version: 66.07.10.p01
glider: 574
mission: 7
dive: 55
start: 10 25 113 6 55 25
data:
$ID,574
$MISSION,7
$DIVE,55
$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,400
$T_MISSION,440
$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,210
$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,-13526.183
$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,28
$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,2010
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,65
$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,34
$GPS1,251013,064634,-4150.459,859.899,38,1.0,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-74.9
$GPS2,251013,065430,-4150.465,859.892,19,1.2,20,-25.1
$SPEED_LIMITS,0.144,0.252
$TGT_NAME,WP1
$TGT_LATLONG,-4205.000,900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.161,-0.157
$KALMAN_X,-77444.0,170.6,-239.3,13527.6,-3873.1
$KALMAN_Y,106480.5,-315.6,-196.9,-187030.4,5658.4
$MHEAD_RNG_PITCHd_Wd,159.4,26919,-17.2,-8.333
$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,23,-0.62,-120.8,0.0,0.0,0,87,0.00,0.00,-60.70,0.000,2,0.000,0.000,66,2045,3032,0,0,0,0,0,0
$GC,89,-0.62,-155.7,3.1,-1.8,10,109,12.02,0.50,-5.15,0.000,4,0.267,0.114,2833,1715,3235,0,0,0,0,0,0
$GC,370,-0.62,-155.7,42.2,-12.8,58,375,0.00,0.40,0.00,0.000,6,0.000,0.041,2832,2011,3240,0,0,0,0,0,0
$GC,716,-0.62,-155.7,85.5,-12.9,119,721,0.00,0.52,0.00,0.000,4,0.000,0.047,2832,1663,3240,0,0,0,0,0,0
$GC,944,-0.62,-155.7,113.8,-12.1,149,947,0.00,0.47,0.00,0.000,6,0.000,0.037,2831,2009,3240,0,0,0,0,0,0
$GC,1273,-0.62,-155.7,154.0,-12.2,180,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2009,3241,0,0,0,0,0,0
$GC,1592,-0.62,-155.7,190.9,-11.8,210,1596,0.00,0.47,0.00,0.000,4,0.000,0.044,2829,2363,3241,0,0,0,0,0,0
$GC,1834,-0.62,-155.7,218.4,-11.3,231,1840,0.00,0.55,0.00,0.000,6,0.000,0.042,2829,1988,3241,0,0,0,0,0,0
$GC,2161,-0.62,-155.7,255.7,-12.0,262,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1987,3242,0,0,0,0,0,0
$GC,2478,-0.62,-155.7,292.8,-11.8,292,2482,0.00,0.47,0.00,0.000,4,0.000,0.055,2829,1659,3242,0,0,0,0,0,0
$GC,2659,-0.62,-155.7,313.5,-11.4,308,2663,0.00,0.47,0.00,0.000,6,0.000,0.037,2828,2007,3242,0,0,0,0,0,0
$GC,2989,-0.62,-155.7,350.5,-11.0,339,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2007,3242,0,0,0,0,0,0
$GC,3310,-0.62,-155.7,385.7,-11.0,369,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2007,3242,0,0,0,0,0,0
$GC,3631,-0.62,-155.7,422.8,-11.8,391,3635,0.00,0.68,0.00,0.000,4,0.000,0.041,2825,2479,3242,0,0,0,0,0,0
$GC,3834,-0.62,-155.7,446.9,-11.6,400,3837,0.00,0.68,0.00,0.000,6,0.000,0.041,2825,2016,3242,0,0,0,0,0,0
$GC,4165,-0.62,-155.7,488.6,-12.1,416,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2016,3242,0,0,0,0,0,0
$GC,4474,-0.62,-155.7,524.6,-11.3,431,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2016,3243,0,0,0,0,0,0
$GC,4784,-0.62,-155.7,558.6,-11.0,446,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2016,3242,0,0,0,0,0,0
$GC,5095,-0.62,-155.7,591.8,-10.4,461,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2016,3242,0,0,0,0,0,0
$GC,5402,-0.62,-155.7,623.0,-10.1,476,5406,0.00,0.40,0.00,0.000,4,0.000,0.056,2825,1726,3242,0,0,0,0,0,0
$GC,5605,-0.62,-155.7,643.1,-9.7,485,5608,0.00,0.38,0.00,0.000,6,0.000,0.042,2824,2015,3242,0,0,0,0,0,0
$GC,5936,-0.62,-155.7,677.2,-10.7,501,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2016,3241,0,0,0,0,0,0
$GC,6245,-0.62,-155.7,710.3,-10.6,516,6249,0.00,0.40,0.00,0.000,4,0.000,0.047,2822,2317,3241,0,0,0,0,0,0
$GC,6470,-0.62,-155.7,733.4,-10.4,526,6474,0.00,0.43,0.00,0.000,6,0.000,0.047,2822,2005,3241,0,0,0,0,0,0
$GC,6802,-0.62,-155.7,766.0,-9.7,542,6803,0.05,0.00,0.00,0.000,6,0.231,0.000,2832,2004,3240,0,0,0,0,0,0
$GC,7111,-0.62,-155.7,794.1,-8.9,557,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2005,3241,0,0,0,0,0,0
$GC,7420,-0.62,-155.7,821.0,-8.5,572,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2005,3241,0,0,0,0,0,0
$GC,7730,-0.62,-155.7,846.3,-8.1,587,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2005,3240,0,0,0,0,0,0
$GC,8039,-0.62,-155.7,871.2,-8.1,602,8043,0.00,0.57,0.00,0.000,4,0.000,0.057,2832,1614,3241,0,0,0,0,0,0
$GC,8251,-0.62,-155.7,888.8,-8.6,611,8255,0.00,0.57,0.00,0.000,6,0.000,0.037,2831,2011,3240,0,0,0,0,0,0
$GC,8572,-0.62,-155.7,915.3,-8.1,627,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2011,3240,0,0,0,0,0,0
$GC,8881,-0.62,-155.7,940.2,-8.0,642,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2012,3240,0,0,0,0,0,0
$GC,9190,-0.62,-155.7,965.9,-8.6,657,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2012,3240,0,0,0,0,0,0
$GC,9500,-0.62,-155.7,992.5,-8.6,672,9503,0.00,0.40,0.00,0.000,4,0.000,0.049,2829,2313,3240,0,0,0,0,0,0
$STATE,9591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9591,begin apogee
$GC,9595,-0.18,0.0,1000.4,8.9,676,9730,0.50,0.00,131.38,1.548,6,0.154,0.000,2978,1779,2600,0,0,0,0,0,0
$STATE,9731,end apogee,CONTROL_FINISHED_OK
$STATE,9731,begin climb
$GC,9732,0.62,155.7,1003.7,0.0,683,9878,0.82,0.70,138.23,1.509,4,0.109,0.058,3234,1381,1964,0,0,0,0,0,0
$GC,10129,0.62,155.7,963.2,11.4,701,10133,0.00,0.60,0.00,0.000,6,0.000,0.032,3234,1772,1955,0,0,0,0,0,0
$GC,10450,0.62,155.7,926.1,11.7,717,10454,0.00,0.65,0.00,0.000,4,0.000,0.054,3235,1375,1953,0,0,0,0,0,0
$GC,10707,0.62,155.7,895.8,11.8,728,10711,0.00,0.60,0.00,0.000,6,0.000,0.033,3235,1772,1952,0,0,0,0,0,0
$GC,11028,0.62,155.7,858.7,11.5,744,11032,0.00,0.47,0.00,0.000,4,0.000,0.053,3236,1469,1951,0,0,0,0,0,0
$GC,11284,0.62,155.7,828.2,12.1,755,11286,0.00,0.45,0.00,0.000,6,0.000,0.037,3236,1773,1950,0,0,0,0,0,0
$GC,11601,0.62,155.7,790.8,11.9,771,11605,0.00,0.50,0.00,0.000,4,0.000,0.051,3237,1456,1949,0,0,0,0,0,0
$GC,11858,0.62,155.7,759.6,12.0,782,11862,0.00,0.47,0.00,0.000,6,0.000,0.036,3237,1776,1949,0,0,0,0,0,0
$GC,12179,0.62,155.7,721.9,11.7,798,12183,0.00,0.47,0.00,0.000,4,0.000,0.052,3238,1472,1949,0,0,0,0,0,0
$GC,12435,0.62,155.7,691.8,11.4,809,12439,0.00,0.45,0.00,0.000,6,0.000,0.037,3238,1779,1948,0,0,0,0,0,0
$GC,12756,0.62,155.7,655.6,11.3,825,12760,0.00,0.70,0.00,0.000,4,0.000,0.055,3240,1344,1948,0,0,0,0,0,0
$GC,12945,0.62,155.7,634.3,11.1,833,12949,0.00,0.65,0.00,0.000,6,0.000,0.033,3240,1775,1948,0,0,0,0,0,0
$GC,13266,0.62,155.7,599.0,11.0,849,13270,0.00,0.43,0.00,0.000,4,0.000,0.053,3240,1499,1948,0,0,0,0,0,0
$GC,13523,0.62,155.7,571.3,10.6,860,13525,0.00,0.40,0.00,0.000,6,0.000,0.038,3240,1780,1948,0,0,0,0,0,0
$GC,13840,0.62,155.7,538.3,10.2,876,13844,0.00,0.45,0.00,0.000,4,0.000,0.052,3240,1486,1948,0,0,0,0,0,0
$GC,14035,0.62,155.7,518.5,9.6,884,14040,0.00,0.40,0.00,0.000,6,0.000,0.038,3240,1770,1948,0,0,0,0,0,0
$GC,14350,0.62,155.7,487.4,9.7,900,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1770,1948,0,0,0,0,0,0
$GC,14659,0.62,155.7,456.3,10.1,915,14663,0.00,0.57,0.00,0.000,4,0.000,0.054,3240,1404,1948,0,0,0,0,0,0
$GC,14877,0.62,155.7,434.2,9.1,924,14882,0.00,0.55,0.00,0.000,6,0.000,0.035,3240,1770,1948,0,0,0,0,0,0
$GC,15192,0.62,155.7,401.3,10.7,940,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1770,1948,0,0,0,0,0,0
$GC,15514,0.62,155.7,368.3,10.5,969,15517,0.00,0.60,0.00,0.000,4,0.000,0.054,3240,1389,1948,0,0,0,0,0,0
$GC,15773,0.62,155.7,341.1,10.5,992,15777,0.00,0.55,0.00,0.000,6,0.000,0.035,3240,1772,1948,0,0,0,0,0,0
$GC,16103,0.62,155.7,304.9,11.5,1023,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1772,1948,0,0,0,0,0,0
$GC,16425,0.62,155.7,269.8,10.9,1053,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1771,1948,0,0,0,0,0,0
$GC,16750,0.62,155.7,233.9,10.6,1084,16754,0.00,0.47,0.00,0.000,4,0.000,0.052,3240,1464,1948,0,0,0,0,0,0
$GC,16980,0.62,155.7,209.9,10.8,1104,16983,0.00,0.45,0.00,0.000,6,0.000,0.037,3240,1773,1948,0,0,0,0,0,0
$GC,17301,0.62,155.7,179.0,9.7,1134,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1772,1948,0,0,0,0,0,0
$GC,17620,0.62,155.7,147.7,9.9,1164,17624,0.00,0.70,0.00,0.000,4,0.000,0.054,3240,1332,1948,0,0,0,0,0,0
$GC,17846,0.62,155.7,124.2,11.4,1184,17850,0.00,0.62,0.00,0.000,6,0.000,0.034,3240,1758,1949,0,0,0,0,0,0
$GC,18178,0.62,155.7,87.0,11.9,1224,18184,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1759,1948,0,0,0,0,0,0
$GC,18527,0.62,155.7,48.9,10.7,1285,18532,0.00,0.52,0.00,0.000,4,0.000,0.052,3241,1419,1948,0,0,0,0,0,0
$GC,18783,0.62,155.7,21.6,10.2,1330,18791,0.00,0.50,0.00,0.000,6,0.000,0.035,3240,1774,1948,0,0,0,0,0,0
$GC,18934,0.62,155.7,6.4,9.9,1355,18940,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1775,1949,0,0,0,0,0,0
$STATE,18970,end climb,SURFACE_DEPTH_REACHED
$STATE,18970,begin surface coast
$FINISH,1.2,1.025708
$STATE,19002,end surface coast,CONTROL_FINISHED_OK
$STATE,19002,begin surface
$SM_CCo,19016,24.25,0.828,0,0,1742,210.22
$SM_GC,2.72,0.00,0.00,24.25,0.000,0.000,0.828,87,2047,1742,-9.23,1.05,210.22
$IRIDIUM_FIX,-4135.14,859.26,251013,000022
$TT8_MAMPS,0.026964
$HUMID,61.14
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,23.4,10.288
$10V_AH,10.2,8.269
$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,21.875,23.475,269.600,24.250,0.000,24.265,20.277,311.236,0.500,0.000,22.031,3397.440,11876.693,351.544,3748.971,133.766,33.389,1749.712,0.000,3337.707,0.000,5.322,0.000
$DEVICE_MAMPS,266.985,113.985,1547.595,827.730,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.915,920.749,914.363,81.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,76921,1366
$CAP_FILE_SIZE,164416,0
$CFSIZE,2097086464,2087780352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251013,121358,-4150.735,900.870,38,1.2,38,-25.1