version: 66.07.10.p01
glider: 574
mission: 7
dive: 134
start: 11 13 113 16 53 47
data:
$ID,574
$MISSION,7
$DIVE,134
$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,-13793.246
$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,53
$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,113
$GPS1,131113,164426,-4245.371,840.393,70,1.0,70,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.0
$GPS2,131113,165253,-4245.329,840.403,19,1.0,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.059,-0.259
$KALMAN_X,-167726.2,-56.1,-370.5,76991.0,737.7
$KALMAN_Y,421926.8,202.5,-190.6,-604614.6,4527.0
$MHEAD_RNG_PITCHd_Wd,218.0,40373,-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,25,-0.59,-155.7,0.0,0.0,0,58,0.00,0.00,-31.17,0.000,2,0.000,0.000,66,1951,2529,0,0,0,0,0,0
$GC,60,-0.59,-155.7,3.0,-1.3,5,110,11.88,1.62,-29.73,0.000,4,0.255,0.071,2841,962,3238,0,0,0,0,0,0
$GC,264,-0.59,-155.7,23.0,-13.7,39,269,0.00,1.52,0.00,0.000,6,0.000,0.029,2836,1951,3240,0,0,0,0,0,0
$GC,409,-0.59,-155.7,42.4,-12.8,64,414,0.00,0.55,0.00,0.000,4,0.000,0.043,2833,2342,3240,0,0,0,0,0,0
$GC,547,-0.59,-155.7,59.3,-12.0,88,552,0.03,0.57,0.00,0.000,6,0.196,0.041,2841,1940,3241,0,0,0,0,0,0
$GC,900,-0.59,-155.7,101.4,-11.8,149,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1940,3242,0,0,0,0,0,0
$GC,1217,-0.59,-155.7,138.0,-11.2,179,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1940,3242,0,0,0,0,0,0
$GC,1540,-0.59,-155.7,173.7,-10.8,209,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1941,3243,0,0,0,0,0,0
$GC,1864,-0.59,-155.7,209.5,-11.0,240,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1940,3243,0,0,0,0,0,0
$GC,2183,-0.59,-155.7,245.0,-12.0,270,2187,0.00,0.45,0.00,0.000,4,0.000,0.054,2840,1624,3243,0,0,0,0,0,0
$GC,2365,-0.59,-155.7,266.5,-11.5,286,2368,0.00,0.47,0.00,0.000,6,0.000,0.037,2841,1970,3243,0,0,0,0,0,0
$GC,2697,-0.59,-155.7,304.0,-11.2,317,2700,0.00,0.40,0.00,0.000,4,0.000,0.044,2838,2286,3243,0,0,0,0,0,0
$GC,2834,-0.59,-155.7,319.1,-11.5,329,2838,0.00,0.45,0.00,0.000,6,0.000,0.041,2838,1956,3243,0,0,0,0,0,0
$GC,3164,-0.59,-155.7,355.7,-11.2,360,3168,0.00,0.43,0.00,0.000,4,0.000,0.054,2838,1655,3244,0,0,0,0,0,0
$GC,3383,-0.59,-155.7,379.5,-10.0,379,3389,0.00,0.43,0.00,0.000,6,0.000,0.038,2837,1969,3244,0,0,0,0,0,0
$GC,3707,-0.59,-155.7,414.1,-11.1,404,3710,0.00,0.32,0.00,0.000,4,0.000,0.050,2835,2231,3244,0,0,0,0,0,0
$GC,3963,-0.59,-155.7,442.2,-10.5,415,3967,0.00,0.40,0.00,0.000,6,0.000,0.043,2835,1945,3244,0,0,0,0,0,0
$GC,4284,-0.59,-155.7,475.7,-10.5,431,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1945,3244,0,0,0,0,0,0
$GC,4594,-0.59,-155.7,508.1,-10.2,446,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1945,3244,0,0,0,0,0,0
$GC,4903,-0.59,-155.7,539.5,-10.4,461,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1944,3244,0,0,0,0,0,0
$GC,5212,-0.59,-155.7,572.0,-10.7,476,5216,0.00,0.52,0.00,0.000,4,0.000,0.053,2835,1584,3244,0,0,0,0,0,0
$GC,5363,-0.59,-155.7,588.0,-10.9,482,5368,0.00,0.50,0.00,0.000,6,0.000,0.037,2834,1939,3244,0,0,0,0,0,0
$GC,5678,-0.59,-155.7,622.4,-11.3,498,5683,0.05,0.55,0.00,0.000,4,0.239,0.043,2843,2332,3244,0,0,0,0,0,0
$GC,5861,-0.59,-155.7,641.7,-10.0,506,5865,0.00,0.55,0.00,0.000,6,0.000,0.039,2843,1952,3244,0,0,0,0,0,0
$GC,6188,-0.59,-155.7,676.6,-10.7,522,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1951,3244,0,0,0,0,0,0
$GC,6497,-0.59,-155.7,709.1,-10.5,537,6501,0.00,0.50,0.00,0.000,4,0.000,0.053,2843,1605,3243,0,0,0,0,0,0
$GC,6655,-0.59,-155.7,725.9,-10.7,544,6659,0.00,0.47,0.00,0.000,6,0.000,0.037,2842,1959,3243,0,0,0,0,0,0
$GC,6987,-0.59,-155.7,760.9,-10.6,560,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1959,3243,0,0,0,0,0,0
$GC,7296,-0.59,-155.7,791.8,-9.8,575,7300,0.00,0.57,0.00,0.000,4,0.000,0.042,2839,2373,3243,0,0,0,0,0,0
$GC,7480,-0.59,-155.7,809.4,-10.0,583,7484,0.00,0.62,0.00,0.000,6,0.000,0.039,2839,1951,3243,0,0,0,0,0,0
$GC,7807,-0.59,-155.7,840.6,-9.7,599,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1951,3242,0,0,0,0,0,0
$GC,8116,-0.59,-155.7,869.6,-9.3,614,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1951,3242,0,0,0,0,0,0
$GC,8426,-0.59,-155.7,898.9,-9.4,629,8429,0.00,0.35,0.00,0.000,4,0.000,0.057,2839,1696,3242,0,0,0,0,0,0
$GC,8682,-0.59,-155.7,923.5,-8.9,640,8687,0.00,0.35,0.00,0.000,6,0.000,0.039,2838,1954,3242,0,0,0,0,0,0
$GC,9004,-0.59,-155.7,950.6,-8.4,656,9007,0.00,0.43,0.00,0.000,4,0.000,0.046,2836,2273,3242,0,0,0,0,0,0
$GC,9221,-0.59,-155.7,969.7,-9.2,665,9227,0.00,0.47,0.00,0.000,6,0.000,0.041,2836,1947,3242,0,0,0,0,0,0
$GC,9537,-0.59,-155.7,997.0,-8.7,681,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1947,3242,0,0,0,0,0,0
$STATE,9578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9578,begin apogee
$GC,9582,-0.17,0.0,1000.8,8.9,683,9718,0.50,0.00,132.43,1.592,6,0.153,0.000,2981,1802,2599,0,0,0,0,0,0
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9721,0.59,155.7,1004.1,0.0,690,9867,0.80,0.00,143.10,1.538,6,0.109,0.000,3222,1801,1964,0,0,0,0,0,0
$GC,10168,0.59,155.7,962.3,10.3,712,10171,0.00,1.27,0.00,0.000,4,0.000,0.057,3227,1045,1954,0,0,0,0,0,0
$GC,10329,0.59,155.7,945.4,10.1,719,10334,0.00,1.15,0.00,0.000,6,0.000,0.026,3226,1802,1953,0,0,0,0,0,0
$GC,10656,0.59,155.7,911.8,10.4,735,10660,0.00,0.35,0.00,0.000,4,0.000,0.045,3226,1565,1952,0,0,0,0,0,0
$GC,10913,0.59,155.7,884.8,10.6,746,10917,0.00,0.35,0.00,0.000,6,0.000,0.035,3227,1817,1951,0,0,0,0,0,0
$GC,11234,0.59,155.7,850.1,10.4,762,11238,0.00,1.02,0.00,0.000,4,0.000,0.053,3227,1192,1950,0,0,0,0,0,0
$GC,11440,0.59,155.7,828.0,10.1,771,11445,0.00,0.93,0.00,0.000,6,0.000,0.028,3227,1819,1950,0,0,0,0,0,0
$GC,11767,0.59,155.7,792.4,11.1,787,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1819,1950,0,0,0,0,0,0
$GC,12076,0.59,155.7,758.7,10.9,802,12080,0.00,0.77,0.00,0.000,4,0.000,0.050,3227,1337,1949,0,0,0,0,0,0
$GC,12333,0.59,155.7,731.1,10.0,813,12337,0.00,0.70,0.00,0.000,6,0.000,0.028,3227,1794,1949,0,0,0,0,0,0
$GC,12655,0.59,158.1,698.4,9.7,829,12658,0.00,1.08,0.00,0.000,4,0.000,0.054,3230,1121,1949,0,0,0,0,0,0
$GC,12799,0.59,166.7,683.6,9.4,835,12811,0.00,1.05,8.02,1.271,6,0.000,0.028,3230,1829,1920,0,0,0,0,0,0
$GC,13120,0.59,169.0,651.9,9.7,851,13126,0.00,0.00,4.03,0.976,6,0.000,0.000,3230,1829,1910,0,0,0,0,0,0
$GC,13429,0.59,169.0,620.4,10.4,866,13433,0.00,1.02,0.00,0.000,4,0.000,0.051,3234,1186,1910,0,0,0,0,0,0
$GC,13609,0.59,169.0,601.0,11.5,874,13613,0.00,0.93,0.00,0.000,6,0.000,0.029,3234,1822,1909,0,0,0,0,0,0
$GC,13941,0.59,169.0,564.4,11.1,890,13944,0.00,0.40,0.00,0.000,4,0.000,0.047,3235,1551,1909,0,0,0,0,0,0
$GC,14175,0.59,169.0,538.5,11.2,900,14179,0.00,0.35,0.00,0.000,6,0.000,0.036,3235,1803,1909,0,0,0,0,0,0
$GC,14496,0.59,169.0,503.3,11.0,916,14500,0.00,0.35,0.00,0.000,4,0.000,0.047,3235,1563,1909,0,0,0,0,0,0
$GC,14752,0.59,169.0,475.2,10.8,927,14756,0.00,0.35,0.00,0.000,6,0.000,0.037,3235,1812,1908,0,0,0,0,0,0
$GC,15073,0.59,169.0,439.8,11.3,943,15077,0.00,0.57,0.00,0.000,4,0.000,0.048,3237,1440,1908,0,0,0,0,0,0
$GC,15330,0.59,169.0,410.4,10.9,954,15334,0.00,0.55,0.00,0.000,6,0.000,0.031,3237,1831,1908,0,0,0,0,0,0
$GC,15660,0.59,169.0,371.9,12.0,981,15661,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1832,1908,0,0,0,0,0,0
$GC,15977,0.59,169.0,333.1,12.2,1011,15981,0.00,1.10,0.00,0.000,4,0.000,0.052,3240,1146,1908,0,0,0,0,0,0
$GC,16139,0.59,169.0,313.9,11.5,1025,16142,0.00,0.95,0.00,0.000,6,0.000,0.028,3240,1803,1908,0,0,0,0,0,0
$GC,16468,0.59,169.0,274.4,11.7,1056,16472,0.00,0.57,0.00,0.000,4,0.000,0.047,3241,1433,1908,0,0,0,0,0,0
$GC,16604,0.59,169.0,259.3,11.5,1068,16608,0.00,0.52,0.00,0.000,6,0.000,0.034,3241,1830,1908,0,0,0,0,0,0
$GC,16934,0.59,169.0,222.8,10.8,1099,16935,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1830,1908,0,0,0,0,0,0
$GC,17255,0.59,169.0,187.3,11.0,1129,17259,0.00,0.57,0.00,0.000,4,0.000,0.046,3241,1452,1908,0,0,0,0,0,0
$GC,17440,0.59,169.0,165.9,11.2,1145,17446,0.00,0.50,0.00,0.000,6,0.000,0.033,3242,1819,1909,0,0,0,0,0,0
$GC,17765,0.59,169.0,129.9,10.8,1176,17769,0.00,0.50,0.00,0.000,4,0.000,0.045,3241,1490,1908,0,0,0,0,0,0
$GC,17946,0.59,171.6,109.9,9.7,1192,17958,0.00,0.40,3.80,0.750,6,0.000,0.034,3241,1791,1900,0,0,0,0,0,0
$GC,18291,0.59,171.6,73.2,10.3,1245,18297,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1790,1900,0,0,0,0,0,0
$GC,18638,0.59,179.7,35.8,9.5,1306,18650,0.00,0.65,8.20,0.937,4,0.000,0.049,3241,1394,1867,0,0,0,0,0,0
$GC,18913,0.59,179.7,7.0,11.3,1353,18920,0.00,0.57,0.00,0.000,6,0.000,0.031,3241,1819,1865,0,0,0,0,0,0
$STATE,18950,end climb,SURFACE_DEPTH_REACHED
$STATE,18950,begin surface coast
$FINISH,1.6,1.014257
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
$SM_CCo,18992,1.67,0.321,0,0,1844,185.20
$SM_GC,3.59,0.00,0.00,1.67,0.000,0.000,0.321,77,1968,1844,-9.26,0.51,185.20
$IRIDIUM_FIX,-4227.40,843.88,131113,050505
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.7,22.525
$10V_AH,10.3,18.779
$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,21.900,33.350,299.575,1.675,0.000,27.776,43.670,317.382,0.250,0.000,21.829,3411.863,11726.113,391.846,3815.834,154.106,33.383,1800.297,0.000,3372.279,0.000,2.831,0.000
$DEVICE_MAMPS,254.745,78.030,1591.965,320.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.922,927.453,907.106,84.299,0.000,0.000,0.000,0.000,0.000,0.000
$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,76768,1363
$CAP_FILE_SIZE,170407,0
$CFSIZE,2097086464,2077425664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131113,221152,-4246.253,839.565,56,0.8,56,-25.1