version: 66.07.10.p01
glider: 574
mission: 7
dive: 113
start: 11 8 113 20 2 24
data:
$ID,574
$MISSION,7
$DIVE,113
$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,-13722.153
$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,47
$R_STBD_OVSHOOT,58
$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,92
$GPS1,081113,195234,-4231.408,846.614,58,0.9,58,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-68.3
$GPS2,081113,200129,-4231.337,846.755,14,0.9,15,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.020,-0.265
$KALMAN_X,-162702.2,103.6,-45.5,80340.1,-775.8
$KALMAN_Y,335545.1,-311.4,27.8,-492023.3,4696.2
$MHEAD_RNG_PITCHd_Wd,200.7,67272,-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,-42.47,0.000,2,0.000,0.000,66,1923,2337,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.0,-1.2,7,133,12.40,1.35,-41.40,0.000,4,0.270,0.062,2834,2777,3235,0,0,0,0,0,0
$GC,348,-0.59,-155.7,31.1,-12.1,54,356,0.03,1.27,0.00,0.000,6,0.209,0.034,2841,1960,3237,0,0,0,0,0,0
$GC,495,-0.59,-155.7,46.8,-10.7,79,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1960,3237,0,0,0,0,0,0
$GC,842,-0.59,-155.7,88.5,-11.7,140,847,0.00,0.38,0.00,0.000,4,0.000,0.038,2842,2251,3238,0,0,0,0,0,0
$GC,1090,-0.59,-155.7,117.6,-11.5,171,1094,0.00,0.45,0.00,0.000,6,0.000,0.041,2842,1935,3239,0,0,0,0,0,0
$GC,1420,-0.59,-155.7,158.2,-12.1,202,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1935,3239,0,0,0,0,0,0
$GC,1739,-0.59,-155.7,197.9,-12.0,232,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3239,0,0,0,0,0,0
$GC,2059,-0.59,-155.7,237.0,-12.2,262,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3239,0,0,0,0,0,0
$GC,2377,-0.59,-155.7,273.6,-10.7,292,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3239,0,0,0,0,0,0
$GC,2696,-0.59,-155.7,305.5,-9.6,322,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3239,0,0,0,0,0,0
$GC,3014,-0.59,-155.7,336.4,-9.6,352,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3239,0,0,0,0,0,0
$GC,3333,-0.59,-155.7,367.7,-10.4,382,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3240,0,0,0,0,0,0
$GC,3661,-0.59,-155.7,403.5,-11.2,412,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3240,0,0,0,0,0,0
$GC,3970,-0.59,-155.7,438.8,-11.5,427,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1935,3240,0,0,0,0,0,0
$GC,4279,-0.59,-155.7,473.6,-11.3,442,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1935,3240,0,0,0,0,0,0
$GC,4589,-0.59,-155.7,506.6,-10.3,457,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1935,3240,0,0,0,0,0,0
$GC,4898,-0.59,-155.7,538.0,-10.1,472,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1935,3240,0,0,0,0,0,0
$GC,5208,-0.59,-155.7,568.7,-9.7,487,5211,0.00,0.45,0.00,0.000,4,0.000,0.054,2841,1620,3240,0,0,0,0,0,0
$GC,5397,-0.59,-155.7,588.0,-9.6,495,5401,0.00,0.50,0.00,0.000,6,0.000,0.034,2840,1982,3240,0,0,0,0,0,0
$GC,5718,-0.59,-155.7,621.4,-10.6,511,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1982,3240,0,0,0,0,0,0
$GC,6028,-0.59,-155.7,654.0,-10.6,526,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1982,3239,0,0,0,0,0,0
$GC,6337,-0.59,-155.7,686.3,-10.2,541,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1982,3239,0,0,0,0,0,0
$GC,6647,-0.59,-155.7,717.1,-9.7,556,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1982,3238,0,0,0,0,0,0
$GC,6956,-0.59,-155.7,747.0,-9.7,571,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1982,3238,0,0,0,0,0,0
$GC,7265,-0.59,-155.7,776.0,-9.1,586,7269,0.00,0.47,0.00,0.000,4,0.000,0.043,2838,2334,3238,0,0,0,0,0,0
$GC,7427,-0.59,-155.7,791.1,-8.9,593,7432,0.00,0.57,0.00,0.000,6,0.000,0.039,2838,1941,3238,0,0,0,0,0,0
$GC,7754,-0.59,-155.7,822.6,-10.0,609,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3238,0,0,0,0,0,0
$GC,8063,-0.59,-155.7,853.3,-9.7,624,8067,0.00,0.40,0.00,0.000,4,0.000,0.055,2838,1658,3237,0,0,0,0,0,0
$GC,8236,-0.59,-155.7,870.2,-9.9,631,8241,0.00,0.40,0.00,0.000,6,0.000,0.037,2837,1958,3237,0,0,0,0,0,0
$GC,8551,-0.59,-155.7,900.2,-9.6,647,8555,0.00,0.30,0.00,0.000,4,0.000,0.051,2835,2211,3237,0,0,0,0,0,0
$GC,8808,-0.59,-155.7,925.0,-9.4,658,8812,0.00,0.38,0.00,0.000,6,0.000,0.044,2836,1950,3237,0,0,0,0,0,0
$GC,9130,-0.59,-155.7,955.9,-9.4,674,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1950,3236,0,0,0,0,0,0
$GC,9439,-0.59,-155.7,984.2,-8.9,689,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1949,3236,0,0,0,0,0,0
$STATE,9626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9626,begin apogee
$GC,9630,-0.17,0.0,1000.4,8.7,698,9764,0.50,0.00,130.57,1.541,6,0.161,0.000,2979,1806,2600,0,0,0,0,0,0
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9767,0.59,155.7,1003.9,0.0,705,9911,0.82,0.00,140.77,1.497,6,0.112,0.000,3226,1806,1965,0,0,0,0,0,0
$GC,10214,0.59,155.7,958.8,10.7,727,10217,0.00,0.93,0.00,0.000,4,0.000,0.057,3228,1252,1954,0,0,0,0,0,0
$GC,10394,0.59,162.8,939.3,9.5,735,10403,0.00,0.80,5.75,1.153,6,0.000,0.028,3227,1773,1936,0,0,0,0,0,0
$GC,10725,0.59,162.8,905.1,10.3,751,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1773,1934,0,0,0,0,0,0
$GC,11034,0.59,170.5,874.7,9.5,766,11044,0.00,0.00,8.25,1.285,6,0.000,0.000,3228,1773,1905,0,0,0,0,0,0
$GC,11343,0.59,181.3,845.9,9.3,781,11358,0.00,0.52,11.57,1.343,4,0.000,0.047,3227,1462,1860,0,0,0,0,0,0
$GC,11609,0.59,196.0,819.6,9.2,792,11630,0.00,0.55,14.75,1.363,6,0.000,0.031,3228,1826,1800,0,0,0,0,0,0
$GC,11956,0.59,196.0,783.1,10.9,809,11960,0.00,1.52,0.00,0.000,4,0.000,0.057,3231,903,1797,0,0,0,0,0,0
$GC,12107,0.59,196.0,765.6,11.7,815,12113,0.00,1.38,0.00,0.000,6,0.000,0.027,3231,1808,1797,0,0,0,0,0,0
$GC,12423,0.59,196.0,729.1,11.4,831,12426,0.00,0.65,0.00,0.000,4,0.000,0.048,3233,1389,1796,0,0,0,0,0,0
$GC,12679,0.59,196.0,699.5,10.6,842,12683,0.00,0.62,0.00,0.000,6,0.000,0.030,3233,1829,1795,0,0,0,0,0,0
$GC,13000,0.59,196.0,664.0,11.2,858,13004,0.00,1.17,0.00,0.000,4,0.000,0.054,3237,1104,1795,0,0,0,0,0,0
$GC,13145,0.59,196.0,647.8,11.3,864,13150,0.00,1.05,0.00,0.000,6,0.000,0.028,3238,1808,1795,0,0,0,0,0,0
$GC,13466,0.59,196.0,612.2,11.1,880,13470,0.00,0.47,0.00,0.000,4,0.000,0.048,3238,1496,1795,0,0,0,0,0,0
$GC,13723,0.59,196.0,583.6,10.9,891,13727,0.00,0.45,0.00,0.000,6,0.000,0.033,3239,1810,1795,0,0,0,0,0,0
$GC,14044,0.59,196.0,545.3,12.4,907,14047,0.00,0.65,0.00,0.000,4,0.000,0.050,3240,1399,1794,0,0,0,0,0,0
$GC,14227,0.59,196.0,522.2,12.7,915,14232,0.00,0.60,0.00,0.000,6,0.000,0.031,3240,1816,1794,0,0,0,0,0,0
$GC,14554,0.59,196.0,482.8,12.1,931,14558,0.00,0.50,0.00,0.000,4,0.000,0.048,3240,1489,1794,0,0,0,0,0,0
$GC,14801,0.59,196.0,453.8,11.4,942,14805,0.00,0.43,0.00,0.000,6,0.000,0.034,3240,1805,1795,0,0,0,0,0,0
$GC,15133,0.59,196.0,416.5,11.2,958,15136,0.00,0.60,0.00,0.000,4,0.000,0.049,3240,1421,1794,0,0,0,0,0,0
$GC,15284,0.59,196.0,399.6,11.2,964,15290,0.00,0.55,0.00,0.000,6,0.000,0.032,3240,1826,1795,0,0,0,0,0,0
$GC,15609,0.59,196.0,364.6,10.8,995,15612,0.00,0.68,0.00,0.000,4,0.000,0.050,3240,1392,1794,0,0,0,0,0,0
$GC,15815,0.59,196.0,342.4,10.7,1013,15819,0.00,0.57,0.00,0.000,6,0.000,0.032,3240,1803,1794,0,0,0,0,0,0
$GC,16145,0.59,196.0,306.8,10.6,1044,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1804,1794,0,0,0,0,0,0
$GC,16464,0.59,196.0,271.8,11.7,1074,16468,0.00,1.02,0.00,0.000,4,0.000,0.054,3240,1165,1794,0,0,0,0,0,0
$GC,16623,0.59,196.0,252.6,12.6,1088,16627,0.03,0.93,0.00,0.000,6,0.181,0.028,3231,1815,1794,0,0,0,0,0,0
$GC,16952,0.59,196.0,215.7,11.0,1119,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1815,1795,0,0,0,0,0,0
$GC,17273,0.59,196.0,181.1,10.9,1149,17274,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1814,1795,0,0,0,0,0,0
$GC,17590,0.59,196.0,147.6,10.4,1179,17593,0.00,0.70,0.00,0.000,4,0.000,0.049,3233,1362,1794,0,0,0,0,0,0
$GC,17752,0.59,198.4,131.2,9.7,1193,17755,0.00,0.62,0.00,0.000,6,0.000,0.030,3233,1809,1795,0,0,0,0,0,0
$GC,18078,0.59,198.4,96.7,10.6,1226,18082,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1809,1795,0,0,0,0,0,0
$GC,18425,0.59,198.4,59.1,10.7,1287,18432,0.00,1.33,0.00,0.000,4,0.000,0.054,3238,987,1794,0,0,0,0,0,0
$GC,18648,0.59,198.4,33.8,12.9,1326,18656,0.00,1.20,0.00,0.000,6,0.000,0.028,3238,1800,1795,0,0,0,0,0,0
$GC,18796,0.59,198.4,19.2,9.9,1351,18802,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1801,1794,0,0,0,0,0,0
$GC,18851,0.59,209.6,14.5,9.3,1360,18864,0.00,0.00,6.78,0.799,6,0.000,0.000,3237,1800,1743,0,0,0,0,0,0
$GC,18914,0.59,213.4,10.0,9.6,1370,18921,0.00,0.73,1.73,0.278,4,0.000,0.050,3239,1350,1728,0,0,0,0,0,0
$STATE,18987,end climb,SURFACE_DEPTH_REACHED
$STATE,18987,begin surface coast
$FINISH,1.5,1.026560
$STATE,19001,end surface coast,CONTROL_FINISHED_OK
$STATE,19001,begin surface
$SM_CCo,19077,0.00,0.000,0,0,1721,215.37
$SM_GC,2.49,8.55,0.00,0.00,0.047,0.000,0.000,79,1971,1721,-9.18,0.59,215.37
$IRIDIUM_FIX,-4242.04,848.57,081113,141430
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.9,19.248
$10V_AH,10.3,16.151
$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,22.325,29.225,320.175,0.000,0.000,30.972,44.414,343.646,0.500,0.000,17.339,3391.703,11987.191,404.897,3668.534,153.714,33.372,1746.097,0.000,3210.168,0.000,5.655,0.000
$DEVICE_MAMPS,270.045,78.795,1540.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.534,967.120,929.214,87.827,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,80277,1384
$CAP_FILE_SIZE,162477,0
$CFSIZE,2097086464,2080210944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091113,012157,-4232.348,846.207,64,1.5,64,-25.1