,1.541,4,0.107,0.054,3226,899,1967,0,0,0,0,0,0
$GC,10800,0.59,155.7,975.3,11.8,754,10805,0.00,1.45,0.00,0.000,6,0.000,0.024,3226,1794,1957,0,0,0,0,0,0
$GC,11127,0.59,155.7,938.9,10.8,770,11131,0.00,0.75,0.00,0.000,4,0.000,0.048,3226,1340,1953,0,0,0,0,0,0
$GC,11339,0.59,155.7,916.4,10.9,779,11344,0.00,0.73,0.00,0.000,6,0.000,0.027,3227,1823,1953,0,0,0,0,0,0
$GC,11661,0.59,155.7,882.3,10.7,795,11664,0.00,0.52,0.00,0.000,4,0.000,0.045,3227,1485,1952,0,0,0,0,0,0
$GC,11863,0.59,155.7,860.6,10.4,804,11867,0.00,0.45,0.00,0.000,6,0.000,0.031,3227,1817,1951,0,0,0,0,0,0
$GC,12195,0.59,155.7,823.5,11.1,820,12198,0.00,1.02,0.00,0.000,4,0.000,0.050,3227,1188,1950,0,0,0,0,0,0
$GC,12378,0.59,155.7,803.0,12.1,828,12383,0.00,0.93,0.00,0.000,6,0.000,0.026,3227,1809,1950,0,0,0,0,0,0
$GC,12705,0.59,155.7,766.6,11.0,844,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1809,1949,0,0,0,0,0,0
$GC,13015,0.59,155.7,732.4,10.8,859,13018,0.00,0.45,0.00,0.000,4,0.000,0.045,3228,1513,1949,0,0,0,0,0,0
$GC,13271,0.59,155.7,704.4,10.3,870,13275,0.00,0.43,0.00,0.000,6,0.000,0.033,3228,1817,1949,0,0,0,0,0,0
$GC,13593,0.59,155.7,670.4,10.6,886,13596,0.00,1.00,0.00,0.000,4,0.000,0.050,3231,1193,1949,0,0,0,0,0,0
$GC,13787,0.59,155.7,649.3,10.6,894,13793,0.00,0.93,0.00,0.000,6,0.000,0.026,3231,1818,1949,0,0,0,0,0,0
$GC,14103,0.59,155.7,615.3,10.9,910,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1819,1949,0,0,0,0,0,0
$GC,14413,0.59,155.7,582.5,10.6,925,14416,0.00,0.95,0.00,0.000,4,0.000,0.050,3234,1225,1948,0,0,0,0,0,0
$GC,14574,0.59,155.7,564.7,10.8,932,14579,0.00,0.88,0.00,0.000,6,0.000,0.026,3234,1819,1948,0,0,0,0,0,0
$GC,14901,0.59,155.7,528.4,10.8,948,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1819,1948,0,0,0,0,0,0
$GC,15211,0.59,155.7,496.3,10.3,963,15215,0.00,0.45,0.00,0.000,4,0.000,0.047,3235,1519,1948,0,0,0,0,0,0
$GC,15467,0.59,155.7,470.0,9.9,974,15471,0.00,0.40,0.00,0.000,6,0.000,0.032,3235,1806,1948,0,0,0,0,0,0
$GC,15788,0.59,155.7,437.6,10.2,990,15792,0.00,0.57,0.00,0.000,4,0.000,0.046,3237,1430,1948,0,0,0,0,0,0
$GC,15983,0.59,155.7,417.1,10.1,998,15989,0.00,0.55,0.00,0.000,6,0.000,0.031,3237,1836,1948,0,0,0,0,0,0
$GC,16308,0.59,155.7,383.9,10.2,1021,16311,0.00,0.62,0.00,0.000,4,0.000,0.045,3239,1436,1948,0,0,0,0,0,0
$GC,16566,0.59,155.7,355.9,10.5,1044,16570,0.00,0.47,0.00,0.000,6,0.000,0.033,3239,1794,1948,0,0,0,0,0,0
$GC,16896,0.59,155.7,318.9,11.2,1075,16900,0.00,0.77,0.00,0.000,4,0.000,0.050,3240,1313,1948,0,0,0,0,0,0
$GC,17078,0.59,155.7,298.9,11.3,1091,17082,0.00,0.70,0.00,0.000,6,0.000,0.028,3240,1810,1948,0,0,0,0,0,0
$GC,17408,0.59,155.7,262.1,10.9,1122,17412,0.00,0.80,0.00,0.000,4,0.000,0.050,3241,1307,1948,0,0,0,0,0,0
$GC,17593,0.59,155.7,241.0,12.0,1138,17598,0.00,0.73,0.00,0.000,6,0.000,0.027,3241,1815,1948,0,0,0,0,0,0
$GC,17921,0.59,155.7,203.6,11.3,1169,17925,0.00,0.38,0.00,0.000,4,0.000,0.045,3241,1561,1948,0,0,0,0,0,0
$GC,18181,0.59,155.7,172.8,10.9,1192,18184,0.00,0.30,0.00,0.000,6,0.000,0.037,3241,1801,1948,0,0,0,0,0,0
$GC,18510,0.59,155.7,135.7,10.9,1223,18512,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1801,1948,0,0,0,0,0,0
$GC,18833,0.59,155.7,102.0,10.5,1253,18838,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1801,1948,0,0,0,0,0,0
$GC,19179,0.59,155.7,64.2,10.5,1313,19184,0.00,0.73,0.00,0.000,4,0.000,0.048,3243,1338,1948,0,0,0,0,0,0
$GC,19366,0.59,156.9,44.9,9.8,1346,19372,0.03,0.68,0.00,0.000,6,0.185,0.030,3234,1831,1948,0,0,0,0,0,0
$GC,19721,0.59,156.9,7.7,9.9,1407,19728,0.00,0.70,0.00,0.000,4,0.000,0.053,3236,1389,1948,0,0,0,0,0,0
$STATE,19764,end climb,SURFACE_DEPTH_REACHED
$STATE,19764,begin surface coast
$FINISH,1.5,1.025773
$STATE,19789,end surface coast,CONTROL_FINISHED_OK
$STATE,19789,begin surface
$SM_CCo,19806,12.25,0.867,0,0,1844,185.20
$SM_GC,3.32,0.00,0.00,12.25,0.000,0.000,0.867,82,1939,1844,-9.24,-0.31,185.20
$IRIDIUM_FIX,-4244.98,831.12,211113,141403
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,22.6,28.165
$10V_AH,10.2,23.180
$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,22.875,34.525,278.100,12.250,0.000,41.256,41.241,354.811,0.500,0.000,28.532,3526.158,12375.677,360.580,3954.703,164.854,33.364,1815.400,0.000,3446.177,0.000,5.654,0.000
$DEVICE_MAMPS,279.225,58.140,1654.695,866.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.651,940.477,938.089,84.897,0.000,0.000,0.000,0.000,0.000,0.000
$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,80294,1418
$CAP_FILE_SIZE,173366,0
$CFSIZE,2097086464,2072346624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221113,000429,-4302.141,829.150,76,0.9,76,-25.0