version: 66.07.10.p01
glider: 574
mission: 7
dive: 121
start: 11 10 113 16 42 18
data:
$ID,574
$MISSION,7
$DIVE,121
$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,540.63239
$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,-13749.81
$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,41
$R_STBD_OVSHOOT,48
$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,100
$GPS1,101113,162634,-4239.326,845.232,55,0.8,55,-25.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-75.9
$GPS2,101113,164123,-4239.260,845.294,15,1.0,16,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.053,-0.261
$KALMAN_X,-166478.1,-36.6,37.9,82125.8,-158.7
$KALMAN_Y,363562.6,241.2,-75.9,-535160.9,3308.3
$MHEAD_RNG_PITCHd_Wd,216.6,53415,-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,-37.28,0.000,2,0.000,0.000,67,1942,2680,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.0,-1.2,6,103,12.27,1.60,-19.50,0.000,4,0.269,0.060,2832,2962,3233,0,0,0,0,0,0
$GC,200,-0.59,-155.7,15.4,-12.1,28,207,0.03,1.58,0.00,0.000,6,0.194,0.034,2840,1954,3237,0,0,0,0,0,0
$GC,256,-0.59,-155.7,22.3,-12.4,37,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3236,0,0,0,0,0,0
$GC,399,-0.59,-155.7,40.6,-13.0,62,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3237,0,0,0,0,0,0
$GC,745,-0.59,-155.7,80.5,-11.0,123,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3237,0,0,0,0,0,0
$GC,1087,-0.59,-155.7,116.0,-10.6,171,1090,0.00,0.50,0.00,0.000,4,0.000,0.051,2840,1607,3237,0,0,0,0,0,0
$GC,1202,-0.59,-155.7,128.0,-10.3,181,1206,0.00,0.50,0.00,0.000,6,0.000,0.035,2840,1978,3238,0,0,0,0,0,0
$GC,1532,-0.59,-155.7,165.7,-11.5,212,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1978,3238,0,0,0,0,0,0
$GC,1851,-0.59,-155.7,203.9,-12.2,242,1855,0.00,0.75,0.00,0.000,4,0.000,0.040,2836,2494,3239,0,0,0,0,0,0
$GC,2025,-0.59,-155.7,224.6,-12.1,257,2031,0.00,0.85,0.00,0.000,6,0.000,0.037,2837,1937,3238,0,0,0,0,0,0
$GC,2350,-0.59,-155.7,266.0,-13.4,288,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3239,0,0,0,0,0,0
$GC,2670,-0.59,-155.7,306.6,-12.3,318,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3238,0,0,0,0,0,0
$GC,2988,-0.59,-155.7,344.8,-12.1,348,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3238,0,0,0,0,0,0
$GC,3307,-0.59,-155.7,382.7,-11.6,378,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3238,0,0,0,0,0,0
$GC,3631,-0.59,-155.7,418.7,-11.0,401,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3238,0,0,0,0,0,0
$GC,3940,-0.59,-155.7,452.4,-11.1,416,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1937,3238,0,0,0,0,0,0
$GC,4249,-0.59,-155.7,486.5,-10.6,431,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3238,0,0,0,0,0,0
$GC,4559,-0.59,-155.7,519.7,-10.5,446,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3238,0,0,0,0,0,0
$GC,4868,-0.59,-155.7,551.6,-10.2,461,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3237,0,0,0,0,0,0
$GC,5177,-0.59,-155.7,583.0,-10.1,476,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3238,0,0,0,0,0,0
$GC,5487,-0.59,-155.7,613.3,-9.5,491,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3237,0,0,0,0,0,0
$GC,5796,-0.59,-155.7,641.7,-8.9,506,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3236,0,0,0,0,0,0
$GC,6106,-0.59,-155.7,668.6,-8.7,521,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3236,0,0,0,0,0,0
$GC,6415,-0.59,-155.7,695.7,-8.7,536,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3236,0,0,0,0,0,0
$GC,6724,-0.59,-155.7,725.3,-10.2,551,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3235,0,0,0,0,0,0
$GC,7033,-0.59,-155.7,757.4,-10.5,566,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3234,0,0,0,0,0,0
$GC,7343,-0.59,-155.7,790.3,-10.4,581,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3233,0,0,0,0,0,0
$GC,7652,-0.59,-155.7,820.9,-10.1,596,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1936,3233,0,0,0,0,0,0
$GC,7961,-0.59,-155.7,852.2,-10.1,611,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3233,0,0,0,0,0,0
$GC,8271,-0.59,-155.7,882.7,-9.5,626,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3233,0,0,0,0,0,0
$GC,8581,-0.59,-155.7,910.1,-8.4,641,8584,0.00,0.38,0.00,0.000,4,0.000,0.058,2836,1672,3233,0,0,0,0,0,0
$GC,8742,-0.59,-155.7,924.7,-8.6,648,8747,0.00,0.38,0.00,0.000,6,0.000,0.040,2835,1953,3232,0,0,0,0,0,0
$GC,9070,-0.59,-155.7,953.4,-8.7,664,9073,0.00,0.50,0.00,0.000,4,0.000,0.044,2833,2322,3232,0,0,0,0,0,0
$GC,9321,-0.59,-155.7,975.0,-8.5,675,9326,0.05,0.57,0.00,0.000,6,0.210,0.042,2844,1929,3231,0,0,0,0,0,0
$GC,9648,-0.59,-155.7,999.9,-7.7,691,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1929,3231,0,0,0,0,0,0
$STATE,9670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9670,begin apogee
$GC,9674,-0.17,0.0,1001.5,7.7,692,9808,0.45,0.00,129.88,1.542,6,0.151,0.000,2977,1803,2599,0,0,0,0,0,0
$STATE,9809,end apogee,CONTROL_FINISHED_OK
$STATE,9809,begin climb
$GC,9810,0.59,155.7,1004.3,0.0,699,9956,0.82,0.00,141.52,1.499,6,0.109,0.000,3228,1803,1964,0,0,0,0,0,0
$GC,10258,0.59,155.7,957.9,11.5,721,10261,0.00,1.23,0.00,0.000,4,0.000,0.056,3233,1073,1954,0,0,0,0,0,0
$GC,10415,0.59,155.7,939.1,12.9,728,10419,0.00,1.10,0.00,0.000,6,0.000,0.028,3233,1792,1953,0,0,0,0,0,0
$GC,10747,0.59,155.7,899.3,11.9,744,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1792,1951,0,0,0,0,0,0
$GC,11057,0.59,155.7,862.5,12.0,759,11060,0.00,0.43,0.00,0.000,4,0.000,0.049,3233,1519,1950,0,0,0,0,0,0
$GC,11313,0.59,155.7,831.4,12.2,770,11318,0.00,0.43,0.00,0.000,6,0.000,0.037,3234,1830,1950,0,0,0,0,0,0
$GC,11634,0.59,155.7,791.1,12.6,786,11638,0.00,1.85,0.00,0.000,4,0.000,0.057,3240,692,1949,0,0,0,0,0,0
$GC,11772,0.59,155.7,772.7,13.5,792,11777,0.00,1.65,0.00,0.000,6,0.000,0.027,3240,1783,1949,0,0,0,0,0,0
$GC,12100,0.59,155.7,730.0,13.0,808,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1783,1949,0,0,0,0,0,0
$GC,12409,0.59,155.7,691.5,12.0,823,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1783,1949,0,0,0,0,0,0
$GC,12718,0.59,155.7,654.5,11.9,838,12722,0.00,0.45,0.00,0.000,4,0.000,0.049,3240,1488,1949,0,0,0,0,0,0
$GC,12907,0.59,155.7,633.0,10.9,846,12912,0.00,0.47,0.00,0.000,6,0.000,0.035,3240,1827,1948,0,0,0,0,0,0
$GC,13228,0.59,155.7,597.1,11.2,862,13232,0.00,0.75,0.00,0.000,4,0.000,0.051,3241,1358,1948,0,0,0,0,0,0
$GC,13485,0.59,155.7,568.1,11.1,873,13489,0.00,0.65,0.00,0.000,6,0.000,0.031,3241,1814,1948,0,0,0,0,0,0
$GC,13806,0.59,155.7,532.0,11.2,889,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1813,1948,0,0,0,0,0,0
$GC,14116,0.59,155.7,497.9,11.3,904,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1814,1948,0,0,0,0,0,0
$GC,14425,0.59,155.7,462.2,11.8,919,14429,0.00,0.55,0.00,0.000,4,0.000,0.050,3241,1459,1948,0,0,0,0,0,0
$GC,14627,0.59,155.7,438.7,11.9,928,14631,0.00,0.47,0.00,0.000,6,0.000,0.036,3242,1817,1948,0,0,0,0,0,0
$GC,14959,0.59,155.7,398.4,12.1,944,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1817,1948,0,0,0,0,0,0
$GC,15278,0.59,155.7,361.4,12.1,974,15279,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1817,1948,0,0,0,0,0,0
$GC,15597,0.59,155.7,323.9,11.1,1004,15600,0.00,0.43,0.00,0.000,4,0.000,0.049,3242,1537,1948,0,0,0,0,0,0
$GC,15838,0.59,155.7,297.0,10.5,1025,15844,0.00,0.38,0.00,0.000,6,0.000,0.039,3242,1799,1948,0,0,0,0,0,0
$GC,16163,0.59,155.7,261.3,11.0,1056,16164,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1799,1948,0,0,0,0,0,0
$GC,16482,0.59,155.7,227.3,10.4,1086,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1798,1948,0,0,0,0,0,0
$GC,16801,0.59,155.7,193.2,10.4,1116,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1799,1948,0,0,0,0,0,0
$GC,17120,0.59,155.7,159.7,10.9,1146,17121,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1798,1948,0,0,0,0,0,0
$GC,17438,0.59,155.7,126.3,10.8,1176,17439,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1799,1948,0,0,0,0,0,0
$GC,17764,0.59,155.7,90.2,12.3,1213,17769,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1799,1948,0,0,0,0,0,0
$GC,18109,0.59,155.7,50.7,11.0,1274,18114,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1799,1949,0,0,0,0,0,0
$GC,18461,0.59,155.7,13.0,11.0,1335,18468,0.00,0.55,0.00,0.000,4,0.000,0.050,3244,1443,1949,0,0,0,0,0,0
$STATE,18557,end climb,SURFACE_DEPTH_REACHED
$STATE,18557,begin surface coast
$FINISH,1.6,1.009889
$STATE,18588,end surface coast,CONTROL_FINISHED_OK
$STATE,18589,begin surface
$SM_CCo,18605,187.82,0.793,0,0,395,540.63
$SM_GC,2.53,0.00,0.00,187.82,0.000,0.000,0.793,85,1957,395,-9.23,0.20,540.63
$IRIDIUM_FIX,-4132.26,835.56,101113,161639
$TT8_MAMPS,0.026964
$HUMID,58.70
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.8,20.458
$10V_AH,10.2,17.155
$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,22.250,19.875,271.400,187.825,0.000,143.241,400.527,0.000,0.500,0.000,18.446,3274.292,12230.415,541.257,3495.613,138.658,33.375,1720.495,0.000,2923.000,0.000,5.655,0.000
$DEVICE_MAMPS,268.515,84.915,1542.240,793.305,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.279,930.639,900.831,86.517,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,76805,1356
$CAP_FILE_SIZE,143941,0
$CFSIZE,2097086464,2078900224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101113,215634,-4240.162,844.477,29,0.9,29,-25.1