version: 66.07.10.p01
glider: 574
mission: 7
dive: 101
start: 11 6 113 0 49 55
data:
$ID,574
$MISSION,7
$DIVE,101
$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,-13680.199
$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,54
$R_STBD_OVSHOOT,49
$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,80
$GPS1,061113,004129,-4226.575,848.260,52,1.2,52,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-75.3
$GPS2,061113,004900,-4226.540,848.280,14,1.1,15,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.010,-0.266
$KALMAN_X,-153013.8,-139.9,-117.6,73096.9,-706.0
$KALMAN_Y,280736.9,152.5,-163.7,-428611.8,4366.4
$MHEAD_RNG_PITCHd_Wd,202.9,76191,-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,-155.7,0.0,0.0,0,75,0.00,0.00,-49.00,0.000,2,0.000,0.000,67,1957,2935,0,0,0,0,0,0
$GC,77,-0.59,-155.7,3.3,-1.5,8,103,12.20,0.00,-8.18,0.000,6,0.266,0.000,2844,1948,3236,0,0,0,0,0,0
$GC,152,-0.59,-155.7,12.9,-11.6,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1948,3237,0,0,0,0,0,0
$GC,207,-0.59,-155.7,19.1,-11.8,29,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1948,3238,0,0,0,0,0,0
$GC,259,-0.59,-155.7,25.5,-11.8,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1949,3239,0,0,0,0,0,0
$GC,403,-0.59,-155.7,40.9,-10.8,63,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1949,3239,0,0,0,0,0,0
$GC,752,-0.59,-155.7,80.9,-11.5,124,757,0.00,0.75,0.00,0.000,4,0.000,0.042,2840,2458,3240,0,0,0,0,0,0
$GC,981,-0.59,-155.7,107.0,-11.5,160,989,0.00,0.77,0.00,0.000,6,0.000,0.037,2842,1946,3240,0,0,0,0,0,0
$GC,1306,-0.59,-155.7,143.1,-11.1,191,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1947,3241,0,0,0,0,0,0
$GC,1629,-0.59,-155.7,178.5,-11.0,221,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1946,3241,0,0,0,0,0,0
$GC,1954,-0.59,-155.7,214.1,-10.8,252,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3242,0,0,0,0,0,0
$GC,2272,-0.59,-155.7,250.1,-11.2,282,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1946,3243,0,0,0,0,0,0
$GC,2591,-0.59,-155.7,284.4,-10.6,312,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3243,0,0,0,0,0,0
$GC,2910,-0.59,-155.7,317.1,-9.8,342,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1946,3243,0,0,0,0,0,0
$GC,3228,-0.59,-155.7,349.8,-10.4,372,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3243,0,0,0,0,0,0
$GC,3547,-0.59,-155.7,380.6,-8.7,402,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1946,3243,0,0,0,0,0,0
$GC,3863,-0.59,-155.7,407.6,-8.5,428,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3243,0,0,0,0,0,0
$GC,4172,-0.59,-155.7,435.1,-9.1,443,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3244,0,0,0,0,0,0
$GC,4482,-0.59,-155.7,463.7,-9.3,458,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3243,0,0,0,0,0,0
$GC,4791,-0.59,-155.7,490.4,-8.3,473,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1946,3243,0,0,0,0,0,0
$GC,5100,-0.59,-155.7,517.7,-9.0,488,5104,0.00,0.50,0.00,0.000,4,0.000,0.052,2842,1598,3243,0,0,0,0,0,0
$GC,5312,-0.59,-155.7,538.7,-10.1,497,5316,0.00,0.52,0.00,0.000,6,0.000,0.036,2841,1968,3243,0,0,0,0,0,0
$GC,5633,-0.59,-155.7,571.6,-10.5,513,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1968,3243,0,0,0,0,0,0
$GC,5942,-0.59,-155.7,603.6,-10.3,528,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1968,3243,0,0,0,0,0,0
$GC,6252,-0.59,-155.7,633.3,-9.2,543,6256,0.00,0.52,0.00,0.000,4,0.000,0.044,2838,2349,3242,0,0,0,0,0,0
$GC,6424,-0.59,-155.7,648.9,-9.2,550,6430,0.00,0.60,0.00,0.000,6,0.000,0.041,2838,1942,3242,0,0,0,0,0,0
$GC,6740,-0.59,-155.7,677.2,-8.9,566,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3242,0,0,0,0,0,0
$GC,7052,-0.59,-155.7,706.2,-9.5,581,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3242,0,0,0,0,0,0
$GC,7359,-0.59,-155.7,736.3,-9.8,596,7363,0.00,0.40,0.00,0.000,4,0.000,0.057,2838,1662,3242,0,0,0,0,0,0
$GC,7606,-0.59,-155.7,760.2,-9.0,607,7610,0.00,0.38,0.00,0.000,6,0.000,0.042,2837,1944,3242,0,0,0,0,0,0
$GC,7939,-0.59,-155.7,791.0,-9.1,623,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3242,0,0,0,0,0,0
$GC,8248,-0.59,-155.7,819.2,-8.8,638,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3242,0,0,0,0,0,0
$GC,8557,-0.59,-155.7,845.4,-8.5,653,8561,0.00,0.38,0.00,0.000,4,0.000,0.048,2836,2232,3242,0,0,0,0,0,0
$GC,8797,-0.59,-155.7,865.2,-8.2,663,8803,0.00,0.43,0.00,0.000,6,0.000,0.045,2836,1935,3242,0,0,0,0,0,0
$GC,9113,-0.59,-155.7,891.5,-8.8,679,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3242,0,0,0,0,0,0
$GC,9422,-0.59,-155.7,917.9,-8.4,694,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3242,0,0,0,0,0,0
$GC,9732,-0.59,-155.7,942.4,-7.7,709,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1935,3243,0,0,0,0,0,0
$GC,10041,-0.59,-155.7,966.1,-7.8,724,10044,0.00,0.80,0.00,0.000,4,0.000,0.054,2836,1413,3243,0,0,0,0,0,0
$GC,10199,-0.59,-155.7,978.7,-7.4,731,10203,0.03,0.77,0.00,0.000,6,0.193,0.036,2841,1944,3243,0,0,0,0,0,0
$STATE,10470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10470,begin apogee
$GC,10474,-0.17,0.0,1001.0,8.3,744,10609,0.47,0.00,132.23,1.536,6,0.157,0.000,2981,1807,2600,0,0,0,0,0,0
$STATE,10610,end apogee,CONTROL_FINISHED_OK
$STATE,10610,begin climb
$GC,10612,0.59,155.7,1004.2,0.0,751,10758,0.80,0.73,139.77,1.492,4,0.106,0.057,3226,1401,1964,0,0,0,0,0,0
$GC,11010,0.59,155.7,965.2,10.8,769,11015,0.00,0.62,0.00,0.000,6,0.000,0.031,3226,1796,1954,0,0,0,0,0,0
$GC,11325,0.59,155.7,932.1,10.2,785,11329,0.00,1.00,0.00,0.000,4,0.000,0.054,3227,1194,1953,0,0,0,0,0,0
$GC,11554,0.59,155.7,908.2,10.7,795,11558,0.00,0.98,0.00,0.000,6,0.000,0.028,3226,1831,1951,0,0,0,0,0,0
$GC,11881,0.59,155.7,873.9,10.5,811,11884,0.00,0.65,0.00,0.000,4,0.000,0.049,3226,1423,1950,0,0,0,0,0,0
$GC,12109,0.59,155.7,850.1,10.1,821,12114,0.00,0.57,0.00,0.000,6,0.000,0.030,3226,1810,1950,0,0,0,0,0,0
$GC,12436,0.59,155.7,817.8,10.0,837,12440,0.00,0.47,0.00,0.000,4,0.000,0.048,3226,1502,1949,0,0,0,0,0,0
$GC,12692,0.59,155.7,790.6,10.2,848,12696,0.00,0.45,0.00,0.000,6,0.000,0.033,3226,1812,1949,0,0,0,0,0,0
$GC,13013,0.59,155.7,758.0,10.0,864,13017,0.00,0.73,0.00,0.000,4,0.000,0.050,3226,1361,1949,0,0,0,0,0,0
$GC,13270,0.59,155.7,731.5,10.0,875,13274,0.00,0.68,0.00,0.000,6,0.000,0.029,3226,1802,1949,0,0,0,0,0,0
$GC,13591,0.59,155.7,698.7,10.1,891,13595,0.00,0.47,0.00,0.000,4,0.000,0.048,3227,1493,1949,0,0,0,0,0,0
$GC,13848,0.59,155.7,672.0,10.8,902,13852,0.00,0.47,0.00,0.000,6,0.000,0.033,3227,1823,1949,0,0,0,0,0,0
$GC,14169,0.59,155.7,637.9,10.7,918,14172,0.00,0.88,0.00,0.000,4,0.000,0.053,3229,1277,1948,0,0,0,0,0,0
$GC,14380,0.59,155.7,615.5,10.1,927,14385,0.00,0.80,0.00,0.000,6,0.000,0.029,3229,1808,1948,0,0,0,0,0,0
$GC,14702,0.59,155.7,582.2,10.6,943,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1808,1948,0,0,0,0,0,0
$GC,15011,0.59,155.7,549.0,10.8,958,15015,0.00,0.75,0.00,0.000,4,0.000,0.051,3231,1335,1948,0,0,0,0,0,0
$GC,15236,0.59,155.7,524.5,11.1,968,15239,0.00,0.70,0.00,0.000,6,0.000,0.031,3231,1812,1948,0,0,0,0,0,0
$GC,15567,0.59,155.7,487.9,11.1,984,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1812,1948,0,0,0,0,0,0
$GC,15877,0.59,155.7,452.0,11.6,999,15881,0.00,1.08,0.00,0.000,4,0.000,0.055,3235,1141,1948,0,0,0,0,0,0
$GC,16060,0.59,155.7,431.5,11.0,1007,16065,0.00,1.02,0.00,0.000,6,0.000,0.029,3235,1828,1948,0,0,0,0,0,0
$GC,16377,0.59,155.7,398.6,10.1,1023,16381,0.00,0.45,0.00,0.000,4,0.000,0.047,3236,1533,1948,0,0,0,0,0,0
$GC,16638,0.59,155.7,371.4,11.2,1046,16642,0.00,0.38,0.00,0.000,6,0.000,0.037,3236,1803,1948,0,0,0,0,0,0
$GC,16971,0.59,155.7,335.5,11.5,1077,16975,0.00,0.52,0.00,0.000,4,0.000,0.050,3237,1463,1948,0,0,0,0,0,0
$GC,17223,0.59,155.7,306.3,12.0,1099,17228,0.00,0.52,0.00,0.000,6,0.000,0.034,3237,1848,1948,0,0,0,0,0,0
$GC,17548,0.59,155.7,269.0,11.0,1130,17551,0.00,0.55,0.00,0.000,4,0.000,0.047,3239,1490,1948,0,0,0,0,0,0
$GC,17789,0.59,155.7,240.6,10.7,1151,17794,0.00,0.43,0.00,0.000,6,0.000,0.034,3239,1792,1948,0,0,0,0,0,0
$GC,18113,0.59,155.7,202.5,11.8,1182,18117,0.00,0.50,0.00,0.000,4,0.000,0.050,3240,1470,1948,0,0,0,0,0,0
$GC,18294,0.59,155.7,181.5,10.6,1198,18298,0.00,0.47,0.00,0.000,6,0.000,0.034,3240,1828,1948,0,0,0,0,0,0
$GC,18626,0.59,155.7,145.3,10.6,1229,18630,0.00,0.47,0.00,0.000,4,0.000,0.047,3240,1516,1948,0,0,0,0,0,0
$GC,18885,0.59,155.7,117.6,10.4,1252,18889,0.00,0.38,0.00,0.000,6,0.000,0.036,3240,1796,1949,0,0,0,0,0,0
$GC,19222,0.59,155.9,82.2,9.8,1297,19227,0.00,0.50,0.00,0.000,4,0.000,0.048,3240,1470,1949,0,0,0,0,0,0
$GC,19411,0.59,156.1,63.4,9.8,1330,19416,0.00,0.47,0.00,0.000,6,0.000,0.035,3240,1841,1949,0,0,0,0,0,0
$GC,19760,0.59,156.1,27.1,11.6,1391,19765,0.00,0.60,0.00,0.000,4,0.000,0.047,3240,1451,1949,0,0,0,0,0,0
$STATE,19994,end climb,SURFACE_DEPTH_REACHED
$STATE,19994,begin surface coast
$FINISH,1.3,1.013432
$STATE,20026,end surface coast,CONTROL_FINISHED_OK
$STATE,20026,begin surface
$SM_CCo,20041,11.90,0.798,0,0,1844,185.20
$SM_GC,3.45,0.00,0.00,11.90,0.000,0.000,0.798,82,1931,1844,-9.24,-0.51,185.20
$IRIDIUM_FIX,-4158.28,845.21,051113,191944
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,10.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.0,9.0
$24V_AH,23.0,17.490
$10V_AH,10.3,14.624
$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,22.025,27.000,272.000,11.900,0.000,29.958,21.117,287.417,0.500,0.000,17.365,3563.237,12572.973,356.635,3869.022,139.301,33.378,1812.684,0.000,3472.153,0.000,5.472,0.000
$DEVICE_MAMPS,266.220,57.375,1536.120,797.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.755,953.607,946.739,87.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,83629,1436
$CAP_FILE_SIZE,173203,0
$CFSIZE,2097086464,2081751040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061113,062528,-4227.083,847.142,45,1.0,45,-25.1