version: 66.07.10.p01
glider: 574
mission: 7
dive: 100
start: 11 5 113 19 21 24
data:
$ID,574
$MISSION,7
$DIVE,100
$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,-13676.851
$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,35
$R_STBD_OVSHOOT,82
$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,79
$GPS1,051113,191158,-4225.848,849.191,46,0.9,46,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-76.1
$GPS2,051113,192029,-4225.827,849.170,18,1.0,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.005,-0.266
$KALMAN_X,-151688.2,-68.9,-179.1,73004.3,-1123.8
$KALMAN_Y,276606.4,39.5,-9.5,-423191.8,3271.2
$MHEAD_RNG_PITCHd_Wd,204.1,77893,-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,-155.7,0.0,0.0,0,81,0.00,0.00,-54.33,0.000,2,0.000,0.000,66,1988,2999,0,0,0,0,0,0
$GC,83,-0.59,-155.7,3.3,-2.1,9,109,12.30,0.62,-5.93,0.000,4,0.270,0.096,2840,1573,3238,0,0,0,0,0,0
$GC,335,-0.59,-155.7,39.3,-11.5,52,342,0.00,0.50,0.00,0.000,6,0.000,0.037,2840,1929,3240,0,0,0,0,0,0
$GC,478,-0.59,-155.7,56.0,-11.4,77,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3240,0,0,0,0,0,0
$GC,823,-0.59,-155.7,96.2,-12.2,138,830,0.00,0.75,0.00,0.000,4,0.000,0.042,2836,2443,3242,0,0,0,0,0,0
$GC,998,-0.59,-155.7,117.0,-11.7,156,1006,0.00,0.77,0.00,0.000,6,0.000,0.038,2836,1933,3242,0,0,0,0,0,0
$GC,1325,-0.59,-155.7,156.9,-12.8,187,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1933,3243,0,0,0,0,0,0
$GC,1644,-0.59,-155.7,196.2,-12.0,217,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1932,3243,0,0,0,0,0,0
$GC,1961,-0.59,-155.7,232.4,-10.8,247,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1932,3243,0,0,0,0,0,0
$GC,2283,-0.59,-155.7,266.0,-10.4,277,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1932,3243,0,0,0,0,0,0
$GC,2608,-0.59,-155.7,301.9,-11.0,308,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1932,3243,0,0,0,0,0,0
$GC,2927,-0.59,-155.7,336.3,-11.4,338,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1932,3243,0,0,0,0,0,0
$GC,3245,-0.59,-155.7,372.5,-11.2,368,3249,0.00,0.70,0.00,0.000,4,0.000,0.050,2836,1469,3242,0,0,0,0,0,0
$GC,3419,-0.59,-155.7,393.2,-11.4,383,3425,0.05,0.70,0.00,0.000,6,0.230,0.033,2844,1952,3243,0,0,0,0,0,0
$GC,3736,-0.59,-155.7,426.1,-10.3,402,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1952,3242,0,0,0,0,0,0
$GC,4046,-0.59,-155.7,458.3,-10.3,417,4049,0.00,0.82,0.00,0.000,4,0.000,0.043,2841,2514,3243,0,0,0,0,0,0
$GC,4225,-0.59,-155.7,476.4,-10.1,425,4229,0.00,0.85,0.00,0.000,6,0.000,0.039,2843,1944,3243,0,0,0,0,0,0
$GC,4557,-0.59,-155.7,508.9,-9.9,441,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1943,3242,0,0,0,0,0,0
$GC,4866,-0.59,-155.7,539.7,-9.9,456,4870,0.00,0.50,0.00,0.000,4,0.000,0.054,2843,1598,3242,0,0,0,0,0,0
$GC,5091,-0.59,-155.7,563.4,-10.9,466,5094,0.00,0.47,0.00,0.000,6,0.000,0.039,2843,1946,3242,0,0,0,0,0,0
$GC,5423,-0.59,-155.7,599.5,-11.0,482,5426,0.00,0.50,0.00,0.000,4,0.000,0.045,2840,2316,3241,0,0,0,0,0,0
$GC,5613,-0.59,-155.7,620.4,-11.2,490,5617,0.00,0.52,0.00,0.000,6,0.000,0.042,2840,1946,3241,0,0,0,0,0,0
$GC,5934,-0.59,-155.7,654.4,-10.7,506,5938,0.00,0.52,0.00,0.000,4,0.000,0.054,2840,1584,3239,0,0,0,0,0,0
$GC,6106,-0.59,-155.7,672.8,-10.3,513,6111,0.00,0.52,0.00,0.000,6,0.000,0.037,2837,1948,3239,0,0,0,0,0,0
$GC,6421,-0.59,-155.7,704.6,-10.0,529,6425,0.00,0.40,0.00,0.000,4,0.000,0.048,2836,2252,3238,0,0,0,0,0,0
$GC,6605,-0.59,-155.7,723.5,-11.0,537,6607,0.00,0.45,0.00,0.000,6,0.000,0.044,2836,1940,3238,0,0,0,0,0,0
$GC,6928,-0.59,-155.7,756.9,-10.6,553,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1940,3237,0,0,0,0,0,0
$GC,7237,-0.59,-155.7,788.3,-9.8,568,7241,0.00,0.62,0.00,0.000,4,0.000,0.053,2836,1519,3236,0,0,0,0,0,0
$GC,7409,-0.59,-155.7,804.9,-10.0,575,7416,0.05,0.62,0.00,0.000,6,0.233,0.033,2844,1961,3236,0,0,0,0,0,0
$GC,7725,-0.59,-155.7,830.2,-7.7,591,7729,0.00,0.32,0.00,0.000,4,0.000,0.050,2843,2222,3236,0,0,0,0,0,0
$GC,7982,-0.59,-155.7,850.3,-8.1,602,7987,0.00,0.40,0.00,0.000,6,0.000,0.044,2844,1940,3236,0,0,0,0,0,0
$GC,8304,-0.59,-155.7,877.6,-8.6,618,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3236,0,0,0,0,0,0
$GC,8613,-0.59,-155.7,904.7,-8.7,633,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3235,0,0,0,0,0,0
$GC,8922,-0.59,-155.7,930.9,-8.3,648,8926,0.00,0.38,0.00,0.000,4,0.000,0.058,2843,1675,3234,0,0,0,0,0,0
$GC,9180,-0.59,-155.7,952.2,-8.5,659,9184,0.00,0.38,0.00,0.000,6,0.000,0.040,2843,1947,3234,0,0,0,0,0,0
$GC,9501,-0.59,-155.7,977.4,-7.7,675,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1946,3233,0,0,0,0,0,0
$STATE,9791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9791,begin apogee
$GC,9795,-0.17,0.0,1000.7,8.1,689,9930,0.47,0.00,129.98,1.538,6,0.158,0.000,2980,1809,2599,0,0,0,0,0,0
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin climb
$GC,9932,0.59,155.7,1003.5,0.0,696,10079,0.80,1.20,139.57,1.498,4,0.107,0.058,3226,1157,1964,0,0,0,0,0,0
$GC,10286,0.59,155.7,970.4,10.3,712,10292,0.00,1.02,0.00,0.000,6,0.000,0.028,3226,1805,1955,0,0,0,0,0,0
$GC,10602,0.59,155.7,937.4,10.8,728,10605,0.00,0.47,0.00,0.000,4,0.000,0.047,3226,1502,1954,0,0,0,0,0,0
$GC,10858,0.59,155.7,908.1,11.0,739,10863,0.00,0.45,0.00,0.000,6,0.000,0.032,3226,1818,1953,0,0,0,0,0,0
$GC,11179,0.59,155.7,873.1,10.7,755,11183,0.00,1.02,0.00,0.000,4,0.000,0.054,3226,1196,1953,0,0,0,0,0,0
$GC,11374,0.59,162.3,853.2,9.5,763,11385,0.00,0.93,5.03,1.099,6,0.000,0.029,3226,1805,1938,0,0,0,0,0,0
$GC,11713,0.59,162.3,819.3,10.4,780,11714,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1805,1938,0,0,0,0,0,0
$GC,12021,0.59,162.3,786.0,10.9,795,12025,0.00,0.95,0.00,0.000,4,0.000,0.054,3228,1212,1938,0,0,0,0,0,0
$GC,12273,0.59,162.3,757.6,10.7,806,12277,0.00,0.90,0.00,0.000,6,0.000,0.028,3228,1807,1937,0,0,0,0,0,0
$GC,12601,0.59,162.3,723.6,10.3,822,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1808,1938,0,0,0,0,0,0
$GC,12909,0.59,162.3,692.3,10.0,837,12913,0.00,0.60,0.00,0.000,4,0.000,0.049,3229,1425,1937,0,0,0,0,0,0
$GC,13071,0.59,170.3,675.6,9.5,844,13086,0.00,0.57,9.02,1.225,6,0.000,0.032,3228,1829,1905,0,0,0,0,0,0
$GC,13396,0.59,170.3,642.8,9.9,860,13400,0.00,0.85,0.00,0.000,4,0.000,0.051,3230,1299,1904,0,0,0,0,0,0
$GC,13652,0.59,170.3,614.9,11.3,871,13657,0.00,0.75,0.00,0.000,6,0.000,0.028,3230,1785,1903,0,0,0,0,0,0
$GC,13974,0.59,170.3,580.4,10.8,887,13978,0.00,0.35,0.00,0.000,4,0.000,0.049,3231,1538,1903,0,0,0,0,0,0
$GC,14213,0.59,170.3,554.4,10.6,897,14218,0.00,0.43,0.00,0.000,6,0.000,0.036,3231,1848,1903,0,0,0,0,0,0
$GC,14528,0.59,170.3,520.7,10.8,913,14532,0.00,0.85,0.00,0.000,4,0.000,0.051,3235,1309,1903,0,0,0,0,0,0
$GC,14734,0.59,170.3,497.7,11.2,922,14739,0.00,0.73,0.00,0.000,6,0.000,0.030,3234,1796,1903,0,0,0,0,0,0
$GC,15061,0.59,170.3,460.5,11.3,938,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1796,1903,0,0,0,0,0,0
$GC,15370,0.59,170.3,428.2,10.1,953,15374,0.00,0.70,0.00,0.000,4,0.000,0.050,3237,1354,1903,0,0,0,0,0,0
$GC,15588,0.59,170.3,404.3,11.2,962,15593,0.00,0.68,0.00,0.000,6,0.000,0.031,3237,1824,1903,0,0,0,0,0,0
$GC,15911,0.59,170.3,367.8,12.1,991,15912,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1824,1903,0,0,0,0,0,0
$GC,16234,0.59,170.3,327.2,13.1,1021,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1825,1903,0,0,0,0,0,0
$GC,16559,0.59,170.3,285.3,11.4,1052,16562,0.00,0.65,0.00,0.000,4,0.000,0.048,3239,1402,1903,0,0,0,0,0,0
$GC,16721,0.59,170.3,265.9,11.0,1066,16727,0.00,0.57,0.00,0.000,6,0.000,0.031,3239,1809,1903,0,0,0,0,0,0
$GC,17050,0.59,170.3,228.6,11.5,1097,17054,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1809,1903,0,0,0,0,0,0
$GC,17375,0.59,170.3,192.4,11.2,1128,17378,0.00,0.50,0.00,0.000,4,0.000,0.046,3240,1476,1903,0,0,0,0,0,0
$GC,17614,0.59,170.3,165.7,11.7,1149,17618,0.00,0.45,0.00,0.000,6,0.000,0.035,3240,1809,1903,0,0,0,0,0,0
$GC,17944,0.59,170.3,126.6,12.2,1180,17948,0.00,0.40,0.00,0.000,4,0.000,0.047,3240,1534,1903,0,0,0,0,0,0
$GC,18199,0.59,170.3,98.4,10.9,1203,18206,0.00,0.35,0.00,0.000,6,0.000,0.036,3240,1800,1903,0,0,0,0,0,0
$GC,18548,0.59,170.3,59.8,12.4,1264,18552,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1800,1903,0,0,0,0,0,0
$GC,18896,0.59,170.3,20.3,11.7,1325,18901,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1800,1903,0,0,0,0,0,0
$GC,19045,0.59,170.3,5.0,11.0,1350,19052,0.00,1.25,0.00,0.000,4,0.000,0.055,3241,1024,1903,0,0,0,0,0,0
$STATE,19065,end climb,SURFACE_DEPTH_REACHED
$STATE,19065,begin surface coast
$FINISH,1.4,1.012418
$STATE,19096,end surface coast,CONTROL_FINISHED_OK
$STATE,19096,begin surface
$SM_CCo,19112,6.40,0.750,0,0,1844,185.20
$SM_GC,3.70,0.00,0.00,6.40,0.000,0.000,0.750,80,1957,1844,-9.26,0.20,185.20
$IRIDIUM_FIX,-4212.81,847.43,051113,121231
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,23.0,17.352
$10V_AH,10.3,14.495
$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,22.275,31.550,283.600,6.400,0.000,30.898,47.814,309.785,0.500,0.000,21.697,3389.438,11878.133,370.445,3827.113,157.330,33.409,1811.448,0.000,3384.238,0.000,5.321,0.000
$DEVICE_MAMPS,270.045,96.390,1538.415,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.596,887.606,907.611,78.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354648
$DATA_FILE_SIZE,77004,1358
$CAP_FILE_SIZE,169370,0
$CFSIZE,2097086464,2081882112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061113,004129,-4226.575,848.260,52,1.2,52,-25.1