version: 66.07.10.p01
glider: 574
mission: 7
dive: 115
start: 11 9 113 7 5 12
data:
$ID,574
$MISSION,7
$DIVE,115
$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,-13729.06
$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,72
$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,94
$GPS1,091113,065605,-4233.056,846.429,35,1.7,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-70.2
$GPS2,091113,070417,-4232.949,846.465,19,0.9,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.012,-0.266
$KALMAN_X,-163945.2,-148.9,75.4,81309.3,-427.5
$KALMAN_Y,343114.7,6.5,-21.1,-502838.4,4117.0
$MHEAD_RNG_PITCHd_Wd,207.8,64424,-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,-155.7,0.0,0.0,0,63,0.00,0.00,-37.00,0.000,2,0.000,0.000,65,1966,2593,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.0,-0.9,6,109,12.25,0.45,-24.17,0.000,4,0.267,0.099,2836,2297,3232,0,0,0,0,0,0
$GC,348,-0.59,-155.7,33.9,-13.1,54,355,0.00,0.50,0.00,0.000,6,0.000,0.041,2836,1950,3235,0,0,0,0,0,0
$GC,493,-0.59,-155.7,52.3,-10.3,79,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3235,0,0,0,0,0,0
$GC,840,-0.59,-155.7,92.1,-11.1,140,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3236,0,0,0,0,0,0
$GC,1175,-0.59,-155.7,129.4,-11.7,178,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3237,0,0,0,0,0,0
$GC,1493,-0.59,-155.7,166.2,-11.8,208,1497,0.00,0.62,0.00,0.000,4,0.000,0.047,2836,1524,3238,0,0,0,0,0,0
$GC,1621,-0.59,-155.7,181.5,-11.3,219,1628,0.05,0.60,0.00,0.000,6,0.242,0.031,2843,1954,3237,0,0,0,0,0,0
$GC,1946,-0.59,-155.7,217.9,-11.5,250,1950,0.00,0.50,0.00,0.000,4,0.000,0.042,2841,2325,3237,0,0,0,0,0,0
$GC,2154,-0.59,-155.7,241.4,-11.5,268,2162,0.00,0.55,0.00,0.000,6,0.000,0.039,2842,1948,3237,0,0,0,0,0,0
$GC,2481,-0.59,-155.7,277.1,-10.6,299,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1948,3238,0,0,0,0,0,0
$GC,2800,-0.59,-155.7,311.3,-10.8,329,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1948,3238,0,0,0,0,0,0
$GC,3117,-0.59,-155.7,346.1,-10.4,359,3120,0.00,0.45,0.00,0.000,4,0.000,0.053,2842,1626,3238,0,0,0,0,0,0
$GC,3253,-0.59,-155.7,360.1,-10.0,371,3257,0.00,0.43,0.00,0.000,6,0.000,0.037,2841,1960,3238,0,0,0,0,0,0
$GC,3583,-0.59,-155.7,394.0,-10.2,402,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1961,3238,0,0,0,0,0,0
$GC,3894,-0.59,-155.7,426.6,-10.6,420,3898,0.00,0.30,0.00,0.000,4,0.000,0.048,2839,2219,3238,0,0,0,0,0,0
$GC,4151,-0.59,-155.7,453.7,-9.9,431,4155,0.00,0.40,0.00,0.000,6,0.000,0.041,2839,1933,3238,0,0,0,0,0,0
$GC,4472,-0.59,-155.7,485.8,-9.5,447,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3238,0,0,0,0,0,0
$GC,4781,-0.59,-155.7,516.2,-10.0,462,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3237,0,0,0,0,0,0
$GC,5091,-0.59,-155.7,546.3,-9.8,477,5094,0.00,0.38,0.00,0.000,4,0.000,0.056,2839,1665,3237,0,0,0,0,0,0
$GC,5347,-0.59,-155.7,571.9,-10.1,488,5351,0.00,0.38,0.00,0.000,6,0.000,0.037,2838,1946,3237,0,0,0,0,0,0
$GC,5668,-0.59,-155.7,604.6,-10.3,504,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1946,3236,0,0,0,0,0,0
$GC,5977,-0.59,-155.7,637.1,-10.6,519,5981,0.00,0.52,0.00,0.000,4,0.000,0.042,2835,2333,3236,0,0,0,0,0,0
$GC,6211,-0.59,-155.7,661.1,-10.4,529,6216,0.00,0.55,0.00,0.000,6,0.000,0.039,2835,1953,3235,0,0,0,0,0,0
$GC,6533,-0.59,-155.7,693.7,-10.2,545,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1953,3235,0,0,0,0,0,0
$GC,6842,-0.59,-155.7,724.3,-9.9,560,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1952,3235,0,0,0,0,0,0
$GC,7152,-0.59,-155.7,753.6,-9.2,575,7155,0.00,0.45,0.00,0.000,4,0.000,0.053,2835,1636,3234,0,0,0,0,0,0
$GC,7321,-0.59,-155.7,768.9,-8.7,582,7324,0.00,0.40,0.00,0.000,6,0.000,0.038,2834,1949,3234,0,0,0,0,0,0
$GC,7642,-0.59,-155.7,795.7,-7.9,598,7643,0.05,0.00,0.00,0.000,6,0.241,0.000,2844,1949,3234,0,0,0,0,0,0
$GC,7951,-0.59,-155.7,818.4,-7.4,613,7955,0.00,0.55,0.00,0.000,4,0.000,0.041,2842,2353,3234,0,0,0,0,0,0
$GC,8146,-0.59,-155.7,833.3,-7.7,621,8152,0.00,0.60,0.00,0.000,6,0.000,0.040,2842,1946,3233,0,0,0,0,0,0
$GC,8462,-0.59,-155.7,859.2,-8.6,637,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3233,0,0,0,0,0,0
$GC,8772,-0.59,-155.7,885.5,-8.3,652,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1946,3232,0,0,0,0,0,0
$GC,9081,-0.59,-155.7,910.5,-7.9,667,9085,0.00,0.38,0.00,0.000,4,0.000,0.056,2842,1679,3231,0,0,0,0,0,0
$GC,9239,-0.59,-155.7,923.3,-8.5,674,9243,0.00,0.32,0.00,0.000,6,0.000,0.041,2842,1935,3231,0,0,0,0,0,0
$GC,9571,-0.59,-155.7,949.6,-8.0,690,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1935,3231,0,0,0,0,0,0
$GC,9881,-0.59,-155.7,974.1,-8.2,705,9884,0.00,0.57,0.00,0.000,4,0.000,0.042,2838,2349,3231,0,0,0,0,0,0
$GC,10098,-0.59,-155.7,991.8,-8.3,714,10104,0.00,0.60,0.00,0.000,6,0.000,0.038,2839,1940,3230,0,0,0,0,0,0
$STATE,10209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10213,-0.17,0.0,1000.6,8.3,720,10348,0.50,0.00,129.50,1.537,6,0.158,0.000,2983,1796,2600,0,0,0,0,0,0
$STATE,10349,end apogee,CONTROL_FINISHED_OK
$STATE,10349,begin climb
$GC,10350,0.59,155.7,1003.5,0.0,727,10495,0.80,0.00,141.20,1.490,6,0.108,0.000,3226,1796,1965,0,0,0,0,0,0
$GC,10797,0.59,155.7,959.1,11.0,749,10801,0.00,1.38,0.00,0.000,4,0.000,0.057,3230,983,1954,0,0,0,0,0,0
$GC,10977,0.59,155.7,938.2,11.7,757,10981,0.00,1.25,0.00,0.000,6,0.000,0.026,3230,1799,1953,0,0,0,0,0,0
$GC,11308,0.59,155.7,901.4,10.8,773,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1799,1952,0,0,0,0,0,0
$GC,11618,0.59,155.7,867.7,10.9,788,11621,0.00,0.38,0.00,0.000,4,0.000,0.046,3230,1554,1951,0,0,0,0,0,0
$GC,11874,0.59,155.7,839.8,10.8,799,11878,0.00,0.38,0.00,0.000,6,0.000,0.033,3230,1821,1951,0,0,0,0,0,0
$GC,12197,0.59,155.7,805.8,10.5,815,12200,0.00,0.77,0.00,0.000,4,0.000,0.048,3232,1338,1950,0,0,0,0,0,0
$GC,12421,0.59,155.7,782.0,10.2,825,12425,0.00,0.68,0.00,0.000,6,0.000,0.028,3232,1823,1951,0,0,0,0,0,0
$GC,12753,0.59,155.7,747.1,10.7,841,12757,0.00,0.73,0.00,0.000,4,0.000,0.047,3235,1367,1950,0,0,0,0,0,0
$GC,13010,0.59,155.7,719.0,10.8,852,13014,0.00,0.65,0.00,0.000,6,0.000,0.028,3235,1821,1950,0,0,0,0,0,0
$GC,13331,0.59,155.7,686.1,10.3,868,13335,0.00,0.45,0.00,0.000,4,0.000,0.047,3235,1522,1950,0,0,0,0,0,0
$GC,13587,0.59,155.7,659.6,10.3,879,13591,0.00,0.40,0.00,0.000,6,0.000,0.034,3235,1808,1950,0,0,0,0,0,0
$GC,13908,0.59,155.7,626.6,10.1,895,13912,0.00,1.58,0.00,0.000,4,0.000,0.057,3240,846,1950,0,0,0,0,0,0
$GC,14103,0.59,163.1,606.2,9.5,903,14113,0.00,1.42,5.55,1.064,6,0.000,0.025,3240,1801,1933,0,0,0,0,0,0
$GC,14441,0.59,163.1,573.6,9.9,920,14445,0.00,0.45,0.00,0.000,4,0.000,0.046,3240,1505,1933,0,0,0,0,0,0
$GC,14698,0.59,163.1,547.6,11.0,931,14702,0.00,0.45,0.00,0.000,6,0.000,0.032,3240,1840,1933,0,0,0,0,0,0
$GC,15019,0.59,163.1,513.9,10.9,947,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1840,1933,0,0,0,0,0,0
$GC,15328,0.59,163.1,479.2,11.0,962,15332,0.00,0.93,0.00,0.000,4,0.000,0.051,3242,1259,1933,0,0,0,0,0,0
$GC,15501,0.59,163.1,459.8,11.4,969,15506,0.00,0.80,0.00,0.000,6,0.000,0.028,3242,1805,1932,0,0,0,0,0,0
$GC,15817,0.59,163.1,424.2,11.1,985,15818,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1805,1933,0,0,0,0,0,0
$GC,16128,0.59,163.1,390.2,10.5,1004,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1805,1933,0,0,0,0,0,0
$GC,16449,0.59,163.1,356.0,10.7,1034,16450,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1805,1933,0,0,0,0,0,0
$GC,16766,0.59,163.1,323.6,10.2,1064,16769,0.00,0.43,0.00,0.000,4,0.000,0.047,3242,1520,1933,0,0,0,0,0,0
$GC,17006,0.59,163.1,298.4,10.1,1085,17009,0.00,0.38,0.00,0.000,6,0.000,0.037,3242,1793,1933,0,0,0,0,0,0
$GC,17335,0.59,163.1,264.3,11.2,1116,17336,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1793,1932,0,0,0,0,0,0
$GC,17655,0.59,163.1,228.8,11.0,1146,17656,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1793,1932,0,0,0,0,0,0
$GC,17973,0.59,163.1,192.6,10.9,1176,17977,0.00,0.55,0.00,0.000,4,0.000,0.050,3243,1440,1932,0,0,0,0,0,0
$GC,18190,0.59,163.1,168.0,11.2,1195,18194,0.03,0.52,0.00,0.000,6,0.187,0.034,3235,1840,1933,0,0,0,0,0,0
$GC,18519,0.59,163.1,133.5,10.2,1226,18523,0.00,0.55,0.00,0.000,4,0.000,0.047,3235,1477,1933,0,0,0,0,0,0
$GC,18735,0.59,163.1,111.6,10.4,1245,18739,0.00,0.43,0.00,0.000,6,0.000,0.037,3235,1803,1933,0,0,0,0,0,0
$GC,19074,0.59,163.1,76.8,10.4,1295,19078,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1804,1933,0,0,0,0,0,0
$GC,19420,0.59,163.1,40.2,11.1,1356,19427,0.00,0.98,0.00,0.000,4,0.000,0.050,3239,1191,1933,0,0,0,0,0,0
$GC,19544,0.59,163.1,26.7,11.3,1377,19549,0.00,0.88,0.00,0.000,6,0.000,0.028,3239,1796,1934,0,0,0,0,0,0
$GC,19690,0.59,163.1,10.6,11.7,1402,19697,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1797,1933,0,0,0,0,0,0
$GC,19746,0.59,163.1,3.8,13.2,1411,19752,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1796,1934,0,0,0,0,0,0
$STATE,19759,end climb,SURFACE_DEPTH_REACHED
$STATE,19759,begin surface coast
$FINISH,1.5,1.026605
$STATE,19790,end surface coast,CONTROL_FINISHED_OK
$STATE,19790,begin surface
$SM_CCo,19806,9.88,0.792,0,0,1844,185.20
$SM_GC,2.87,0.00,0.00,9.88,0.000,0.000,0.792,85,1960,1844,-9.24,0.28,185.20
$IRIDIUM_FIX,-4149.58,843.89,091113,010108
$TT8_MAMPS,0.026964
$HUMID,61.53
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.6,8.3
$24V_AH,22.9,19.544
$10V_AH,10.2,16.406
$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,22.175,28.225,276.250,9.875,0.000,29.460,17.394,323.153,0.500,0.000,21.411,3534.515,12364.999,384.894,3859.239,161.710,33.380,1816.402,0.000,3435.527,0.000,5.468,0.000
$DEVICE_MAMPS,266.985,98.685,1536.885,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.335,947.162,951.019,85.255,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,80202,1418
$CAP_FILE_SIZE,172622,0
$CFSIZE,2097086464,2079916032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091113,123728,-4233.787,845.305,86,0.9,86,-25.1