version: 66.07.10.p01
glider: 574
mission: 7
dive: 105
start: 11 6 113 23 1 42
data:
$ID,574
$MISSION,7
$DIVE,105
$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,-13693.914
$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,45
$R_STBD_OVSHOOT,88
$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,84
$GPS1,061113,225235,-4227.854,845.869,31,1.0,31,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-74.8
$GPS2,061113,230047,-4227.756,845.916,19,0.9,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.104,-0.245
$KALMAN_X,-159102.7,231.7,154.3,75232.2,-1776.4
$KALMAN_Y,300309.4,-194.1,-403.7,-449836.8,5798.3
$MHEAD_RNG_PITCHd_Wd,182.1,72846,-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,-48.62,0.000,2,0.000,0.000,67,1967,2932,0,0,0,0,0,0
$GC,77,-0.59,-155.7,3.3,-1.6,8,104,12.32,2.12,-8.35,0.000,4,0.269,0.060,2837,3308,3237,0,0,0,0,0,0
$GC,309,-0.59,-155.7,30.1,-10.8,47,314,0.00,2.08,0.00,0.000,6,0.000,0.034,2838,1955,3240,0,0,0,0,0,0
$GC,452,-0.59,-155.7,47.3,-11.4,72,459,0.00,0.60,0.00,0.000,4,0.000,0.051,2838,1552,3240,0,0,0,0,0,0
$GC,597,-0.59,-155.7,65.4,-12.5,97,602,0.00,0.52,0.00,0.000,6,0.000,0.034,2836,1931,3240,0,0,0,0,0,0
$GC,937,-0.59,-155.7,109.8,-12.8,151,941,0.00,1.08,0.00,0.000,4,0.000,0.041,2831,2637,3241,0,0,0,0,0,0
$GC,1143,-0.59,-155.7,134.2,-11.5,169,1147,0.03,1.08,0.00,0.000,6,0.199,0.038,2839,1937,3241,0,0,0,0,0,0
$GC,1472,-0.59,-155.7,174.2,-12.2,200,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1937,3242,0,0,0,0,0,0
$GC,1791,-0.59,-155.7,213.0,-12.3,230,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1937,3242,0,0,0,0,0,0
$GC,2110,-0.59,-155.7,250.6,-11.2,260,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1937,3242,0,0,0,0,0,0
$GC,2428,-0.59,-155.7,286.6,-11.2,290,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1937,3243,0,0,0,0,0,0
$GC,2747,-0.59,-155.7,320.3,-10.5,320,2751,0.00,0.55,0.00,0.000,4,0.000,0.053,2841,1558,3243,0,0,0,0,0,0
$GC,2851,-0.59,-155.7,330.9,-10.5,329,2855,0.00,0.55,0.00,0.000,6,0.000,0.034,2840,1961,3243,0,0,0,0,0,0
$GC,3181,-0.59,-155.7,365.4,-10.3,360,3184,0.00,0.32,0.00,0.000,4,0.000,0.047,2838,2226,3243,0,0,0,0,0,0
$GC,3441,-0.59,-155.7,393.2,-10.8,383,3445,0.00,0.40,0.00,0.000,6,0.000,0.046,2839,1939,3243,0,0,0,0,0,0
$GC,3773,-0.59,-155.7,428.2,-10.4,402,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1939,3243,0,0,0,0,0,0
$GC,4083,-0.59,-155.7,461.0,-10.7,417,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1939,3243,0,0,0,0,0,0
$GC,4392,-0.59,-155.7,493.6,-10.4,432,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1938,3243,0,0,0,0,0,0
$GC,4701,-0.59,-155.7,526.0,-10.5,447,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1938,3244,0,0,0,0,0,0
$GC,5011,-0.59,-155.7,559.0,-10.5,462,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1938,3243,0,0,0,0,0,0
$GC,5320,-0.59,-155.7,590.1,-9.6,477,5324,0.00,0.40,0.00,0.000,4,0.000,0.057,2839,1653,3243,0,0,0,0,0,0
$GC,5437,-0.59,-155.7,601.7,-9.4,482,5441,0.00,0.43,0.00,0.000,6,0.000,0.037,2837,1970,3243,0,0,0,0,0,0
$GC,5763,-0.59,-155.7,633.6,-10.0,498,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1970,3243,0,0,0,0,0,0
$GC,6073,-0.59,-155.7,664.8,-10.3,513,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1970,3243,0,0,0,0,0,0
$GC,6382,-0.59,-155.7,697.0,-10.3,528,6386,0.00,0.28,0.00,0.000,4,0.000,0.052,2835,2205,3242,0,0,0,0,0,0
$GC,6638,-0.59,-155.7,723.9,-10.0,539,6641,0.00,0.38,0.00,0.000,6,0.000,0.046,2836,1942,3242,0,0,0,0,0,0
$GC,6956,-0.59,-155.7,755.9,-10.0,555,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1942,3241,0,0,0,0,0,0
$GC,7266,-0.59,-155.7,785.6,-9.3,570,7269,0.00,0.35,0.00,0.000,4,0.000,0.059,2836,1691,3241,0,0,0,0,0,0
$GC,7522,-0.59,-155.7,809.3,-9.2,581,7527,0.00,0.35,0.00,0.000,6,0.000,0.041,2835,1948,3240,0,0,0,0,0,0
$GC,7844,-0.59,-155.7,836.3,-8.2,597,7847,0.00,0.40,0.00,0.000,4,0.000,0.047,2833,2256,3240,0,0,0,0,0,0
$GC,8101,-0.59,-155.7,857.5,-8.2,608,8105,0.05,0.45,0.00,0.000,6,0.220,0.044,2844,1940,3240,0,0,0,0,0,0
$GC,8422,-0.59,-155.7,883.4,-8.5,624,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3240,0,0,0,0,0,0
$GC,8731,-0.59,-155.7,910.0,-8.6,639,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3239,0,0,0,0,0,0
$GC,9041,-0.59,-155.7,935.3,-8.1,654,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3240,0,0,0,0,0,0
$GC,9350,-0.59,-155.7,961.6,-8.4,669,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3239,0,0,0,0,0,0
$GC,9659,-0.59,-155.7,986.7,-8.0,684,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3239,0,0,0,0,0,0
$STATE,9846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9846,begin apogee
$GC,9850,-0.17,0.0,1001.1,7.9,693,9985,0.47,0.00,131.20,1.538,6,0.158,0.000,2982,1818,2600,0,0,0,0,0,0
$STATE,9986,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9987,0.59,155.7,1003.2,0.0,700,10132,0.77,0.00,139.32,1.492,6,0.111,0.000,3221,1818,1965,0,0,0,0,0,0
$GC,10438,0.59,155.7,956.3,11.4,722,10441,0.00,1.08,0.00,0.000,4,0.000,0.059,3226,1179,1954,0,0,0,0,0,0
$GC,10666,0.59,155.7,930.9,11.8,732,10671,0.00,0.98,0.00,0.000,6,0.000,0.029,3226,1815,1952,0,0,0,0,0,0
$GC,10993,0.59,155.7,894.7,11.4,748,10997,0.00,0.52,0.00,0.000,4,0.000,0.049,3226,1485,1951,0,0,0,0,0,0
$GC,11250,0.59,155.7,865.1,11.0,759,11254,0.00,0.47,0.00,0.000,6,0.000,0.033,3226,1812,1950,0,0,0,0,0,0
$GC,11571,0.59,155.7,829.5,10.9,775,11574,0.00,0.73,0.00,0.000,4,0.000,0.052,3226,1363,1950,0,0,0,0,0,0
$GC,11766,0.59,155.7,808.4,10.0,783,11772,0.00,0.68,0.00,0.000,6,0.000,0.028,3226,1803,1949,0,0,0,0,0,0
$GC,12082,0.59,155.7,773.7,11.1,799,12085,0.00,0.95,0.00,0.000,4,0.000,0.054,3228,1218,1949,0,0,0,0,0,0
$GC,12338,0.59,155.7,745.1,11.7,810,12343,0.00,0.93,0.00,0.000,6,0.000,0.030,3228,1838,1949,0,0,0,0,0,0
$GC,12660,0.59,155.7,709.2,11.2,826,12663,0.00,0.47,0.00,0.000,4,0.000,0.050,3229,1530,1948,0,0,0,0,0,0
$GC,12916,0.59,155.7,680.7,11.1,837,12920,0.00,0.40,0.00,0.000,6,0.000,0.035,3229,1816,1948,0,0,0,0,0,0
$GC,13237,0.59,155.7,645.2,11.1,853,13241,0.00,0.82,0.00,0.000,4,0.000,0.053,3231,1302,1948,0,0,0,0,0,0
$GC,13442,0.59,155.7,622.9,10.6,862,13447,0.00,0.75,0.00,0.000,6,0.000,0.031,3231,1802,1948,0,0,0,0,0,0
$GC,13769,0.59,155.7,589.0,10.2,878,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1802,1948,0,0,0,0,0,0
$GC,14079,0.59,155.7,556.1,11.0,893,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1802,1948,0,0,0,0,0,0
$GC,14388,0.59,155.7,521.8,11.1,908,14389,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1802,1948,0,0,0,0,0,0
$GC,14697,0.59,155.7,487.6,11.1,923,14701,0.00,0.57,0.00,0.000,4,0.000,0.052,3232,1436,1948,0,0,0,0,0,0
$GC,14892,0.59,155.7,466.3,10.4,931,14898,0.00,0.55,0.00,0.000,6,0.000,0.035,3232,1826,1948,0,0,0,0,0,0
$GC,15207,0.59,155.7,433.4,10.1,947,15211,0.00,0.70,0.00,0.000,4,0.000,0.054,3235,1382,1948,0,0,0,0,0,0
$GC,15409,0.59,155.7,412.6,10.3,956,15413,0.00,0.60,0.00,0.000,6,0.000,0.034,3235,1811,1947,0,0,0,0,0,0
$GC,15737,0.59,155.7,379.6,10.1,980,15740,0.00,0.40,0.00,0.000,4,0.000,0.053,3235,1547,1948,0,0,0,0,0,0
$GC,15997,0.59,170.9,353.4,9.2,1003,16012,0.00,0.32,11.68,1.086,6,0.000,0.041,3235,1784,1903,0,0,0,0,0,0
$GC,16336,0.59,170.9,317.0,10.7,1035,16337,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1784,1900,0,0,0,0,0,0
$GC,16657,0.59,170.9,283.1,10.3,1065,16659,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1784,1900,0,0,0,0,0,0
$GC,16974,0.59,170.9,249.1,10.5,1095,16975,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1784,1901,0,0,0,0,0,0
$GC,17296,0.59,170.9,213.0,11.6,1125,17301,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1784,1900,0,0,0,0,0,0
$GC,17621,0.59,170.9,176.5,10.7,1156,17625,0.00,0.75,0.00,0.000,4,0.000,0.054,3238,1311,1901,0,0,0,0,0,0
$GC,17791,0.59,170.9,157.0,11.9,1171,17795,0.00,0.75,0.00,0.000,6,0.000,0.031,3238,1832,1901,0,0,0,0,0,0
$GC,18121,0.59,170.9,119.5,11.7,1202,18122,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1831,1901,0,0,0,0,0,0
$GC,18449,0.59,170.9,82.2,11.6,1245,18456,0.00,0.98,0.00,0.000,4,0.000,0.054,3240,1222,1900,0,0,0,0,0,0
$GC,18671,0.59,170.9,57.2,11.1,1284,18678,0.00,0.85,0.00,0.000,6,0.000,0.031,3240,1801,1900,0,0,0,0,0,0
$GC,19022,0.59,170.9,17.9,11.3,1345,19030,0.00,0.45,0.00,0.000,4,0.000,0.051,3241,1509,1901,0,0,0,0,0,0
$STATE,19153,end climb,SURFACE_DEPTH_REACHED
$STATE,19154,begin surface coast
$FINISH,2.1,1.026528
$STATE,19162,end surface coast,CONTROL_FINISHED_OK
$STATE,19162,begin surface
$SM_CCo,19177,6.07,0.750,0,0,1845,185.20
$SM_GC,4.28,0.00,0.00,6.07,0.000,0.000,0.750,86,1974,1845,-9.23,0.68,185.20
$IRIDIUM_FIX,-4155.38,841.90,061113,171734
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.1,7.9
$24V_AH,23.0,18.064
$10V_AH,10.3,15.123
$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,22.200,28.825,282.200,6.075,0.000,30.446,44.832,296.683,0.500,0.000,21.797,3379.377,12170.772,337.587,3642.193,141.312,33.376,1692.818,0.000,3218.015,0.000,5.465,0.000
$DEVICE_MAMPS,269.280,84.150,1538.415,749.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.009,894.470,915.715,78.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,76812,1368
$CAP_FILE_SIZE,162381,0
$CFSIZE,2097086464,2081259520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071113,042253,-4228.162,847.525,53,0.8,53,-25.1