version: 66.07.10.p01
glider: 574
mission: 7
dive: 102
start: 11 6 113 6 34 36
data:
$ID,574
$MISSION,7
$DIVE,102
$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,-13683.615
$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,55
$R_STBD_OVSHOOT,54
$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,81
$GPS1,061113,062528,-4227.083,847.142,45,1.0,45,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-73.6
$GPS2,061113,063341,-4226.984,847.166,23,1.0,24,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.029,-0.265
$KALMAN_X,-154748.3,-47.1,-235.4,73303.8,-697.1
$KALMAN_Y,284784.7,77.5,471.9,-434036.1,2557.3
$MHEAD_RNG_PITCHd_Wd,211.3,74826,-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,-155.7,0.0,0.0,0,63,0.00,0.00,-36.95,0.000,2,0.000,0.000,67,1926,2657,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.0,-1.7,6,103,12.10,0.35,-19.85,0.000,4,0.264,0.122,2841,1660,3234,0,0,0,0,0,0
$GC,309,-0.59,-155.7,30.8,-12.5,47,314,0.00,0.40,0.00,0.000,6,0.000,0.039,2841,1967,3237,0,0,0,0,0,0
$GC,451,-0.59,-155.7,48.5,-13.2,72,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1967,3237,0,0,0,0,0,0
$GC,799,-0.59,-155.7,93.5,-12.6,133,804,0.00,0.68,0.00,0.000,4,0.000,0.042,2837,2432,3239,0,0,0,0,0,0
$GC,1035,-0.59,-155.7,121.3,-11.3,159,1039,0.00,0.70,0.00,0.000,6,0.000,0.041,2837,1961,3239,0,0,0,0,0,0
$GC,1366,-0.59,-155.7,158.9,-11.3,190,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1960,3240,0,0,0,0,0,0
$GC,1683,-0.59,-155.7,195.1,-10.9,220,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1960,3240,0,0,0,0,0,0
$GC,2002,-0.59,-155.7,229.3,-10.4,250,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1960,3240,0,0,0,0,0,0
$GC,2321,-0.59,-155.7,263.9,-10.7,280,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1961,3241,0,0,0,0,0,0
$GC,2639,-0.59,-155.7,296.6,-9.9,310,2643,0.00,0.45,0.00,0.000,4,0.000,0.055,2837,1644,3241,0,0,0,0,0,0
$GC,2814,-0.59,-155.7,314.7,-10.3,325,2816,0.00,0.43,0.00,0.000,6,0.000,0.037,2837,1960,3241,0,0,0,0,0,0
$GC,3134,-0.59,-155.7,348.4,-10.3,355,3138,0.00,0.40,0.00,0.000,4,0.000,0.046,2834,2266,3241,0,0,0,0,0,0
$GC,3349,-0.59,-155.7,370.8,-10.1,374,3353,0.03,0.45,0.00,0.000,6,0.186,0.044,2842,1937,3242,0,0,0,0,0,0
$GC,3677,-0.59,-155.7,404.7,-10.3,403,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,3986,-0.59,-155.7,436.6,-10.3,418,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1938,3241,0,0,0,0,0,0
$GC,4296,-0.59,-155.7,468.3,-10.3,433,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,4605,-0.59,-155.7,500.4,-10.3,448,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,4915,-0.59,-155.7,531.4,-9.7,463,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1938,3241,0,0,0,0,0,0
$GC,5224,-0.59,-155.7,560.7,-9.2,478,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,5533,-0.59,-155.7,589.4,-9.1,493,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3241,0,0,0,0,0,0
$GC,5843,-0.59,-155.7,617.8,-9.5,508,5846,0.00,0.32,0.00,0.000,4,0.000,0.057,2842,1699,3241,0,0,0,0,0,0
$GC,5965,-0.59,-155.7,629.5,-9.2,513,5969,0.00,0.32,0.00,0.000,6,0.000,0.040,2842,1940,3241,0,0,0,0,0,0
$GC,6286,-0.59,-155.7,661.1,-10.3,529,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1940,3241,0,0,0,0,0,0
$GC,6595,-0.59,-155.7,694.5,-11.0,544,6599,0.00,0.93,0.00,0.000,4,0.000,0.041,2837,2560,3240,0,0,0,0,0,0
$GC,6762,-0.59,-155.7,712.3,-10.5,551,6767,0.00,0.93,0.00,0.000,6,0.000,0.037,2838,1955,3240,0,0,0,0,0,0
$GC,7083,-0.59,-155.7,746.8,-10.5,567,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3240,0,0,0,0,0,0
$GC,7393,-0.59,-155.7,778.0,-10.0,582,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3240,0,0,0,0,0,0
$GC,7702,-0.59,-155.7,807.4,-9.3,597,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3240,0,0,0,0,0,0
$GC,8012,-0.59,-155.7,834.8,-8.8,612,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3240,0,0,0,0,0,0
$GC,8321,-0.59,-155.7,860.9,-8.5,627,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3240,0,0,0,0,0,0
$GC,8631,-0.59,-155.7,888.1,-9.1,642,8634,0.00,0.43,0.00,0.000,4,0.000,0.056,2838,1657,3240,0,0,0,0,0,0
$GC,8837,-0.59,-155.7,906.7,-8.8,651,8841,0.00,0.43,0.00,0.000,6,0.000,0.037,2837,1971,3240,0,0,0,0,0,0
$GC,9164,-0.59,-155.7,935.0,-8.4,667,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1971,3240,0,0,0,0,0,0
$GC,9473,-0.59,-155.7,961.5,-8.5,682,9477,0.00,0.32,0.00,0.000,4,0.000,0.050,2835,2231,3240,0,0,0,0,0,0
$GC,9729,-0.59,-155.7,983.8,-8.8,693,9734,0.00,0.43,0.00,0.000,6,0.000,0.044,2835,1936,3239,0,0,0,0,0,0
$STATE,9928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9928,begin apogee
$GC,9932,-0.17,0.0,1001.2,9.0,703,10067,0.50,0.00,131.68,1.536,6,0.158,0.000,2979,1810,2600,0,0,0,0,0,0
$STATE,10068,end apogee,CONTROL_FINISHED_OK
$STATE,10068,begin climb
$GC,10069,0.59,155.7,1004.8,0.0,710,10214,0.80,0.00,140.73,1.495,6,0.109,0.000,3221,1810,1965,0,0,0,0,0,0
$GC,10517,0.59,159.7,964.8,9.6,732,10520,0.00,1.35,0.00,0.000,4,0.000,0.060,3226,1014,1954,0,0,0,0,0,0
$GC,10678,0.59,159.7,948.2,10.4,739,10683,0.00,1.23,0.00,0.000,6,0.000,0.027,3226,1812,1953,0,0,0,0,0,0
$GC,11005,0.59,159.7,915.6,10.2,755,11009,0.00,0.50,0.00,0.000,4,0.000,0.049,3226,1488,1951,0,0,0,0,0,0
$GC,11262,0.59,159.7,890.2,9.9,766,11266,0.00,0.47,0.00,0.000,6,0.000,0.032,3226,1820,1950,0,0,0,0,0,0
$GC,11583,0.59,170.9,859.3,9.3,782,11599,0.00,1.50,12.30,1.363,4,0.000,0.057,3228,940,1903,0,0,0,0,0,0
$GC,11767,0.59,198.0,841.3,8.7,789,11799,0.00,1.35,26.67,1.415,6,0.000,0.028,3228,1816,1792,0,0,0,0,0,0
$GC,12108,0.59,198.0,808.3,9.9,806,12111,0.00,0.98,0.00,0.000,4,0.000,0.054,3230,1221,1785,0,0,0,0,0,0
$GC,12319,0.59,198.0,786.6,10.9,815,12324,0.00,0.90,0.00,0.000,6,0.000,0.030,3230,1824,1784,0,0,0,0,0,0
$GC,12641,0.59,198.0,753.6,10.2,831,12644,0.00,1.10,0.00,0.000,4,0.000,0.054,3234,1149,1784,0,0,0,0,0,0
$GC,12813,0.59,198.0,735.2,11.4,838,12819,0.00,1.00,0.00,0.000,6,0.000,0.028,3234,1812,1783,0,0,0,0,0,0
$GC,13129,0.59,198.0,701.7,11.1,854,13132,0.00,0.95,0.00,0.000,4,0.000,0.054,3237,1226,1783,0,0,0,0,0,0
$GC,13319,0.59,198.0,679.7,10.9,862,13323,0.00,0.85,0.00,0.000,6,0.000,0.029,3237,1806,1783,0,0,0,0,0,0
$GC,13640,0.59,198.0,640.6,12.2,878,13644,0.00,1.08,0.00,0.000,4,0.000,0.055,3240,1142,1783,0,0,0,0,0,0
$GC,13823,0.59,198.0,618.1,11.5,886,13828,0.00,1.02,0.00,0.000,6,0.000,0.028,3240,1827,1783,0,0,0,0,0,0
$GC,14150,0.59,198.0,578.0,11.9,902,14154,0.00,0.45,0.00,0.000,4,0.000,0.050,3240,1533,1783,0,0,0,0,0,0
$GC,14407,0.59,198.0,546.9,12.9,913,14409,0.00,0.40,0.00,0.000,6,0.000,0.035,3240,1819,1783,0,0,0,0,0,0
$GC,14726,0.59,198.0,508.4,12.5,929,14729,0.00,1.52,0.00,0.000,4,0.000,0.060,3241,888,1783,0,0,0,0,0,0
$GC,14898,0.59,198.0,485.7,13.1,936,14904,0.00,1.40,0.00,0.000,6,0.000,0.028,3241,1813,1783,0,0,0,0,0,0
$GC,15214,0.59,198.0,446.1,12.3,952,15218,0.00,0.40,0.00,0.000,4,0.000,0.053,3240,1545,1783,0,0,0,0,0,0
$GC,15471,0.59,198.0,414.5,12.5,963,15475,0.00,0.38,0.00,0.000,6,0.000,0.038,3241,1810,1783,0,0,0,0,0,0
$GC,15798,0.59,198.0,374.7,12.0,988,15801,0.00,1.12,0.00,0.000,4,0.000,0.058,3241,1122,1783,0,0,0,0,0,0
$GC,16005,0.59,198.0,350.1,11.4,1006,16012,0.00,1.05,0.00,0.000,6,0.000,0.031,3241,1823,1783,0,0,0,0,0,0
$GC,16333,0.59,198.0,312.3,12.3,1037,16336,0.00,0.40,0.00,0.000,4,0.000,0.050,3241,1556,1783,0,0,0,0,0,0
$GC,16592,0.59,198.0,280.2,11.5,1060,16596,0.00,0.32,0.00,0.000,6,0.000,0.040,3241,1797,1783,0,0,0,0,0,0
$GC,16922,0.59,198.0,241.1,11.7,1091,16926,0.00,1.12,0.00,0.000,4,0.000,0.057,3241,1102,1783,0,0,0,0,0,0
$GC,17085,0.59,198.0,222.2,12.5,1105,17091,0.00,1.08,0.00,0.000,6,0.000,0.029,3240,1822,1783,0,0,0,0,0,0
$GC,17410,0.59,198.0,185.0,11.7,1136,17411,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1822,1783,0,0,0,0,0,0
$GC,17729,0.59,198.0,147.8,11.7,1166,17733,0.00,1.02,0.00,0.000,4,0.000,0.056,3241,1185,1783,0,0,0,0,0,0
$GC,17910,0.59,198.0,127.1,10.9,1182,17914,0.00,0.90,0.00,0.000,6,0.000,0.029,3241,1799,1783,0,0,0,0,0,0
$GC,18240,0.59,198.0,90.2,10.6,1220,18244,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1799,1783,0,0,0,0,0,0
$GC,18586,0.59,198.0,50.4,12.2,1281,18593,0.00,1.02,0.00,0.000,4,0.000,0.057,3241,1163,1783,0,0,0,0,0,0
$GC,18783,0.59,198.0,28.4,10.1,1315,18788,0.00,0.95,0.00,0.000,6,0.000,0.030,3240,1821,1783,0,0,0,0,0,0
$GC,18930,0.59,203.1,12.9,9.6,1340,18938,0.00,0.65,1.80,0.287,4,0.000,0.050,3241,1414,1771,0,0,0,0,0,0
$STATE,19015,end climb,SURFACE_DEPTH_REACHED
$STATE,19015,begin surface coast
$FINISH,1.5,1.026463
$STATE,19046,end surface coast,CONTROL_FINISHED_OK
$STATE,19046,begin surface
$SM_CCo,19122,0.00,0.000,0,0,1768,204.33
$SM_GC,2.38,8.45,0.00,0.00,0.043,0.000,0.000,83,1996,1768,-9.17,1.30,204.33
$IRIDIUM_FIX,-4149.58,847.20,061113,000002
$TT8_MAMPS,0.026964
$HUMID,61.57
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,23.0,17.643
$10V_AH,10.3,14.748
$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,21.875,37.375,313.175,0.000,0.000,31.194,22.097,315.481,0.500,0.000,26.536,3380.208,11999.716,396.849,3696.357,135.809,33.388,1756.013,0.000,3263.219,0.000,5.655,0.000
$DEVICE_MAMPS,263.925,122.400,1536.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.841,907.442,905.180,81.782,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,76785,1359
$CAP_FILE_SIZE,165695,0
$CFSIZE,2097086464,2081619968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061113,115435,-4227.156,845.548,45,0.8,45,-25.1