version: 66.07.10.p01
glider: 574
mission: 7
dive: 118
start: 11 9 113 23 51 54
data:
$ID,574
$MISSION,7
$DIVE,118
$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,-13739.411
$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,61
$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,97
$GPS1,091113,234121,-4235.921,844.994,33,1.0,48,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-72.5
$GPS2,091113,235059,-4235.883,845.063,17,0.9,18,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.048,-0.262
$KALMAN_X,-166441.8,67.1,274.5,81425.3,-1231.6
$KALMAN_Y,354498.4,-202.5,-449.4,-519019.0,4857.1
$MHEAD_RNG_PITCHd_Wd,194.8,58722,-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,-36.75,0.000,2,0.000,0.000,66,1996,2665,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.1,-1.3,6,103,12.77,0.57,-19.75,0.000,4,0.280,0.085,2836,2392,3236,0,0,0,0,0,0
$GC,324,-0.59,-155.7,29.8,-12.1,50,332,0.00,0.65,0.00,0.000,6,0.000,0.037,2836,1952,3239,0,0,0,0,0,0
$GC,469,-0.59,-155.7,47.3,-12.7,75,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3239,0,0,0,0,0,0
$GC,818,-0.59,-155.7,91.4,-12.7,136,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1952,3240,0,0,0,0,0,0
$GC,1149,-0.59,-155.7,131.8,-12.4,173,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3240,0,0,0,0,0,0
$GC,1474,-0.59,-155.7,172.8,-12.7,204,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3241,0,0,0,0,0,0
$GC,1793,-0.59,-155.7,212.3,-12.2,234,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3241,0,0,0,0,0,0
$GC,2111,-0.59,-155.7,250.6,-11.8,264,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3241,0,0,0,0,0,0
$GC,2430,-0.59,-155.7,290.4,-12.5,294,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1952,3241,0,0,0,0,0,0
$GC,2749,-0.59,-155.7,329.9,-12.2,324,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3242,0,0,0,0,0,0
$GC,3067,-0.59,-155.7,366.8,-11.2,354,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1952,3242,0,0,0,0,0,0
$GC,3385,-0.59,-155.7,402.9,-11.3,383,3389,0.00,0.43,0.00,0.000,4,0.000,0.051,2836,1644,3242,0,0,0,0,0,0
$GC,3565,-0.59,-155.7,423.3,-10.9,391,3569,0.00,0.43,0.00,0.000,6,0.000,0.036,2835,1972,3242,0,0,0,0,0,0
$GC,3897,-0.59,-155.7,459.1,-10.4,407,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1973,3242,0,0,0,0,0,0
$GC,4206,-0.59,-155.7,489.8,-9.4,422,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1973,3241,0,0,0,0,0,0
$GC,4516,-0.59,-155.7,519.2,-9.4,437,4518,0.03,0.00,0.00,0.000,6,0.297,0.000,2843,1973,3241,0,0,0,0,0,0
$GC,4825,-0.59,-155.7,547.0,-9.2,452,4829,0.00,0.47,0.00,0.000,4,0.000,0.042,2841,2330,3241,0,0,0,0,0,0
$GC,5050,-0.59,-155.7,568.9,-9.6,462,5054,0.00,0.55,0.00,0.000,6,0.000,0.040,2841,1938,3241,0,0,0,0,0,0
$GC,5382,-0.59,-155.7,603.1,-10.5,478,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1938,3240,0,0,0,0,0,0
$GC,5691,-0.59,-155.7,636.3,-11.3,493,5695,0.00,0.68,0.00,0.000,4,0.000,0.049,2842,1483,3239,0,0,0,0,0,0
$GC,5819,-0.59,-155.7,650.9,-11.7,498,5824,0.00,0.65,0.00,0.000,6,0.000,0.031,2840,1945,3239,0,0,0,0,0,0
$GC,6134,-0.59,-155.7,684.8,-10.8,514,6138,0.00,0.43,0.00,0.000,4,0.000,0.043,2837,2273,3238,0,0,0,0,0,0
$GC,6391,-0.59,-155.7,711.4,-10.0,525,6395,0.00,0.47,0.00,0.000,6,0.000,0.041,2837,1946,3238,0,0,0,0,0,0
$GC,6712,-0.59,-155.7,743.8,-10.0,541,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1945,3237,0,0,0,0,0,0
$GC,7021,-0.59,-155.7,776.2,-10.3,556,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1945,3237,0,0,0,0,0,0
$GC,7331,-0.59,-155.7,807.2,-10.2,571,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3236,0,0,0,0,0,0
$GC,7640,-0.59,-155.7,836.5,-9.4,586,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1944,3236,0,0,0,0,0,0
$GC,7950,-0.59,-155.7,864.9,-8.8,601,7953,0.00,0.43,0.00,0.000,4,0.000,0.054,2837,1643,3235,0,0,0,0,0,0
$GC,8108,-0.59,-155.7,878.9,-9.1,608,8112,0.00,0.40,0.00,0.000,6,0.000,0.038,2836,1958,3235,0,0,0,0,0,0
$GC,8440,-0.59,-155.7,907.4,-8.5,624,8444,0.00,0.35,0.00,0.000,4,0.000,0.046,2834,2237,3234,0,0,0,0,0,0
$GC,8620,-0.59,-155.7,922.7,-8.5,632,8624,0.03,0.40,0.00,0.000,6,0.194,0.044,2842,1933,3234,0,0,0,0,0,0
$GC,8952,-0.59,-155.7,949.7,-8.4,648,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1933,3233,0,0,0,0,0,0
$GC,9261,-0.59,-155.7,975.4,-7.9,663,9264,0.00,0.35,0.00,0.000,4,0.000,0.057,2842,1680,3234,0,0,0,0,0,0
$GC,9441,-0.59,-155.7,990.1,-8.3,671,9445,0.00,0.32,0.00,0.000,6,0.000,0.040,2842,1937,3233,0,0,0,0,0,0
$STATE,9568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9568,begin apogee
$GC,9572,-0.17,0.0,1000.4,8.3,677,9707,0.47,0.00,130.30,1.538,6,0.158,0.000,2979,1806,2600,0,0,0,0,0,0
$STATE,9707,end apogee,CONTROL_FINISHED_OK
$STATE,9707,begin climb
$GC,9709,0.59,155.7,1003.8,0.0,684,9856,0.80,0.57,141.55,1.494,4,0.110,0.048,3223,1472,1964,0,0,0,0,0,0
$GC,10108,0.59,155.7,966.1,11.3,702,10114,0.00,0.50,0.00,0.000,6,0.000,0.030,3223,1803,1954,0,0,0,0,0,0
$GC,10424,0.59,155.7,933.1,10.5,718,10427,0.00,1.00,0.00,0.000,4,0.000,0.050,3225,1202,1952,0,0,0,0,0,0
$GC,10675,0.59,155.7,905.3,10.8,729,10680,0.00,0.93,0.00,0.000,6,0.000,0.027,3226,1822,1951,0,0,0,0,0,0
$GC,11002,0.59,155.7,869.8,10.8,745,11006,0.00,0.57,0.00,0.000,4,0.000,0.047,3226,1459,1951,0,0,0,0,0,0
$GC,11215,0.59,155.7,846.5,11.0,754,11219,0.00,0.47,0.00,0.000,6,0.000,0.032,3226,1795,1951,0,0,0,0,0,0
$GC,11536,0.59,155.7,811.1,10.8,770,11540,0.00,0.70,0.00,0.000,4,0.000,0.049,3226,1357,1951,0,0,0,0,0,0
$GC,11737,0.59,155.7,789.5,11.7,779,11741,0.00,0.65,0.00,0.000,6,0.000,0.030,3226,1802,1951,0,0,0,0,0,0
$GC,12069,0.59,155.7,753.8,11.2,795,12073,0.00,0.35,0.00,0.000,4,0.000,0.046,3226,1561,1951,0,0,0,0,0,0
$GC,12326,0.59,155.7,726.1,10.1,806,12330,0.00,0.38,0.00,0.000,6,0.000,0.034,3226,1828,1950,0,0,0,0,0,0
$GC,12647,0.59,155.7,690.6,11.4,822,12650,0.00,1.10,0.00,0.000,4,0.000,0.052,3229,1147,1950,0,0,0,0,0,0
$GC,12842,0.59,155.7,667.6,11.8,830,12848,0.00,1.00,0.00,0.000,6,0.000,0.028,3229,1815,1950,0,0,0,0,0,0
$GC,13158,0.59,155.7,630.5,11.6,846,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1815,1950,0,0,0,0,0,0
$GC,13467,0.59,155.7,595.6,10.9,861,13471,0.00,0.77,0.00,0.000,4,0.000,0.049,3231,1326,1950,0,0,0,0,0,0
$GC,13692,0.59,155.7,571.1,10.7,871,13695,0.00,0.70,0.00,0.000,6,0.000,0.029,3231,1815,1950,0,0,0,0,0,0
$GC,14024,0.59,163.7,538.3,9.5,887,14032,0.00,0.00,6.10,1.069,6,0.000,0.000,3232,1815,1932,0,0,0,0,0,0
$GC,14333,0.59,171.5,509.4,9.5,902,14347,0.00,0.75,8.85,1.141,4,0.000,0.047,3234,1361,1900,0,0,0,0,0,0
$GC,14533,0.59,171.5,489.0,10.4,911,14537,0.00,0.65,0.00,0.000,6,0.000,0.030,3233,1824,1899,0,0,0,0,0,0
$GC,14865,0.59,171.5,454.1,10.6,927,14869,0.00,0.98,0.00,0.000,4,0.000,0.050,3237,1212,1899,0,0,0,0,0,0
$GC,15026,0.59,171.5,436.3,10.7,934,15031,0.00,0.88,0.00,0.000,6,0.000,0.026,3237,1799,1899,0,0,0,0,0,0
$GC,15354,0.59,171.5,401.9,10.7,950,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1799,1899,0,0,0,0,0,0
$GC,15672,0.59,171.5,367.5,11.0,979,15676,0.00,0.62,0.00,0.000,4,0.000,0.048,3239,1394,1899,0,0,0,0,0,0
$GC,15813,0.59,171.5,352.6,10.3,991,15818,0.00,0.62,0.00,0.000,6,0.000,0.029,3238,1841,1899,0,0,0,0,0,0
$GC,16137,0.59,171.5,316.9,12.7,1022,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1841,1899,0,0,0,0,0,0
$GC,16456,0.59,171.5,279.2,11.8,1052,16460,0.00,0.43,0.00,0.000,4,0.000,0.045,3240,1554,1899,0,0,0,0,0,0
$GC,16717,0.59,171.5,249.4,11.6,1075,16720,0.00,0.30,0.00,0.000,6,0.000,0.038,3240,1786,1899,0,0,0,0,0,0
$GC,17046,0.59,171.5,212.4,10.8,1106,17050,0.00,0.57,0.00,0.000,4,0.000,0.047,3240,1411,1899,0,0,0,0,0,0
$GC,17218,0.59,173.0,194.4,9.7,1121,17222,0.00,0.55,0.00,0.000,6,0.000,0.032,3240,1826,1899,0,0,0,0,0,0
$GC,17548,0.59,173.0,159.0,10.1,1152,17549,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1827,1899,0,0,0,0,0,0
$GC,17869,0.59,173.0,124.8,10.8,1182,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1827,1899,0,0,0,0,0,0
$GC,18194,0.59,192.9,91.5,9.0,1219,18220,0.00,0.50,20.33,0.942,4,0.000,0.044,3240,1505,1812,0,0,0,0,0,0
$GC,18476,0.59,192.9,62.3,10.3,1269,18483,0.00,0.38,0.00,0.000,6,0.000,0.035,3240,1786,1810,0,0,0,0,0,0
$GC,18825,0.59,192.9,24.1,10.7,1330,18832,0.00,0.35,0.00,0.000,4,0.000,0.048,3240,1553,1809,0,0,0,0,0,0
$STATE,19003,end climb,SURFACE_DEPTH_REACHED
$STATE,19003,begin surface coast
$FINISH,1.5,1.015154
$STATE,19028,end surface coast,CONTROL_FINISHED_OK
$STATE,19028,begin surface
$SM_CCo,19104,0.00,0.000,0,0,1803,195.26
$SM_GC,2.49,8.57,0.00,0.00,0.047,0.000,0.000,85,1953,1803,-9.17,0.08,195.26
$IRIDIUM_FIX,-4109.28,838.66,091113,181826
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.9,19.987
$10V_AH,10.3,16.782
$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,22.675,25.575,307.125,0.000,0.000,26.372,48.348,385.848,0.500,0.000,19.730,3379.837,11976.145,380.017,3773.241,167.428,33.403,1745.571,0.000,3274.503,0.000,5.327,0.000
$DEVICE_MAMPS,296.820,84.915,1538.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.251,917.265,912.006,83.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,76836,1364
$CAP_FILE_SIZE,164614,0
$CFSIZE,2097086464,2079522816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101113,051134,-4237.146,845.438,44,1.0,44,-25.1