version: 66.07.10.p01
glider: 574
mission: 7
dive: 189
start: 11 25 113 0 8 0
data:
$ID,574
$MISSION,7
$DIVE,189
$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,380
$T_MISSION,420
$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,-13948.309
$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,31
$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,1930
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,43
$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,168
$GPS1,241113,235835,-4303.400,831.600,31,1.1,31,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-75.5
$GPS2,251113,000705,-4303.384,831.684,16,0.9,16,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.112,0.102
$KALMAN_X,-135355.8,381.0,663.2,30961.7,-819.6
$KALMAN_Y,604826.4,-629.4,-498.1,-819773.7,4847.8
$MHEAD_RNG_PITCHd_Wd,337.5,6670,-27.7,-8.772
$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,-0.90,-51.9,0.0,0.0,0,51,0.00,0.00,-25.55,0.000,2,0.000,0.000,67,1908,2264,0,0,0,0,0,0
$GC,54,-0.90,-117.8,3.1,-1.3,4,116,11.95,2.22,-40.08,0.000,4,0.267,0.063,2741,540,3083,0,0,0,0,0,0
$GC,206,-0.90,-117.8,18.1,-17.5,29,214,0.00,2.15,0.00,0.000,6,0.000,0.027,2733,1931,3084,0,0,0,0,0,0
$GC,260,-0.90,-117.8,27.9,-17.7,38,267,0.08,0.52,0.00,0.000,4,0.241,0.041,2744,2310,3084,0,0,0,0,0,0
$GC,336,-0.90,-117.8,41.1,-17.1,51,343,0.00,0.55,0.00,0.000,6,0.000,0.037,2743,1925,3085,0,0,0,0,0,0
$GC,687,-0.90,-117.8,97.7,-16.3,112,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1925,3085,0,0,0,0,0,0
$GC,1012,-0.90,-117.8,149.3,-15.4,144,1015,0.00,0.47,0.00,0.000,4,0.000,0.048,2744,1584,3086,0,0,0,0,0,0
$GC,1039,-0.90,-117.8,154.0,-15.5,146,1044,0.00,0.52,0.00,0.000,6,0.000,0.032,2742,1961,3086,0,0,0,0,0,0
$GC,1367,-0.90,-117.8,202.8,-14.8,177,1371,0.00,1.80,0.00,0.000,4,0.000,0.043,2733,3143,3087,0,0,0,0,0,0
$GC,1406,-0.90,-117.8,209.3,-15.2,180,1413,0.00,1.85,0.00,0.000,6,0.000,0.031,2737,1942,3087,0,0,0,0,0,0
$GC,1730,-0.90,-117.8,257.7,-13.9,211,1734,0.00,1.05,0.00,0.000,4,0.000,0.046,2737,1259,3087,0,0,0,0,0,0
$GC,1755,-0.90,-117.8,261.3,-16.3,213,1759,0.00,0.95,0.00,0.000,6,0.000,0.028,2735,1914,3087,0,0,0,0,0,0
$GC,2085,-0.90,-117.8,311.4,-15.4,244,2089,0.00,1.45,0.00,0.000,4,0.000,0.039,2728,2856,3087,0,0,0,0,0,0
$GC,2100,-0.90,-117.8,314.0,-15.0,245,2107,0.10,1.45,0.00,0.000,6,0.203,0.031,2749,1913,3087,0,0,0,0,0,0
$GC,2426,-0.90,-117.8,360.3,-14.2,276,2430,0.00,0.85,0.00,0.000,4,0.000,0.046,2749,1355,3087,0,0,0,0,0,0
$GC,2449,-0.90,-117.8,363.7,-15.4,278,2452,0.00,0.82,0.00,0.000,6,0.000,0.029,2747,1930,3087,0,0,0,0,0,0
$GC,2788,-0.90,-117.8,413.6,-14.8,306,2792,0.00,2.12,0.00,0.000,4,0.000,0.045,2737,3308,3087,0,0,0,0,0,0
$GC,2831,-0.90,-117.8,420.6,-15.0,308,2836,0.00,2.10,0.00,0.000,6,0.000,0.031,2737,1940,3087,0,0,0,0,0,0
$GC,3159,-0.90,-117.8,469.7,-14.8,324,3162,0.00,1.40,0.00,0.000,4,0.000,0.036,2732,2849,3087,0,0,0,0,0,0
$GC,3190,-0.90,-117.8,474.9,-14.9,325,3196,0.08,1.42,0.00,0.000,6,0.215,0.031,2746,1921,3087,0,0,0,0,0,0
$GC,3512,-0.90,-117.8,521.7,-14.1,341,3515,0.00,1.38,0.00,0.000,4,0.000,0.048,2746,1044,3087,0,0,0,0,0,0
$GC,3540,-0.90,-117.8,525.8,-14.7,342,3543,0.00,1.30,0.00,0.000,6,0.000,0.026,2742,1916,3087,0,0,0,0,0,0
$GC,3866,-0.90,-117.8,571.6,-13.9,358,3870,0.00,2.17,0.00,0.000,4,0.000,0.045,2732,3325,3087,0,0,0,0,0,0
$GC,3897,-0.90,-117.8,576.0,-13.5,359,3903,0.03,2.12,0.00,0.000,6,0.203,0.030,2739,1939,3087,0,0,0,0,0,0
$GC,4219,-0.90,-117.8,618.1,-13.0,375,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1939,3086,0,0,0,0,0,0
$GC,4528,-0.90,-117.8,658.3,-12.8,390,4532,0.00,1.38,0.00,0.000,4,0.000,0.047,2739,1063,3086,0,0,0,0,0,0
$GC,4551,-0.90,-117.8,661.3,-13.8,391,4555,0.00,1.30,0.00,0.000,6,0.000,0.024,2735,1940,3086,0,0,0,0,0,0
$GC,4883,-0.90,-117.8,706.9,-13.9,407,4886,0.00,1.05,0.00,0.000,4,0.000,0.037,2730,2645,3085,0,0,0,0,0,0
$GC,4898,-0.90,-117.8,709.4,-14.0,407,4905,0.08,1.12,0.00,0.000,6,0.214,0.032,2744,1914,3085,0,0,0,0,0,0
$GC,5214,-0.90,-117.8,751.0,-13.5,423,5218,0.00,1.98,0.00,0.000,4,0.000,0.051,2744,675,3085,0,0,0,0,0,0
$GC,5268,-0.90,-117.8,758.9,-14.1,425,5273,0.00,1.88,0.00,0.000,6,0.000,0.026,2738,1919,3085,0,0,0,0,0,0
$GC,5590,-0.90,-117.8,803.5,-14.1,441,5594,0.00,2.08,0.00,0.000,4,0.000,0.045,2727,3257,3085,0,0,0,0,0,0
$GC,5616,-0.90,-117.8,807.5,-14.3,442,5622,0.05,2.05,0.00,0.000,6,0.185,0.031,2742,1926,3085,0,0,0,0,0,0
$GC,5944,-0.90,-117.8,850.1,-12.5,458,5947,0.00,0.40,0.00,0.000,4,0.000,0.050,2742,1640,3084,0,0,0,0,0,0
$GC,5959,-0.90,-117.8,852.2,-12.7,458,5964,0.00,0.45,0.00,0.000,6,0.000,0.034,2741,1982,3084,0,0,0,0,0,0
$GC,6275,-0.90,-117.8,891.2,-12.4,474,6278,0.00,1.12,0.00,0.000,4,0.000,0.039,2737,2729,3084,0,0,0,0,0,0
$GC,6289,-0.90,-117.8,893.4,-12.7,474,6296,0.00,1.25,0.00,0.000,6,0.000,0.032,2737,1928,3084,0,0,0,0,0,0
$GC,6606,-0.90,-117.8,930.3,-11.5,490,6610,0.00,1.38,0.00,0.000,4,0.000,0.048,2737,1052,3084,0,0,0,0,0,0
$GC,6643,-0.90,-117.8,935.2,-12.6,491,6650,0.08,1.35,0.00,0.000,6,0.225,0.026,2744,1946,3084,0,0,0,0,0,0
$GC,6960,-0.90,-117.8,972.0,-12.0,507,6964,0.00,2.12,0.00,0.000,4,0.000,0.047,2736,3314,3083,0,0,0,0,0,0
$GC,7003,-0.90,-117.8,977.5,-12.6,509,7008,0.03,2.15,0.00,0.000,6,0.208,0.032,2744,1922,3083,0,0,0,0,0,0
$STATE,7207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7207,begin apogee
$GC,7212,-0.16,0.0,1002.4,12.5,519,7317,0.85,0.00,102.05,1.931,6,0.181,0.000,2978,1802,2599,0,0,0,0,0,0
$STATE,7318,end apogee,CONTROL_FINISHED_OK
$STATE,7318,begin climb
$GC,7319,0.90,117.8,1005.5,0.0,524,7440,1.12,1.33,111.72,1.828,4,0.106,0.053,3329,1085,2118,0,0,0,0,0,0
$GC,7497,0.90,117.8,983.1,17.9,532,7500,0.00,1.20,0.00,0.000,6,0.000,0.026,3329,1826,2113,0,0,0,0,0,0
$GC,7817,0.90,117.8,926.9,17.6,548,7821,0.00,0.62,0.00,0.000,4,0.000,0.044,3331,1438,2108,0,0,0,0,0,0
$GC,8001,0.90,117.8,893.5,18.4,556,8005,0.00,0.60,0.00,0.000,6,0.000,0.031,3331,1847,2107,0,0,0,0,0,0
$GC,8328,0.90,117.8,834.5,18.1,572,8332,0.00,0.80,0.00,0.000,4,0.000,0.046,3333,1348,2105,0,0,0,0,0,0
$GC,8396,0.90,117.8,822.2,18.6,575,8400,0.00,0.70,0.00,0.000,6,0.000,0.029,3333,1826,2105,0,0,0,0,0,0
$GC,8728,0.90,117.8,763.4,17.4,591,8732,0.00,2.25,0.00,0.000,4,0.000,0.056,3342,452,2104,0,0,0,0,0,0
$GC,8821,0.90,117.8,746.3,18.9,595,8826,0.00,2.10,0.00,0.000,6,0.000,0.027,3343,1810,2103,0,0,0,0,0,0
$GC,9143,0.90,117.8,693.2,16.4,611,9147,0.00,2.20,0.00,0.000,4,0.000,0.055,3351,456,2102,0,0,0,0,0,0
$GC,9242,0.90,117.8,675.7,17.7,615,9249,0.05,2.12,0.00,0.000,6,0.191,0.027,3337,1842,2102,0,0,0,0,0,0
$GC,9558,0.90,117.8,624.8,16.1,631,9562,0.00,1.10,0.00,0.000,4,0.000,0.047,3340,1153,2101,0,0,0,0,0,0
$GC,9708,0.90,117.8,599.8,16.5,637,9714,0.00,1.05,0.00,0.000,6,0.000,0.026,3338,1854,2101,0,0,0,0,0,0
$GC,10024,0.90,117.8,549.9,16.1,653,10028,0.00,0.60,0.00,0.000,4,0.000,0.041,3338,2280,2101,0,0,0,0,0,0
$GC,10101,0.90,117.8,537.2,16.1,656,10106,0.00,0.68,0.00,0.000,6,0.000,0.038,3340,1832,2101,0,0,0,0,0,0
$GC,10422,0.90,117.8,484.1,17.0,672,10427,0.00,2.22,0.00,0.000,4,0.000,0.059,3350,435,2101,0,0,0,0,0,0
$GC,10529,0.90,117.8,464.9,17.9,677,10534,0.08,2.08,0.00,0.000,6,0.229,0.028,3336,1819,2100,0,0,0,0,0,0
$GC,10855,0.90,117.8,410.5,16.6,693,10859,0.00,0.57,0.00,0.000,4,0.000,0.039,3336,2236,2100,0,0,0,0,0,0
$GC,10949,0.90,117.8,394.8,16.3,698,10954,0.00,0.62,0.00,0.000,6,0.000,0.040,3337,1823,2100,0,0,0,0,0,0
$GC,11277,0.90,117.8,340.7,16.6,729,11281,0.00,2.20,0.00,0.000,4,0.000,0.059,3347,436,2100,0,0,0,0,0,0
$GC,11411,0.90,117.8,316.7,17.1,740,11420,0.05,2.10,0.00,0.000,6,0.192,0.027,3333,1825,2099,0,0,0,0,0,0
$GC,11736,0.90,117.8,263.4,16.2,771,11740,0.00,0.60,0.00,0.000,4,0.000,0.046,3334,1431,2098,0,0,0,0,0,0
$GC,11838,0.90,117.8,246.9,16.4,780,11842,0.00,0.57,0.00,0.000,6,0.000,0.031,3334,1845,2098,0,0,0,0,0,0
$GC,12168,0.90,117.8,195.6,15.4,811,12171,0.00,2.05,0.00,0.000,4,0.000,0.054,3342,565,2098,0,0,0,0,0,0
$GC,12239,0.90,117.8,184.2,16.1,817,12245,0.00,1.90,0.00,0.000,6,0.000,0.026,3343,1821,2098,0,0,0,0,0,0
$GC,12565,0.90,117.8,132.8,15.1,848,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1820,2098,0,0,0,0,0,0
$GC,12890,0.90,117.8,80.0,16.6,888,12897,0.00,0.52,0.00,0.000,4,0.000,0.044,3344,1476,2098,0,0,0,0,0,0
$GC,13063,0.90,117.8,53.6,15.4,918,13070,0.03,0.50,0.00,0.000,6,0.229,0.034,3337,1860,2099,0,0,0,0,0,0
$STATE,13399,end climb,SURFACE_DEPTH_REACHED
$STATE,13399,begin surface coast
$FINISH,1.9,1.026570
$STATE,13419,end surface coast,CONTROL_FINISHED_OK
$STATE,13419,begin surface
$SM_CCo,13435,34.22,1.269,0,0,1844,185.20
$SM_GC,3.39,0.00,0.00,34.22,0.000,0.000,1.269,88,1869,1844,-9.22,-1.72,185.20
$IRIDIUM_FIX,-4244.98,828.21,241113,171721
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.50
$XPDR_PINGS,0
$24V_AH,22.4,30.967
$10V_AH,10.1,24.924
$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,23.600,87.175,213.775,34.225,0.000,27.183,25.336,328.048,0.500,0.000,18.691,2438.496,8394.853,374.340,2611.227,151.349,33.361,1365.298,0.000,2197.686,0.000,5.323,0.000
$DEVICE_MAMPS,266.985,88.740,1930.860,1269.135,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.840,679.785,654.646,61.079,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,56871,979
$CAP_FILE_SIZE,133984,0
$CFSIZE,2097086464,2070315008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251113,035353,-4301.256,831.728,48,1.0,48,-25.1