version: 66.07.10.p01
glider: 574
mission: 7
dive: 122
start: 11 10 113 22 12 18
data:
$ID,574
$MISSION,7
$DIVE,122
$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,540.63239
$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,-13753.313
$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,54
$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,101
$GPS1,101113,215634,-4240.162,844.477,29,0.9,29,-25.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-73.9
$GPS2,101113,221123,-4240.112,844.659,18,1.0,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.083,-0.253
$KALMAN_X,-166329.4,19.6,37.9,81041.1,66.3
$KALMAN_Y,367058.1,169.1,238.6,-540481.3,2526.5
$MHEAD_RNG_PITCHd_Wd,223.3,51621,-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,-155.7,0.0,0.0,0,110,0.00,0.00,-83.78,0.000,2,0.000,0.000,66,1957,2433,0,0,0,0,0,0
$GC,112,-0.59,-155.7,3.0,-1.3,14,162,12.30,0.00,-33.35,0.000,6,0.268,0.000,2837,1951,3235,0,0,0,0,0,0
$GC,211,-0.59,-155.7,8.2,-11.0,30,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3237,0,0,0,0,0,0
$GC,266,-0.59,-155.7,15.4,-13.8,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3237,0,0,0,0,0,0
$GC,319,-0.59,-155.7,23.0,-13.5,48,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3237,0,0,0,0,0,0
$GC,464,-0.59,-155.7,42.5,-13.9,73,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1951,3238,0,0,0,0,0,0
$GC,810,-0.59,-155.7,88.0,-13.6,134,815,0.00,0.80,0.00,0.000,4,0.000,0.040,2834,2486,3238,0,0,0,0,0,0
$GC,991,-0.59,-155.7,110.8,-11.8,159,994,0.00,0.80,0.00,0.000,6,0.000,0.037,2834,1953,3238,0,0,0,0,0,0
$GC,1320,-0.59,-155.7,151.9,-12.8,190,1322,0.05,0.00,0.00,0.000,6,0.230,0.000,2843,1953,3238,0,0,0,0,0,0
$GC,1639,-0.59,-155.7,190.3,-12.3,220,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1953,3238,0,0,0,0,0,0
$GC,1960,-0.59,-155.7,230.9,-12.9,250,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1953,3238,0,0,0,0,0,0
$GC,2277,-0.59,-155.7,268.6,-11.4,280,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1953,3238,0,0,0,0,0,0
$GC,2596,-0.59,-155.7,303.2,-11.1,310,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1953,3238,0,0,0,0,0,0
$GC,2914,-0.59,-155.7,338.2,-11.7,340,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1953,3238,0,0,0,0,0,0
$GC,3233,-0.59,-155.7,372.2,-10.3,370,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1953,3238,0,0,0,0,0,0
$GC,3550,-0.59,-155.7,405.4,-10.6,398,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1953,3238,0,0,0,0,0,0
$GC,3859,-0.59,-155.7,437.2,-10.3,413,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1953,3238,0,0,0,0,0,0
$GC,4169,-0.59,-155.7,467.2,-9.5,428,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1953,3238,0,0,0,0,0,0
$GC,4478,-0.59,-155.7,498.5,-10.2,443,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1953,3238,0,0,0,0,0,0
$GC,4787,-0.59,-155.7,529.8,-9.8,458,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1953,3238,0,0,0,0,0,0
$GC,5097,-0.59,-155.7,560.9,-9.9,473,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1952,3237,0,0,0,0,0,0
$GC,5406,-0.59,-155.7,592.7,-10.3,488,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1952,3236,0,0,0,0,0,0
$GC,5715,-0.59,-155.7,623.6,-9.9,503,5719,0.00,0.40,0.00,0.000,4,0.000,0.054,2844,1667,3236,0,0,0,0,0,0
$GC,5859,-0.59,-155.7,638.5,-10.3,509,5863,0.00,0.43,0.00,0.000,6,0.000,0.037,2843,1984,3236,0,0,0,0,0,0
$GC,6180,-0.59,-155.7,671.5,-10.3,525,6184,0.00,0.32,0.00,0.000,4,0.000,0.048,2842,2246,3235,0,0,0,0,0,0
$GC,6409,-0.59,-155.7,694.6,-9.6,535,6413,0.00,0.45,0.00,0.000,6,0.000,0.042,2842,1935,3235,0,0,0,0,0,0
$GC,6736,-0.59,-155.7,724.8,-9.1,551,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3234,0,0,0,0,0,0
$GC,7046,-0.59,-155.7,753.5,-9.8,566,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3234,0,0,0,0,0,0
$GC,7354,-0.59,-155.7,784.6,-10.0,581,7358,0.00,0.60,0.00,0.000,4,0.000,0.051,2842,1526,3234,0,0,0,0,0,0
$GC,7522,-0.59,-155.7,801.5,-9.5,588,7526,0.00,0.60,0.00,0.000,6,0.000,0.032,2840,1954,3234,0,0,0,0,0,0
$GC,7843,-0.59,-155.7,833.2,-9.8,604,7847,0.00,0.40,0.00,0.000,4,0.000,0.045,2838,2263,3233,0,0,0,0,0,0
$GC,7994,-0.59,-155.7,847.6,-9.8,610,7999,0.00,0.45,0.00,0.000,6,0.000,0.041,2838,1950,3233,0,0,0,0,0,0
$GC,8310,-0.59,-155.7,877.8,-9.3,626,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1950,3233,0,0,0,0,0,0
$GC,8619,-0.59,-155.7,905.8,-8.7,641,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1950,3233,0,0,0,0,0,0
$GC,8928,-0.59,-155.7,932.9,-8.8,656,8932,0.00,0.43,0.00,0.000,4,0.000,0.054,2838,1650,3233,0,0,0,0,0,0
$GC,9034,-0.59,-155.7,942.2,-8.3,660,9039,0.00,0.43,0.00,0.000,6,0.000,0.038,2837,1964,3233,0,0,0,0,0,0
$GC,9349,-0.59,-155.7,969.6,-8.9,676,9353,0.00,0.40,0.00,0.000,4,0.000,0.046,2835,2270,3233,0,0,0,0,0,0
$GC,9567,-0.59,-155.7,989.3,-9.2,685,9573,0.05,0.47,0.00,0.000,6,0.221,0.043,2844,1939,3233,0,0,0,0,0,0
$STATE,9719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9719,begin apogee
$GC,9723,-0.17,0.0,1001.5,8.0,693,9849,0.47,0.00,122.80,1.538,6,0.155,0.000,2983,1814,2601,0,0,0,0,0,0
$STATE,9850,end apogee,CONTROL_FINISHED_OK
$STATE,9850,begin climb
$GC,9851,0.59,155.7,1004.6,0.0,699,9998,0.80,0.57,140.15,1.497,4,0.106,0.048,3229,1478,1964,0,0,0,0,0,0
$GC,10250,0.59,155.7,963.8,11.8,718,10255,0.00,0.47,0.00,0.000,6,0.000,0.031,3229,1792,1962,0,0,0,0,0,0
$GC,10577,0.59,155.7,925.4,11.7,734,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1791,1961,0,0,0,0,0,0
$GC,10886,0.59,155.7,890.1,11.3,749,10890,0.00,0.75,0.00,0.000,4,0.000,0.049,3232,1326,1960,0,0,0,0,0,0
$GC,11037,0.59,155.7,872.5,12.1,755,11043,0.00,0.75,0.00,0.000,6,0.000,0.028,3231,1834,1959,0,0,0,0,0,0
$GC,11353,0.59,155.7,834.7,11.7,771,11356,0.00,0.85,0.00,0.000,4,0.000,0.050,3234,1309,1959,0,0,0,0,0,0
$GC,11532,0.59,155.7,814.0,11.4,779,11536,0.00,0.73,0.00,0.000,6,0.000,0.029,3234,1805,1959,0,0,0,0,0,0
$GC,11864,0.59,155.7,777.1,11.3,795,11867,0.00,0.60,0.00,0.000,4,0.000,0.047,3236,1421,1959,0,0,0,0,0,0
$GC,12068,0.59,155.7,755.5,10.1,804,12071,0.00,0.55,0.00,0.000,6,0.000,0.032,3236,1826,1959,0,0,0,0,0,0
$GC,12399,0.59,155.7,718.0,11.1,820,12403,0.00,0.93,0.00,0.000,4,0.000,0.050,3239,1249,1958,0,0,0,0,0,0
$GC,12583,0.59,155.7,696.5,11.6,828,12587,0.00,0.82,0.00,0.000,6,0.000,0.028,3238,1804,1959,0,0,0,0,0,0
$GC,12910,0.59,155.7,658.4,11.6,844,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1804,1958,0,0,0,0,0,0
$GC,13219,0.59,155.7,623.9,10.9,859,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1804,1959,0,0,0,0,0,0
$GC,13529,0.59,155.7,589.6,10.9,874,13532,0.00,0.93,0.00,0.000,4,0.000,0.050,3242,1221,1958,0,0,0,0,0,0
$GC,13673,0.59,155.7,573.8,11.0,880,13678,0.00,0.88,0.00,0.000,6,0.000,0.028,3242,1813,1958,0,0,0,0,0,0
$GC,13995,0.59,155.7,540.3,10.6,896,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1813,1958,0,0,0,0,0,0
$GC,14304,0.59,155.7,506.4,10.9,911,14308,0.00,0.62,0.00,0.000,4,0.000,0.041,3242,2258,1958,0,0,0,0,0,0
$GC,14426,0.59,155.7,492.3,12.4,916,14431,0.03,0.68,0.00,0.000,6,0.279,0.042,3234,1819,1959,0,0,0,0,0,0
$GC,14747,0.59,155.7,457.1,11.2,932,14750,0.00,1.92,0.00,0.000,4,0.000,0.060,3242,597,1959,0,0,0,0,0,0
$GC,14863,0.59,155.7,442.9,11.5,937,14868,0.00,1.80,0.00,0.000,6,0.000,0.027,3243,1791,1958,0,0,0,0,0,0
$GC,15190,0.59,155.7,404.4,11.5,953,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1792,1959,0,0,0,0,0,0
$GC,15510,0.59,155.7,367.4,12.1,981,15513,0.00,0.50,0.00,0.000,4,0.000,0.041,3242,2171,1958,0,0,0,0,0,0
$GC,15592,0.59,155.7,357.0,11.8,988,15600,0.00,0.55,0.00,0.000,6,0.000,0.045,3244,1805,1958,0,0,0,0,0,0
$GC,15919,0.59,155.7,319.9,11.3,1019,15922,0.00,0.93,0.00,0.000,4,0.000,0.056,3248,1211,1958,0,0,0,0,0,0
$GC,16080,0.59,155.7,301.1,11.7,1033,16084,0.05,0.90,0.00,0.000,6,0.158,0.030,3231,1832,1959,0,0,0,0,0,0
$GC,16409,0.59,155.7,264.7,10.8,1064,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1832,1958,0,0,0,0,0,0
$GC,16728,0.59,155.7,231.2,10.4,1094,16732,0.00,0.43,0.00,0.000,4,0.000,0.046,3231,1537,1959,0,0,0,0,0,0
$GC,16888,0.59,177.1,215.4,8.9,1108,16909,0.00,0.35,17.62,1.039,6,0.000,0.037,3232,1801,1877,0,0,0,0,0,0
$GC,17227,0.59,177.1,180.6,9.9,1140,17229,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1801,1879,0,0,0,0,0,0
$GC,17547,0.59,177.1,148.0,10.0,1170,17550,0.00,0.47,0.00,0.000,4,0.000,0.046,3233,1485,1879,0,0,0,0,0,0
$GC,17687,0.59,177.1,134.0,10.0,1182,17693,0.00,0.47,0.00,0.000,6,0.000,0.034,3233,1838,1879,0,0,0,0,0,0
$GC,18016,0.59,181.1,102.1,9.6,1213,18026,0.00,0.55,4.88,0.739,4,0.000,0.044,3234,1488,1861,0,0,0,0,0,0
$GC,18142,0.59,189.4,89.8,9.5,1233,18154,0.00,0.40,8.80,0.878,6,0.000,0.037,3234,1795,1828,0,0,0,0,0,0
$GC,18496,0.59,189.4,55.5,9.9,1295,18500,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1795,1829,0,0,0,0,0,0
$GC,18846,0.59,189.4,19.2,10.4,1356,18853,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1795,1828,0,0,0,0,0,0
$GC,18902,0.59,189.4,13.4,10.5,1365,18908,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1795,1828,0,0,0,0,0,0
$GC,18957,0.59,189.4,7.5,9.9,1374,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1795,1828,0,0,0,0,0,0
$STATE,19000,end climb,SURFACE_DEPTH_REACHED
$STATE,19000,begin surface coast
$FINISH,1.6,1.015884
$STATE,19038,end surface coast,CONTROL_FINISHED_OK
$STATE,19038,begin surface
$SM_CCo,19053,174.52,0.796,0,0,395,540.63
$SM_GC,2.49,0.00,0.00,174.52,0.000,0.000,0.796,71,1980,395,-9.25,0.85,540.63
$IRIDIUM_FIX,-4314.46,850.18,101113,222238
$TT8_MAMPS,0.026964
$HUMID,59.33
$INTERNAL_PRESSURE,9.14545
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.9,20.639
$10V_AH,10.2,17.282
$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,22.250,26.700,294.250,174.525,0.000,142.326,400.417,0.000,0.250,0.000,21.431,3379.609,12258.708,578.419,3744.958,154.887,33.378,1932.840,0.000,3172.347,0.000,2.830,0.000
$DEVICE_MAMPS,279.225,83.385,1537.650,796.365,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,969.208,973.871,927.006,88.460,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354588
$DATA_FILE_SIZE,80240,1387
$CAP_FILE_SIZE,161859,0
$CFSIZE,2097086464,2078539776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111113,033358,-4240.423,843.258,38,0.8,38,-25.1