version: 66.07.10.p01
glider: 574
mission: 7
dive: 108
start: 11 7 113 15 35 43
data:
$ID,574
$MISSION,7
$DIVE,108
$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,-13704.195
$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,41
$R_STBD_OVSHOOT,45
$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,87
$GPS1,071113,152704,-4229.326,849.327,54,0.8,54,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-74.6
$GPS2,071113,153448,-4229.173,849.433,17,1.7,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.022,-0.265
$KALMAN_X,-159395.0,-121.3,313.0,80629.9,-936.4
$KALMAN_Y,312297.4,149.5,-72.6,-465117.9,4470.6
$MHEAD_RNG_PITCHd_Wd,200.5,72478,-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,-42.58,0.000,2,0.000,0.000,66,1957,2785,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.2,-1.9,7,103,12.18,0.00,-12.93,0.000,6,0.265,0.000,2843,1951,3235,0,0,0,0,0,0
$GC,152,-0.59,-155.7,12.2,-11.1,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1952,3237,0,0,0,0,0,0
$GC,207,-0.59,-155.7,19.5,-12.4,29,215,0.00,0.38,0.00,0.000,4,0.000,0.045,2842,2229,3237,0,0,0,0,0,0
$GC,337,-0.59,-155.7,34.2,-9.6,51,342,0.00,0.40,0.00,0.000,6,0.000,0.044,2842,1935,3238,0,0,0,0,0,0
$GC,481,-0.59,-155.7,49.8,-11.2,76,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3238,0,0,0,0,0,0
$GC,827,-0.59,-155.7,90.4,-11.6,137,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3239,0,0,0,0,0,0
$GC,1161,-0.59,-155.7,125.8,-10.8,176,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3240,0,0,0,0,0,0
$GC,1480,-0.59,-155.7,161.2,-11.3,206,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1934,3241,0,0,0,0,0,0
$GC,1799,-0.59,-155.7,196.9,-11.3,236,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1935,3241,0,0,0,0,0,0
$GC,2117,-0.59,-155.7,232.5,-10.8,266,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3241,0,0,0,0,0,0
$GC,2436,-0.59,-155.7,266.8,-10.9,296,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3241,0,0,0,0,0,0
$GC,2755,-0.59,-155.7,300.8,-10.6,326,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3241,0,0,0,0,0,0
$GC,3073,-0.59,-155.7,333.5,-9.8,356,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3241,0,0,0,0,0,0
$GC,3392,-0.59,-155.7,365.3,-10.4,386,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3241,0,0,0,0,0,0
$GC,3711,-0.59,-155.7,396.7,-10.0,416,3714,0.00,0.40,0.00,0.000,4,0.000,0.039,2842,2238,3241,0,0,0,0,0,0
$GC,3880,-0.59,-155.7,413.4,-10.2,425,3883,0.00,0.40,0.00,0.000,6,0.000,0.044,2841,1947,3241,0,0,0,0,0,0
$GC,4201,-0.59,-155.7,445.4,-9.8,441,4204,0.00,0.38,0.00,0.000,4,0.000,0.056,2841,1676,3241,0,0,0,0,0,0
$GC,4403,-0.59,-155.7,465.7,-10.8,450,4406,0.00,0.40,0.00,0.000,6,0.000,0.039,2841,1984,3240,0,0,0,0,0,0
$GC,4734,-0.59,-155.7,498.6,-9.8,466,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1985,3240,0,0,0,0,0,0
$GC,5044,-0.59,-155.7,528.2,-9.3,481,5048,0.00,0.43,0.00,0.000,4,0.000,0.044,2838,2308,3240,0,0,0,0,0,0
$GC,5301,-0.59,-155.7,551.4,-8.8,492,5306,0.00,0.52,0.00,0.000,6,0.000,0.041,2838,1951,3240,0,0,0,0,0,0
$GC,5622,-0.59,-155.7,582.4,-9.9,508,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1951,3239,0,0,0,0,0,0
$GC,5932,-0.59,-155.7,613.5,-10.1,523,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1951,3238,0,0,0,0,0,0
$GC,6241,-0.59,-155.7,646.0,-10.6,538,6245,0.00,0.60,0.00,0.000,4,0.000,0.053,2838,1542,3238,0,0,0,0,0,0
$GC,6430,-0.59,-155.7,666.7,-11.0,546,6434,0.00,0.57,0.00,0.000,6,0.000,0.034,2836,1948,3238,0,0,0,0,0,0
$GC,6751,-0.59,-155.7,700.6,-10.5,562,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1948,3237,0,0,0,0,0,0
$GC,7060,-0.59,-155.7,732.4,-10.0,577,7064,0.00,0.50,0.00,0.000,4,0.000,0.044,2834,2317,3236,0,0,0,0,0,0
$GC,7227,-0.59,-155.7,749.3,-10.2,584,7232,0.05,0.55,0.00,0.000,6,0.216,0.042,2844,1936,3236,0,0,0,0,0,0
$GC,7549,-0.59,-155.7,779.5,-9.5,600,7553,0.00,0.40,0.00,0.000,4,0.000,0.057,2845,1653,3236,0,0,0,0,0,0
$GC,7729,-0.59,-155.7,797.2,-10.1,608,7732,0.00,0.40,0.00,0.000,6,0.000,0.040,2844,1960,3236,0,0,0,0,0,0
$GC,8061,-0.59,-155.7,828.6,-9.3,624,8064,0.00,0.40,0.00,0.000,4,0.000,0.046,2842,2265,3235,0,0,0,0,0,0
$GC,8223,-0.59,-155.7,842.8,-8.7,631,8227,0.00,0.45,0.00,0.000,6,0.000,0.043,2842,1956,3234,0,0,0,0,0,0
$GC,8550,-0.59,-155.7,870.6,-8.4,647,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3234,0,0,0,0,0,0
$GC,8859,-0.59,-155.7,895.5,-7.8,662,8862,0.00,0.43,0.00,0.000,4,0.000,0.057,2842,1655,3234,0,0,0,0,0,0
$GC,9065,-0.59,-155.7,912.6,-8.4,671,9069,0.00,0.40,0.00,0.000,6,0.000,0.039,2841,1951,3234,0,0,0,0,0,0
$GC,9392,-0.59,-155.7,939.6,-8.5,687,9396,0.00,0.40,0.00,0.000,4,0.000,0.047,2839,2256,3233,0,0,0,0,0,0
$GC,9550,-0.59,-155.7,953.0,-8.4,694,9554,0.00,0.43,0.00,0.000,6,0.000,0.046,2839,1954,3233,0,0,0,0,0,0
$GC,9882,-0.59,-155.7,981.5,-8.5,710,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1954,3233,0,0,0,0,0,0
$STATE,10110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10110,begin apogee
$GC,10114,-0.17,0.0,1000.0,8.3,721,10249,0.47,0.00,129.95,1.541,6,0.157,0.000,2978,1800,2599,0,0,0,0,0,0
$STATE,10250,end apogee,CONTROL_FINISHED_OK
$STATE,10250,begin climb
$GC,10251,0.59,155.7,1002.8,0.0,728,10396,0.77,0.00,140.68,1.495,6,0.112,0.000,3217,1800,1965,0,0,0,0,0,0
$GC,10701,0.59,155.7,960.1,10.0,750,10705,0.00,0.93,0.00,0.000,4,0.000,0.060,3221,1249,1954,0,0,0,0,0,0
$GC,10925,0.59,155.7,936.9,10.4,760,10929,0.00,0.82,0.00,0.000,6,0.000,0.028,3221,1783,1953,0,0,0,0,0,0
$GC,11257,0.59,155.7,901.4,10.9,776,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1783,1951,0,0,0,0,0,0
$GC,11566,0.59,155.7,869.1,9.9,791,11570,0.00,0.80,0.00,0.000,4,0.000,0.054,3223,1292,1950,0,0,0,0,0,0
$GC,11806,0.59,155.7,843.1,10.8,801,11812,0.00,0.80,0.00,0.000,6,0.000,0.029,3224,1819,1949,0,0,0,0,0,0
$GC,12122,0.59,155.7,809.0,11.1,817,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1819,1949,0,0,0,0,0,0
$GC,12431,0.59,155.7,775.3,11.0,832,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1819,1949,0,0,0,0,0,0
$GC,12740,0.59,155.7,741.4,11.2,847,12744,0.00,0.52,0.00,0.000,4,0.000,0.050,3225,1483,1948,0,0,0,0,0,0
$GC,12997,0.59,155.7,713.3,11.3,858,13001,0.00,0.50,0.00,0.000,6,0.000,0.035,3226,1825,1949,0,0,0,0,0,0
$GC,13318,0.59,155.7,679.1,10.5,874,13321,0.00,1.05,0.00,0.000,4,0.000,0.057,3228,1181,1948,0,0,0,0,0,0
$GC,13501,0.59,155.7,659.3,10.9,882,13506,0.00,0.95,0.00,0.000,6,0.000,0.030,3229,1823,1948,0,0,0,0,0,0
$GC,13828,0.59,155.7,625.5,10.4,898,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1823,1948,0,0,0,0,0,0
$GC,14138,0.59,155.7,592.9,11.1,913,14142,0.00,0.65,0.00,0.000,4,0.000,0.050,3230,1406,1948,0,0,0,0,0,0
$GC,14394,0.59,155.7,565.5,10.2,924,14399,0.00,0.57,0.00,0.000,6,0.000,0.034,3230,1812,1948,0,0,0,0,0,0
$GC,14715,0.59,155.7,533.1,10.1,940,14719,0.00,0.45,0.00,0.000,4,0.000,0.049,3231,1513,1947,0,0,0,0,0,0
$GC,14972,0.59,155.7,506.6,10.2,951,14974,0.00,0.40,0.00,0.000,6,0.000,0.037,3231,1793,1948,0,0,0,0,0,0
$GC,15289,0.59,155.7,473.2,10.6,967,15293,0.00,0.35,0.00,0.000,4,0.000,0.051,3232,1560,1947,0,0,0,0,0,0
$GC,15546,0.59,155.7,445.3,11.0,978,15550,0.00,0.38,0.00,0.000,6,0.000,0.040,3232,1821,1947,0,0,0,0,0,0
$GC,15867,0.59,155.7,410.2,11.2,994,15871,0.00,1.02,0.00,0.000,4,0.000,0.056,3236,1186,1947,0,0,0,0,0,0
$GC,16039,0.59,155.7,390.7,11.2,1004,16047,0.00,0.95,0.00,0.000,6,0.000,0.030,3236,1820,1947,0,0,0,0,0,0
$GC,16364,0.59,155.7,355.5,10.6,1035,16366,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1820,1947,0,0,0,0,0,0
$GC,16687,0.59,155.7,320.1,10.9,1065,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1820,1947,0,0,0,0,0,0
$GC,17012,0.59,155.7,283.0,11.4,1096,17013,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1820,1947,0,0,0,0,0,0
$GC,17330,0.59,155.7,246.5,11.4,1126,17332,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1820,1947,0,0,0,0,0,0
$GC,17649,0.59,155.7,212.7,10.2,1156,17650,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1820,1948,0,0,0,0,0,0
$GC,17968,0.59,155.7,179.8,10.2,1186,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1820,1947,0,0,0,0,0,0
$GC,18286,0.59,155.7,147.0,9.9,1216,18290,0.00,0.40,0.00,0.000,4,0.000,0.050,3237,1547,1947,0,0,0,0,0,0
$GC,18468,0.59,155.7,128.8,10.3,1232,18471,0.00,0.35,0.00,0.000,6,0.000,0.039,3237,1809,1948,0,0,0,0,0,0
$GC,18794,0.59,155.7,96.2,9.9,1265,18799,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1809,1948,0,0,0,0,0,0
$GC,19141,0.59,155.7,61.2,11.0,1326,19147,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1810,1948,0,0,0,0,0,0
$GC,19491,0.59,165.5,29.1,9.4,1387,19503,0.00,1.17,3.50,0.684,4,0.000,0.055,3240,1094,1925,0,0,0,0,0,0
$GC,19668,0.59,165.5,9.9,12.9,1417,19675,0.00,1.05,0.00,0.000,6,0.000,0.028,3240,1806,1924,0,0,0,0,0,0
$GC,19724,0.59,165.5,3.1,11.7,1426,19730,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1806,1923,0,0,0,0,0,0
$STATE,19737,end climb,SURFACE_DEPTH_REACHED
$STATE,19737,begin surface coast
$FINISH,1.4,1.026719
$STATE,19763,end surface coast,CONTROL_FINISHED_OK
$STATE,19763,begin surface
$SM_CCo,19778,8.73,0.785,0,0,1844,185.20
$SM_GC,3.73,0.00,0.00,8.73,0.000,0.000,0.785,76,1966,1844,-9.26,0.48,185.20
$IRIDIUM_FIX,-4143.80,849.17,071113,090937
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.0,7.9
$24V_AH,22.9,18.485
$10V_AH,10.3,15.501
$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,22.000,23.325,274.125,8.725,0.000,23.686,18.704,298.653,0.500,0.000,20.576,3539.821,12402.353,370.555,3791.228,144.110,33.378,1784.188,0.000,3387.994,0.000,5.467,0.000
$DEVICE_MAMPS,265.455,74.970,1541.475,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.714,960.485,953.168,85.914,0.000,0.000,0.000,0.000,0.000,0.000
$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,83585,1432
$CAP_FILE_SIZE,169294,0
$CFSIZE,2097086464,2080833536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071113,210724,-4229.990,849.003,80,0.8,80,-25.1