version: 66.07.10.p01
glider: 574
mission: 7
dive: 107
start: 11 7 113 10 5 49
data:
$ID,574
$MISSION,7
$DIVE,107
$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,-13700.762
$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,50
$R_STBD_OVSHOOT,73
$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,86
$GPS1,071113,095704,-4228.698,848.389,84,1.8,84,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.0
$GPS2,071113,100454,-4228.663,848.490,15,1.9,15,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.063,-0.258
$KALMAN_X,-159406.2,207.3,-36.1,79344.3,-932.6
$KALMAN_Y,308692.2,-223.1,-414.7,-459856.2,5989.9
$MHEAD_RNG_PITCHd_Wd,191.3,72753,-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,-48.60,0.000,2,0.000,0.000,65,1951,2918,0,0,0,0,0,0
$GC,77,-0.59,-155.7,3.3,-1.2,8,103,12.18,1.77,-8.40,0.000,4,0.265,0.062,2835,3078,3235,0,0,0,0,0,0
$GC,331,-0.59,-155.7,35.9,-12.2,51,337,0.00,1.73,0.00,0.000,6,0.000,0.035,2835,1960,3238,0,0,0,0,0,0
$GC,475,-0.59,-155.7,53.3,-11.6,76,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1959,3239,0,0,0,0,0,0
$GC,822,-0.59,-155.7,94.6,-12.5,137,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1959,3241,0,0,0,0,0,0
$GC,1155,-0.59,-155.7,135.4,-11.9,172,1158,0.00,0.40,0.00,0.000,4,0.000,0.055,2835,1677,3242,0,0,0,0,0,0
$GC,1369,-0.59,-155.7,161.9,-12.5,191,1373,0.00,0.35,0.00,0.000,6,0.000,0.038,2835,1958,3242,0,0,0,0,0,0
$GC,1700,-0.59,-155.7,202.9,-12.4,222,1704,0.03,0.45,0.00,0.000,4,0.295,0.042,2842,2299,3242,0,0,0,0,0,0
$GC,1895,-0.59,-155.7,226.2,-11.2,239,1901,0.00,0.55,0.00,0.000,6,0.000,0.041,2842,1928,3242,0,0,0,0,0,0
$GC,2221,-0.59,-155.7,262.8,-11.2,270,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1928,3243,0,0,0,0,0,0
$GC,2539,-0.59,-155.7,296.9,-10.6,300,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1928,3243,0,0,0,0,0,0
$GC,2858,-0.59,-155.7,330.2,-10.1,330,2861,0.00,0.68,0.00,0.000,4,0.000,0.052,2841,1474,3243,0,0,0,0,0,0
$GC,3017,-0.59,-155.7,346.3,-10.2,344,3021,0.00,0.65,0.00,0.000,6,0.000,0.032,2840,1943,3243,0,0,0,0,0,0
$GC,3347,-0.59,-155.7,378.4,-9.6,375,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1944,3243,0,0,0,0,0,0
$GC,3663,-0.59,-155.7,408.3,-9.6,401,3667,0.00,0.32,0.00,0.000,4,0.000,0.047,2839,2214,3244,0,0,0,0,0,0
$GC,3920,-0.59,-155.7,433.1,-9.6,412,3925,0.00,0.40,0.00,0.000,6,0.000,0.044,2839,1931,3244,0,0,0,0,0,0
$GC,4241,-0.59,-155.7,465.4,-10.1,428,4245,0.00,0.43,0.00,0.000,4,0.000,0.038,2838,2252,3244,0,0,0,0,0,0
$GC,4443,-0.59,-155.7,485.7,-10.1,437,4447,0.00,0.43,0.00,0.000,6,0.000,0.044,2838,1950,3244,0,0,0,0,0,0
$GC,4775,-0.59,-155.7,520.9,-10.8,453,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1950,3244,0,0,0,0,0,0
$GC,5084,-0.59,-155.7,555.2,-11.3,468,5088,0.00,0.68,0.00,0.000,4,0.000,0.051,2837,1497,3244,0,0,0,0,0,0
$GC,5235,-0.59,-155.7,573.5,-12.4,474,5240,0.00,0.65,0.00,0.000,6,0.000,0.032,2835,1952,3244,0,0,0,0,0,0
$GC,5550,-0.59,-155.7,609.7,-11.2,490,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3244,0,0,0,0,0,0
$GC,5860,-0.59,-155.7,643.5,-10.9,505,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3244,0,0,0,0,0,0
$GC,6169,-0.59,-155.7,676.5,-10.7,520,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1954,3243,0,0,0,0,0,0
$GC,6478,-0.59,-155.7,708.0,-9.8,535,6482,0.00,0.50,0.00,0.000,4,0.000,0.042,2833,2324,3244,0,0,0,0,0,0
$GC,6685,-0.59,-155.7,728.7,-8.8,544,6690,0.05,0.55,0.00,0.000,6,0.218,0.042,2843,1943,3244,0,0,0,0,0,0
$GC,7012,-0.59,-155.7,759.1,-9.3,560,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1943,3244,0,0,0,0,0,0
$GC,7321,-0.59,-155.7,787.1,-8.9,575,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1942,3244,0,0,0,0,0,0
$GC,7630,-0.59,-155.7,815.8,-9.5,590,7634,0.00,0.62,0.00,0.000,4,0.000,0.054,2843,1522,3243,0,0,0,0,0,0
$GC,7837,-0.59,-155.7,835.0,-8.4,599,7841,0.00,0.62,0.00,0.000,6,0.000,0.033,2842,1963,3243,0,0,0,0,0,0
$GC,8164,-0.59,-155.7,863.8,-9.0,615,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1963,3243,0,0,0,0,0,0
$GC,8474,-0.59,-155.7,890.2,-8.4,630,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1964,3243,0,0,0,0,0,0
$GC,8783,-0.59,-155.7,916.1,-8.3,645,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1964,3243,0,0,0,0,0,0
$GC,9092,-0.59,-155.7,942.8,-8.8,660,9096,0.00,0.30,0.00,0.000,4,0.000,0.050,2841,2215,3243,0,0,0,0,0,0
$GC,9349,-0.59,-155.7,965.3,-9.3,671,9353,0.00,0.38,0.00,0.000,6,0.000,0.044,2840,1956,3244,0,0,0,0,0,0
$GC,9670,-0.59,-155.7,994.5,-9.0,687,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3244,0,0,0,0,0,0
$STATE,9732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9732,begin apogee
$GC,9736,-0.17,0.0,1000.1,8.8,690,9872,0.47,0.00,131.93,1.548,6,0.160,0.000,2977,1799,2600,0,0,0,0,0,0
$STATE,9873,end apogee,CONTROL_FINISHED_OK
$STATE,9873,begin climb
$GC,9874,0.59,155.7,1004.1,0.0,697,10019,0.82,0.00,140.75,1.499,6,0.114,0.000,3223,1798,1965,0,0,0,0,0,0
$GC,10322,0.59,155.7,960.9,10.6,719,10325,0.00,0.77,0.00,0.000,4,0.000,0.057,3226,1332,1954,0,0,0,0,0,0
$GC,10524,0.59,155.7,939.3,10.8,728,10527,0.00,0.70,0.00,0.000,6,0.000,0.031,3226,1783,1953,0,0,0,0,0,0
$GC,10855,0.59,155.7,903.0,11.0,744,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1783,1952,0,0,0,0,0,0
$GC,11166,0.59,155.7,867.9,11.3,759,11170,0.00,0.38,0.00,0.000,4,0.000,0.047,3226,1536,1951,0,0,0,0,0,0
$GC,11423,0.59,155.7,838.6,10.8,770,11427,0.00,0.43,0.00,0.000,6,0.000,0.035,3226,1820,1951,0,0,0,0,0,0
$GC,11744,0.59,155.7,803.2,10.8,786,11747,0.00,1.17,0.00,0.000,4,0.000,0.056,3229,1103,1951,0,0,0,0,0,0
$GC,11946,0.59,155.7,782.0,10.6,795,11950,0.00,1.08,0.00,0.000,6,0.000,0.031,3228,1820,1950,0,0,0,0,0,0
$GC,12278,0.59,155.7,747.1,10.6,811,12281,0.00,0.75,0.00,0.000,4,0.000,0.051,3230,1351,1950,0,0,0,0,0,0
$GC,12534,0.59,155.7,719.7,10.2,822,12539,0.00,0.70,0.00,0.000,6,0.000,0.031,3230,1820,1950,0,0,0,0,0,0
$GC,12855,0.59,155.7,687.2,9.9,838,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1820,1950,0,0,0,0,0,0
$GC,13165,0.59,155.7,655.7,10.4,853,13168,0.00,0.35,0.00,0.000,4,0.000,0.045,3230,2099,1950,0,0,0,0,0,0
$GC,13360,0.59,155.7,635.4,10.4,861,13365,0.00,0.43,0.00,0.000,6,0.000,0.047,3231,1819,1951,0,0,0,0,0,0
$GC,13675,0.59,155.7,602.2,10.6,877,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1818,1950,0,0,0,0,0,0
$GC,13984,0.59,155.7,570.4,10.2,892,13988,0.00,0.50,0.00,0.000,4,0.000,0.060,3233,1483,1950,0,0,0,0,0,0
$GC,14078,0.59,155.7,560.7,10.4,896,14082,0.00,0.47,0.00,0.000,6,0.000,0.034,3233,1814,1950,0,0,0,0,0,0
$GC,14405,0.59,155.7,528.4,10.2,912,14408,0.00,0.35,0.00,0.000,4,0.000,0.047,3233,2094,1950,0,0,0,0,0,0
$GC,14532,0.59,155.7,515.0,10.6,917,14534,0.00,0.43,0.00,0.000,6,0.000,0.047,3234,1810,1950,0,0,0,0,0,0
$GC,14843,0.59,155.7,482.8,10.4,932,14847,0.00,0.45,0.00,0.000,4,0.000,0.060,3236,1508,1951,0,0,0,0,0,0
$GC,14982,0.59,167.0,468.9,9.3,938,14994,0.00,0.43,9.00,1.124,6,0.000,0.036,3236,1808,1919,0,0,0,0,0,0
$GC,15303,0.59,167.0,433.6,11.6,953,15306,0.00,0.43,0.00,0.000,4,0.000,0.043,3236,2130,1917,0,0,0,0,0,0
$GC,15402,0.59,167.0,421.8,12.3,957,15406,0.00,0.50,0.00,0.000,6,0.000,0.047,3237,1804,1917,0,0,0,0,0,0
$GC,15727,0.59,167.0,384.1,11.3,979,15730,0.00,1.35,0.00,0.000,4,0.000,0.062,3241,969,1917,0,0,0,0,0,0
$GC,15878,0.59,167.0,366.7,10.7,992,15886,0.00,1.25,0.00,0.000,6,0.000,0.028,3241,1806,1917,0,0,0,0,0,0
$GC,16203,0.59,167.0,328.9,12.3,1023,16204,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1806,1917,0,0,0,0,0,0
$GC,16526,0.59,167.0,292.0,10.9,1053,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1807,1917,0,0,0,0,0,0
$GC,16851,0.59,167.0,254.4,12.0,1084,16852,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1806,1917,0,0,0,0,0,0
$GC,17169,0.59,167.0,219.9,10.8,1114,17170,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1806,1917,0,0,0,0,0,0
$GC,17488,0.59,167.0,185.6,10.8,1144,17491,0.00,0.85,0.00,0.000,4,0.000,0.054,3243,1268,1917,0,0,0,0,0,0
$GC,17662,0.59,167.0,166.6,10.4,1159,17668,0.00,0.82,0.00,0.000,6,0.000,0.028,3243,1822,1917,0,0,0,0,0,0
$GC,17987,0.59,167.0,131.8,11.1,1190,17988,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1822,1917,0,0,0,0,0,0
$GC,18307,0.59,167.0,95.5,11.7,1223,18311,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1822,1917,0,0,0,0,0,0
$GC,18653,0.59,167.0,57.0,12.3,1284,18660,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1822,1917,0,0,0,0,0,0
$GC,19004,0.59,167.0,18.2,11.3,1345,19011,0.00,2.28,0.00,0.000,4,0.000,0.063,3252,431,1917,0,0,0,0,0,0
$STATE,19135,end climb,SURFACE_DEPTH_REACHED
$STATE,19135,begin surface coast
$FINISH,1.7,1.026496
$STATE,19161,end surface coast,CONTROL_FINISHED_OK
$STATE,19161,begin surface
$SM_CCo,19179,8.10,0.778,0,0,1844,185.20
$SM_GC,3.53,0.00,0.00,8.10,0.000,0.000,0.778,75,1957,1844,-9.26,0.06,185.20
$IRIDIUM_FIX,-4247.91,825.73,071113,040437
$TT8_MAMPS,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.9,18.347
$10V_AH,10.3,15.373
$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,22.150,31.825,281.675,8.100,0.000,27.758,22.454,304.668,0.250,0.000,17.598,3400.458,12099.878,384.197,3634.257,135.039,33.372,1724.242,0.000,3225.379,0.000,2.830,0.000
$DEVICE_MAMPS,295.290,74.970,1547.595,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,960.250,904.398,910.042,79.220,0.000,0.000,0.000,0.000,0.000,0.000
$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,80369,1371
$CAP_FILE_SIZE,163333,0
$CFSIZE,2097086464,2080997376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071113,152704,-4229.326,849.327,54,0.8,54,-25.1