version: 66.07.10.p01
glider: 574
mission: 7
dive: 123
start: 11 11 113 3 51 12
data:
$ID,574
$MISSION,7
$DIVE,123
$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,-13756.783
$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,43
$R_STBD_OVSHOOT,81
$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,102
$GPS1,111113,033358,-4240.423,843.258,38,0.8,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-72.5
$GPS2,111113,035017,-4240.353,843.284,16,1.4,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.056,-0.260
$KALMAN_X,-166469.1,38.6,-60.1,79345.0,-5.4
$KALMAN_Y,371776.2,128.3,267.6,-545643.9,3344.0
$MHEAD_RNG_PITCHd_Wd,217.2,50299,-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,-155.7,0.0,0.0,0,122,0.00,0.00,-95.70,0.000,2,0.000,0.000,66,1979,2672,0,0,0,0,0,0
$GC,124,-0.59,-155.7,3.1,-1.2,16,162,12.38,2.17,-18.80,0.000,4,0.268,0.060,2830,3307,3236,0,0,0,0,0,0
$GC,294,-0.59,-155.7,20.4,-12.5,44,302,0.03,2.12,0.00,0.000,6,0.197,0.033,2838,1954,3238,0,0,0,0,0,0
$GC,442,-0.59,-155.7,39.2,-13.0,69,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1954,3238,0,0,0,0,0,0
$GC,585,-0.59,-155.7,59.0,-13.9,94,590,0.00,0.40,0.00,0.000,4,0.000,0.054,2837,1675,3238,0,0,0,0,0,0
$GC,698,-0.59,-155.7,75.0,-13.8,114,705,0.00,0.35,0.00,0.000,6,0.000,0.038,2838,1950,3238,0,0,0,0,0,0
$GC,1036,-0.59,-155.7,118.0,-12.8,162,1039,0.00,0.93,0.00,0.000,4,0.000,0.041,2834,2567,3238,0,0,0,0,0,0
$GC,1187,-0.59,-155.7,136.5,-11.3,175,1194,0.05,0.98,0.00,0.000,6,0.227,0.036,2843,1938,3238,0,0,0,0,0,0
$GC,1513,-0.59,-155.7,174.6,-11.9,206,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1938,3239,0,0,0,0,0,0
$GC,1832,-0.59,-155.7,213.1,-11.7,236,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1938,3239,0,0,0,0,0,0
$GC,2152,-0.59,-155.7,250.4,-11.5,266,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1938,3239,0,0,0,0,0,0
$GC,2469,-0.59,-155.7,286.8,-11.5,296,2473,0.00,0.68,0.00,0.000,4,0.000,0.050,2844,1482,3239,0,0,0,0,0,0
$GC,2594,-0.59,-155.7,301.3,-11.5,307,2598,0.00,0.62,0.00,0.000,6,0.000,0.033,2842,1937,3238,0,0,0,0,0,0
$GC,2924,-0.59,-155.7,340.3,-11.5,338,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1937,3238,0,0,0,0,0,0
$GC,3243,-0.59,-155.7,375.3,-10.6,368,3246,0.00,0.35,0.00,0.000,4,0.000,0.044,2840,2220,3239,0,0,0,0,0,0
$GC,3501,-0.59,-155.7,401.6,-10.4,390,3505,0.00,0.40,0.00,0.000,6,0.000,0.041,2841,1932,3239,0,0,0,0,0,0
$GC,3822,-0.59,-155.7,433.7,-10.1,406,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1932,3239,0,0,0,0,0,0
$GC,4132,-0.59,-155.7,463.4,-9.6,421,4135,0.00,0.35,0.00,0.000,4,0.000,0.056,2840,1677,3238,0,0,0,0,0,0
$GC,4259,-0.59,-155.7,475.9,-10.2,426,4264,0.00,0.38,0.00,0.000,6,0.000,0.037,2840,1963,3238,0,0,0,0,0,0
$GC,4574,-0.59,-155.7,506.7,-10.1,442,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1962,3238,0,0,0,0,0,0
$GC,4884,-0.59,-155.7,537.6,-9.9,457,4887,0.00,0.60,0.00,0.000,4,0.000,0.042,2836,2394,3238,0,0,0,0,0,0
$GC,5029,-0.59,-155.7,551.2,-9.3,463,5033,0.00,0.65,0.00,0.000,6,0.000,0.037,2836,1955,3237,0,0,0,0,0,0
$GC,5349,-0.59,-155.7,582.7,-10.0,479,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1956,3237,0,0,0,0,0,0
$GC,5658,-0.59,-155.7,613.1,-9.9,494,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1956,3237,0,0,0,0,0,0
$GC,5968,-0.59,-155.7,644.2,-9.9,509,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1956,3236,0,0,0,0,0,0
$GC,6277,-0.59,-155.7,675.8,-10.2,524,6281,0.00,0.40,0.00,0.000,4,0.000,0.055,2836,1670,3236,0,0,0,0,0,0
$GC,6494,-0.59,-155.7,698.9,-11.4,533,6500,0.00,0.38,0.00,0.000,6,0.000,0.037,2836,1958,3235,0,0,0,0,0,0
$GC,6810,-0.59,-155.7,732.3,-10.6,549,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1958,3236,0,0,0,0,0,0
$GC,7119,-0.59,-155.7,764.1,-10.6,564,7123,0.00,0.65,0.00,0.000,4,0.000,0.041,2832,2418,3235,0,0,0,0,0,0
$GC,7258,-0.59,-155.7,778.4,-9.8,570,7263,0.03,0.70,0.00,0.000,6,0.181,0.037,2841,1949,3234,0,0,0,0,0,0
$GC,7585,-0.59,-155.7,807.4,-8.3,586,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1949,3234,0,0,0,0,0,0
$GC,7894,-0.59,-155.7,833.9,-8.5,601,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1949,3234,0,0,0,0,0,0
$GC,8203,-0.59,-155.7,862.1,-9.4,616,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1949,3233,0,0,0,0,0,0
$GC,8513,-0.59,-155.7,890.9,-9.2,631,8514,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1948,3233,0,0,0,0,0,0
$GC,8822,-0.59,-155.7,919.5,-9.2,646,8826,0.00,0.52,0.00,0.000,4,0.000,0.052,2841,1586,3234,0,0,0,0,0,0
$GC,9025,-0.59,-155.7,938.5,-8.8,655,9028,0.00,0.47,0.00,0.000,6,0.000,0.035,2840,1939,3233,0,0,0,0,0,0
$GC,9357,-0.59,-155.7,970.2,-9.6,671,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1940,3233,0,0,0,0,0,0
$GC,9666,-0.59,-155.7,998.1,-8.7,686,9670,0.00,0.62,0.00,0.000,4,0.000,0.042,2837,2382,3233,0,0,0,0,0,0
$STATE,9689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9689,begin apogee
$GC,9694,-0.17,0.0,1000.1,9.9,687,9823,0.47,0.00,125.88,1.545,6,0.152,0.000,2977,1812,2600,0,0,0,0,0,0
$STATE,9824,end apogee,CONTROL_FINISHED_OK
$STATE,9824,begin climb
$GC,9825,0.59,155.7,1003.2,0.0,693,9971,0.77,1.33,138.43,1.496,4,0.108,0.057,3224,1086,1965,0,0,0,0,0,0
$GC,10149,0.59,155.7,970.7,12.1,708,10154,0.00,1.15,0.00,0.000,6,0.000,0.026,3224,1805,1959,0,0,0,0,0,0
$GC,10477,0.59,155.7,932.4,11.6,724,10480,0.00,0.60,0.00,0.000,4,0.000,0.047,3226,1434,1956,0,0,0,0,0,0
$GC,10733,0.59,155.7,901.5,13.0,735,10738,0.00,0.57,0.00,0.000,6,0.000,0.031,3225,1832,1955,0,0,0,0,0,0
$GC,11054,0.59,155.7,864.5,11.6,751,11057,0.00,1.38,0.00,0.000,4,0.000,0.055,3226,1003,1954,0,0,0,0,0,0
$GC,11192,0.59,155.7,848.3,11.4,757,11197,0.00,1.23,0.00,0.000,6,0.000,0.027,3226,1805,1954,0,0,0,0,0,0
$GC,11520,0.59,155.7,811.8,11.2,773,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1805,1953,0,0,0,0,0,0
$GC,11829,0.59,155.7,777.3,11.6,788,11833,0.00,0.60,0.00,0.000,4,0.000,0.048,3227,1420,1953,0,0,0,0,0,0
$GC,12009,0.59,155.7,757.2,10.8,796,12013,0.00,0.55,0.00,0.000,6,0.000,0.031,3227,1807,1952,0,0,0,0,0,0
$GC,12341,0.59,155.7,722.5,10.3,812,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1807,1951,0,0,0,0,0,0
$GC,12650,0.59,155.7,690.9,10.1,827,12653,0.00,0.90,0.00,0.000,4,0.000,0.050,3229,1245,1951,0,0,0,0,0,0
$GC,12833,0.59,155.7,670.6,10.5,835,12838,0.00,0.85,0.00,0.000,6,0.000,0.028,3229,1824,1951,0,0,0,0,0,0
$GC,13160,0.59,155.7,635.4,10.9,851,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1824,1951,0,0,0,0,0,0
$GC,13470,0.59,155.7,601.8,11.0,866,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1824,1951,0,0,0,0,0,0
$GC,13779,0.59,155.7,568.2,10.9,881,13783,0.00,0.98,0.00,0.000,4,0.000,0.050,3233,1211,1951,0,0,0,0,0,0
$GC,13991,0.59,155.7,544.8,10.2,890,13995,0.00,0.90,0.00,0.000,6,0.000,0.027,3233,1812,1951,0,0,0,0,0,0
$GC,14312,0.59,155.7,511.0,10.6,906,14316,0.00,0.70,0.00,0.000,4,0.000,0.047,3235,1365,1951,0,0,0,0,0,0
$GC,14506,0.59,155.7,489.5,11.5,914,14512,0.00,0.68,0.00,0.000,6,0.000,0.029,3235,1840,1951,0,0,0,0,0,0
$GC,14822,0.59,155.7,455.8,10.9,930,14825,0.00,0.80,0.00,0.000,4,0.000,0.049,3237,1331,1951,0,0,0,0,0,0
$GC,15001,0.59,155.7,436.6,10.4,938,15005,0.00,0.68,0.00,0.000,6,0.000,0.030,3237,1813,1951,0,0,0,0,0,0
$GC,15333,0.59,155.7,402.4,10.1,954,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1813,1951,0,0,0,0,0,0
$GC,15651,0.59,167.6,371.5,9.3,982,15665,0.00,0.73,8.45,1.041,4,0.000,0.048,3239,1371,1916,0,0,0,0,0,0
$GC,15841,0.59,173.2,352.6,9.6,999,15851,0.00,0.60,6.60,0.973,6,0.000,0.031,3239,1809,1892,0,0,0,0,0,0
$GC,16170,0.59,175.7,319.8,9.7,1030,16179,0.00,0.00,3.67,0.730,6,0.000,0.000,3239,1809,1883,0,0,0,0,0,0
$GC,16500,0.59,175.7,286.7,10.2,1061,16501,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1809,1885,0,0,0,0,0,0
$GC,16817,0.59,175.7,253.4,10.3,1091,16819,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1809,1885,0,0,0,0,0,0
$GC,17140,0.59,175.7,220.8,10.2,1121,17144,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1809,1885,0,0,0,0,0,0
$GC,17464,0.59,175.7,185.5,10.7,1152,17466,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1809,1886,0,0,0,0,0,0
$GC,17783,0.59,181.6,152.4,9.6,1182,17792,0.00,0.00,7.07,0.894,6,0.000,0.000,3239,1809,1859,0,0,0,0,0,0
$GC,18113,0.59,181.6,117.7,10.9,1213,18114,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1809,1860,0,0,0,0,0,0
$GC,18440,0.59,181.6,82.7,10.3,1257,18447,0.00,0.55,0.00,0.000,4,0.000,0.047,3239,1452,1860,0,0,0,0,0,0
$GC,18637,0.59,182.0,62.6,9.8,1291,18642,0.00,0.47,0.00,0.000,6,0.000,0.034,3239,1816,1861,0,0,0,0,0,0
$GC,18984,0.59,182.0,26.0,10.5,1352,18990,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1816,1861,0,0,0,0,0,0
$GC,19133,0.59,182.0,10.6,10.7,1377,19139,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1816,1860,0,0,0,0,0,0
$GC,19188,0.59,182.0,4.6,10.9,1386,19195,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1816,1861,0,0,0,0,0,0
$STATE,19201,end climb,SURFACE_DEPTH_REACHED
$STATE,19201,begin surface coast
$FINISH,1.5,1.026533
$STATE,19233,end surface coast,CONTROL_FINISHED_OK
$STATE,19233,begin surface
$SM_CCo,19249,1.15,0.273,0,0,1844,185.20
$SM_GC,3.64,0.00,0.00,1.15,0.000,0.000,0.273,78,1922,1844,-9.26,-0.79,185.20
$IRIDIUM_FIX,-4311.50,843.87,101113,222231
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.1,8.9
$24V_AH,22.8,20.811
$10V_AH,10.3,17.412
$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,22.325,31.925,290.100,1.150,0.000,29.983,28.756,801.394,0.500,0.000,19.775,3393.114,12183.807,377.329,4105.499,166.307,33.378,1758.820,0.000,3212.450,0.000,5.468,0.000
$DEVICE_MAMPS,267.750,76.500,1545.300,273.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.714,963.817,929.283,86.559,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,80161,1393
$CAP_FILE_SIZE,172740,0
$CFSIZE,2097086464,2078867456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111113,091358,-4240.518,842.470,82,1.0,82,-25.1