version: 66.07.10.p01
glider: 574
mission: 7
dive: 131
start: 11 13 113 0 31 50
data:
$ID,574
$MISSION,7
$DIVE,131
$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,-13784.004
$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,42
$R_STBD_OVSHOOT,110
$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,110
$GPS1,131113,002304,-4243.195,842.136,87,0.9,97,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-74.6
$GPS2,131113,003055,-4243.156,842.135,18,0.9,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.022,-0.265
$KALMAN_X,-167905.0,101.3,213.2,78836.9,-496.0
$KALMAN_Y,410509.1,-233.8,-319.0,-588595.4,5324.0
$MHEAD_RNG_PITCHd_Wd,200.4,45029,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.59,-155.7,0.0,0.0,0,69,0.00,0.00,-42.20,0.000,2,0.000,0.000,65,1982,2777,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.1,-1.1,7,103,12.00,0.00,-14.82,0.000,6,0.259,0.000,2840,1982,3233,0,0,0,0,0,0
$GC,152,-0.59,-155.7,11.5,-13.3,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1982,3236,0,0,0,0,0,0
$GC,207,-0.59,-155.7,19.2,-13.8,29,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1982,3236,0,0,0,0,0,0
$GC,259,-0.59,-155.7,27.0,-13.6,38,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1982,3236,0,0,0,0,0,0
$GC,403,-0.59,-155.7,46.1,-12.9,63,410,0.00,0.77,0.00,0.000,4,0.000,0.046,2841,1477,3237,0,0,0,0,0,0
$GC,586,-0.59,-155.7,70.1,-12.1,95,591,0.00,0.60,0.00,0.000,6,0.000,0.031,2839,1914,3237,0,0,0,0,0,0
$GC,924,-0.59,-155.7,113.8,-12.8,146,928,0.00,0.38,0.00,0.000,4,0.000,0.043,2837,2214,3237,0,0,0,0,0,0
$GC,1187,-0.59,-155.7,146.0,-12.0,169,1190,0.00,0.38,0.00,0.000,6,0.000,0.044,2837,1936,3238,0,0,0,0,0,0
$GC,1517,-0.59,-155.7,185.4,-11.7,200,1520,0.00,0.40,0.00,0.000,4,0.000,0.037,2836,2249,3238,0,0,0,0,0,0
$GC,1697,-0.59,-155.7,206.2,-12.1,216,1701,0.00,0.40,0.00,0.000,6,0.000,0.043,2836,1952,3239,0,0,0,0,0,0
$GC,2027,-0.59,-155.7,243.9,-11.4,247,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3239,0,0,0,0,0,0
$GC,2348,-0.59,-155.7,279.2,-11.0,277,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1952,3239,0,0,0,0,0,0
$GC,2664,-0.59,-155.7,315.0,-11.2,307,2668,0.00,0.70,0.00,0.000,4,0.000,0.049,2836,1481,3239,0,0,0,0,0,0
$GC,2788,-0.59,-155.7,329.1,-11.0,318,2792,0.00,0.65,0.00,0.000,6,0.000,0.032,2834,1948,3239,0,0,0,0,0,0
$GC,3122,-0.59,-155.7,367.1,-11.8,349,3126,0.05,0.90,0.00,0.000,4,0.238,0.040,2840,2553,3240,0,0,0,0,0,0
$GC,3338,-0.59,-155.7,390.7,-10.2,368,3346,0.00,0.90,0.00,0.000,6,0.000,0.035,2841,1960,3240,0,0,0,0,0,0
$GC,3657,-0.59,-155.7,423.4,-10.1,388,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1960,3241,0,0,0,0,0,0
$GC,3966,-0.59,-155.7,455.3,-10.5,403,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3241,0,0,0,0,0,0
$GC,4275,-0.59,-155.7,487.8,-10.6,418,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3241,0,0,0,0,0,0
$GC,4585,-0.59,-155.7,519.7,-10.1,433,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3240,0,0,0,0,0,0
$GC,4894,-0.59,-155.7,552.0,-10.3,448,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3240,0,0,0,0,0,0
$GC,5203,-0.59,-155.7,584.6,-10.7,463,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3239,0,0,0,0,0,0
$GC,5513,-0.59,-155.7,616.5,-10.3,478,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3239,0,0,0,0,0,0
$GC,5822,-0.59,-155.7,647.9,-10.1,493,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3238,0,0,0,0,0,0
$GC,6132,-0.59,-155.7,677.8,-9.4,508,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1959,3237,0,0,0,0,0,0
$GC,6441,-0.59,-155.7,706.4,-9.1,523,6445,0.00,0.52,0.00,0.000,4,0.000,0.053,2841,1596,3237,0,0,0,0,0,0
$GC,6692,-0.59,-155.7,728.3,-8.9,534,6697,0.00,0.50,0.00,0.000,6,0.000,0.034,2841,1958,3236,0,0,0,0,0,0
$GC,7019,-0.59,-155.7,754.9,-8.3,550,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1958,3236,0,0,0,0,0,0
$GC,7329,-0.59,-155.7,780.5,-8.6,565,7332,0.00,0.47,0.00,0.000,4,0.000,0.042,2838,2314,3236,0,0,0,0,0,0
$GC,7578,-0.59,-155.7,801.7,-8.5,576,7581,0.00,0.52,0.00,0.000,6,0.000,0.041,2838,1942,3235,0,0,0,0,0,0
$GC,7910,-0.59,-155.7,832.3,-9.3,592,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1941,3235,0,0,0,0,0,0
$GC,8219,-0.59,-155.7,860.8,-9.3,607,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3234,0,0,0,0,0,0
$GC,8528,-0.59,-155.7,890.3,-9.6,622,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3233,0,0,0,0,0,0
$GC,8838,-0.59,-155.7,919.2,-9.2,637,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3233,0,0,0,0,0,0
$GC,9147,-0.59,-155.7,948.6,-9.5,652,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3233,0,0,0,0,0,0
$GC,9456,-0.59,-155.7,976.9,-8.9,667,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1942,3233,0,0,0,0,0,0
$STATE,9727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9727,begin apogee
$GC,9731,-0.17,0.0,1000.5,8.9,680,9865,0.50,0.00,130.25,1.590,6,0.155,0.000,2983,1799,2600,0,0,0,0,0,0
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9867,0.59,155.7,1004.9,0.0,687,10015,0.80,0.82,142.07,1.540,4,0.106,0.050,3228,1323,1964,0,0,0,0,0,0
$GC,10233,0.59,155.7,970.7,11.3,704,10238,0.00,0.73,0.00,0.000,6,0.000,0.025,3228,1782,1955,0,0,0,0,0,0
$GC,10554,0.59,155.7,935.9,11.0,720,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1782,1952,0,0,0,0,0,0
$GC,10864,0.59,155.7,901.6,11.1,735,10867,0.00,0.75,0.00,0.000,4,0.000,0.049,3230,1323,1952,0,0,0,0,0,0
$GC,11081,0.59,155.7,876.4,11.7,744,11087,0.00,0.75,0.00,0.000,6,0.000,0.027,3230,1816,1951,0,0,0,0,0,0
$GC,11397,0.59,155.7,839.2,12.0,760,11400,0.00,0.45,0.00,0.000,4,0.000,0.047,3230,1523,1951,0,0,0,0,0,0
$GC,11653,0.59,155.7,808.7,11.7,771,11658,0.00,0.43,0.00,0.000,6,0.000,0.032,3230,1820,1951,0,0,0,0,0,0
$GC,11974,0.59,155.7,771.3,11.5,787,11978,0.00,0.70,0.00,0.000,4,0.000,0.048,3232,1379,1950,0,0,0,0,0,0
$GC,12231,0.59,155.7,742.2,11.4,798,12235,0.00,0.65,0.00,0.000,6,0.000,0.031,3232,1831,1950,0,0,0,0,0,0
$GC,12552,0.59,155.7,707.1,10.9,814,12556,0.00,0.57,0.00,0.000,4,0.000,0.048,3234,1462,1950,0,0,0,0,0,0
$GC,12809,0.59,155.7,678.7,10.3,825,12813,0.00,0.50,0.00,0.000,6,0.000,0.031,3234,1812,1950,0,0,0,0,0,0
$GC,13130,0.59,155.7,642.6,11.4,841,13134,0.00,1.00,0.00,0.000,4,0.000,0.053,3237,1190,1950,0,0,0,0,0,0
$GC,13331,0.59,155.7,619.8,10.8,850,13335,0.00,0.90,0.00,0.000,6,0.000,0.028,3237,1807,1949,0,0,0,0,0,0
$GC,13663,0.59,155.7,582.0,11.5,866,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1807,1949,0,0,0,0,0,0
$GC,13973,0.59,155.7,545.1,12.2,881,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1807,1949,0,0,0,0,0,0
$GC,14282,0.59,155.7,507.8,12.1,896,14285,0.00,0.82,0.00,0.000,4,0.000,0.051,3240,1290,1949,0,0,0,0,0,0
$GC,14465,0.59,155.7,485.6,11.5,904,14470,0.00,0.77,0.00,0.000,6,0.000,0.028,3239,1822,1949,0,0,0,0,0,0
$GC,14792,0.59,155.7,448.2,11.5,920,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1822,1949,0,0,0,0,0,0
$GC,15102,0.59,155.7,413.3,11.1,935,15105,0.00,1.20,0.00,0.000,4,0.000,0.054,3243,1078,1949,0,0,0,0,0,0
$GC,15285,0.59,155.7,392.7,10.9,945,15292,0.00,1.10,0.00,0.000,6,0.000,0.028,3243,1812,1949,0,0,0,0,0,0
$GC,15611,0.59,155.7,356.9,10.8,976,15613,0.03,0.00,0.00,0.000,6,0.272,0.000,3234,1812,1949,0,0,0,0,0,0
$GC,15930,0.59,165.7,325.8,9.4,1006,15941,0.00,0.43,7.47,1.071,4,0.000,0.049,3235,1541,1923,0,0,0,0,0,0
$GC,16194,0.59,191.9,300.2,8.7,1029,16223,0.00,0.38,24.60,1.143,6,0.000,0.036,3235,1814,1816,0,0,0,0,0,0
$GC,16548,0.59,191.9,263.6,10.9,1063,16552,0.00,0.50,0.00,0.000,4,0.000,0.048,3236,1486,1813,0,0,0,0,0,0
$GC,16672,0.59,191.9,250.1,10.4,1074,16676,0.00,0.45,0.00,0.000,6,0.000,0.034,3236,1835,1812,0,0,0,0,0,0
$GC,17006,0.59,191.9,213.2,11.3,1105,17010,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1835,1812,0,0,0,0,0,0
$GC,17331,0.59,191.9,176.1,11.7,1136,17334,0.00,0.73,0.00,0.000,4,0.000,0.048,3238,1377,1812,0,0,0,0,0,0
$GC,17481,0.59,191.9,159.7,11.1,1149,17484,0.00,0.57,0.00,0.000,6,0.000,0.031,3238,1799,1812,0,0,0,0,0,0
$GC,17810,0.59,191.9,122.1,11.6,1180,17811,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1799,1812,0,0,0,0,0,0
$GC,18140,0.59,191.9,84.0,11.5,1222,18144,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1799,1812,0,0,0,0,0,0
$GC,18485,0.59,191.9,44.8,10.7,1283,18490,0.00,0.77,0.00,0.000,4,0.000,0.049,3240,1310,1812,0,0,0,0,0,0
$GC,18582,0.59,191.9,34.7,10.3,1300,18589,0.00,0.70,0.00,0.000,6,0.000,0.029,3239,1802,1812,0,0,0,0,0,0
$GC,18730,0.59,191.9,19.0,11.3,1325,18736,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1802,1812,0,0,0,0,0,0
$GC,18785,0.59,191.9,12.7,12.2,1334,18792,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1802,1812,0,0,0,0,0,0
$GC,18841,0.59,191.9,6.5,12.0,1343,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1801,1812,0,0,0,0,0,0
$STATE,18866,end climb,SURFACE_DEPTH_REACHED
$STATE,18866,begin surface coast
$FINISH,1.9,1.026549
$STATE,18891,end surface coast,CONTROL_FINISHED_OK
$STATE,18891,begin surface
$SM_CCo,18966,0.00,0.000,0,0,1807,194.52
$SM_GC,2.70,8.50,0.00,0.00,0.044,0.000,0.000,85,1978,1807,-9.16,0.79,194.52
$IRIDIUM_FIX,-4227.40,840.54,121113,181816
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.7,22.083
$10V_AH,10.3,18.416
$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,21.875,25.100,304.400,0.000,0.000,23.658,18.599,305.041,0.500,0.000,22.544,3321.742,12049.295,365.790,3549.780,145.689,33.380,1710.022,0.000,3146.287,0.000,5.652,0.000
$DEVICE_MAMPS,271.575,77.265,1590.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.636,887.616,898.485,76.047,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,76866,1351
$CAP_FILE_SIZE,161613,0
$CFSIZE,2097086464,2077851648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131113,054928,-4244.317,842.249,60,1.0,60,-25.1