version: 66.07.10.p01
glider: 574
mission: 7
dive: 110
start: 11 8 113 2 59 0
data:
$ID,574
$MISSION,7
$DIVE,110
$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,-13711.539
$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,38
$R_STBD_OVSHOOT,84
$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,89
$GPS1,081113,024904,-4229.754,847.303,68,0.9,68,-25.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.8
$GPS2,081113,025805,-4229.673,847.406,15,1.0,16,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.021,-0.265
$KALMAN_X,-160998.1,-121.7,-89.4,79822.1,-337.1
$KALMAN_Y,321632.0,91.0,400.4,-475815.5,3837.1
$MHEAD_RNG_PITCHd_Wd,209.7,70432,-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,23,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,57,0.00,0.00,-30.77,0.000,2,0.000,0.000,65,1997,2509,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.0,-2.2,5,109,12.18,0.95,-28.85,0.000,4,0.264,0.075,2838,2600,3236,0,0,0,0,0,0
$GC,223,-0.59,-155.7,17.3,-11.6,32,230,0.00,1.02,0.00,0.000,6,0.000,0.037,2838,1939,3238,0,0,0,0,0,0
$GC,278,-0.59,-155.7,24.8,-12.3,41,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1939,3239,0,0,0,0,0,0
$GC,421,-0.59,-155.7,41.3,-11.3,66,428,0.00,0.52,0.00,0.000,4,0.000,0.037,2836,2313,3239,0,0,0,0,0,0
$GC,566,-0.59,-155.7,57.8,-11.4,91,571,0.00,0.55,0.00,0.000,6,0.000,0.041,2836,1937,3239,0,0,0,0,0,0
$GC,911,-0.59,-155.7,99.7,-12.2,152,916,0.00,0.55,0.00,0.000,4,0.000,0.052,2836,1564,3240,0,0,0,0,0,0
$GC,1069,-0.59,-155.7,118.7,-11.6,167,1073,0.00,0.50,0.00,0.000,6,0.000,0.034,2834,1934,3241,0,0,0,0,0,0
$GC,1399,-0.59,-155.7,158.2,-11.8,198,1403,0.00,0.50,0.00,0.000,4,0.000,0.041,2832,2306,3241,0,0,0,0,0,0
$GC,1652,-0.59,-155.7,188.0,-12.3,220,1660,0.08,0.52,0.00,0.000,6,0.206,0.040,2847,1940,3241,0,0,0,0,0,0
$GC,1976,-0.59,-155.7,221.9,-10.8,251,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1940,3241,0,0,0,0,0,0
$GC,2300,-0.59,-155.7,255.0,-10.6,281,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1940,3241,0,0,0,0,0,0
$GC,2624,-0.59,-155.7,288.2,-9.9,312,2628,0.00,0.43,0.00,0.000,4,0.000,0.054,2847,1637,3241,0,0,0,0,0,0
$GC,2795,-0.59,-155.7,306.1,-10.3,327,2798,0.00,0.43,0.00,0.000,6,0.000,0.037,2847,1965,3241,0,0,0,0,0,0
$GC,3124,-0.59,-155.7,342.9,-11.2,358,3128,0.00,0.40,0.00,0.000,4,0.000,0.044,2845,2274,3241,0,0,0,0,0,0
$GC,3387,-0.59,-155.7,372.9,-11.8,381,3390,0.00,0.45,0.00,0.000,6,0.000,0.042,2845,1952,3241,0,0,0,0,0,0
$GC,3724,-0.59,-155.7,412.8,-11.5,408,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1952,3241,0,0,0,0,0,0
$GC,4033,-0.59,-155.7,448.0,-11.7,423,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1952,3241,0,0,0,0,0,0
$GC,4343,-0.59,-155.7,483.1,-11.3,438,4346,0.00,0.52,0.00,0.000,4,0.000,0.052,2845,1589,3241,0,0,0,0,0,0
$GC,4470,-0.59,-155.7,497.5,-10.9,443,4475,0.00,0.50,0.00,0.000,6,0.000,0.034,2843,1954,3241,0,0,0,0,0,0
$GC,4785,-0.59,-155.7,532.1,-11.1,459,4789,0.00,0.55,0.00,0.000,4,0.000,0.042,2840,2355,3241,0,0,0,0,0,0
$GC,5042,-0.59,-155.7,558.7,-10.3,470,5046,0.00,0.60,0.00,0.000,6,0.000,0.039,2841,1947,3240,0,0,0,0,0,0
$GC,5363,-0.59,-155.7,592.3,-10.7,486,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1947,3240,0,0,0,0,0,0
$GC,5672,-0.59,-155.7,625.2,-10.2,501,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1947,3240,0,0,0,0,0,0
$GC,5982,-0.59,-155.7,656.0,-9.6,516,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1947,3239,0,0,0,0,0,0
$GC,6291,-0.59,-155.7,685.6,-9.4,531,6295,0.00,0.35,0.00,0.000,4,0.000,0.057,2841,1695,3238,0,0,0,0,0,0
$GC,6481,-0.59,-155.7,703.1,-9.3,539,6485,0.00,0.35,0.00,0.000,6,0.000,0.038,2841,1951,3238,0,0,0,0,0,0
$GC,6802,-0.59,-155.7,731.4,-8.6,555,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1951,3238,0,0,0,0,0,0
$GC,7111,-0.59,-155.7,759.0,-9.0,570,7115,0.00,0.38,0.00,0.000,4,0.000,0.045,2839,2245,3237,0,0,0,0,0,0
$GC,7301,-0.59,-155.7,775.8,-8.8,578,7305,0.00,0.43,0.00,0.000,6,0.000,0.043,2839,1947,3237,0,0,0,0,0,0
$GC,7622,-0.59,-155.7,803.8,-8.7,594,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1946,3237,0,0,0,0,0,0
$GC,7932,-0.59,-155.7,831.0,-8.8,609,7935,0.00,0.40,0.00,0.000,4,0.000,0.057,2839,1667,3236,0,0,0,0,0,0
$GC,8089,-0.59,-155.7,845.2,-8.8,616,8093,0.00,0.38,0.00,0.000,6,0.000,0.040,2838,1955,3236,0,0,0,0,0,0
$GC,8422,-0.59,-155.7,874.1,-8.4,632,8425,0.00,0.35,0.00,0.000,4,0.000,0.047,2836,2235,3235,0,0,0,0,0,0
$GC,8678,-0.59,-155.7,896.5,-9.2,643,8683,0.00,0.40,0.00,0.000,6,0.000,0.045,2836,1950,3235,0,0,0,0,0,0
$GC,9000,-0.59,-155.7,924.3,-8.6,659,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3234,0,0,0,0,0,0
$GC,9309,-0.59,-155.7,949.8,-8.2,674,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3234,0,0,0,0,0,0
$GC,9618,-0.59,-155.7,975.9,-8.5,689,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3234,0,0,0,0,0,0
$STATE,9910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9910,begin apogee
$GC,9914,-0.17,0.0,1000.7,8.4,703,10047,0.50,0.00,130.35,1.541,6,0.161,0.000,2980,1809,2600,0,0,0,0,0,0
$STATE,10048,end apogee,CONTROL_FINISHED_OK
$STATE,10048,begin climb
$GC,10049,0.59,155.7,1003.9,0.0,710,10194,0.77,0.00,141.05,1.495,6,0.114,0.000,3217,1809,1965,0,0,0,0,0,0
$GC,10500,0.59,155.7,960.2,10.7,732,10503,0.00,0.68,0.00,0.000,4,0.000,0.057,3220,1394,1954,0,0,0,0,0,0
$GC,10728,0.59,155.7,935.2,11.0,742,10732,0.00,0.62,0.00,0.000,6,0.000,0.029,3220,1801,1954,0,0,0,0,0,0
$GC,11055,0.59,155.7,898.8,11.4,758,11058,0.00,0.50,0.00,0.000,4,0.000,0.048,3221,1484,1954,0,0,0,0,0,0
$GC,11266,0.59,155.7,874.7,11.7,767,11271,0.00,0.50,0.00,0.000,6,0.000,0.034,3221,1837,1953,0,0,0,0,0,0
$GC,11587,0.59,155.7,839.6,11.0,783,11591,0.00,1.05,0.00,0.000,4,0.000,0.055,3225,1199,1953,0,0,0,0,0,0
$GC,11760,0.59,155.7,821.2,11.6,790,11766,0.00,0.90,0.00,0.000,6,0.000,0.028,3225,1794,1953,0,0,0,0,0,0
$GC,12075,0.59,155.7,787.8,10.5,806,12079,0.00,0.50,0.00,0.000,4,0.000,0.049,3226,1472,1953,0,0,0,0,0,0
$GC,12332,0.59,164.5,761.4,9.4,817,12344,0.00,0.50,7.25,1.215,6,0.000,0.032,3226,1813,1928,0,0,0,0,0,0
$GC,12653,0.59,164.5,729.0,10.2,833,12657,0.00,0.85,0.00,0.000,4,0.000,0.054,3229,1283,1928,0,0,0,0,0,0
$GC,12871,0.59,180.3,707.4,9.1,842,12892,0.00,0.80,15.82,1.315,6,0.000,0.028,3228,1805,1865,0,0,0,0,0,0
$GC,13207,0.59,180.3,673.4,10.6,859,13211,0.00,0.57,0.00,0.000,4,0.000,0.050,3228,1438,1862,0,0,0,0,0,0
$GC,13464,0.59,180.3,645.7,10.9,870,13468,0.00,0.57,0.00,0.000,6,0.000,0.032,3229,1842,1861,0,0,0,0,0,0
$GC,13785,0.59,180.3,613.4,9.9,886,13789,0.00,1.20,0.00,0.000,4,0.000,0.055,3233,1098,1861,0,0,0,0,0,0
$GC,13935,0.59,180.3,597.7,10.0,892,13941,0.00,1.05,0.00,0.000,6,0.000,0.028,3233,1798,1861,0,0,0,0,0,0
$GC,14251,0.59,180.3,564.6,10.4,908,14255,0.00,0.43,0.00,0.000,4,0.000,0.047,3234,1518,1861,0,0,0,0,0,0
$GC,14508,0.59,180.3,536.3,11.5,919,14512,0.00,0.43,0.00,0.000,6,0.000,0.035,3234,1821,1861,0,0,0,0,0,0
$GC,14828,0.59,180.3,499.7,11.9,935,14832,0.00,0.93,0.00,0.000,4,0.000,0.054,3237,1245,1861,0,0,0,0,0,0
$GC,15023,0.59,180.3,476.2,11.7,943,15029,0.00,0.85,0.00,0.000,6,0.000,0.028,3237,1817,1861,0,0,0,0,0,0
$GC,15339,0.59,180.3,438.6,12.0,959,15340,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1817,1861,0,0,0,0,0,0
$GC,15648,0.59,180.3,403.2,11.2,974,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1817,1861,0,0,0,0,0,0
$GC,15966,0.59,180.3,367.7,11.1,1002,15967,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1817,1861,0,0,0,0,0,0
$GC,16284,0.59,180.3,331.9,11.0,1032,16286,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1817,1861,0,0,0,0,0,0
$GC,16605,0.59,180.3,296.7,10.8,1062,16608,0.00,0.45,0.00,0.000,4,0.000,0.048,3238,1517,1861,0,0,0,0,0,0
$GC,16733,0.59,180.3,283.0,11.2,1073,16739,0.00,0.43,0.00,0.000,6,0.000,0.036,3238,1830,1861,0,0,0,0,0,0
$GC,17058,0.59,180.3,248.7,10.5,1104,17061,0.00,0.80,0.00,0.000,4,0.000,0.051,3240,1325,1861,0,0,0,0,0,0
$GC,17194,0.59,180.3,234.6,9.9,1116,17197,0.00,0.68,0.00,0.000,6,0.000,0.031,3240,1813,1860,0,0,0,0,0,0
$GC,17523,0.59,180.3,200.5,10.1,1147,17525,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1861,0,0,0,0,0,0
$GC,17845,0.59,180.3,167.5,10.7,1177,17846,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1861,0,0,0,0,0,0
$GC,18161,0.59,180.3,135.0,10.1,1207,18162,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1861,0,0,0,0,0,0
$GC,18483,0.59,180.3,102.6,10.4,1237,18488,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1861,0,0,0,0,0,0
$GC,18828,0.59,180.3,66.3,10.2,1296,18835,0.00,0.65,0.00,0.000,4,0.000,0.049,3241,1397,1861,0,0,0,0,0,0
$GC,18966,0.59,186.6,52.1,9.5,1320,18978,0.00,0.55,6.68,0.838,6,0.000,0.033,3241,1811,1838,0,0,0,0,0,0
$GC,19325,0.59,189.2,12.7,9.7,1382,19332,0.00,0.00,1.48,0.288,6,0.000,0.000,3241,1811,1828,0,0,0,0,0,0
$GC,19381,0.59,189.2,5.8,10.9,1391,19388,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1811,1827,0,0,0,0,0,0
$STATE,19412,end climb,SURFACE_DEPTH_REACHED
$STATE,19412,begin surface coast
$FINISH,1.5,1.010670
$STATE,19449,end surface coast,CONTROL_FINISHED_OK
$STATE,19449,begin surface
$SM_CCo,19524,0.00,0.000,0,0,1822,190.84
$SM_GC,2.70,8.48,0.00,0.00,0.043,0.000,0.000,78,1929,1822,-9.19,-0.59,190.84
$IRIDIUM_FIX,-4158.28,845.21,071113,212156
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.9,18.783
$10V_AH,10.2,15.760
$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,22.000,28.800,302.625,0.000,0.000,25.983,22.004,372.910,0.500,0.000,18.231,3475.172,12192.714,388.111,3859.717,142.510,33.375,1811.410,0.000,3377.628,0.000,5.325,0.000
$DEVICE_MAMPS,263.925,81.090,1541.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.660,944.423,933.018,85.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,80316,1402
$CAP_FILE_SIZE,171777,0
$CFSIZE,2097086464,2080571392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081113,082558,-4230.267,846.518,62,1.0,62,-25.1