version: 66.07.10.p01
glider: 574
mission: 7
dive: 117
start: 11 9 113 18 15 8
data:
$ID,574
$MISSION,7
$DIVE,117
$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,-13736.002
$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,37
$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,96
$GPS1,091113,180452,-4234.503,844.289,71,1.1,71,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-74.7
$GPS2,091113,181413,-4234.411,844.358,17,1.1,18,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.043,-0.263
$KALMAN_X,-166311.5,-14.8,120.0,80561.5,-1448.8
$KALMAN_Y,351207.3,-36.1,40.8,-513666.4,4183.4
$MHEAD_RNG_PITCHd_Wd,195.9,60737,-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,-155.6,0.0,0.0,0,51,0.00,0.00,-25.35,0.000,2,0.000,0.000,66,1926,2406,0,0,0,0,0,0
$GC,53,-0.59,-155.7,3.0,-1.9,4,109,12.40,0.50,-39.30,0.000,4,0.270,0.107,2837,2254,3237,0,0,0,0,0,0
$GC,371,-0.59,-155.7,33.4,-12.1,58,378,0.00,0.43,0.00,0.000,6,0.000,0.042,2837,1952,3239,0,0,0,0,0,0
$GC,514,-0.59,-155.7,51.0,-13.5,83,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1952,3240,0,0,0,0,0,0
$GC,859,-0.59,-155.7,93.9,-11.8,144,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3240,0,0,0,0,0,0
$GC,1195,-0.59,-155.7,131.9,-11.3,180,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1952,3240,0,0,0,0,0,0
$GC,1512,-0.59,-155.7,170.0,-12.2,210,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3241,0,0,0,0,0,0
$GC,1831,-0.59,-155.7,208.7,-11.8,240,1835,0.00,0.35,0.00,0.000,4,0.000,0.053,2837,1691,3241,0,0,0,0,0,0
$GC,1944,-0.59,-155.7,221.9,-11.6,250,1948,0.00,0.38,0.00,0.000,6,0.000,0.038,2836,1993,3241,0,0,0,0,0,0
$GC,2277,-0.59,-155.7,258.6,-10.5,281,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1993,3242,0,0,0,0,0,0
$GC,2602,-0.59,-155.7,294.2,-11.0,312,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1993,3242,0,0,0,0,0,0
$GC,2921,-0.59,-155.7,327.7,-10.5,342,2924,0.00,0.28,0.00,0.000,4,0.000,0.048,2834,2229,3242,0,0,0,0,0,0
$GC,3038,-0.59,-155.7,339.9,-9.8,352,3046,0.05,0.40,0.00,0.000,6,0.225,0.041,2844,1930,3243,0,0,0,0,0,0
$GC,3364,-0.59,-155.7,372.1,-10.3,383,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3243,0,0,0,0,0,0
$GC,3691,-0.59,-155.7,404.9,-9.5,412,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3243,0,0,0,0,0,0
$GC,4000,-0.59,-155.7,435.0,-9.6,427,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3243,0,0,0,0,0,0
$GC,4309,-0.59,-155.7,465.0,-9.6,442,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3243,0,0,0,0,0,0
$GC,4619,-0.59,-155.7,493.7,-9.1,457,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1931,3243,0,0,0,0,0,0
$GC,4928,-0.59,-155.7,522.1,-9.4,472,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3243,0,0,0,0,0,0
$GC,5237,-0.59,-155.7,549.9,-9.0,487,5241,0.00,0.30,0.00,0.000,4,0.000,0.056,2844,1704,3242,0,0,0,0,0,0
$GC,5331,-0.59,-155.7,558.6,-8.4,491,5335,0.00,0.32,0.00,0.000,6,0.000,0.038,2844,1944,3242,0,0,0,0,0,0
$GC,5658,-0.59,-155.7,587.8,-9.1,507,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1944,3241,0,0,0,0,0,0
$GC,5968,-0.59,-155.7,615.1,-9.1,522,5971,0.00,0.75,0.00,0.000,4,0.000,0.040,2840,2464,3240,0,0,0,0,0,0
$GC,6158,-0.59,-155.7,630.8,-8.3,530,6162,0.00,0.73,0.00,0.000,6,0.000,0.037,2842,1970,3240,0,0,0,0,0,0
$GC,6479,-0.59,-155.7,658.5,-8.7,546,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1969,3240,0,0,0,0,0,0
$GC,6789,-0.59,-155.7,686.3,-9.1,561,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1969,3239,0,0,0,0,0,0
$GC,7098,-0.59,-155.7,714.7,-9.2,576,7102,0.00,0.62,0.00,0.000,4,0.000,0.049,2842,1542,3238,0,0,0,0,0,0
$GC,7270,-0.59,-155.7,731.9,-10.3,583,7276,0.00,0.57,0.00,0.000,6,0.000,0.032,2841,1957,3238,0,0,0,0,0,0
$GC,7586,-0.59,-155.7,762.8,-10.0,599,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1957,3237,0,0,0,0,0,0
$GC,7895,-0.59,-155.7,793.0,-9.5,614,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1957,3237,0,0,0,0,0,0
$GC,8204,-0.59,-155.7,823.0,-9.9,629,8208,0.00,0.47,0.00,0.000,4,0.000,0.042,2838,2311,3237,0,0,0,0,0,0
$GC,8384,-0.59,-155.7,840.8,-10.5,637,8388,0.00,0.50,0.00,0.000,6,0.000,0.039,2838,1952,3236,0,0,0,0,0,0
$GC,8716,-0.59,-155.7,872.7,-9.3,653,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1952,3236,0,0,0,0,0,0
$GC,9025,-0.59,-155.7,900.4,-8.9,668,9029,0.00,0.50,0.00,0.000,4,0.000,0.051,2838,1604,3235,0,0,0,0,0,0
$GC,9176,-0.59,-155.7,913.5,-8.9,674,9181,0.00,0.47,0.00,0.000,6,0.000,0.035,2837,1947,3235,0,0,0,0,0,0
$GC,9492,-0.59,-155.7,940.0,-8.4,690,9496,0.00,0.43,0.00,0.000,4,0.000,0.046,2835,2269,3235,0,0,0,0,0,0
$GC,9749,-0.59,-155.7,962.3,-9.1,701,9753,0.00,0.47,0.00,0.000,6,0.000,0.041,2834,1941,3234,0,0,0,0,0,0
$GC,10070,-0.59,-155.7,990.8,-8.7,717,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1942,3234,0,0,0,0,0,0
$STATE,10196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10196,begin apogee
$GC,10200,-0.17,0.0,1001.3,8.4,723,10334,0.50,0.00,130.30,1.540,6,0.161,0.000,2978,1799,2600,0,0,0,0,0,0
$STATE,10335,end apogee,CONTROL_FINISHED_OK
$STATE,10335,begin climb
$GC,10336,0.59,155.7,1004.5,0.0,730,10483,0.82,0.55,141.23,1.491,4,0.112,0.048,3227,1477,1965,0,0,0,0,0,0
$GC,10735,0.59,155.7,963.8,11.4,748,10740,0.00,0.47,0.00,0.000,6,0.000,0.030,3227,1809,1955,0,0,0,0,0,0
$GC,11050,0.59,155.7,928.8,11.3,764,11054,0.00,0.60,0.00,0.000,4,0.000,0.046,3228,1435,1954,0,0,0,0,0,0
$GC,11278,0.59,155.7,903.2,11.6,774,11283,0.00,0.55,0.00,0.000,6,0.000,0.028,3228,1805,1954,0,0,0,0,0,0
$GC,11605,0.59,155.7,867.9,11.0,790,11609,0.00,0.47,0.00,0.000,4,0.000,0.045,3228,1497,1954,0,0,0,0,0,0
$GC,11862,0.59,155.7,838.7,11.8,801,11866,0.00,0.45,0.00,0.000,6,0.000,0.031,3228,1814,1953,0,0,0,0,0,0
$GC,12184,0.59,155.7,802.4,11.6,817,12188,0.00,1.02,0.00,0.000,4,0.000,0.052,3231,1182,1953,0,0,0,0,0,0
$GC,12397,0.59,155.7,777.1,10.6,826,12401,0.00,0.93,0.00,0.000,6,0.000,0.028,3231,1821,1953,0,0,0,0,0,0
$GC,12718,0.59,155.7,741.7,10.7,842,12722,0.00,0.88,0.00,0.000,4,0.000,0.050,3234,1275,1954,0,0,0,0,0,0
$GC,12974,0.59,155.7,711.9,11.1,853,12979,0.00,0.77,0.00,0.000,6,0.000,0.026,3234,1790,1954,0,0,0,0,0,0
$GC,13296,0.59,155.7,673.4,12.2,869,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1790,1953,0,0,0,0,0,0
$GC,13605,0.59,155.7,636.0,11.9,884,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1789,1954,0,0,0,0,0,0
$GC,13914,0.59,155.7,600.1,11.7,899,13918,0.00,0.75,0.00,0.000,4,0.000,0.050,3236,1316,1953,0,0,0,0,0,0
$GC,14165,0.59,155.7,571.3,10.9,910,14170,0.00,0.75,0.00,0.000,6,0.000,0.029,3236,1835,1954,0,0,0,0,0,0
$GC,14492,0.59,155.7,534.4,11.1,926,14496,0.00,0.68,0.00,0.000,4,0.000,0.048,3238,1402,1954,0,0,0,0,0,0
$GC,14694,0.59,155.7,511.7,11.3,935,14698,0.00,0.55,0.00,0.000,6,0.000,0.032,3238,1816,1953,0,0,0,0,0,0
$GC,15025,0.59,155.7,474.1,11.5,951,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1817,1953,0,0,0,0,0,0
$GC,15335,0.59,155.7,439.3,11.2,966,15339,0.00,0.88,0.00,0.000,4,0.000,0.051,3240,1269,1954,0,0,0,0,0,0
$GC,15485,0.59,155.7,422.2,11.6,972,15491,0.00,0.77,0.00,0.000,6,0.000,0.027,3239,1793,1954,0,0,0,0,0,0
$GC,15806,0.59,155.7,387.7,10.9,993,15807,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1793,1954,0,0,0,0,0,0
$GC,16122,0.59,155.7,353.6,10.5,1023,16126,0.00,0.38,0.00,0.000,4,0.000,0.048,3240,1539,1954,0,0,0,0,0,0
$GC,16383,0.59,155.7,325.2,11.1,1046,16387,0.00,0.35,0.00,0.000,6,0.000,0.037,3239,1806,1955,0,0,0,0,0,0
$GC,16717,0.59,155.7,290.6,9.8,1077,16720,0.00,0.98,0.00,0.000,4,0.000,0.053,3240,1196,1954,0,0,0,0,0,0
$GC,16908,0.59,163.1,270.9,9.5,1094,16919,0.00,0.90,6.57,0.952,6,0.000,0.027,3240,1816,1935,0,0,0,0,0,0
$GC,17239,0.59,163.1,237.1,10.5,1125,17240,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1935,0,0,0,0,0,0
$GC,17556,0.59,163.1,202.8,10.7,1155,17557,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1935,0,0,0,0,0,0
$GC,17878,0.59,163.1,168.4,11.1,1185,17883,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1816,1935,0,0,0,0,0,0
$GC,18203,0.59,163.1,134.4,10.3,1216,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1935,0,0,0,0,0,0
$GC,18522,0.59,163.1,100.4,11.1,1246,18523,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1935,0,0,0,0,0,0
$GC,18861,0.59,163.1,63.7,10.5,1305,18867,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1816,1935,0,0,0,0,0,0
$GC,19209,0.59,163.1,25.0,10.6,1366,19216,0.00,0.43,0.00,0.000,4,0.000,0.049,3240,1531,1935,0,0,0,0,0,0
$STATE,19434,end climb,SURFACE_DEPTH_REACHED
$STATE,19434,begin surface coast
$FINISH,1.5,1.026081
$STATE,19465,end surface coast,CONTROL_FINISHED_OK
$STATE,19465,begin surface
$SM_CCo,19480,10.35,0.786,0,0,1844,185.20
$SM_GC,3.89,0.00,0.00,10.35,0.000,0.000,0.786,79,1997,1844,-9.24,1.33,185.20
$IRIDIUM_FIX,-4239.11,839.41,091113,121258
$TT8_MAMPS,0.026964
$HUMID,61.57
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,22.9,19.835
$10V_AH,10.3,16.656
$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,22.175,23.350,278.100,10.350,0.000,29.663,41.801,373.338,0.500,0.000,20.161,3472.231,12263.478,373.442,3779.209,160.796,33.401,1730.795,0.000,3297.082,0.000,5.327,0.000
$DEVICE_MAMPS,270.045,107.100,1539.945,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.064,973.551,946.711,90.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,80140,1409
$CAP_FILE_SIZE,164427,0
$CFSIZE,2097086464,2079653888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091113,234121,-4235.921,844.994,33,1.0,48,-25.1