version: 66.07.10.p01
glider: 574
mission: 7
dive: 111
start: 11 8 113 8 36 30
data:
$ID,574
$MISSION,7
$DIVE,111
$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,-13714.927
$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,51
$R_STBD_OVSHOOT,53
$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,90
$GPS1,081113,082558,-4230.267,846.518,62,1.0,62,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.8
$GPS2,081113,083535,-4230.151,846.692,34,1.1,35,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.039,-0.263
$KALMAN_X,-161843.5,-16.6,83.5,79385.1,-972.9
$KALMAN_Y,326632.6,234.5,-208.6,-481228.0,5017.6
$MHEAD_RNG_PITCHd_Wd,196.6,69218,-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,-42.53,0.000,2,0.000,0.000,65,1934,2769,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.3,-1.8,7,103,12.20,1.80,-14.23,0.000,4,0.265,0.057,2834,3077,3234,0,0,0,0,0,0
$GC,320,-0.59,-155.7,32.9,-12.6,49,326,0.05,1.73,0.00,0.000,6,0.227,0.034,2843,1957,3237,0,0,0,0,0,0
$GC,463,-0.59,-155.7,51.1,-13.1,74,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1956,3238,0,0,0,0,0,0
$GC,808,-0.59,-155.7,92.9,-12.4,135,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1956,3239,0,0,0,0,0,0
$GC,1137,-0.59,-155.7,132.5,-12.0,171,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1957,3239,0,0,0,0,0,0
$GC,1460,-0.59,-155.7,169.6,-11.6,201,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1956,3239,0,0,0,0,0,0
$GC,1784,-0.59,-155.7,206.2,-11.1,232,1788,0.00,0.55,0.00,0.000,4,0.000,0.051,2843,1576,3240,0,0,0,0,0,0
$GC,1944,-0.59,-155.7,224.0,-11.2,246,1947,0.00,0.52,0.00,0.000,6,0.000,0.034,2843,1964,3240,0,0,0,0,0,0
$GC,2277,-0.59,-155.7,261.8,-11.8,277,2280,0.00,0.38,0.00,0.000,4,0.000,0.044,2841,2261,3239,0,0,0,0,0,0
$GC,2450,-0.59,-155.7,281.9,-11.1,292,2458,0.00,0.47,0.00,0.000,6,0.000,0.041,2841,1936,3240,0,0,0,0,0,0
$GC,2776,-0.59,-155.7,318.5,-11.5,323,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,3096,-0.59,-155.7,353.8,-10.8,353,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,3412,-0.59,-155.7,385.6,-9.5,383,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,3736,-0.59,-155.7,416.7,-9.7,406,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,4045,-0.59,-155.7,446.3,-9.5,421,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,4355,-0.59,-155.7,475.9,-9.7,436,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,4664,-0.59,-155.7,506.9,-10.3,451,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,4973,-0.59,-155.7,540.1,-10.7,466,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3239,0,0,0,0,0,0
$GC,5282,-0.59,-155.7,574.7,-11.6,481,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,5592,-0.59,-155.7,608.9,-10.7,496,5595,0.00,0.38,0.00,0.000,4,0.000,0.057,2841,1668,3239,0,0,0,0,0,0
$GC,5798,-0.59,-155.7,630.8,-10.6,505,5802,0.00,0.40,0.00,0.000,6,0.000,0.037,2840,1976,3238,0,0,0,0,0,0
$GC,6125,-0.59,-155.7,662.4,-9.5,521,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1977,3238,0,0,0,0,0,0
$GC,6434,-0.59,-155.7,691.3,-9.5,536,6438,0.00,0.45,0.00,0.000,4,0.000,0.043,2838,2316,3237,0,0,0,0,0,0
$GC,6691,-0.59,-155.7,715.4,-9.3,547,6695,0.00,0.55,0.00,0.000,6,0.000,0.041,2838,1941,3237,0,0,0,0,0,0
$GC,7012,-0.59,-155.7,745.6,-9.4,563,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1940,3237,0,0,0,0,0,0
$GC,7322,-0.59,-155.7,774.5,-9.4,578,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1940,3236,0,0,0,0,0,0
$GC,7631,-0.59,-155.7,803.7,-9.5,593,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1940,3236,0,0,0,0,0,0
$GC,7940,-0.59,-155.7,832.2,-9.4,608,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1940,3235,0,0,0,0,0,0
$GC,8250,-0.59,-155.7,860.1,-8.9,623,8253,0.00,0.52,0.00,0.000,4,0.000,0.053,2838,1580,3235,0,0,0,0,0,0
$GC,8372,-0.59,-155.7,871.4,-8.6,628,8376,0.00,0.50,0.00,0.000,6,0.000,0.034,2836,1940,3234,0,0,0,0,0,0
$GC,8693,-0.59,-155.7,898.5,-8.3,644,8697,0.00,0.52,0.00,0.000,4,0.000,0.043,2834,2327,3234,0,0,0,0,0,0
$GC,8832,-0.59,-155.7,910.1,-7.9,650,8837,0.05,0.55,0.00,0.000,6,0.219,0.041,2844,1943,3234,0,0,0,0,0,0
$GC,9159,-0.59,-155.7,936.8,-8.6,666,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1943,3233,0,0,0,0,0,0
$GC,9468,-0.59,-155.7,964.3,-9.2,681,9472,0.00,0.38,0.00,0.000,4,0.000,0.057,2844,1678,3233,0,0,0,0,0,0
$GC,9648,-0.59,-155.7,980.7,-9.3,689,9652,0.00,0.35,0.00,0.000,6,0.000,0.040,2844,1948,3233,0,0,0,0,0,0
$STATE,9880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9880,begin apogee
$GC,9884,-0.17,0.0,1001.8,9.0,700,10017,0.47,0.00,130.27,1.543,6,0.161,0.000,2981,1812,2600,0,0,0,0,0,0
$STATE,10018,end apogee,CONTROL_FINISHED_OK
$STATE,10018,begin climb
$GC,10020,0.59,155.7,1005.9,0.0,707,10166,0.77,1.05,140.65,1.502,4,0.114,0.057,3223,1243,1964,0,0,0,0,0,0
$GC,10367,0.59,155.7,973.8,11.4,723,10372,0.00,0.88,0.00,0.000,6,0.000,0.027,3223,1794,1955,0,0,0,0,0,0
$GC,10689,0.59,155.7,937.7,11.6,739,10692,0.00,0.38,0.00,0.000,4,0.000,0.049,3224,1552,1952,0,0,0,0,0,0
$GC,10945,0.59,155.7,909.5,10.5,750,10949,0.00,0.38,0.00,0.000,6,0.000,0.035,3224,1820,1951,0,0,0,0,0,0
$GC,11266,0.59,155.7,875.1,11.0,766,11270,0.00,1.88,0.00,0.000,4,0.000,0.061,3226,697,1950,0,0,0,0,0,0
$GC,11432,0.59,155.7,855.9,11.6,773,11437,0.00,1.70,0.00,0.000,6,0.000,0.028,3226,1800,1949,0,0,0,0,0,0
$GC,11754,0.59,155.7,820.0,11.0,789,11758,0.00,0.38,0.00,0.000,4,0.000,0.047,3226,1551,1949,0,0,0,0,0,0
$GC,12011,0.59,155.7,790.5,11.6,800,12015,0.00,0.38,0.00,0.000,6,0.000,0.035,3226,1820,1949,0,0,0,0,0,0
$GC,12331,0.59,155.7,754.8,11.1,816,12335,0.00,1.23,0.00,0.000,4,0.000,0.056,3230,1069,1948,0,0,0,0,0,0
$GC,12542,0.59,155.7,731.1,11.1,825,12547,0.00,1.12,0.00,0.000,6,0.000,0.028,3230,1816,1948,0,0,0,0,0,0
$GC,12864,0.59,155.7,694.7,11.3,841,12868,0.00,0.40,0.00,0.000,4,0.000,0.047,3231,1548,1948,0,0,0,0,0,0
$GC,13121,0.59,155.7,664.9,11.7,852,13125,0.00,0.38,0.00,0.000,6,0.000,0.035,3230,1808,1947,0,0,0,0,0,0
$GC,13442,0.59,155.7,629.8,10.9,868,13445,0.00,1.08,0.00,0.000,4,0.000,0.054,3234,1146,1947,0,0,0,0,0,0
$GC,13644,0.59,155.7,607.6,11.3,877,13647,0.00,0.98,0.00,0.000,6,0.000,0.028,3234,1818,1947,0,0,0,0,0,0
$GC,13975,0.59,155.7,571.4,10.7,893,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1818,1947,0,0,0,0,0,0
$GC,14285,0.59,155.7,539.8,10.2,908,14289,0.00,1.20,0.00,0.000,4,0.000,0.054,3239,1074,1947,0,0,0,0,0,0
$GC,14468,0.59,155.7,520.8,10.8,916,14472,0.00,1.10,0.00,0.000,6,0.000,0.028,3239,1810,1947,0,0,0,0,0,0
$GC,14795,0.59,155.7,489.1,9.8,932,14796,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1810,1947,0,0,0,0,0,0
$GC,15105,0.59,160.7,459.6,9.6,947,15108,0.00,1.08,0.00,0.000,4,0.000,0.053,3242,1140,1947,0,0,0,0,0,0
$GC,15294,0.59,169.9,440.7,9.4,955,15309,0.00,1.00,10.85,1.141,6,0.000,0.028,3243,1816,1906,0,0,0,0,0,0
$GC,15637,0.59,169.9,405.5,10.6,972,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1817,1905,0,0,0,0,0,0
$GC,15954,0.59,169.9,372.3,10.4,999,15957,0.00,0.45,0.00,0.000,4,0.000,0.046,3243,1515,1905,0,0,0,0,0,0
$GC,16214,0.59,169.9,345.3,10.6,1022,16219,0.03,0.40,0.00,0.000,6,0.184,0.036,3235,1829,1904,0,0,0,0,0,0
$GC,16548,0.59,169.9,312.2,9.9,1053,16551,0.00,0.57,0.00,0.000,4,0.000,0.048,3236,1452,1904,0,0,0,0,0,0
$GC,16709,0.59,169.9,295.1,10.5,1067,16714,0.00,0.50,0.00,0.000,6,0.000,0.033,3236,1824,1905,0,0,0,0,0,0
$GC,17033,0.59,169.9,262.3,10.0,1098,17034,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1824,1905,0,0,0,0,0,0
$GC,17352,0.59,169.9,230.3,10.5,1128,17354,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1824,1905,0,0,0,0,0,0
$GC,17673,0.59,169.9,197.3,10.8,1158,17674,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1824,1905,0,0,0,0,0,0
$GC,17990,0.59,169.9,163.3,10.7,1188,17993,0.00,0.40,0.00,0.000,4,0.000,0.046,3237,1549,1905,0,0,0,0,0,0
$GC,18175,0.59,169.9,144.1,10.2,1204,18177,0.00,0.32,0.00,0.000,6,0.000,0.037,3237,1785,1905,0,0,0,0,0,0
$GC,18495,0.59,169.9,112.9,9.9,1234,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1785,1905,0,0,0,0,0,0
$GC,18829,0.59,169.9,77.4,11.0,1282,18834,0.00,0.40,0.00,0.000,4,0.000,0.048,3237,1515,1905,0,0,0,0,0,0
$GC,19090,0.59,169.9,49.3,11.9,1328,19095,0.00,0.40,0.00,0.000,6,0.000,0.037,3237,1833,1905,0,0,0,0,0,0
$GC,19442,0.59,174.5,9.8,9.6,1389,19450,0.00,2.05,2.55,0.480,4,0.000,0.042,3237,3165,1888,0,0,0,0,0,0
$STATE,19533,end climb,SURFACE_DEPTH_REACHED
$STATE,19533,begin surface coast
$FINISH,1.4,1.014542
$STATE,19582,end surface coast,CONTROL_FINISHED_OK
$STATE,19582,begin surface
$SM_CCo,19599,4.18,0.663,0,0,1845,185.20
$SM_GC,3.53,0.00,0.00,4.18,0.000,0.000,0.663,77,1974,1845,-9.26,0.68,185.20
$IRIDIUM_FIX,-4201.18,846.10,081113,020238
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.9,18.928
$10V_AH,10.2,15.888
$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,22.075,34.150,284.325,4.175,0.000,32.839,52.668,346.420,0.500,0.000,37.439,3500.003,12324.655,342.250,3868.392,141.087,33.379,1740.777,0.000,3350.602,0.000,5.326,0.000
$DEVICE_MAMPS,265.455,61.200,1543.005,663.255,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.581,957.095,934.878,87.155,0.000,0.000,0.000,0.000,0.000,0.000
$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,80216,1412
$CAP_FILE_SIZE,168662,0
$CFSIZE,2097086464,2080440320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081113,140901,-4230.824,847.098,313,1.3,313,-25.1