version: 66.07.10.p01
glider: 574
mission: 7
dive: 183
start: 11 23 113 12 21 55
data:
$ID,574
$MISSION,7
$DIVE,183
$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,380
$T_MISSION,420
$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,-13934.333
$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,31
$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,1930
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,38
$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,162
$GPS1,231113,120729,-4302.472,830.636,41,1.0,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.9
$GPS2,231113,122101,-4302.471,830.787,29,1.1,29,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.238,-0.095
$KALMAN_X,-142092.6,194.8,151.5,37150.5,3857.5
$KALMAN_Y,581265.8,-1226.8,-195.4,-794240.8,8724.0
$MHEAD_RNG_PITCHd_Wd,273.3,4699,-15.7,-8.772
$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,-0.52,-155.7,0.0,0.0,0,58,0.00,0.00,-31.27,0.000,2,0.000,0.000,66,1924,2516,0,0,0,0,0,0
$GC,60,-0.52,-155.7,3.0,-0.4,5,110,12.75,2.30,-28.65,0.000,4,0.272,0.067,2854,3325,3235,0,0,0,0,0,0
$GC,171,-0.52,-155.7,10.3,-11.1,23,179,0.05,2.20,0.00,0.000,6,0.161,0.033,2868,1929,3238,0,0,0,0,0,0
$GC,228,-0.52,-155.7,16.0,-10.4,32,234,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1929,3238,0,0,0,0,0,0
$GC,283,-0.52,-155.7,21.5,-9.5,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1929,3238,0,0,0,0,0,0
$GC,425,-0.52,-155.7,37.0,-12.0,66,432,0.00,0.73,0.00,0.000,4,0.000,0.048,2869,1455,3239,0,0,0,0,0,0
$GC,495,-0.52,-155.7,45.1,-11.5,78,502,0.00,0.73,0.00,0.000,6,0.000,0.029,2868,1961,3239,0,0,0,0,0,0
$GC,845,-0.52,-155.7,81.0,-9.9,139,850,0.00,0.57,0.00,0.000,4,0.000,0.039,2865,2377,3240,0,0,0,0,0,0
$GC,898,-0.52,-155.7,86.4,-10.0,148,903,0.00,0.68,0.00,0.000,6,0.000,0.037,2865,1917,3240,0,0,0,0,0,0
$GC,1230,-0.52,-155.7,121.5,-10.6,190,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1917,3241,0,0,0,0,0,0
$GC,1549,-0.52,-155.7,154.0,-10.3,220,1552,0.00,0.57,0.00,0.000,4,0.000,0.050,2865,1526,3241,0,0,0,0,0,0
$GC,1632,-0.52,-155.7,163.1,-10.4,227,1637,0.00,0.57,0.00,0.000,6,0.000,0.031,2863,1937,3241,0,0,0,0,0,0
$GC,1957,-0.52,-155.7,197.0,-10.2,258,1961,0.00,2.12,0.00,0.000,4,0.000,0.047,2853,3298,3241,0,0,0,0,0,0
$GC,2019,-0.52,-155.7,203.3,-9.7,263,2023,0.08,2.08,0.00,0.000,6,0.185,0.032,2869,1940,3241,0,0,0,0,0,0
$GC,2347,-0.52,-155.7,232.9,-8.7,293,2350,0.00,0.47,0.00,0.000,4,0.000,0.050,2869,1603,3241,0,0,0,0,0,0
$GC,2416,-0.52,-155.7,239.3,-9.0,299,2419,0.00,0.43,0.00,0.000,6,0.000,0.035,2869,1939,3241,0,0,0,0,0,0
$GC,2746,-0.52,-155.7,267.4,-8.4,330,2750,0.00,2.08,0.00,0.000,4,0.000,0.047,2860,3283,3241,0,0,0,0,0,0
$GC,2792,-0.52,-155.7,271.3,-8.4,334,2796,0.00,2.08,0.00,0.000,6,0.000,0.032,2860,1925,3241,0,0,0,0,0,0
$GC,3117,-0.52,-155.7,300.9,-9.2,364,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1925,3241,0,0,0,0,0,0
$GC,3435,-0.52,-155.7,330.7,-9.3,394,3439,0.00,0.65,0.00,0.000,4,0.000,0.049,2860,1488,3241,0,0,0,0,0,0
$GC,3516,-0.52,-155.7,338.2,-9.0,401,3520,0.00,0.57,0.00,0.000,6,0.000,0.032,2857,1915,3241,0,0,0,0,0,0
$GC,3846,-0.52,-155.7,367.5,-8.7,432,3851,0.05,2.12,0.00,0.000,4,0.236,0.047,2858,3290,3241,0,0,0,0,0,0
$GC,3943,-0.52,-155.7,375.2,-7.7,440,3947,0.00,2.08,0.00,0.000,6,0.000,0.033,2858,1928,3241,0,0,0,0,0,0
$GC,4267,-0.52,-155.7,402.4,-8.5,469,4270,0.00,0.68,0.00,0.000,4,0.000,0.050,2858,1472,3241,0,0,0,0,0,0
$GC,4349,-0.52,-155.7,409.7,-8.5,472,4356,0.08,0.65,0.00,0.000,6,0.206,0.030,2871,1934,3241,0,0,0,0,0,0
$GC,4666,-0.52,-155.7,435.3,-8.2,488,4669,0.00,0.45,0.00,0.000,4,0.000,0.042,2870,2277,3241,0,0,0,0,0,0
$GC,4737,-0.52,-155.7,441.4,-8.2,491,4741,0.00,0.55,0.00,0.000,6,0.000,0.041,2870,1904,3241,0,0,0,0,0,0
$GC,5064,-0.52,-155.7,468.4,-8.3,507,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1904,3240,0,0,0,0,0,0
$GC,5374,-0.52,-155.7,494.9,-8.6,522,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1904,3240,0,0,0,0,0,0
$GC,5683,-0.52,-155.7,521.5,-8.5,537,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1904,3240,0,0,0,0,0,0
$GC,5992,-0.52,-155.7,548.2,-8.8,552,5996,0.00,0.62,0.00,0.000,4,0.000,0.051,2870,1485,3239,0,0,0,0,0,0
$GC,6069,-0.52,-155.7,555.1,-8.4,555,6074,0.00,0.62,0.00,0.000,6,0.000,0.031,2868,1933,3239,0,0,0,0,0,0
$GC,6391,-0.52,-155.7,583.3,-9.0,571,6395,0.00,2.12,0.00,0.000,4,0.000,0.048,2858,3293,3238,0,0,0,0,0,0
$GC,6456,-0.52,-155.7,589.4,-9.2,574,6461,0.00,2.08,0.00,0.000,6,0.000,0.034,2858,1947,3238,0,0,0,0,0,0
$GC,6784,-0.52,-155.7,620.9,-9.9,590,6787,0.00,0.68,0.00,0.000,4,0.000,0.050,2858,1496,3238,0,0,0,0,0,0
$GC,6878,-0.52,-155.7,630.8,-10.7,594,6882,0.08,0.60,0.00,0.000,6,0.209,0.031,2870,1931,3238,0,0,0,0,0,0
$GC,7205,-0.52,-155.7,661.3,-9.3,610,7209,0.00,2.12,0.00,0.000,4,0.000,0.048,2862,3297,3237,0,0,0,0,0,0
$GC,7242,-0.52,-155.7,665.1,-9.0,611,7248,0.00,2.12,0.00,0.000,6,0.000,0.034,2862,1929,3237,0,0,0,0,0,0
$GC,7558,-0.52,-155.7,694.7,-9.4,627,7562,0.00,0.52,0.00,0.000,4,0.000,0.053,2862,1568,3237,0,0,0,0,0,0
$GC,7630,-0.52,-155.7,701.6,-9.6,630,7634,0.00,0.50,0.00,0.000,6,0.000,0.033,2861,1935,3236,0,0,0,0,0,0
$GC,7956,-0.52,-155.7,732.5,-9.5,646,7960,0.00,1.65,0.00,0.000,4,0.000,0.045,2853,2993,3237,0,0,0,0,0,0
$GC,8001,-0.52,-155.7,736.8,-9.4,648,8006,0.08,1.65,0.00,0.000,6,0.188,0.034,2868,1925,3236,0,0,0,0,0,0
$GC,8334,-0.52,-155.7,763.9,-7.7,664,8338,0.00,0.57,0.00,0.000,4,0.000,0.051,2869,1534,3236,0,0,0,0,0,0
$GC,8416,-0.52,-155.7,770.3,-7.6,667,8422,0.00,0.55,0.00,0.000,6,0.000,0.032,2868,1930,3236,0,0,0,0,0,0
$GC,8732,-0.52,-155.7,792.7,-6.9,683,8736,0.00,1.10,0.00,0.000,4,0.000,0.041,2863,2656,3235,0,0,0,0,0,0
$GC,8781,-0.52,-155.7,796.1,-6.7,685,8786,0.00,1.15,0.00,0.000,6,0.000,0.036,2863,1920,3235,0,0,0,0,0,0
$GC,9109,-0.52,-155.7,819.0,-7.3,701,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1921,3235,0,0,0,0,0,0
$GC,9418,-0.52,-155.7,841.6,-7.4,716,9422,0.00,0.77,0.00,0.000,4,0.000,0.051,2863,1415,3234,0,0,0,0,0,0
$GC,9512,-0.52,-155.7,848.8,-7.2,720,9517,0.00,0.75,0.00,0.000,6,0.000,0.030,2861,1932,3234,0,0,0,0,0,0
$GC,9840,-0.52,-155.7,872.7,-7.2,736,9844,0.00,2.12,0.00,0.000,4,0.000,0.049,2852,3307,3234,0,0,0,0,0,0
$GC,9883,-0.52,-155.7,876.0,-6.9,738,9888,0.03,2.12,0.00,0.000,6,0.171,0.033,2860,1931,3234,0,0,0,0,0,0
$GC,10210,-0.52,-155.7,897.4,-6.5,754,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1931,3233,0,0,0,0,0,0
$GC,10519,-0.52,-155.7,916.6,-6.4,769,10523,0.00,0.47,0.00,0.000,4,0.000,0.053,2860,1601,3234,0,0,0,0,0,0
$GC,10596,-0.52,-155.7,921.6,-5.6,772,10601,0.00,0.47,0.00,0.000,6,0.000,0.034,2860,1948,3234,0,0,0,0,0,0
$GC,10917,-0.52,-155.7,941.8,-6.3,788,10921,0.00,2.08,0.00,0.000,4,0.000,0.049,2850,3291,3234,0,0,0,0,0,0
$GC,10963,-0.52,-155.7,944.6,-6.8,790,10968,0.10,2.10,0.00,0.000,6,0.167,0.034,2874,1921,3234,0,0,0,0,0,0
$GC,11289,-0.52,-155.7,962.2,-5.2,806,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1921,3234,0,0,0,0,0,0
$GC,11598,-0.52,-155.7,978.3,-5.1,821,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1921,3234,0,0,0,0,0,0
$GC,11908,-0.52,-155.7,996.4,-6.2,836,11911,0.00,0.62,0.00,0.000,4,0.000,0.052,2874,1497,3233,0,0,0,0,0,0
$STATE,11969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11969,begin apogee
$GC,11974,-0.16,0.0,1000.3,6.5,838,12111,0.35,0.00,134.00,1.951,6,0.145,0.000,2982,1849,2600,0,0,0,0,0,0
$STATE,12111,end apogee,CONTROL_FINISHED_OK
$STATE,12111,begin climb
$GC,12113,0.52,155.7,1003.4,0.0,845,12269,0.70,2.62,147.85,1.844,4,0.107,0.061,3203,435,1965,0,0,0,0,0,0
$GC,12357,0.52,155.7,984.5,9.4,856,12364,0.00,2.20,0.00,0.000,6,0.000,0.025,3203,1779,1957,0,0,0,0,0,0
$GC,12674,0.52,155.7,954.9,9.4,872,12677,0.00,0.52,0.00,0.000,4,0.000,0.037,3203,2154,1953,0,0,0,0,0,0
$GC,12741,0.52,155.7,948.5,10.0,875,12745,0.00,0.50,0.00,0.000,6,0.000,0.044,3204,1826,1953,0,0,0,0,0,0
$GC,13073,0.52,155.7,915.4,9.7,891,13077,0.00,2.30,0.00,0.000,4,0.000,0.063,3213,427,1952,0,0,0,0,0,0
$GC,13160,0.52,155.7,906.2,9.9,895,13165,0.00,2.12,0.00,0.000,6,0.000,0.027,3213,1792,1951,0,0,0,0,0,0
$GC,13488,0.52,155.7,873.7,9.8,911,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1792,1950,0,0,0,0,0,0
$GC,13797,0.52,155.7,842.8,10.1,926,13801,0.00,0.68,0.00,0.000,4,0.000,0.050,3213,1369,1950,0,0,0,0,0,0
$GC,13897,0.52,155.7,832.5,10.0,930,13901,0.00,0.73,0.00,0.000,6,0.000,0.028,3213,1865,1949,0,0,0,0,0,0
$GC,14218,0.52,155.7,798.3,10.7,946,14222,0.00,2.33,0.00,0.000,4,0.000,0.060,3221,433,1949,0,0,0,0,0,0
$GC,14311,0.52,155.7,787.5,11.4,950,14317,0.03,2.10,0.00,0.000,6,0.172,0.026,3213,1808,1949,0,0,0,0,0,0
$GC,14638,0.52,155.7,752.8,10.3,966,14642,0.00,1.62,0.00,0.000,4,0.000,0.055,3218,816,1949,0,0,0,0,0,0
$GC,14697,0.52,155.7,746.5,11.1,968,14704,0.00,1.55,0.00,0.000,6,0.000,0.025,3217,1842,1949,0,0,0,0,0,0
$GC,15014,0.52,155.7,713.8,10.1,984,15018,0.00,2.22,0.00,0.000,4,0.000,0.059,3227,463,1949,0,0,0,0,0,0
$GC,15068,0.52,155.7,708.0,10.4,986,15073,0.05,2.08,0.00,0.000,6,0.159,0.027,3210,1827,1948,0,0,0,0,0,0
$GC,15390,0.52,157.1,678.7,8.7,1002,15394,0.00,1.75,0.00,0.000,4,0.000,0.056,3216,736,1947,0,0,0,0,0,0
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$STATE,22599,end climb,SURFACE_DEPTH_REACHED
$STATE,22599,begin surface coast
$FINISH,1.7,1.026562
$STATE,22636,end surface coast,CONTROL_FINISHED_OK
$STATE,22636,begin surface
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$HUMID,62.08
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$TCM_TEMP,10.70
$XPDR_PINGS,0
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$10V_AH,10.2,24.171
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.275,131.625,339.725,0.000,0.000,30.921,41.096,567.414,0.500,0.000,31.450,4014.351,14480.801,459.493,4329.379,227.424,33.367,2079.172,0.000,3615.748,0.000,5.662,0.000
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$SENSOR_SECS,1135.102,1069.116,1083.211,97.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354480
$DATA_FILE_SIZE,93613,1619
$CAP_FILE_SIZE,222056,0
$CFSIZE,2097086464,2071035904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231113,184134,-4259.880,829.645,33,0.8,33,-25.0