version: 66.07.10.p01
glider: 574
mission: 7
dive: 114
start: 11 9 113 1 37 13
data:
$ID,574
$MISSION,7
$DIVE,114
$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,-13725.582
$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,52
$R_STBD_OVSHOOT,69
$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,93
$GPS1,091113,012157,-4232.348,846.207,64,1.5,64,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-73.2
$GPS2,091113,013618,-4232.132,846.352,17,1.6,18,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.027,-0.265
$KALMAN_X,-163382.4,-229.3,-9.1,80755.8,-501.6
$KALMAN_Y,339642.5,-107.6,-327.3,-497438.2,5503.3
$MHEAD_RNG_PITCHd_Wd,199.2,65710,-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,-155.7,0.0,0.0,0,63,0.00,0.00,-37.55,0.000,2,0.000,0.000,65,1968,2556,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.1,-1.7,6,110,12.50,0.45,-27.70,0.000,4,0.272,0.120,2843,1680,3236,0,0,0,0,0,0
$GC,188,-0.59,-155.7,13.1,-14.4,26,196,0.00,0.35,0.00,0.000,6,0.000,0.035,2843,1937,3239,0,0,0,0,0,0
$GC,245,-0.59,-155.7,20.6,-11.1,35,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1937,3239,0,0,0,0,0,0
$GC,387,-0.59,-155.7,41.0,-10.9,60,394,0.00,0.38,0.00,0.000,4,0.000,0.042,2841,2232,3239,0,0,0,0,0,0
$GC,542,-0.59,-155.7,58.9,-10.8,87,549,0.00,0.40,0.00,0.000,6,0.000,0.042,2841,1938,3240,0,0,0,0,0,0
$GC,892,-0.59,-155.7,98.6,-12.0,148,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3240,0,0,0,0,0,0
$GC,1222,-0.59,-155.7,137.5,-11.6,180,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3241,0,0,0,0,0,0
$GC,1540,-0.59,-155.7,175.4,-12.0,210,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3242,0,0,0,0,0,0
$GC,1859,-0.59,-155.7,213.7,-12.2,240,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3242,0,0,0,0,0,0
$GC,2178,-0.59,-155.7,249.2,-10.4,270,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3242,0,0,0,0,0,0
$GC,2497,-0.59,-155.7,283.0,-10.2,300,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3242,0,0,0,0,0,0
$GC,2815,-0.59,-155.7,316.1,-10.4,330,2819,0.00,0.50,0.00,0.000,4,0.000,0.050,2841,1584,3242,0,0,0,0,0,0
$GC,2951,-0.59,-155.7,330.3,-10.3,342,2955,0.00,0.50,0.00,0.000,6,0.000,0.034,2840,1958,3242,0,0,0,0,0,0
$GC,3284,-0.59,-155.7,363.2,-10.5,373,3288,0.00,0.62,0.00,0.000,4,0.000,0.041,2836,2401,3242,0,0,0,0,0,0
$GC,3512,-0.59,-155.7,387.1,-10.8,393,3516,0.00,0.65,0.00,0.000,6,0.000,0.038,2836,1952,3242,0,0,0,0,0,0
$GC,3846,-0.59,-155.7,422.3,-10.7,415,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3242,0,0,0,0,0,0
$GC,4155,-0.59,-155.7,456.0,-11.2,430,4159,0.00,0.52,0.00,0.000,4,0.000,0.050,2837,1582,3242,0,0,0,0,0,0
$GC,4294,-0.59,-155.7,471.7,-11.0,436,4298,0.00,0.50,0.00,0.000,6,0.000,0.034,2835,1943,3242,0,0,0,0,0,0
$GC,4621,-0.59,-155.7,507.0,-10.8,452,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1944,3242,0,0,0,0,0,0
$GC,4930,-0.59,-155.7,540.3,-10.6,467,4934,0.00,0.35,0.00,0.000,4,0.000,0.046,2833,2223,3242,0,0,0,0,0,0
$GC,5134,-0.59,-155.7,561.2,-9.9,476,5138,0.03,0.38,0.00,0.000,6,0.193,0.044,2841,1936,3242,0,0,0,0,0,0
$GC,5466,-0.59,-155.7,593.1,-9.4,492,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1936,3242,0,0,0,0,0,0
$GC,5774,-0.59,-155.7,622.1,-9.3,507,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1936,3242,0,0,0,0,0,0
$GC,6084,-0.59,-155.7,651.0,-9.1,522,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1936,3242,0,0,0,0,0,0
$GC,6393,-0.59,-155.7,679.0,-8.8,537,6397,0.00,0.60,0.00,0.000,4,0.000,0.050,2842,1525,3242,0,0,0,0,0,0
$GC,6566,-0.59,-155.7,695.8,-9.7,544,6571,0.00,0.60,0.00,0.000,6,0.000,0.031,2841,1956,3242,0,0,0,0,0,0
$GC,6882,-0.59,-155.7,724.7,-9.2,560,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1956,3241,0,0,0,0,0,0
$GC,7191,-0.59,-155.7,753.6,-9.2,575,7195,0.00,0.32,0.00,0.000,4,0.000,0.047,2839,2226,3241,0,0,0,0,0,0
$GC,7408,-0.59,-155.7,774.0,-9.1,584,7413,0.00,0.38,0.00,0.000,6,0.000,0.042,2840,1957,3240,0,0,0,0,0,0
$GC,7724,-0.59,-155.7,804.1,-9.6,600,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1957,3241,0,0,0,0,0,0
$GC,8033,-0.59,-155.7,834.2,-10.0,615,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1957,3241,0,0,0,0,0,0
$GC,8342,-0.59,-155.7,864.7,-9.9,630,8346,0.00,0.60,0.00,0.000,4,0.000,0.050,2839,1546,3240,0,0,0,0,0,0
$GC,8536,-0.59,-155.7,884.5,-10.2,638,8542,0.00,0.57,0.00,0.000,6,0.000,0.033,2838,1953,3240,0,0,0,0,0,0
$GC,8852,-0.59,-155.7,915.4,-9.5,654,8856,0.00,0.52,0.00,0.000,4,0.000,0.043,2835,2336,3239,0,0,0,0,0,0
$GC,9014,-0.59,-155.7,930.8,-9.3,661,9018,0.00,0.57,0.00,0.000,6,0.000,0.040,2835,1946,3240,0,0,0,0,0,0
$GC,9341,-0.59,-155.7,961.2,-9.3,677,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1946,3239,0,0,0,0,0,0
$GC,9650,-0.59,-155.7,988.3,-8.4,692,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1945,3239,0,0,0,0,0,0
$STATE,9796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9796,begin apogee
$GC,9800,-0.17,0.0,1000.4,8.3,699,9935,0.50,0.00,131.35,1.539,6,0.162,0.000,2978,1803,2600,0,0,0,0,0,0
$STATE,9935,end apogee,CONTROL_FINISHED_OK
$STATE,9936,begin climb
$GC,9937,0.59,155.7,1002.7,0.0,706,10081,0.82,0.00,140.80,1.492,6,0.112,0.000,3225,1803,1964,0,0,0,0,0,0
$GC,10384,0.59,155.7,952.9,12.4,728,10388,0.00,0.68,0.00,0.000,4,0.000,0.052,3226,1387,1955,0,0,0,0,0,0
$GC,10612,0.59,155.7,924.6,12.7,738,10617,0.00,0.62,0.00,0.000,6,0.000,0.027,3227,1805,1955,0,0,0,0,0,0
$GC,10939,0.59,155.7,884.9,12.0,754,10943,0.00,0.47,0.00,0.000,4,0.000,0.046,3226,1500,1956,0,0,0,0,0,0
$GC,11196,0.59,155.7,855.2,11.8,765,11200,0.00,0.45,0.00,0.000,6,0.000,0.030,3226,1824,1955,0,0,0,0,0,0
$GC,11517,0.59,155.7,820.0,10.7,781,11520,0.00,1.23,0.00,0.000,4,0.000,0.054,3229,1074,1955,0,0,0,0,0,0
$GC,11696,0.59,155.7,801.1,10.8,789,11700,0.00,1.08,0.00,0.000,6,0.000,0.028,3229,1800,1955,0,0,0,0,0,0
$GC,12028,0.59,161.3,768.6,9.6,805,12036,0.00,0.00,5.28,1.100,6,0.000,0.000,3229,1800,1942,0,0,0,0,0,0
$GC,12337,0.59,161.3,738.2,10.0,820,12341,0.00,0.62,0.00,0.000,4,0.000,0.047,3230,1395,1942,0,0,0,0,0,0
$GC,12589,0.59,163.4,713.6,9.7,831,12596,0.00,0.60,3.78,0.903,6,0.000,0.028,3230,1809,1933,0,0,0,0,0,0
$GC,12911,0.59,163.4,680.9,10.4,847,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1809,1933,0,0,0,0,0,0
$GC,13220,0.59,163.4,648.9,10.3,862,13224,0.00,0.65,0.00,0.000,4,0.000,0.047,3232,1389,1933,0,0,0,0,0,0
$GC,13437,0.59,163.4,625.9,10.4,871,13443,0.00,0.62,0.00,0.000,6,0.000,0.029,3232,1824,1933,0,0,0,0,0,0
$GC,13753,0.59,163.4,592.3,10.7,887,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1824,1933,0,0,0,0,0,0
$GC,14062,0.59,163.4,558.6,11.1,902,14066,0.00,1.17,0.00,0.000,4,0.000,0.053,3236,1094,1933,0,0,0,0,0,0
$GC,14229,0.59,163.4,540.0,10.8,909,14234,0.00,1.08,0.00,0.000,6,0.000,0.027,3237,1817,1933,0,0,0,0,0,0
$GC,14551,0.59,163.4,504.6,11.2,925,14554,0.00,0.70,0.00,0.000,4,0.000,0.047,3238,1372,1933,0,0,0,0,0,0
$GC,14741,0.59,163.4,483.9,10.7,933,14745,0.00,0.62,0.00,0.000,6,0.000,0.031,3238,1827,1934,0,0,0,0,0,0
$GC,15062,0.59,163.4,449.8,10.8,949,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1827,1933,0,0,0,0,0,0
$GC,15371,0.59,163.4,416.9,10.7,964,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1827,1934,0,0,0,0,0,0
$GC,15685,0.59,163.4,382.5,11.4,986,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1828,1934,0,0,0,0,0,0
$GC,16004,0.59,163.4,345.7,11.7,1016,16007,0.00,0.68,0.00,0.000,4,0.000,0.047,3240,1389,1935,0,0,0,0,0,0
$GC,16230,0.59,163.4,318.2,12.1,1036,16234,0.00,0.57,0.00,0.000,6,0.000,0.032,3241,1816,1935,0,0,0,0,0,0
$GC,16560,0.59,163.4,278.5,12.0,1067,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1935,0,0,0,0,0,0
$GC,16883,0.59,163.4,240.3,12.0,1097,16887,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1817,1936,0,0,0,0,0,0
$GC,17207,0.59,163.4,200.0,12.0,1128,17209,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1817,1936,0,0,0,0,0,0
$GC,17526,0.59,163.4,162.1,12.0,1158,17527,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1936,0,0,0,0,0,0
$GC,17845,0.59,163.4,125.2,10.8,1188,17848,0.00,0.80,0.00,0.000,4,0.000,0.049,3242,1306,1937,0,0,0,0,0,0
$GC,18039,0.59,163.4,103.2,12.5,1205,18042,0.00,0.70,0.00,0.000,6,0.000,0.029,3243,1816,1937,0,0,0,0,0,0
$GC,18384,0.59,165.5,64.1,9.7,1263,18392,0.00,0.62,5.12,0.783,4,0.000,0.047,3243,1432,1925,0,0,0,0,0,0
$GC,18638,0.59,165.5,36.7,11.0,1307,18643,0.00,0.50,0.00,0.000,6,0.000,0.031,3243,1797,1925,0,0,0,0,0,0
$GC,18782,0.59,165.5,20.0,12.9,1332,18789,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1797,1925,0,0,0,0,0,0
$GC,18932,0.59,197.5,6.1,8.4,1357,18951,0.00,0.00,16.58,0.807,6,0.000,0.000,3243,1806,1794,0,0,0,0,0,0
$STATE,18957,end climb,SURFACE_DEPTH_REACHED
$STATE,18958,begin surface coast
$FINISH,1.6,1.015617
$STATE,18989,end surface coast,CONTROL_FINISHED_OK
$STATE,18989,begin surface
$SM_CCo,19065,0.00,0.000,0,0,1781,200.90
$SM_GC,2.69,8.60,0.00,0.00,0.046,0.000,0.000,82,1966,1781,-9.17,0.45,200.90
$IRIDIUM_FIX,-4158.28,848.53,091113,010118
$TT8_MAMPS,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.4,9.4
$24V_AH,22.9,19.404
$10V_AH,10.2,16.277
$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,22.450,24.575,302.900,0.000,0.000,86.303,201.714,332.151,0.500,0.000,19.802,3361.603,12206.072,381.531,3831.373,140.813,33.378,1700.203,0.000,3156.853,0.000,5.467,0.000
$DEVICE_MAMPS,272.340,120.105,1539.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,956.110,924.367,908.653,84.634,0.000,0.000,0.000,0.000,0.000,0.000
$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,76858,1366
$CAP_FILE_SIZE,162396,0
$CFSIZE,2097086464,2080079872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091113,065605,-4233.056,846.429,35,1.7,35,-25.1