version: 66.07.10.p01
glider: 574
mission: 7
dive: 106
start: 11 7 113 4 32 27
data:
$ID,574
$MISSION,7
$DIVE,106
$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,-13697.396
$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,47
$R_STBD_OVSHOOT,41
$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,85
$GPS1,071113,042253,-4228.162,847.525,53,0.8,53,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-76.2
$GPS2,071113,043132,-4228.069,847.597,22,0.7,22,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.099,-0.247
$KALMAN_X,-159248.6,423.6,342.0,77340.3,-1919.5
$KALMAN_Y,304591.9,-573.0,100.8,-454821.4,5235.8
$MHEAD_RNG_PITCHd_Wd,183.4,73231,-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,-48.67,0.000,2,0.000,0.000,66,1973,2926,0,0,0,0,0,0
$GC,77,-0.59,-155.7,3.2,-1.3,8,103,12.32,1.25,-8.45,0.000,4,0.271,0.067,2833,2780,3236,0,0,0,0,0,0
$GC,286,-0.59,-155.7,30.0,-12.1,43,292,0.03,1.27,0.00,0.000,6,0.197,0.037,2841,1966,3239,0,0,0,0,0,0
$GC,430,-0.59,-155.7,48.2,-11.7,68,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3240,0,0,0,0,0,0
$GC,775,-0.59,-155.7,85.2,-11.2,129,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3241,0,0,0,0,0,0
$GC,1108,-0.59,-155.7,120.3,-10.4,172,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3242,0,0,0,0,0,0
$GC,1428,-0.59,-155.7,155.0,-11.0,202,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3242,0,0,0,0,0,0
$GC,1746,-0.59,-155.7,190.8,-11.2,232,1750,0.00,0.43,0.00,0.000,4,0.000,0.056,2843,1667,3242,0,0,0,0,0,0
$GC,1906,-0.59,-155.7,208.6,-10.5,246,1909,0.00,0.43,0.00,0.000,6,0.000,0.038,2843,1996,3242,0,0,0,0,0,0
$GC,2239,-0.59,-155.7,244.3,-11.0,277,2243,0.00,0.28,0.00,0.000,4,0.000,0.050,2841,2231,3242,0,0,0,0,0,0
$GC,2499,-0.59,-155.7,272.5,-11.0,300,2502,0.00,0.43,0.00,0.000,6,0.000,0.044,2841,1925,3242,0,0,0,0,0,0
$GC,2828,-0.59,-155.7,307.9,-10.7,331,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1924,3243,0,0,0,0,0,0
$GC,3151,-0.59,-155.7,341.0,-10.5,361,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1925,3242,0,0,0,0,0,0
$GC,3476,-0.59,-155.7,373.0,-9.3,392,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1924,3242,0,0,0,0,0,0
$GC,3805,-0.59,-155.7,402.7,-9.1,422,3809,0.00,0.40,0.00,0.000,4,0.000,0.038,2841,2235,3242,0,0,0,0,0,0
$GC,4062,-0.59,-155.7,425.5,-9.2,433,4066,0.00,0.43,0.00,0.000,6,0.000,0.044,2840,1933,3242,0,0,0,0,0,0
$GC,4383,-0.59,-155.7,455.8,-9.7,449,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,4692,-0.59,-155.7,487.2,-10.6,464,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,5002,-0.59,-155.7,520.7,-10.9,479,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,5311,-0.59,-155.7,554.5,-10.8,494,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,5620,-0.59,-155.7,586.8,-10.2,509,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,5930,-0.59,-155.7,618.3,-10.1,524,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1933,3242,0,0,0,0,0,0
$GC,6239,-0.59,-155.7,649.3,-9.8,539,6243,0.00,0.32,0.00,0.000,4,0.000,0.060,2841,1694,3241,0,0,0,0,0,0
$GC,6435,-0.59,-155.7,667.4,-9.1,547,6440,0.00,0.32,0.00,0.000,6,0.000,0.042,2841,1938,3241,0,0,0,0,0,0
$GC,6750,-0.59,-155.7,695.3,-8.8,563,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1939,3241,0,0,0,0,0,0
$GC,7060,-0.59,-155.7,722.2,-8.7,578,7063,0.00,1.02,0.00,0.000,4,0.000,0.042,2836,2618,3240,0,0,0,0,0,0
$GC,7255,-0.59,-155.7,738.7,-8.3,586,7261,0.00,1.00,0.00,0.000,6,0.000,0.037,2836,1961,3240,0,0,0,0,0,0
$GC,7571,-0.59,-155.7,767.1,-9.1,602,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1960,3239,0,0,0,0,0,0
$GC,7880,-0.59,-155.7,794.2,-9.0,617,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1961,3239,0,0,0,0,0,0
$GC,8190,-0.59,-155.7,822.1,-8.9,632,8193,0.00,0.55,0.00,0.000,4,0.000,0.055,2836,1586,3238,0,0,0,0,0,0
$GC,8370,-0.59,-155.7,838.6,-9.4,640,8373,0.00,0.50,0.00,0.000,6,0.000,0.037,2835,1951,3238,0,0,0,0,0,0
$GC,8702,-0.59,-155.7,869.5,-9.5,656,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1951,3238,0,0,0,0,0,0
$GC,9011,-0.59,-155.7,898.9,-9.4,671,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1951,3237,0,0,0,0,0,0
$GC,9320,-0.59,-155.7,929.4,-9.8,686,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1951,3237,0,0,0,0,0,0
$GC,9629,-0.59,-155.7,961.1,-10.5,701,9633,0.00,0.62,0.00,0.000,4,0.000,0.043,2831,2395,3236,0,0,0,0,0,0
$GC,9841,-0.59,-155.7,981.6,-9.5,710,9846,0.08,0.68,0.00,0.000,6,0.194,0.041,2848,1942,3236,0,0,0,0,0,0
$STATE,10060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10060,begin apogee
$GC,10065,-0.17,0.0,1000.4,8.7,721,10199,0.45,0.00,130.73,1.541,6,0.155,0.000,2980,1802,2600,0,0,0,0,0,0
$STATE,10200,end apogee,CONTROL_FINISHED_OK
$STATE,10200,begin climb
$GC,10201,0.59,155.7,1004.2,0.0,728,10346,0.80,0.00,140.80,1.500,6,0.110,0.000,3221,1802,1965,0,0,0,0,0,0
$GC,10648,0.59,155.7,957.8,12.1,750,10652,0.00,1.15,0.00,0.000,4,0.000,0.060,3226,1120,1954,0,0,0,0,0,0
$GC,10843,0.59,155.7,933.5,13.6,758,10850,0.00,1.08,0.00,0.000,6,0.000,0.029,3226,1812,1953,0,0,0,0,0,0
$GC,11159,0.59,155.7,893.3,12.8,774,11163,0.00,0.60,0.00,0.000,4,0.000,0.050,3226,1440,1952,0,0,0,0,0,0
$GC,11416,0.59,155.7,860.6,12.6,785,11420,0.00,0.55,0.00,0.000,6,0.000,0.031,3226,1809,1952,0,0,0,0,0,0
$GC,11737,0.59,155.7,821.1,12.2,801,11741,0.00,1.05,0.00,0.000,4,0.000,0.056,3227,1168,1952,0,0,0,0,0,0
$GC,11949,0.59,155.7,795.3,12.6,810,11954,0.00,0.98,0.00,0.000,6,0.000,0.030,3227,1819,1951,0,0,0,0,0,0
$GC,12270,0.59,155.7,757.2,11.8,826,12274,0.00,0.57,0.00,0.000,4,0.000,0.050,3228,1454,1951,0,0,0,0,0,0
$GC,12527,0.59,155.7,727.3,10.9,837,12532,0.00,0.52,0.00,0.000,6,0.000,0.033,3227,1809,1951,0,0,0,0,0,0
$GC,12848,0.59,155.7,692.0,11.0,853,12849,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1809,1952,0,0,0,0,0,0
$GC,13157,0.59,155.7,658.8,10.6,868,13161,0.00,0.43,0.00,0.000,4,0.000,0.050,3228,1530,1952,0,0,0,0,0,0
$GC,13414,0.59,155.7,632.1,11.1,879,13418,0.00,0.40,0.00,0.000,6,0.000,0.035,3228,1812,1952,0,0,0,0,0,0
$GC,13735,0.59,155.7,599.6,10.0,895,13739,0.00,0.90,0.00,0.000,4,0.000,0.055,3230,1256,1952,0,0,0,0,0,0
$GC,13914,0.59,155.7,581.2,9.8,903,13918,0.00,0.80,0.00,0.000,6,0.000,0.031,3230,1799,1952,0,0,0,0,0,0
$GC,14246,0.59,155.7,548.3,9.8,919,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1799,1951,0,0,0,0,0,0
$GC,14555,0.59,155.7,517.4,9.9,934,14559,0.00,1.00,0.00,0.000,4,0.000,0.054,3234,1175,1952,0,0,0,0,0,0
$GC,14735,0.59,155.7,499.6,9.9,942,14738,0.00,0.95,0.00,0.000,6,0.000,0.030,3234,1820,1951,0,0,0,0,0,0
$GC,15066,0.59,155.7,466.1,10.2,958,15068,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1820,1952,0,0,0,0,0,0
$GC,15376,0.59,155.7,434.2,10.3,973,15377,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1820,1951,0,0,0,0,0,0
$GC,15685,0.59,155.7,400.1,11.3,988,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1820,1952,0,0,0,0,0,0
$GC,16006,0.59,155.7,364.0,11.7,1017,16009,0.00,0.77,0.00,0.000,4,0.000,0.052,3236,1335,1951,0,0,0,0,0,0
$GC,16236,0.59,155.7,336.4,11.8,1037,16241,0.00,0.73,0.00,0.000,6,0.000,0.031,3236,1828,1952,0,0,0,0,0,0
$GC,16561,0.59,155.7,297.0,11.9,1068,16564,0.00,1.15,0.00,0.000,4,0.000,0.054,3240,1118,1952,0,0,0,0,0,0
$GC,16745,0.59,155.7,274.1,12.6,1084,16753,0.00,1.02,0.00,0.000,6,0.000,0.029,3240,1808,1952,0,0,0,0,0,0
$GC,17072,0.59,155.7,236.8,11.3,1115,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1808,1952,0,0,0,0,0,0
$GC,17392,0.59,155.7,201.4,10.9,1145,17395,0.00,0.50,0.00,0.000,4,0.000,0.049,3241,1483,1952,0,0,0,0,0,0
$GC,17644,0.59,155.7,175.2,10.2,1167,17650,0.00,0.47,0.00,0.000,6,0.000,0.034,3241,1826,1952,0,0,0,0,0,0
$GC,17969,0.59,155.7,141.4,10.2,1198,17972,0.00,0.65,0.00,0.000,4,0.000,0.050,3240,1410,1953,0,0,0,0,0,0
$GC,18206,0.59,155.7,116.7,10.1,1219,18210,0.00,0.55,0.00,0.000,6,0.000,0.034,3240,1821,1953,0,0,0,0,0,0
$GC,18542,0.59,155.7,81.0,10.7,1265,18546,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1822,1953,0,0,0,0,0,0
$GC,18888,0.59,159.2,45.6,9.7,1326,18894,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1822,1953,0,0,0,0,0,0
$GC,19242,0.59,168.7,8.8,9.4,1387,19255,0.00,0.57,5.47,0.741,4,0.000,0.052,3241,1457,1912,0,0,0,0,0,0
$STATE,19303,end climb,SURFACE_DEPTH_REACHED
$STATE,19303,begin surface coast
$FINISH,1.3,1.026266
$STATE,19335,end surface coast,CONTROL_FINISHED_OK
$STATE,19335,begin surface
$SM_CCo,19351,7.12,0.769,0,0,1844,185.20
$SM_GC,3.77,0.00,0.00,7.12,0.000,0.000,0.769,82,1950,1844,-9.24,0.00,185.20
$IRIDIUM_FIX,-4143.80,852.03,061113,222213
$TT8_MAMPS,0.026964
$HUMID,62.08
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.4,8.8
$24V_AH,23.0,18.205
$10V_AH,10.3,15.249
$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,22.250,28.200,277.000,7.125,0.000,39.162,42.794,313.306,0.500,0.000,24.575,3455.999,12150.036,375.860,3739.653,153.062,33.368,1728.829,0.000,3289.287,0.000,5.470,0.000
$DEVICE_MAMPS,270.810,80.325,1541.475,768.825,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,981.748,947.313,932.924,85.562,0.000,0.000,0.000,0.000,0.000,0.000
$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,80175,1402
$CAP_FILE_SIZE,163204,0
$CFSIZE,2097086464,2081128448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071113,095704,-4228.698,848.389,84,1.8,84,-25.1