version: 66.07.10.p01
glider: 574
mission: 7
dive: 133
start: 11 13 113 11 27 6
data:
$ID,574
$MISSION,7
$DIVE,133
$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,-13790.917
$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,51
$R_STBD_OVSHOOT,78
$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,112
$GPS1,131113,111752,-4244.682,841.853,88,0.8,88,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-72.9
$GPS2,131113,112611,-4244.632,841.895,15,1.2,16,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.060,-0.259
$KALMAN_X,-167319.4,-105.7,123.3,78216.1,256.0
$KALMAN_Y,417685.6,52.5,201.6,-599325.9,3802.2
$MHEAD_RNG_PITCHd_Wd,218.2,42534,-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,-155.7,0.0,0.0,0,57,0.00,0.00,-30.77,0.000,2,0.000,0.000,66,1947,2521,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.0,-1.5,5,109,12.27,1.12,-28.98,0.000,4,0.266,0.076,2843,1248,3237,0,0,0,0,0,0
$GC,298,-0.59,-155.7,27.3,-12.4,45,303,0.00,1.02,0.00,0.000,6,0.000,0.027,2840,1938,3239,0,0,0,0,0,0
$GC,442,-0.59,-155.7,46.4,-12.5,70,447,0.00,0.65,0.00,0.000,4,0.000,0.039,2837,2393,3239,0,0,0,0,0,0
$GC,563,-0.59,-155.7,61.6,-12.2,91,568,0.00,0.65,0.00,0.000,6,0.000,0.037,2837,1951,3240,0,0,0,0,0,0
$GC,912,-0.59,-155.7,102.8,-11.7,151,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3241,0,0,0,0,0,0
$GC,1235,-0.59,-155.7,140.2,-11.7,181,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3241,0,0,0,0,0,0
$GC,1560,-0.59,-155.7,179.9,-12.5,212,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,1879,-0.59,-155.7,218.5,-12.0,242,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,2197,-0.59,-155.7,255.4,-11.8,272,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,2516,-0.59,-155.7,291.0,-11.1,302,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,2835,-0.59,-155.7,325.3,-10.7,332,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,3153,-0.59,-155.7,359.4,-10.9,362,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,3472,-0.59,-155.7,394.6,-11.2,392,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,3793,-0.59,-155.7,431.0,-11.4,410,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,4102,-0.59,-155.7,465.6,-10.9,425,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,4411,-0.59,-155.7,499.4,-10.7,440,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3242,0,0,0,0,0,0
$GC,4721,-0.59,-155.7,532.2,-10.5,455,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3241,0,0,0,0,0,0
$GC,5030,-0.59,-155.7,563.3,-10.1,470,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3240,0,0,0,0,0,0
$GC,5340,-0.59,-155.7,593.3,-9.3,485,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3240,0,0,0,0,0,0
$GC,5649,-0.59,-155.7,621.8,-9.1,500,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3239,0,0,0,0,0,0
$GC,5958,-0.59,-155.7,650.1,-9.3,515,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3238,0,0,0,0,0,0
$GC,6268,-0.59,-155.7,679.1,-9.4,530,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3237,0,0,0,0,0,0
$GC,6577,-0.59,-155.7,708.5,-9.5,545,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3237,0,0,0,0,0,0
$GC,6886,-0.59,-155.7,738.9,-10.0,560,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3236,0,0,0,0,0,0
$GC,7195,-0.59,-155.7,770.7,-10.3,575,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1949,3236,0,0,0,0,0,0
$GC,7505,-0.59,-155.7,802.0,-10.0,590,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3236,0,0,0,0,0,0
$GC,7814,-0.59,-155.7,833.0,-10.2,605,7818,0.00,0.50,0.00,0.000,4,0.000,0.038,2836,2314,3235,0,0,0,0,0,0
$GC,7958,-0.59,-155.7,847.9,-10.3,611,7963,0.00,0.55,0.00,0.000,6,0.000,0.040,2836,1936,3234,0,0,0,0,0,0
$GC,8280,-0.59,-155.7,879.0,-9.6,627,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3234,0,0,0,0,0,0
$GC,8589,-0.59,-155.7,910.5,-10.4,642,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3234,0,0,0,0,0,0
$GC,8898,-0.59,-155.7,941.7,-10.0,657,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3233,0,0,0,0,0,0
$GC,9208,-0.59,-155.7,972.0,-9.6,672,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1936,3233,0,0,0,0,0,0
$STATE,9518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9518,begin apogee
$GC,9522,-0.17,0.0,1000.7,9.1,687,9657,0.50,0.00,130.43,1.589,6,0.155,0.000,2980,1807,2600,0,0,0,0,0,0
$STATE,9658,end apogee,CONTROL_FINISHED_OK
$STATE,9658,begin climb
$GC,9659,0.59,155.7,1004.3,0.0,694,9805,0.80,0.00,142.77,1.542,6,0.107,0.000,3223,1807,1965,0,0,0,0,0,0
$GC,10106,0.59,155.7,960.2,11.0,716,10110,0.00,1.88,0.00,0.000,4,0.000,0.060,3227,681,1954,0,0,0,0,0,0
$GC,10234,0.59,155.7,945.2,12.1,721,10240,0.00,1.75,0.00,0.000,6,0.000,0.026,3226,1800,1952,0,0,0,0,0,0
$GC,10550,0.59,155.7,908.9,11.4,737,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1800,1952,0,0,0,0,0,0
$GC,10859,0.59,155.7,874.0,11.2,752,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1800,1951,0,0,0,0,0,0
$GC,11169,0.59,155.7,840.4,10.4,767,11172,0.00,1.30,0.00,0.000,4,0.000,0.056,3227,1012,1950,0,0,0,0,0,0
$GC,11303,0.59,155.7,826.2,10.7,773,11307,0.00,1.23,0.00,0.000,6,0.000,0.028,3227,1829,1950,0,0,0,0,0,0
$GC,11635,0.59,155.7,792.4,10.1,789,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1830,1949,0,0,0,0,0,0
$GC,11945,0.59,164.8,763.0,9.4,804,11953,0.00,0.00,6.45,1.237,6,0.000,0.000,3227,1830,1928,0,0,0,0,0,0
$GC,12254,0.59,167.9,733.6,9.7,819,12263,0.00,1.02,4.65,1.086,4,0.000,0.051,3229,1205,1915,0,0,0,0,0,0
$GC,12391,0.59,167.9,719.9,10.3,825,12395,0.00,0.93,0.00,0.000,6,0.000,0.028,3228,1826,1914,0,0,0,0,0,0
$GC,12718,0.59,167.9,685.6,10.8,841,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1826,1915,0,0,0,0,0,0
$GC,13027,0.59,167.9,650.4,11.6,856,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1826,1915,0,0,0,0,0,0
$GC,13336,0.59,167.9,614.0,11.8,871,13340,0.00,0.98,0.00,0.000,4,0.000,0.051,3231,1213,1915,0,0,0,0,0,0
$GC,13494,0.59,167.9,595.1,11.6,878,13498,0.00,0.85,0.00,0.000,6,0.000,0.030,3232,1790,1914,0,0,0,0,0,0
$GC,13826,0.59,167.9,555.8,11.6,894,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1790,1914,0,0,0,0,0,0
$GC,14135,0.59,167.9,521.0,10.9,909,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1790,1914,0,0,0,0,0,0
$GC,14445,0.59,167.9,488.0,10.3,924,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1790,1915,0,0,0,0,0,0
$GC,14754,0.59,167.9,455.7,10.4,939,14758,0.00,0.43,0.00,0.000,4,0.000,0.049,3232,1511,1916,0,0,0,0,0,0
$GC,14949,0.59,167.9,435.5,10.1,947,14954,0.00,0.45,0.00,0.000,6,0.000,0.035,3232,1823,1916,0,0,0,0,0,0
$GC,15264,0.59,167.9,402.7,10.7,963,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1823,1915,0,0,0,0,0,0
$GC,15582,0.59,167.9,369.7,10.5,991,15583,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1823,1916,0,0,0,0,0,0
$GC,15904,0.59,167.9,336.8,10.3,1021,15908,0.00,1.42,0.00,0.000,4,0.000,0.056,3238,942,1916,0,0,0,0,0,0
$GC,16051,0.59,167.9,321.3,10.3,1034,16055,0.00,1.30,0.00,0.000,6,0.000,0.028,3238,1810,1916,0,0,0,0,0,0
$GC,16385,0.59,167.9,285.3,11.6,1065,16389,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1810,1916,0,0,0,0,0,0
$GC,16709,0.59,167.9,246.6,11.8,1096,16711,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1810,1917,0,0,0,0,0,0
$GC,17028,0.59,167.9,210.3,11.7,1126,17032,0.00,0.68,0.00,0.000,4,0.000,0.050,3240,1375,1917,0,0,0,0,0,0
$GC,17176,0.59,167.9,193.2,12.1,1139,17180,0.00,0.62,0.00,0.000,6,0.000,0.032,3240,1824,1917,0,0,0,0,0,0
$GC,17506,0.59,167.9,155.6,11.5,1170,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1824,1918,0,0,0,0,0,0
$GC,17825,0.59,167.9,119.6,11.2,1200,17826,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1824,1918,0,0,0,0,0,0
$GC,18155,0.59,167.9,82.3,10.8,1243,18159,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1823,1918,0,0,0,0,0,0
$GC,18499,0.59,167.9,43.6,11.1,1304,18504,0.00,1.08,0.00,0.000,4,0.000,0.052,3241,1153,1919,0,0,0,0,0,0
$GC,18609,0.59,167.9,32.2,11.0,1323,18614,0.00,0.95,0.00,0.000,6,0.000,0.028,3241,1808,1920,0,0,0,0,0,0
$GC,18754,0.59,167.9,16.5,11.3,1348,18761,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1920,0,0,0,0,0,0
$GC,18810,0.59,167.9,10.8,10.0,1357,18816,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1808,1920,0,0,0,0,0,0
$GC,18865,0.59,167.9,4.5,10.6,1366,18872,0.00,0.40,0.00,0.000,4,0.000,0.054,3241,1537,1920,0,0,0,0,0,0
$STATE,18885,end climb,SURFACE_DEPTH_REACHED
$STATE,18885,begin surface coast
$FINISH,1.6,1.026584
$STATE,18910,end surface coast,CONTROL_FINISHED_OK
$STATE,18910,begin surface
$SM_CCo,18926,8.73,0.848,0,0,1844,185.20
$SM_GC,4.00,0.00,0.00,8.73,0.000,0.000,0.848,83,1958,1844,-9.24,0.23,185.20
$IRIDIUM_FIX,-4227.40,843.88,131113,050505
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.7,22.375
$10V_AH,10.3,18.652
$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,22.150,22.500,284.300,8.725,0.000,30.914,43.240,308.531,0.500,0.000,18.417,3268.587,12467.521,378.187,3182.163,136.189,33.382,1499.850,0.000,2763.991,0.000,5.324,0.000
$DEVICE_MAMPS,266.220,84.915,1588.905,847.620,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.613,920.737,917.457,83.034,0.000,0.000,0.000,0.000,0.000,0.000
$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,76919,1373
$CAP_FILE_SIZE,142547,0
$CFSIZE,2097086464,2077589504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131113,164426,-4245.371,840.393,70,1.0,70,-25.1