version: 66.07.10.p01
glider: 574
mission: 7
dive: 116
start: 11 9 113 12 47 48
data:
$ID,574
$MISSION,7
$DIVE,116
$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,-13732.537
$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,54
$R_STBD_OVSHOOT,54
$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,95
$GPS1,091113,123728,-4233.787,845.305,86,0.9,86,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.2
$GPS2,091113,124653,-4233.740,845.413,23,1.0,24,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.024,-0.265
$KALMAN_X,-165020.2,86.6,-298.2,81058.9,-147.2
$KALMAN_Y,347150.2,-32.4,-68.1,-508260.6,4134.1
$MHEAD_RNG_PITCHd_Wd,210.4,62478,-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,-155.7,0.0,0.0,0,57,0.00,0.00,-30.75,0.000,2,0.000,0.000,66,1961,2526,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.1,-1.7,5,109,12.38,1.17,-28.83,0.000,4,0.270,0.069,2833,2701,3236,0,0,0,0,0,0
$GC,252,-0.59,-155.7,20.5,-11.5,37,258,0.03,1.12,0.00,0.000,6,0.197,0.035,2841,1966,3239,0,0,0,0,0,0
$GC,396,-0.59,-155.7,37.9,-13.5,62,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3239,0,0,0,0,0,0
$GC,538,-0.59,-155.7,56.5,-13.5,87,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3240,0,0,0,0,0,0
$GC,890,-0.59,-155.7,101.7,-12.5,148,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3240,0,0,0,0,0,0
$GC,1209,-0.59,-155.7,142.4,-12.8,178,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3241,0,0,0,0,0,0
$GC,1527,-0.59,-155.7,183.5,-12.5,208,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3241,0,0,0,0,0,0
$GC,1846,-0.59,-155.7,221.9,-11.6,238,1850,0.00,0.73,0.00,0.000,4,0.000,0.048,2844,1475,3242,0,0,0,0,0,0
$GC,1963,-0.59,-155.7,235.9,-11.0,248,1971,0.00,0.73,0.00,0.000,6,0.000,0.031,2842,1974,3242,0,0,0,0,0,0
$GC,2290,-0.59,-155.7,274.1,-12.1,279,2293,0.00,0.43,0.00,0.000,4,0.000,0.044,2839,2301,3242,0,0,0,0,0,0
$GC,2549,-0.59,-155.7,305.5,-12.0,302,2553,0.00,0.50,0.00,0.000,6,0.000,0.040,2840,1948,3242,0,0,0,0,0,0
$GC,2882,-0.59,-155.7,343.7,-11.3,333,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1948,3242,0,0,0,0,0,0
$GC,3207,-0.59,-155.7,379.5,-10.9,364,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1948,3242,0,0,0,0,0,0
$GC,3532,-0.59,-155.7,414.5,-11.0,389,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1948,3242,0,0,0,0,0,0
$GC,3841,-0.59,-155.7,447.5,-10.6,404,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1948,3241,0,0,0,0,0,0
$GC,4151,-0.59,-155.7,480.0,-10.3,419,4154,0.00,0.35,0.00,0.000,4,0.000,0.054,2839,1689,3242,0,0,0,0,0,0
$GC,4295,-0.59,-155.7,495.5,-10.4,425,4299,0.00,0.38,0.00,0.000,6,0.000,0.039,2839,1972,3241,0,0,0,0,0,0
$GC,4616,-0.59,-155.7,528.6,-10.2,441,4620,0.00,0.28,0.00,0.000,4,0.000,0.051,2837,2205,3241,0,0,0,0,0,0
$GC,4863,-0.59,-155.7,553.3,-10.0,452,4867,0.00,0.35,0.00,0.000,6,0.000,0.044,2837,1944,3241,0,0,0,0,0,0
$GC,5195,-0.59,-155.7,586.2,-10.0,468,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3240,0,0,0,0,0,0
$GC,5504,-0.59,-155.7,617.4,-10.0,483,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1945,3239,0,0,0,0,0,0
$GC,5814,-0.59,-155.7,647.3,-9.6,498,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3239,0,0,0,0,0,0
$GC,6123,-0.59,-155.7,677.0,-9.8,513,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3238,0,0,0,0,0,0
$GC,6432,-0.59,-155.7,707.6,-9.8,528,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3238,0,0,0,0,0,0
$GC,6742,-0.59,-155.7,737.9,-9.8,543,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3237,0,0,0,0,0,0
$GC,7051,-0.59,-155.7,766.8,-9.4,558,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3237,0,0,0,0,0,0
$GC,7360,-0.59,-155.7,796.1,-9.4,573,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3237,0,0,0,0,0,0
$GC,7670,-0.59,-155.7,824.9,-9.3,588,7673,0.00,0.52,0.00,0.000,4,0.000,0.050,2837,1583,3236,0,0,0,0,0,0
$GC,7850,-0.59,-155.7,841.4,-9.7,596,7853,0.00,0.50,0.00,0.000,6,0.000,0.035,2835,1944,3235,0,0,0,0,0,0
$GC,8182,-0.59,-155.7,871.2,-9.0,612,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1945,3235,0,0,0,0,0,0
$GC,8491,-0.59,-155.7,899.7,-9.3,627,8495,0.00,0.47,0.00,0.000,4,0.000,0.044,2833,2299,3234,0,0,0,0,0,0
$GC,8705,-0.59,-155.7,918.9,-9.2,636,8709,0.03,0.50,0.00,0.000,6,0.183,0.042,2842,1944,3234,0,0,0,0,0,0
$GC,9025,-0.59,-155.7,946.7,-8.6,652,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1944,3234,0,0,0,0,0,0
$GC,9335,-0.59,-155.7,974.3,-8.9,667,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1944,3233,0,0,0,0,0,0
$STATE,9624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9625,begin apogee
$GC,9629,-0.17,0.0,1000.4,9.2,681,9763,0.47,0.00,130.02,1.535,6,0.159,0.000,2979,1802,2600,0,0,0,0,0,0
$STATE,9764,end apogee,CONTROL_FINISHED_OK
$STATE,9764,begin climb
$GC,9766,0.59,155.7,1004.7,0.0,688,9910,0.80,0.00,141.27,1.493,6,0.112,0.000,3220,1802,1965,0,0,0,0,0,0
$GC,10213,0.59,155.7,964.3,10.2,710,10216,0.00,1.20,0.00,0.000,4,0.000,0.057,3225,1091,1954,0,0,0,0,0,0
$GC,10394,0.59,155.7,944.9,11.2,718,10398,0.00,1.10,0.00,0.000,6,0.000,0.028,3225,1806,1953,0,0,0,0,0,0
$GC,10726,0.59,155.7,908.4,11.0,734,10729,0.00,0.90,0.00,0.000,4,0.000,0.050,3226,1258,1952,0,0,0,0,0,0
$GC,10932,0.59,155.7,886.3,10.3,743,10936,0.00,0.85,0.00,0.000,6,0.000,0.028,3226,1812,1950,0,0,0,0,0,0
$GC,11261,0.59,155.7,851.5,10.9,759,11264,0.00,1.00,0.00,0.000,4,0.000,0.053,3228,1200,1950,0,0,0,0,0,0
$GC,11463,0.59,155.7,829.3,10.6,768,11466,0.00,0.93,0.00,0.000,6,0.000,0.029,3228,1826,1949,0,0,0,0,0,0
$GC,11794,0.59,155.7,791.5,11.4,784,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1827,1949,0,0,0,0,0,0
$GC,12104,0.59,155.7,755.7,11.6,799,12107,0.00,1.25,0.00,0.000,4,0.000,0.054,3233,1056,1949,0,0,0,0,0,0
$GC,12293,0.59,155.7,733.4,11.7,807,12298,0.00,1.15,0.00,0.000,6,0.000,0.028,3233,1815,1948,0,0,0,0,0,0
$GC,12615,0.59,155.7,696.3,11.3,823,12618,0.00,0.57,0.00,0.000,4,0.000,0.049,3234,1450,1948,0,0,0,0,0,0
$GC,12871,0.59,155.7,667.3,10.4,834,12875,0.00,0.52,0.00,0.000,6,0.000,0.031,3234,1815,1948,0,0,0,0,0,0
$GC,13192,0.59,155.7,630.5,11.7,850,13193,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1815,1948,0,0,0,0,0,0
$GC,13502,0.59,155.7,595.1,11.4,865,13505,0.00,0.82,0.00,0.000,4,0.000,0.050,3236,1299,1948,0,0,0,0,0,0
$GC,13758,0.59,155.7,564.7,11.7,876,13763,0.00,0.75,0.00,0.000,6,0.000,0.028,3237,1791,1947,0,0,0,0,0,0
$GC,14079,0.59,155.7,526.2,12.0,892,14083,0.00,0.88,0.00,0.000,4,0.000,0.051,3240,1243,1947,0,0,0,0,0,0
$GC,14282,0.59,155.7,502.4,11.5,901,14285,0.00,0.85,0.00,0.000,6,0.000,0.029,3240,1824,1947,0,0,0,0,0,0
$GC,14613,0.59,155.7,465.4,11.1,917,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1824,1947,0,0,0,0,0,0
$GC,14923,0.59,155.7,431.9,10.7,932,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1824,1947,0,0,0,0,0,0
$GC,15233,0.59,155.7,397.0,11.3,948,15236,0.00,0.80,0.00,0.000,4,0.000,0.050,3240,1318,1947,0,0,0,0,0,0
$GC,15394,0.59,155.7,378.8,11.1,962,15400,0.00,0.75,0.00,0.000,6,0.000,0.029,3240,1833,1947,0,0,0,0,0,0
$GC,15723,0.59,155.7,341.1,11.5,993,15726,0.00,0.47,0.00,0.000,4,0.000,0.048,3240,1516,1947,0,0,0,0,0,0
$GC,15981,0.59,155.7,312.3,10.2,1016,15985,0.00,0.38,0.00,0.000,6,0.000,0.035,3240,1793,1947,0,0,0,0,0,0
$GC,16311,0.59,155.7,278.2,10.0,1047,16312,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1793,1947,0,0,0,0,0,0
$GC,16634,0.59,155.7,245.8,10.2,1077,16638,0.00,0.35,0.00,0.000,4,0.000,0.048,3240,1557,1947,0,0,0,0,0,0
$GC,16839,0.59,162.6,225.0,9.5,1095,16849,0.00,0.35,4.47,0.813,6,0.000,0.038,3240,1818,1936,0,0,0,0,0,0
$GC,17168,0.59,162.6,190.7,10.4,1126,17171,0.00,0.47,0.00,0.000,4,0.000,0.045,3240,1504,1936,0,0,0,0,0,0
$GC,17371,0.59,162.6,168.0,10.8,1144,17375,0.00,0.43,0.00,0.000,6,0.000,0.034,3241,1838,1936,0,0,0,0,0,0
$GC,17701,0.59,162.6,132.4,10.6,1175,17702,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1838,1936,0,0,0,0,0,0
$GC,18021,0.59,162.6,98.1,10.8,1206,18028,0.00,1.25,0.00,0.000,4,0.000,0.054,3241,1060,1936,0,0,0,0,0,0
$GC,18166,0.59,162.6,82.4,10.8,1231,18172,0.00,1.08,0.00,0.000,6,0.000,0.026,3242,1802,1936,0,0,0,0,0,0
$GC,18513,0.59,162.6,42.9,11.0,1292,18518,0.00,0.60,0.00,0.000,4,0.000,0.047,3240,1415,1936,0,0,0,0,0,0
$GC,18779,0.59,162.6,13.8,11.1,1338,18786,0.00,0.55,0.00,0.000,6,0.000,0.031,3241,1832,1936,0,0,0,0,0,0
$GC,18835,0.59,162.6,6.9,12.0,1347,18842,0.00,0.80,0.00,0.000,4,0.000,0.049,3242,1327,1937,0,0,0,0,0,0
$STATE,18867,end climb,SURFACE_DEPTH_REACHED
$STATE,18867,begin surface coast
$FINISH,1.7,1.026599
$STATE,18892,end surface coast,CONTROL_FINISHED_OK
$STATE,18892,begin surface
$SM_CCo,18908,10.50,0.790,0,0,1845,185.20
$SM_GC,3.84,0.00,0.00,10.50,0.000,0.000,0.790,86,1922,1845,-9.23,-0.79,185.20
$IRIDIUM_FIX,-4250.85,831.99,091113,060638
$TT8_MAMPS,0.026964
$HUMID,61.53
$INTERNAL_PRESSURE,9.30171
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.9,19.689
$10V_AH,10.3,16.528
$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,22.175,30.175,275.775,10.500,0.000,24.293,18.858,398.557,0.250,0.000,26.542,3346.135,11984.653,378.357,3611.818,157.884,33.407,1682.348,0.000,3132.066,0.000,2.833,0.000
$DEVICE_MAMPS,270.045,74.970,1535.355,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.289,904.072,906.896,81.770,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,76901,1356
$CAP_FILE_SIZE,159908,0
$CFSIZE,2097086464,2079817728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091113,180452,-4234.503,844.289,71,1.1,71,-25.1