version: 66.07.10.p01
glider: 574
mission: 7
dive: 138
start: 11 14 113 14 58 55
data:
$ID,574
$MISSION,7
$DIVE,138
$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,-13807.158
$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,52
$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,117
$GPS1,141113,144958,-4250.339,837.248,49,1.1,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-75.4
$GPS2,141113,145800,-4250.318,837.317,15,1.4,16,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.024,-0.265
$KALMAN_X,-170221.7,-103.0,15.1,74838.6,-658.7
$KALMAN_Y,434511.0,-102.9,-211.0,-626098.3,3727.4
$MHEAD_RNG_PITCHd_Wd,210.2,30327,-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,-155.7,0.0,0.0,0,51,0.00,0.00,-25.05,0.000,2,0.000,0.000,67,1940,2398,0,0,0,0,0,0
$GC,53,-0.59,-155.7,3.0,-1.3,4,109,11.90,1.58,-37.42,0.000,4,0.254,0.060,2838,2944,3234,0,0,0,0,0,0
$GC,229,-0.59,-155.7,15.4,-11.5,33,236,0.00,1.52,0.00,0.000,6,0.000,0.034,2839,1975,3237,0,0,0,0,0,0
$GC,283,-0.59,-155.7,22.0,-12.3,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1975,3237,0,0,0,0,0,0
$GC,429,-0.59,-155.7,40.6,-13.1,67,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1975,3238,0,0,0,0,0,0
$GC,776,-0.59,-155.7,82.3,-11.5,128,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1975,3239,0,0,0,0,0,0
$GC,1117,-0.59,-155.7,120.8,-11.1,173,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1975,3239,0,0,0,0,0,0
$GC,1434,-0.59,-155.7,157.6,-11.9,203,1437,0.00,0.55,0.00,0.000,4,0.000,0.050,2839,1590,3240,0,0,0,0,0,0
$GC,1563,-0.59,-155.7,173.4,-12.4,214,1568,0.00,0.55,0.00,0.000,6,0.000,0.032,2837,1986,3240,0,0,0,0,0,0
$GC,1891,-0.59,-155.7,212.8,-12.1,245,1895,0.00,0.38,0.00,0.000,4,0.000,0.044,2835,2281,3241,0,0,0,0,0,0
$GC,2105,-0.59,-155.7,239.2,-12.2,264,2109,0.00,0.50,0.00,0.000,6,0.000,0.041,2835,1928,3240,0,0,0,0,0,0
$GC,2435,-0.59,-155.7,277.9,-11.7,295,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3241,0,0,0,0,0,0
$GC,2758,-0.59,-155.7,315.3,-11.2,325,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3241,0,0,0,0,0,0
$GC,3083,-0.59,-155.7,351.7,-11.8,356,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3241,0,0,0,0,0,0
$GC,3401,-0.59,-155.7,386.2,-10.5,386,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3241,0,0,0,0,0,0
$GC,3724,-0.59,-155.7,419.7,-10.2,408,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3241,0,0,0,0,0,0
$GC,4034,-0.59,-155.7,451.7,-10.6,423,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3240,0,0,0,0,0,0
$GC,4343,-0.59,-155.7,484.2,-10.8,438,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1927,3241,0,0,0,0,0,0
$GC,4652,-0.59,-155.7,517.7,-11.1,453,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1928,3241,0,0,0,0,0,0
$GC,4962,-0.59,-155.7,551.8,-10.8,468,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3241,0,0,0,0,0,0
$GC,5271,-0.59,-155.7,584.2,-10.2,483,5273,0.05,0.00,0.00,0.000,6,0.236,0.000,2844,1926,3240,0,0,0,0,0,0
$GC,5581,-0.59,-155.7,613.4,-9.5,498,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1926,3241,0,0,0,0,0,0
$GC,5890,-0.59,-155.7,642.1,-9.2,513,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1926,3240,0,0,0,0,0,0
$GC,6199,-0.59,-155.7,669.8,-8.8,528,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1926,3240,0,0,0,0,0,0
$GC,6509,-0.59,-155.7,697.1,-8.7,543,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1926,3239,0,0,0,0,0,0
$GC,6818,-0.59,-155.7,723.3,-8.4,558,6822,0.00,0.52,0.00,0.000,4,0.000,0.053,2845,1567,3238,0,0,0,0,0,0
$GC,6980,-0.59,-155.7,736.9,-8.8,565,6985,0.00,0.55,0.00,0.000,6,0.000,0.034,2844,1955,3237,0,0,0,0,0,0
$GC,7307,-0.59,-155.7,765.8,-9.3,581,7311,0.00,0.55,0.00,0.000,4,0.000,0.042,2841,2355,3237,0,0,0,0,0,0
$GC,7564,-0.59,-155.7,789.8,-9.9,592,7568,0.00,0.60,0.00,0.000,6,0.000,0.038,2841,1947,3237,0,0,0,0,0,0
$GC,7885,-0.59,-155.7,820.4,-9.5,608,7889,0.00,0.45,0.00,0.000,4,0.000,0.037,2840,2281,3236,0,0,0,0,0,0
$GC,8047,-0.59,-155.7,835.2,-8.6,615,8051,0.00,0.50,0.00,0.000,6,0.000,0.041,2840,1938,3236,0,0,0,0,0,0
$GC,8374,-0.59,-155.7,864.7,-9.1,631,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3236,0,0,0,0,0,0
$GC,8683,-0.59,-155.7,892.6,-9.2,646,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3236,0,0,0,0,0,0
$GC,8993,-0.59,-155.7,920.8,-9.2,661,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3235,0,0,0,0,0,0
$GC,9302,-0.59,-155.7,949.5,-9.2,676,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3235,0,0,0,0,0,0
$GC,9611,-0.59,-155.7,978.5,-9.2,691,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1938,3235,0,0,0,0,0,0
$STATE,9858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9858,begin apogee
$GC,9862,-0.17,0.0,1000.5,8.6,703,9999,0.47,0.00,131.00,1.592,6,0.149,0.000,2979,1810,2600,0,0,0,0,0,0
$STATE,9999,end apogee,CONTROL_FINISHED_OK
$STATE,9999,begin climb
$GC,10001,0.59,155.7,1004.2,0.0,710,10148,0.77,0.00,142.62,1.544,6,0.109,0.000,3219,1810,1964,0,0,0,0,0,0
$GC,10451,0.59,155.7,959.7,11.2,732,10455,0.00,1.08,0.00,0.000,4,0.000,0.057,3224,1168,1954,0,0,0,0,0,0
$GC,10691,0.59,155.7,932.6,10.9,742,10697,0.00,0.98,0.00,0.000,6,0.000,0.028,3224,1805,1952,0,0,0,0,0,0
$GC,11007,0.59,155.7,897.9,10.8,758,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1805,1952,0,0,0,0,0,0
$GC,11317,0.59,155.7,863.8,11.0,773,11318,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1805,1951,0,0,0,0,0,0
$GC,11626,0.59,155.7,829.0,11.5,788,11630,0.00,0.70,0.00,0.000,4,0.000,0.049,3225,1367,1950,0,0,0,0,0,0
$GC,11798,0.59,155.7,808.9,11.3,795,11804,0.00,0.65,0.00,0.000,6,0.000,0.028,3225,1801,1950,0,0,0,0,0,0
$GC,12114,0.59,155.7,773.0,11.3,811,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1801,1950,0,0,0,0,0,0
$GC,12423,0.59,155.7,738.3,11.2,826,12427,0.00,0.62,0.00,0.000,4,0.000,0.049,3227,1403,1949,0,0,0,0,0,0
$GC,12680,0.59,155.7,710.0,10.3,837,12684,0.00,0.62,0.00,0.000,6,0.000,0.030,3227,1829,1949,0,0,0,0,0,0
$GC,13001,0.59,155.7,676.0,10.5,853,13005,0.00,1.15,0.00,0.000,4,0.000,0.054,3231,1118,1949,0,0,0,0,0,0
$GC,13185,0.59,155.7,655.9,10.3,861,13190,0.00,1.05,0.00,0.000,6,0.000,0.030,3231,1814,1948,0,0,0,0,0,0
$GC,13514,0.59,155.7,620.5,10.9,877,13517,0.00,0.47,0.00,0.000,4,0.000,0.050,3232,1503,1949,0,0,0,0,0,0
$GC,13770,0.59,155.7,591.5,11.6,888,13775,0.00,0.45,0.00,0.000,6,0.000,0.036,3232,1826,1949,0,0,0,0,0,0
$GC,14091,0.59,155.7,554.8,11.8,904,14095,0.00,0.62,0.00,0.000,4,0.000,0.050,3234,1427,1948,0,0,0,0,0,0
$GC,14258,0.59,155.7,535.5,11.9,911,14262,0.00,0.55,0.00,0.000,6,0.000,0.034,3234,1809,1948,0,0,0,0,0,0
$GC,14579,0.59,155.7,498.4,11.6,927,14583,0.00,0.45,0.00,0.000,4,0.000,0.049,3235,1515,1948,0,0,0,0,0,0
$GC,14836,0.59,155.7,469.4,11.0,938,14840,0.00,0.43,0.00,0.000,6,0.000,0.037,3235,1817,1948,0,0,0,0,0,0
$GC,15157,0.59,155.7,435.1,11.0,954,15161,0.00,1.10,0.00,0.000,4,0.000,0.054,3239,1133,1948,0,0,0,0,0,0
$GC,15319,0.59,155.7,416.5,11.6,961,15323,0.00,1.00,0.00,0.000,6,0.000,0.030,3239,1807,1948,0,0,0,0,0,0
$GC,15645,0.59,155.7,377.9,11.8,985,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1807,1948,0,0,0,0,0,0
$GC,15970,0.59,155.7,338.1,12.6,1016,15973,0.00,0.45,0.00,0.000,4,0.000,0.042,3239,2146,1948,0,0,0,0,0,0
$GC,16060,0.59,155.7,327.2,11.5,1024,16064,0.00,0.47,0.00,0.000,6,0.000,0.049,3240,1824,1949,0,0,0,0,0,0
$GC,16390,0.59,155.7,290.8,11.0,1055,16394,0.00,1.10,0.00,0.000,4,0.000,0.060,3244,1132,1948,0,0,0,0,0,0
$GC,16530,0.59,155.7,275.1,11.5,1067,16536,0.03,1.02,0.00,0.000,6,0.181,0.028,3235,1825,1948,0,0,0,0,0,0
$GC,16855,0.59,155.7,240.7,11.0,1098,16856,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1825,1948,0,0,0,0,0,0
$GC,17174,0.59,155.7,206.0,10.9,1128,17178,0.00,0.50,0.00,0.000,4,0.000,0.048,3235,1495,1948,0,0,0,0,0,0
$GC,17287,0.59,155.7,193.8,10.2,1138,17291,0.00,0.43,0.00,0.000,6,0.000,0.036,3235,1815,1948,0,0,0,0,0,0
$GC,17621,0.59,155.7,158.9,10.2,1169,17624,0.00,0.43,0.00,0.000,4,0.000,0.050,3236,1533,1949,0,0,0,0,0,0
$GC,17802,0.59,155.7,140.1,11.0,1185,17806,0.00,0.35,0.00,0.000,6,0.000,0.037,3236,1790,1949,0,0,0,0,0,0
$GC,18132,0.59,155.7,104.0,11.2,1216,18133,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1790,1948,0,0,0,0,0,0
$GC,18469,0.59,155.7,68.9,10.0,1272,18475,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1790,1948,0,0,0,0,0,0
$GC,18818,0.59,155.7,35.0,9.9,1333,18823,0.00,1.23,0.00,0.000,4,0.000,0.054,3241,1029,1949,0,0,0,0,0,0
$GC,18980,0.59,155.7,18.5,10.3,1361,18988,0.00,1.15,0.00,0.000,6,0.000,0.028,3241,1814,1949,0,0,0,0,0,0
$GC,19037,0.59,155.7,12.4,10.8,1370,19043,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1814,1949,0,0,0,0,0,0
$GC,19092,0.59,155.7,6.5,11.0,1379,19099,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1814,1949,0,0,0,0,0,0
$STATE,19129,end climb,SURFACE_DEPTH_REACHED
$STATE,19129,begin surface coast
$FINISH,1.7,1.012681
$STATE,19160,end surface coast,CONTROL_FINISHED_OK
$STATE,19160,begin surface
$SM_CCo,19176,12.50,0.865,0,0,1844,185.20
$SM_GC,3.93,0.00,0.00,12.50,0.000,0.000,0.865,79,1968,1844,-9.25,0.48,185.20
$IRIDIUM_FIX,-4233.25,835.18,141113,090902
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.7,23.109
$10V_AH,10.3,19.282
$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,21.675,27.600,273.625,12.500,0.000,28.793,20.991,312.987,0.250,0.000,17.833,3404.692,12151.091,366.333,3585.047,158.613,33.380,1696.556,0.000,3185.097,0.000,2.831,0.000
$DEVICE_MAMPS,253.980,84.150,1591.965,865.215,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.760,957.056,927.494,89.741,0.000,0.000,0.000,0.000,0.000,0.000
$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,80194,1390
$CAP_FILE_SIZE,161414,0
$CFSIZE,2097086464,2076934144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141113,202004,-4251.692,836.436,46,0.9,46,-25.1