version: 66.07.10.p01
glider: 574
mission: 7
dive: 104
start: 11 6 113 17 27 0
data:
$ID,574
$MISSION,7
$DIVE,104
$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,-13690.525
$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,37
$R_STBD_OVSHOOT,59
$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,83
$GPS1,061113,171758,-4227.117,844.876,36,0.8,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-76.2
$GPS2,061113,172605,-4227.059,844.904,14,1.6,15,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.102,-0.246
$KALMAN_X,-158305.5,51.3,215.7,73150.9,-2276.7
$KALMAN_Y,295530.6,248.0,201.3,-444828.4,4547.0
$MHEAD_RNG_PITCHd_Wd,182.5,73524,-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,-155.7,0.0,0.0,0,69,0.00,0.00,-42.65,0.000,2,0.000,0.000,67,1961,2789,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.0,-1.3,7,104,12.38,1.20,-13.68,0.000,4,0.272,0.067,2832,2717,3235,0,0,0,0,0,0
$GC,264,-0.59,-155.7,24.9,-12.1,39,269,0.03,1.20,0.00,0.000,6,0.202,0.039,2841,1951,3238,0,0,0,0,0,0
$GC,409,-0.59,-155.7,41.9,-10.8,64,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3239,0,0,0,0,0,0
$GC,756,-0.59,-155.7,80.6,-11.5,125,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3240,0,0,0,0,0,0
$GC,1097,-0.59,-155.7,117.1,-10.3,172,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3240,0,0,0,0,0,0
$GC,1415,-0.59,-155.7,149.5,-10.1,202,1418,0.00,0.60,0.00,0.000,4,0.000,0.052,2843,1545,3241,0,0,0,0,0,0
$GC,1562,-0.59,-155.7,164.3,-9.9,215,1565,0.00,0.57,0.00,0.000,6,0.000,0.034,2842,1963,3241,0,0,0,0,0,0
$GC,1891,-0.59,-155.7,198.0,-10.5,246,1895,0.00,0.43,0.00,0.000,4,0.000,0.043,2840,2289,3241,0,0,0,0,0,0
$GC,2053,-0.59,-155.7,215.6,-10.6,260,2061,0.00,0.52,0.00,0.000,6,0.000,0.040,2840,1929,3241,0,0,0,0,0,0
$GC,2380,-0.59,-155.7,251.0,-11.0,291,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3241,0,0,0,0,0,0
$GC,2699,-0.59,-155.7,285.5,-10.6,321,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3242,0,0,0,0,0,0
$GC,3016,-0.59,-155.7,318.9,-10.3,351,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1929,3242,0,0,0,0,0,0
$GC,3338,-0.59,-155.7,352.2,-10.6,381,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3242,0,0,0,0,0,0
$GC,3663,-0.59,-155.7,387.7,-10.3,412,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3242,0,0,0,0,0,0
$GC,3976,-0.59,-155.7,419.2,-9.9,433,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3242,0,0,0,0,0,0
$GC,4285,-0.59,-155.7,448.9,-9.5,448,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1929,3241,0,0,0,0,0,0
$GC,4595,-0.59,-155.7,477.4,-9.0,463,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3242,0,0,0,0,0,0
$GC,4904,-0.59,-155.7,507.1,-9.6,478,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1929,3242,0,0,0,0,0,0
$GC,5213,-0.59,-155.7,536.9,-9.6,493,5217,0.00,0.45,0.00,0.000,4,0.000,0.054,2839,1612,3242,0,0,0,0,0,0
$GC,5417,-0.59,-155.7,557.5,-10.3,502,5421,0.00,0.45,0.00,0.000,6,0.000,0.037,2839,1951,3241,0,0,0,0,0,0
$GC,5749,-0.59,-155.7,592.9,-10.7,518,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1951,3241,0,0,0,0,0,0
$GC,6058,-0.59,-155.7,625.3,-10.5,533,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1951,3241,0,0,0,0,0,0
$GC,6367,-0.59,-155.7,657.5,-10.3,548,6371,0.00,0.45,0.00,0.000,4,0.000,0.044,2836,2288,3240,0,0,0,0,0,0
$GC,6570,-0.59,-155.7,678.2,-9.7,557,6574,0.00,0.47,0.00,0.000,6,0.000,0.043,2836,1951,3240,0,0,0,0,0,0
$GC,6902,-0.59,-155.7,711.2,-9.7,573,6905,0.00,0.43,0.00,0.000,4,0.000,0.057,2836,1651,3239,0,0,0,0,0,0
$GC,7069,-0.59,-155.7,728.0,-10.0,580,7073,0.00,0.43,0.00,0.000,6,0.000,0.039,2835,1959,3239,0,0,0,0,0,0
$GC,7390,-0.59,-155.7,759.4,-10.0,596,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1960,3238,0,0,0,0,0,0
$GC,7699,-0.59,-155.7,790.3,-10.3,611,7703,0.00,0.73,0.00,0.000,4,0.000,0.042,2831,2464,3238,0,0,0,0,0,0
$GC,7902,-0.59,-155.7,809.9,-9.5,620,7906,0.03,0.75,0.00,0.000,6,0.180,0.041,2840,1955,3237,0,0,0,0,0,0
$GC,8234,-0.59,-155.7,840.0,-9.2,636,8237,0.00,0.68,0.00,0.000,4,0.000,0.054,2841,1505,3237,0,0,0,0,0,0
$GC,8361,-0.59,-155.7,851.8,-9.8,641,8367,0.00,0.65,0.00,0.000,6,0.000,0.033,2839,1958,3237,0,0,0,0,0,0
$GC,8677,-0.59,-155.7,879.7,-9.1,657,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1958,3236,0,0,0,0,0,0
$GC,8987,-0.59,-155.7,907.1,-8.8,672,8990,0.00,0.43,0.00,0.000,4,0.000,0.046,2837,2279,3236,0,0,0,0,0,0
$GC,9178,-0.59,-155.7,924.1,-8.9,680,9181,0.00,0.47,0.00,0.000,6,0.000,0.044,2837,1949,3236,0,0,0,0,0,0
$GC,9498,-0.59,-155.7,952.5,-9.1,696,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1949,3235,0,0,0,0,0,0
$GC,9808,-0.59,-155.7,980.1,-8.5,711,9811,0.00,0.50,0.00,0.000,4,0.000,0.055,2837,1604,3235,0,0,0,0,0,0
$GC,9930,-0.59,-155.7,990.7,-8.8,716,9934,0.00,0.50,0.00,0.000,6,0.000,0.037,2836,1953,3235,0,0,0,0,0,0
$STATE,10047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10047,begin apogee
$GC,10051,-0.17,0.0,1000.4,8.5,722,10185,0.50,0.00,130.40,1.540,6,0.161,0.000,2980,1808,2600,0,0,0,0,0,0
$STATE,10186,end apogee,CONTROL_FINISHED_OK
$STATE,10186,begin climb
$GC,10187,0.59,155.7,1003.9,0.0,729,10335,0.80,0.57,140.02,1.495,4,0.112,0.056,3222,1487,1964,0,0,0,0,0,0
$GC,10587,0.59,155.7,965.5,10.8,747,10592,0.00,0.47,0.00,0.000,6,0.000,0.032,3222,1802,1954,0,0,0,0,0,0
$GC,10902,0.59,155.7,933.2,10.2,763,10906,0.00,0.73,0.00,0.000,4,0.000,0.050,3224,1363,1952,0,0,0,0,0,0
$GC,11104,0.59,155.7,911.9,10.8,772,11108,0.00,0.68,0.00,0.000,6,0.000,0.031,3224,1806,1951,0,0,0,0,0,0
$GC,11436,0.59,155.7,876.0,11.0,788,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1806,1951,0,0,0,0,0,0
$GC,11745,0.59,155.7,841.9,11.2,803,11749,0.00,0.80,0.00,0.000,4,0.000,0.053,3226,1313,1950,0,0,0,0,0,0
$GC,11985,0.59,155.7,814.8,10.8,813,11991,0.00,0.77,0.00,0.000,6,0.000,0.030,3226,1816,1949,0,0,0,0,0,0
$GC,12301,0.59,155.7,780.9,10.9,829,12304,0.00,0.55,0.00,0.000,4,0.000,0.050,3226,1467,1949,0,0,0,0,0,0
$GC,12507,0.59,155.7,757.6,11.4,838,12511,0.00,0.52,0.00,0.000,6,0.000,0.033,3226,1820,1949,0,0,0,0,0,0
$GC,12834,0.59,155.7,721.3,11.1,854,12837,0.00,0.47,0.00,0.000,4,0.000,0.048,3227,1512,1949,0,0,0,0,0,0
$GC,13090,0.59,155.7,692.4,11.8,865,13094,0.00,0.45,0.00,0.000,6,0.000,0.034,3227,1821,1949,0,0,0,0,0,0
$GC,13411,0.59,155.7,657.0,10.8,881,13415,0.00,1.00,0.00,0.000,4,0.000,0.054,3230,1201,1949,0,0,0,0,0,0
$GC,13613,0.59,155.7,635.2,10.4,890,13617,0.00,0.90,0.00,0.000,6,0.000,0.031,3230,1823,1949,0,0,0,0,0,0
$GC,13945,0.59,155.7,599.7,10.9,906,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1823,1948,0,0,0,0,0,0
$GC,14254,0.59,155.7,566.6,10.5,921,14258,0.00,0.50,0.00,0.000,4,0.000,0.049,3231,1493,1948,0,0,0,0,0,0
$GC,14511,0.59,155.7,539.1,11.6,932,14515,0.00,0.45,0.00,0.000,6,0.000,0.037,3231,1823,1949,0,0,0,0,0,0
$GC,14832,0.59,155.7,504.3,11.1,948,14835,0.00,0.77,0.00,0.000,4,0.000,0.052,3233,1337,1949,0,0,0,0,0,0
$GC,15026,0.59,155.7,482.6,11.5,956,15032,0.00,0.68,0.00,0.000,6,0.000,0.031,3234,1795,1949,0,0,0,0,0,0
$GC,15342,0.59,155.7,446.6,11.5,972,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1795,1949,0,0,0,0,0,0
$GC,15652,0.59,155.7,411.1,11.6,987,15655,0.00,0.57,0.00,0.000,4,0.000,0.049,3235,1424,1949,0,0,0,0,0,0
$GC,15877,0.59,155.7,384.6,11.6,1002,15880,0.00,0.55,0.00,0.000,6,0.000,0.034,3235,1829,1949,0,0,0,0,0,0
$GC,16210,0.59,155.7,346.9,11.5,1033,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1829,1949,0,0,0,0,0,0
$GC,16535,0.59,155.7,311.3,10.1,1064,16538,0.00,0.73,0.00,0.000,4,0.000,0.050,3238,1371,1949,0,0,0,0,0,0
$GC,16794,0.59,155.7,283.2,11.0,1087,16798,0.00,0.60,0.00,0.000,6,0.000,0.033,3238,1805,1949,0,0,0,0,0,0
$GC,17124,0.59,155.7,247.7,10.6,1118,17127,0.00,0.45,0.00,0.000,4,0.000,0.049,3239,1508,1949,0,0,0,0,0,0
$GC,17340,0.59,155.7,224.8,10.2,1137,17344,0.00,0.40,0.00,0.000,6,0.000,0.037,3239,1799,1949,0,0,0,0,0,0
$GC,17670,0.59,155.7,189.4,10.4,1168,17674,0.00,0.47,0.00,0.000,4,0.000,0.050,3240,1486,1949,0,0,0,0,0,0
$GC,17878,0.59,155.7,166.7,12.7,1186,17883,0.00,0.47,0.00,0.000,6,0.000,0.035,3240,1830,1949,0,0,0,0,0,0
$GC,18205,0.59,155.7,131.4,10.7,1217,18208,0.00,0.55,0.00,0.000,4,0.000,0.050,3240,1475,1949,0,0,0,0,0,0
$GC,18388,0.59,155.7,111.6,10.0,1233,18391,0.00,0.45,0.00,0.000,6,0.000,0.035,3241,1806,1949,0,0,0,0,0,0
$GC,18726,0.59,155.7,73.1,10.5,1284,18733,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1806,1949,0,0,0,0,0,0
$GC,19076,0.59,173.0,37.1,9.1,1345,19093,0.00,0.77,12.80,0.913,4,0.000,0.051,3241,1339,1894,0,0,0,0,0,0
$GC,19216,0.59,173.0,23.5,10.4,1369,19221,0.00,0.68,0.00,0.000,6,0.000,0.031,3241,1825,1892,0,0,0,0,0,0
$GC,19364,0.59,173.0,8.3,10.4,1394,19370,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1825,1891,0,0,0,0,0,0
$STATE,19412,end climb,SURFACE_DEPTH_REACHED
$STATE,19412,begin surface coast
$FINISH,1.4,1.006792
$STATE,19449,end surface coast,CONTROL_FINISHED_OK
$STATE,19450,begin surface
$SM_CCo,19465,4.75,0.692,0,0,1844,185.20
$SM_GC,3.64,0.00,0.00,4.75,0.000,0.000,0.692,82,1966,1844,-9.25,0.45,185.20
$IRIDIUM_FIX,-4239.11,845.22,061113,111108
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,23.0,17.923
$10V_AH,10.3,15.001
$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,22.225,29.225,283.225,4.750,0.000,29.226,45.111,300.014,0.500,0.000,16.993,3504.989,12072.370,361.305,3870.546,144.424,33.374,1800.275,0.000,3439.800,0.000,5.332,0.000
$DEVICE_MAMPS,271.575,77.265,1539.945,692.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,985.096,960.407,930.681,87.821,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,80169,1408
$CAP_FILE_SIZE,172225,0
$CFSIZE,2097086464,2081357824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061113,225235,-4227.854,845.869,31,1.0,31,-25.1