version: 66.07.10.p01
glider: 574
mission: 7
dive: 132
start: 11 13 113 5 58 31
data:
$ID,574
$MISSION,7
$DIVE,132
$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,-13787.454
$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,84
$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,111
$GPS1,131113,054928,-4244.317,842.249,60,1.0,60,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-74.2
$GPS2,131113,055736,-4244.286,842.288,19,1.0,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.052,-0.261
$KALMAN_X,-167574.1,-126.7,-116.8,79278.4,507.4
$KALMAN_Y,413629.8,-171.6,-188.6,-594001.3,4483.7
$MHEAD_RNG_PITCHd_Wd,216.4,43360,-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,-155.7,0.0,0.0,0,57,0.00,0.00,-31.15,0.000,2,0.000,0.000,65,1978,2489,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.0,-1.7,5,109,12.00,1.58,-31.73,0.000,4,0.258,0.062,2844,978,3236,0,0,0,0,0,0
$GC,267,-0.59,-155.7,22.4,-13.6,40,274,0.00,1.45,0.00,0.000,6,0.000,0.027,2840,1926,3239,0,0,0,0,0,0
$GC,412,-0.59,-155.7,41.8,-11.8,65,417,0.00,0.75,0.00,0.000,4,0.000,0.039,2836,2436,3239,0,0,0,0,0,0
$GC,527,-0.59,-155.7,55.1,-11.1,85,532,0.00,0.73,0.00,0.000,6,0.000,0.038,2836,1951,3239,0,0,0,0,0,0
$GC,873,-0.59,-155.7,98.6,-12.7,146,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3240,0,0,0,0,0,0
$GC,1199,-0.59,-155.7,139.3,-12.5,178,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3240,0,0,0,0,0,0
$GC,1516,-0.59,-155.7,178.9,-12.5,208,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3241,0,0,0,0,0,0
$GC,1835,-0.59,-155.7,218.4,-12.1,238,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3241,0,0,0,0,0,0
$GC,2154,-0.59,-155.7,257.7,-11.7,268,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3241,0,0,0,0,0,0
$GC,2472,-0.59,-155.7,295.2,-12.2,298,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3242,0,0,0,0,0,0
$GC,2791,-0.59,-155.7,333.6,-12.1,328,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3242,0,0,0,0,0,0
$GC,3110,-0.59,-155.7,371.6,-11.5,358,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3242,0,0,0,0,0,0
$GC,3426,-0.59,-155.7,407.9,-11.2,385,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1951,3242,0,0,0,0,0,0
$GC,3735,-0.59,-155.7,441.2,-10.6,400,3739,0.00,0.50,0.00,0.000,4,0.000,0.050,2836,1601,3242,0,0,0,0,0,0
$GC,3969,-0.59,-155.7,466.3,-10.3,410,3973,0.00,0.52,0.00,0.000,6,0.000,0.033,2834,1979,3242,0,0,0,0,0,0
$GC,4290,-0.59,-155.7,499.6,-10.5,426,4292,0.05,0.00,0.00,0.000,6,0.240,0.000,2844,1979,3242,0,0,0,0,0,0
$GC,4600,-0.59,-155.7,531.0,-10.3,441,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1979,3242,0,0,0,0,0,0
$GC,4909,-0.59,-155.7,564.4,-10.6,456,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1979,3242,0,0,0,0,0,0
$GC,5218,-0.59,-155.7,597.3,-10.4,471,5222,0.00,0.28,0.00,0.000,4,0.000,0.049,2843,2216,3242,0,0,0,0,0,0
$GC,5475,-0.59,-155.7,624.6,-11.1,482,5479,0.00,0.40,0.00,0.000,6,0.000,0.044,2843,1930,3241,0,0,0,0,0,0
$GC,5796,-0.59,-155.7,658.6,-10.6,498,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1931,3241,0,0,0,0,0,0
$GC,6105,-0.59,-155.7,690.1,-10.3,513,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1931,3240,0,0,0,0,0,0
$GC,6415,-0.59,-155.7,720.4,-9.7,528,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3239,0,0,0,0,0,0
$GC,6724,-0.59,-155.7,750.0,-9.5,543,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3239,0,0,0,0,0,0
$GC,7034,-0.59,-155.7,778.3,-9.0,558,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3238,0,0,0,0,0,0
$GC,7343,-0.59,-155.7,805.5,-8.6,573,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3238,0,0,0,0,0,0
$GC,7652,-0.59,-155.7,832.7,-8.9,588,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3238,0,0,0,0,0,0
$GC,7962,-0.59,-155.7,859.9,-8.4,603,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3237,0,0,0,0,0,0
$GC,8271,-0.59,-155.7,886.6,-8.9,618,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3237,0,0,0,0,0,0
$GC,8580,-0.59,-155.7,915.0,-9.4,633,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3236,0,0,0,0,0,0
$GC,8890,-0.59,-155.7,944.4,-9.3,648,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1930,3236,0,0,0,0,0,0
$GC,9199,-0.59,-155.7,971.7,-8.8,663,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3235,0,0,0,0,0,0
$GC,9508,-0.59,-155.7,999.0,-8.8,678,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1930,3235,0,0,0,0,0,0
$STATE,9528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9528,begin apogee
$GC,9532,-0.17,0.0,1000.7,8.6,679,9669,0.47,0.00,130.98,1.586,6,0.152,0.000,2981,1818,2600,0,0,0,0,0,0
$STATE,9669,end apogee,CONTROL_FINISHED_OK
$STATE,9669,begin climb
$GC,9671,0.59,155.7,1004.3,0.0,686,9817,0.80,0.00,142.60,1.540,6,0.107,0.000,3223,1817,1965,0,0,0,0,0,0
$GC,10118,0.59,155.7,960.6,11.1,708,10122,0.00,2.33,0.00,0.000,4,0.000,0.064,3226,450,1955,0,0,0,0,0,0
$GC,10270,0.59,155.7,942.9,12.0,715,10274,0.00,2.08,0.00,0.000,6,0.000,0.028,3226,1782,1953,0,0,0,0,0,0
$GC,10596,0.59,155.7,907.9,10.6,731,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1782,1952,0,0,0,0,0,0
$GC,10905,0.59,155.7,874.4,10.9,746,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1782,1952,0,0,0,0,0,0
$GC,11216,0.59,155.7,840.6,10.4,761,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1782,1952,0,0,0,0,0,0
$GC,11524,0.59,155.7,807.1,11.0,776,11527,0.00,0.47,0.00,0.000,4,0.000,0.048,3226,1472,1951,0,0,0,0,0,0
$GC,11780,0.59,155.7,778.8,11.0,787,11785,0.00,0.52,0.00,0.000,6,0.000,0.031,3226,1832,1951,0,0,0,0,0,0
$GC,12101,0.59,155.7,744.3,10.4,803,12105,0.00,1.17,0.00,0.000,4,0.000,0.054,3229,1110,1951,0,0,0,0,0,0
$GC,12259,0.59,155.7,727.3,10.3,810,12263,0.00,1.02,0.00,0.000,6,0.000,0.029,3229,1802,1951,0,0,0,0,0,0
$GC,12591,0.59,155.7,691.9,10.6,826,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1802,1951,0,0,0,0,0,0
$GC,12900,0.59,155.7,658.9,10.4,841,12904,0.00,0.65,0.00,0.000,4,0.000,0.049,3230,1389,1951,0,0,0,0,0,0
$GC,13157,0.59,155.7,632.0,10.6,852,13162,0.00,0.62,0.00,0.000,6,0.000,0.030,3230,1819,1951,0,0,0,0,0,0
$GC,13478,0.59,158.8,600.6,9.7,868,13482,0.00,0.57,0.00,0.000,4,0.000,0.047,3232,1448,1950,0,0,0,0,0,0
$GC,13696,0.59,158.8,578.8,10.2,877,13701,0.00,0.52,0.00,0.000,6,0.000,0.032,3232,1823,1951,0,0,0,0,0,0
$GC,14011,0.59,158.8,547.1,10.4,893,14015,0.00,0.50,0.00,0.000,4,0.000,0.047,3233,1494,1950,0,0,0,0,0,0
$GC,14268,0.59,159.5,520.0,9.8,904,14272,0.00,0.43,0.00,0.000,6,0.000,0.034,3233,1796,1950,0,0,0,0,0,0
$GC,14589,0.59,159.5,486.1,10.8,920,14593,0.00,0.75,0.00,0.000,4,0.000,0.050,3236,1323,1951,0,0,0,0,0,0
$GC,14795,0.59,159.5,463.1,11.2,929,14799,0.00,0.73,0.00,0.000,6,0.000,0.029,3236,1829,1950,0,0,0,0,0,0
$GC,15122,0.59,159.5,426.6,11.3,945,15126,0.00,0.40,0.00,0.000,4,0.000,0.047,3236,1558,1950,0,0,0,0,0,0
$GC,15383,0.59,159.5,396.5,11.7,957,15386,0.00,0.30,0.00,0.000,6,0.000,0.039,3236,1790,1951,0,0,0,0,0,0
$GC,15712,0.59,159.5,357.1,12.0,988,15714,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1790,1950,0,0,0,0,0,0
$GC,16032,0.59,159.5,320.2,11.2,1018,16035,0.00,0.47,0.00,0.000,4,0.000,0.048,3237,1475,1951,0,0,0,0,0,0
$GC,16213,0.59,159.5,299.4,11.0,1034,16216,0.00,0.47,0.00,0.000,6,0.000,0.035,3237,1842,1951,0,0,0,0,0,0
$GC,16544,0.59,159.5,262.3,11.1,1065,16548,0.00,0.88,0.00,0.000,4,0.000,0.050,3240,1288,1951,0,0,0,0,0,0
$GC,16685,0.59,159.5,246.9,10.4,1077,16690,0.00,0.75,0.00,0.000,6,0.000,0.029,3240,1814,1951,0,0,0,0,0,0
$GC,17010,0.59,159.5,212.2,10.7,1108,17011,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1951,0,0,0,0,0,0
$GC,17329,0.59,159.5,179.3,10.4,1138,17330,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1951,0,0,0,0,0,0
$GC,17647,0.59,159.5,144.9,10.3,1168,17649,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1951,0,0,0,0,0,0
$GC,17966,0.59,159.5,111.2,10.6,1198,17967,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1951,0,0,0,0,0,0
$GC,18299,0.59,159.5,74.0,11.1,1248,18305,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1813,1951,0,0,0,0,0,0
$GC,18648,0.59,159.5,37.7,10.5,1309,18653,0.00,0.90,0.00,0.000,4,0.000,0.051,3240,1249,1952,0,0,0,0,0,0
$GC,18799,0.59,174.9,23.7,9.2,1335,18813,0.00,0.77,9.55,0.909,6,0.000,0.028,3240,1806,1885,0,0,0,0,0,0
$GC,18956,0.59,174.9,6.2,11.5,1361,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1806,1883,0,0,0,0,0,0
$STATE,18987,end climb,SURFACE_DEPTH_REACHED
$STATE,18987,begin surface coast
$FINISH,1.5,1.012453
$STATE,19018,end surface coast,CONTROL_FINISHED_OK
$STATE,19018,begin surface
$SM_CCo,19034,3.88,0.692,0,0,1844,185.20
$SM_GC,3.58,0.00,0.00,3.88,0.000,0.000,0.692,84,1951,1844,-9.24,0.03,185.20
$IRIDIUM_FIX,-4227.40,840.54,131113,000033
$TT8_MAMPS,0.026964
$HUMID,61.89
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.7,22.227
$10V_AH,10.2,18.536
$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,22.000,23.775,283.125,3.875,0.000,31.407,43.982,294.377,0.250,0.000,22.124,3332.723,12231.394,369.210,3446.315,144.029,33.381,1607.520,0.000,3033.447,0.000,2.831,0.000
$DEVICE_MAMPS,257.805,91.035,1585.845,692.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,960.687,927.342,917.277,86.848,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,80096,1371
$CAP_FILE_SIZE,152354,0
$CFSIZE,2097086464,2077720576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131113,111752,-4244.682,841.853,88,0.8,88,-25.1