version: 66.07.10.p01
glider: 574
mission: 7
dive: 112
start: 11 8 113 14 21 54
data:
$ID,574
$MISSION,7
$DIVE,112
$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,-13718.743
$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,27
$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,91
$GPS1,081113,140901,-4230.824,847.098,313,1.3,313,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-73.3
$GPS2,081113,142059,-4230.679,847.204,20,1.5,21,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.007,-0.266
$KALMAN_X,-162109.3,217.2,21.3,80187.8,-693.1
$KALMAN_Y,331070.7,-71.4,58.3,-486596.7,4349.4
$MHEAD_RNG_PITCHd_Wd,203.5,68635,-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,-155.7,0.0,0.0,0,57,0.00,0.00,-30.88,0.000,2,0.000,0.000,65,1968,2540,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.1,-1.1,5,109,11.93,0.80,-32.08,0.000,4,0.256,0.087,2839,2476,3235,0,0,0,0,0,0
$GC,371,-0.59,-155.7,31.3,-12.1,58,378,0.00,0.82,0.00,0.000,6,0.000,0.038,2839,1933,3237,0,0,0,0,0,0
$GC,515,-0.59,-155.7,47.7,-10.6,83,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3238,0,0,0,0,0,0
$GC,861,-0.59,-155.7,88.4,-11.4,144,868,0.00,0.45,0.00,0.000,4,0.000,0.053,2839,1617,3239,0,0,0,0,0,0
$GC,987,-0.59,-155.7,102.6,-10.8,164,990,0.00,0.43,0.00,0.000,6,0.000,0.036,2838,1948,3239,0,0,0,0,0,0
$GC,1317,-0.59,-155.7,139.2,-11.0,195,1320,0.00,0.62,0.00,0.000,4,0.000,0.041,2835,2390,3239,0,0,0,0,0,0
$GC,1513,-0.59,-155.7,160.8,-10.7,212,1521,0.05,0.68,0.00,0.000,6,0.222,0.037,2844,1935,3239,0,0,0,0,0,0
$GC,1839,-0.59,-155.7,195.2,-10.9,243,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3239,0,0,0,0,0,0
$GC,2159,-0.59,-155.7,227.9,-9.8,273,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3239,0,0,0,0,0,0
$GC,2475,-0.59,-155.7,259.2,-9.8,303,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3239,0,0,0,0,0,0
$GC,2797,-0.59,-155.7,292.4,-11.3,333,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3239,0,0,0,0,0,0
$GC,3122,-0.59,-155.7,327.9,-10.5,364,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3240,0,0,0,0,0,0
$GC,3441,-0.59,-155.7,360.7,-10.2,394,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3240,0,0,0,0,0,0
$GC,3760,-0.59,-155.7,391.2,-9.3,424,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1935,3240,0,0,0,0,0,0
$GC,4081,-0.59,-155.7,423.1,-10.0,444,4085,0.00,0.38,0.00,0.000,4,0.000,0.055,2845,1665,3239,0,0,0,0,0,0
$GC,4287,-0.59,-155.7,444.3,-10.2,453,4289,0.00,0.38,0.00,0.000,6,0.000,0.038,2845,1952,3240,0,0,0,0,0,0
$GC,4610,-0.59,-155.7,477.1,-10.4,469,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1952,3240,0,0,0,0,0,0
$GC,4919,-0.59,-155.7,509.5,-10.4,484,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1952,3240,0,0,0,0,0,0
$GC,5229,-0.59,-155.7,541.1,-10.2,499,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1953,3240,0,0,0,0,0,0
$GC,5538,-0.59,-155.7,571.2,-9.7,514,5542,0.00,0.38,0.00,0.000,4,0.000,0.045,2843,2245,3240,0,0,0,0,0,0
$GC,5718,-0.59,-155.7,589.1,-10.2,522,5722,0.00,0.40,0.00,0.000,6,0.000,0.043,2843,1944,3240,0,0,0,0,0,0
$GC,6050,-0.59,-155.7,622.7,-10.0,538,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,3240,0,0,0,0,0,0
$GC,6359,-0.59,-155.7,653.3,-9.8,553,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,3239,0,0,0,0,0,0
$GC,6668,-0.59,-155.7,684.9,-10.0,568,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,3240,0,0,0,0,0,0
$GC,6978,-0.59,-155.7,716.2,-9.8,583,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,3239,0,0,0,0,0,0
$GC,7287,-0.59,-155.7,745.8,-9.7,598,7291,0.00,0.62,0.00,0.000,4,0.000,0.050,2843,1523,3239,0,0,0,0,0,0
$GC,7460,-0.59,-155.7,762.9,-9.7,605,7466,0.00,0.60,0.00,0.000,6,0.000,0.033,2841,1947,3239,0,0,0,0,0,0
$GC,7776,-0.59,-155.7,792.7,-9.6,621,7779,0.00,0.32,0.00,0.000,4,0.000,0.047,2839,2216,3239,0,0,0,0,0,0
$GC,7993,-0.59,-155.7,813.5,-9.0,630,7999,0.00,0.38,0.00,0.000,6,0.000,0.043,2839,1947,3239,0,0,0,0,0,0
$GC,8309,-0.59,-155.7,841.8,-8.8,646,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1947,3239,0,0,0,0,0,0
$GC,8618,-0.59,-155.7,867.4,-8.0,661,8622,0.00,0.35,0.00,0.000,4,0.000,0.057,2839,1692,3239,0,0,0,0,0,0
$GC,8836,-0.59,-155.7,885.7,-8.5,670,8841,0.00,0.35,0.00,0.000,6,0.000,0.038,2838,1954,3239,0,0,0,0,0,0
$GC,9152,-0.59,-155.7,912.3,-8.5,686,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1954,3239,0,0,0,0,0,0
$GC,9461,-0.59,-155.7,939.4,-8.9,701,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1954,3239,0,0,0,0,0,0
$GC,9770,-0.59,-155.7,966.4,-8.9,716,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1954,3239,0,0,0,0,0,0
$GC,10080,-0.59,-155.7,993.5,-8.9,731,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1955,3239,0,0,0,0,0,0
$STATE,10165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10165,begin apogee
$GC,10169,-0.17,0.0,1000.7,8.8,735,10303,0.50,0.00,131.57,1.542,6,0.163,0.000,2981,1813,2600,0,0,0,0,0,0
$STATE,10304,end apogee,CONTROL_FINISHED_OK
$STATE,10304,begin climb
$GC,10306,0.59,155.7,1004.5,0.0,742,10452,0.77,0.95,140.60,1.499,4,0.114,0.055,3223,1296,1965,0,0,0,0,0,0
$GC,10631,0.59,155.7,973.7,11.3,757,10635,0.00,0.80,0.00,0.000,6,0.000,0.025,3222,1789,1955,0,0,0,0,0,0
$GC,10952,0.59,155.7,937.3,11.3,773,10956,0.00,0.45,0.00,0.000,4,0.000,0.047,3223,1504,1953,0,0,0,0,0,0
$GC,11209,0.59,155.7,908.6,11.0,784,11213,0.00,0.47,0.00,0.000,6,0.000,0.033,3223,1830,1952,0,0,0,0,0,0
$GC,11530,0.59,155.7,873.5,10.8,800,11533,0.00,0.82,0.00,0.000,4,0.000,0.051,3226,1325,1951,0,0,0,0,0,0
$GC,11777,0.59,155.7,846.4,10.5,811,11781,0.00,0.70,0.00,0.000,6,0.000,0.028,3226,1790,1950,0,0,0,0,0,0
$GC,12109,0.59,155.7,811.4,10.4,827,12112,0.00,0.55,0.00,0.000,4,0.000,0.048,3227,1440,1949,0,0,0,0,0,0
$GC,12365,0.59,155.7,784.8,10.2,838,12370,0.00,0.57,0.00,0.000,6,0.000,0.030,3227,1826,1950,0,0,0,0,0,0
$GC,12686,0.59,155.7,752.8,10.1,854,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1826,1949,0,0,0,0,0,0
$GC,12996,0.59,155.7,720.6,10.4,869,12999,0.00,0.60,0.00,0.000,4,0.000,0.048,3228,1444,1949,0,0,0,0,0,0
$GC,13244,0.59,155.7,694.8,10.4,880,13248,0.00,0.52,0.00,0.000,6,0.000,0.032,3228,1818,1949,0,0,0,0,0,0
$GC,13575,0.59,155.7,658.9,10.9,896,13579,0.00,0.47,0.00,0.000,4,0.000,0.047,3228,1506,1949,0,0,0,0,0,0
$GC,13832,0.59,155.7,630.0,11.3,907,13836,0.00,0.43,0.00,0.000,6,0.000,0.033,3228,1810,1949,0,0,0,0,0,0
$GC,14153,0.59,155.7,593.2,11.6,923,14156,0.00,0.60,0.00,0.000,4,0.000,0.047,3229,1424,1949,0,0,0,0,0,0
$GC,14409,0.59,155.7,562.8,11.6,934,14413,0.00,0.57,0.00,0.000,6,0.000,0.030,3229,1820,1949,0,0,0,0,0,0
$GC,14730,0.59,155.7,524.3,12.1,950,14734,0.00,0.85,0.00,0.000,4,0.000,0.051,3232,1286,1949,0,0,0,0,0,0
$GC,14936,0.59,155.7,499.2,12.3,959,14941,0.00,0.77,0.00,0.000,6,0.000,0.028,3232,1806,1949,0,0,0,0,0,0
$GC,15263,0.59,155.7,461.4,11.7,975,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1806,1948,0,0,0,0,0,0
$GC,15573,0.59,155.7,425.2,11.5,990,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1806,1949,0,0,0,0,0,0
$GC,15887,0.59,155.7,390.4,10.8,1009,15890,0.00,0.65,0.00,0.000,4,0.000,0.050,3234,1392,1949,0,0,0,0,0,0
$GC,16079,0.59,155.7,369.3,10.7,1026,16082,0.00,0.60,0.00,0.000,6,0.000,0.032,3234,1829,1949,0,0,0,0,0,0
$GC,16410,0.59,155.7,334.6,10.3,1057,16412,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1829,1948,0,0,0,0,0,0
$GC,16728,0.59,155.7,302.0,9.9,1087,16731,0.00,0.82,0.00,0.000,4,0.000,0.048,3236,1311,1948,0,0,0,0,0,0
$GC,16853,0.59,161.0,289.8,9.6,1098,16856,0.00,0.70,0.00,0.000,6,0.000,0.030,3236,1810,1948,0,0,0,0,0,0
$GC,17186,0.59,170.3,258.1,9.4,1129,17202,0.00,0.00,11.23,1.025,6,0.000,0.000,3236,1810,1905,0,0,0,0,0,0
$GC,17523,0.59,170.3,223.0,10.0,1161,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1810,1904,0,0,0,0,0,0
$GC,17840,0.59,170.3,189.8,10.4,1191,17844,0.00,0.52,0.00,0.000,4,0.000,0.047,3237,1466,1904,0,0,0,0,0,0
$GC,17965,0.59,170.3,176.7,9.8,1202,17969,0.00,0.45,0.00,0.000,6,0.000,0.035,3237,1821,1904,0,0,0,0,0,0
$GC,18298,0.59,170.3,142.6,10.5,1233,18302,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1822,1904,0,0,0,0,0,0
$GC,18623,0.59,170.3,108.7,10.4,1264,18624,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1821,1904,0,0,0,0,0,0
$GC,18957,0.59,170.3,72.7,10.1,1316,18961,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1821,1904,0,0,0,0,0,0
$GC,19306,0.59,170.3,33.8,13.6,1377,19310,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1821,1904,0,0,0,0,0,0
$GC,19451,0.59,290.7,18.9,4.7,1402,19524,0.00,0.82,64.28,0.858,4,0.000,0.050,3239,1329,1410,0,0,0,0,0,0
$STATE,19660,end climb,SURFACE_DEPTH_REACHED
$STATE,19660,begin surface coast
$FINISH,2.1,1.026608
$STATE,19673,end surface coast,CONTROL_FINISHED_OK
$STATE,19673,begin surface
$SM_CCo,19750,0.00,0.000,0,0,1394,295.83
$SM_GC,2.54,8.68,0.00,0.00,0.046,0.000,0.000,85,1921,1394,-9.17,-0.82,295.83
$IRIDIUM_FIX,-4236.17,847.67,081113,080847
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.24311
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.7,8.9
$24V_AH,22.9,19.092
$10V_AH,10.2,16.026
$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,21.925,23.775,347.675,0.000,0.000,58.959,128.719,343.659,0.500,0.000,23.714,3512.138,12441.073,368.068,4000.948,140.152,33.374,1805.737,0.000,3402.220,0.000,5.473,0.000
$DEVICE_MAMPS,256.275,87.210,1542.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.402,1026.558,956.805,93.572,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,83561,1439
$CAP_FILE_SIZE,167783,0
$CFSIZE,2097086464,2080309248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081113,195234,-4231.408,846.614,58,0.9,58,-25.1