version: 66.07.10.p01
glider: 574
mission: 7
dive: 124
start: 11 11 113 9 23 42
data:
$ID,574
$MISSION,7
$DIVE,124
$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,-13760.254
$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,38
$R_STBD_OVSHOOT,50
$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,103
$GPS1,111113,091358,-4240.518,842.470,82,1.0,82,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-75.8
$GPS2,111113,092247,-4240.485,842.552,17,0.9,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.031,-0.264
$KALMAN_X,-166443.0,-9.8,76.9,78205.5,-186.9
$KALMAN_Y,376772.6,284.3,183.7,-550955.7,3952.3
$MHEAD_RNG_PITCHd_Wd,211.7,49603,-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,24,-0.59,-155.7,0.0,0.0,0,57,0.00,0.00,-30.70,0.000,2,0.000,0.000,67,1924,2527,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.1,-1.2,5,109,12.25,2.25,-28.05,0.000,4,0.265,0.067,2845,555,3237,0,0,0,0,0,0
$GC,298,-0.59,-155.7,27.2,-12.4,45,303,0.00,2.12,0.00,0.000,6,0.000,0.028,2837,1942,3239,0,0,0,0,0,0
$GC,442,-0.59,-155.7,45.6,-13.5,70,447,0.00,0.55,0.00,0.000,4,0.000,0.042,2834,2338,3239,0,0,0,0,0,0
$GC,674,-0.59,-155.7,74.3,-11.6,111,681,0.00,0.57,0.00,0.000,6,0.000,0.041,2834,1940,3240,0,0,0,0,0,0
$GC,1020,-0.59,-155.7,116.2,-12.3,161,1022,0.05,0.00,0.00,0.000,6,0.233,0.000,2843,1940,3240,0,0,0,0,0,0
$GC,1337,-0.59,-155.7,153.2,-11.6,191,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3241,0,0,0,0,0,0
$GC,1659,-0.59,-155.7,188.3,-11.2,221,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3241,0,0,0,0,0,0
$GC,1984,-0.59,-155.7,222.0,-10.2,252,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3241,0,0,0,0,0,0
$GC,2303,-0.59,-155.7,254.9,-10.1,282,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3241,0,0,0,0,0,0
$GC,2621,-0.59,-155.7,288.1,-10.8,312,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3241,0,0,0,0,0,0
$GC,2940,-0.59,-155.7,322.8,-11.1,342,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3241,0,0,0,0,0,0
$GC,3259,-0.59,-155.7,358.3,-11.7,372,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3241,0,0,0,0,0,0
$GC,3577,-0.59,-155.7,394.8,-11.1,402,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3241,0,0,0,0,0,0
$GC,3898,-0.59,-155.7,430.0,-10.9,420,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3241,0,0,0,0,0,0
$GC,4207,-0.59,-155.7,463.9,-11.0,435,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3241,0,0,0,0,0,0
$GC,4517,-0.59,-155.7,498.6,-11.1,450,4520,0.00,0.40,0.00,0.000,4,0.000,0.056,2844,1657,3241,0,0,0,0,0,0
$GC,4689,-0.59,-155.7,517.6,-10.9,457,4691,0.00,0.45,0.00,0.000,6,0.000,0.035,2843,1987,3240,0,0,0,0,0,0
$GC,5000,-0.59,-155.7,551.3,-11.2,472,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1989,3240,0,0,0,0,0,0
$GC,5310,-0.59,-155.7,583.7,-10.3,487,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1989,3240,0,0,0,0,0,0
$GC,5619,-0.59,-155.7,616.6,-10.4,502,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1989,3239,0,0,0,0,0,0
$GC,5928,-0.59,-155.7,648.1,-10.0,517,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1989,3239,0,0,0,0,0,0
$GC,6238,-0.59,-155.7,677.2,-9.2,532,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1989,3239,0,0,0,0,0,0
$GC,6547,-0.59,-155.7,705.1,-9.0,547,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1989,3238,0,0,0,0,0,0
$GC,6857,-0.59,-155.7,731.6,-8.5,562,6860,0.00,0.68,0.00,0.000,4,0.000,0.042,2840,2457,3238,0,0,0,0,0,0
$GC,7037,-0.59,-155.7,746.6,-8.9,570,7040,0.00,0.75,0.00,0.000,6,0.000,0.041,2840,1951,3238,0,0,0,0,0,0
$GC,7369,-0.59,-155.7,775.4,-9.0,586,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1951,3238,0,0,0,0,0,0
$GC,7678,-0.59,-155.7,804.1,-9.3,601,7682,0.00,0.38,0.00,0.000,4,0.000,0.057,2840,1683,3237,0,0,0,0,0,0
$GC,7836,-0.59,-155.7,819.0,-9.4,608,7840,0.00,0.32,0.00,0.000,6,0.000,0.040,2840,1937,3237,0,0,0,0,0,0
$GC,8168,-0.59,-155.7,849.4,-9.0,624,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1938,3237,0,0,0,0,0,0
$GC,8478,-0.59,-155.7,876.9,-8.6,639,8481,0.00,0.57,0.00,0.000,4,0.000,0.041,2837,2351,3236,0,0,0,0,0,0
$GC,8682,-0.59,-155.7,895.3,-9.3,648,8685,0.00,0.57,0.00,0.000,6,0.000,0.041,2836,1950,3236,0,0,0,0,0,0
$GC,9014,-0.59,-155.7,926.1,-9.2,664,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3236,0,0,0,0,0,0
$GC,9323,-0.59,-155.7,955.1,-9.5,679,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1950,3236,0,0,0,0,0,0
$GC,9632,-0.59,-155.7,983.0,-8.9,694,9636,0.00,0.35,0.00,0.000,4,0.000,0.058,2836,1697,3236,0,0,0,0,0,0
$GC,9794,-0.59,-155.7,997.9,-8.1,701,9798,0.00,0.35,0.00,0.000,6,0.000,0.040,2836,1956,3235,0,0,0,0,0,0
$STATE,9832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9832,begin apogee
$GC,9836,-0.17,0.0,1001.3,9.1,703,9972,0.50,0.00,130.30,1.543,6,0.155,0.000,2981,1810,2599,0,0,0,0,0,0
$STATE,9973,end apogee,CONTROL_FINISHED_OK
$STATE,9973,begin climb
$GC,9975,0.59,155.7,1005.5,0.0,710,10122,0.80,0.82,139.60,1.499,4,0.105,0.054,3227,1358,1964,0,0,0,0,0,0
$GC,10373,0.59,155.7,966.3,12.5,728,10379,0.00,0.68,0.00,0.000,6,0.000,0.028,3227,1782,1957,0,0,0,0,0,0
$GC,10689,0.59,155.7,931.0,11.1,744,10693,0.00,0.47,0.00,0.000,4,0.000,0.048,3227,1481,1955,0,0,0,0,0,0
$GC,10906,0.59,155.7,906.5,10.1,753,10912,0.00,0.52,0.00,0.000,6,0.000,0.031,3227,1831,1955,0,0,0,0,0,0
$GC,11222,0.59,155.7,871.2,11.6,769,11226,0.00,0.47,0.00,0.000,4,0.000,0.047,3227,1525,1955,0,0,0,0,0,0
$GC,11478,0.59,155.7,842.5,11.1,780,11482,0.00,0.43,0.00,0.000,6,0.000,0.034,3228,1817,1955,0,0,0,0,0,0
$GC,11799,0.59,155.7,808.0,10.8,796,11803,0.00,1.50,0.00,0.000,4,0.000,0.057,3233,907,1954,0,0,0,0,0,0
$GC,11981,0.59,155.7,788.0,10.3,804,11984,0.00,1.38,0.00,0.000,6,0.000,0.028,3233,1817,1954,0,0,0,0,0,0
$GC,12312,0.59,155.7,752.2,10.3,820,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1817,1954,0,0,0,0,0,0
$GC,12622,0.59,155.7,720.2,10.3,835,12625,0.00,0.52,0.00,0.000,4,0.000,0.048,3234,1476,1954,0,0,0,0,0,0
$GC,12878,0.59,155.7,693.6,9.8,846,12882,0.00,0.50,0.00,0.000,6,0.000,0.033,3233,1830,1954,0,0,0,0,0,0
$GC,13199,0.59,155.7,658.5,11.2,862,13203,0.00,0.57,0.00,0.000,4,0.000,0.048,3235,1459,1954,0,0,0,0,0,0
$GC,13456,0.59,155.7,629.9,11.7,873,13460,0.00,0.50,0.00,0.000,6,0.000,0.033,3235,1816,1954,0,0,0,0,0,0
$GC,13777,0.59,155.7,594.0,11.4,889,13781,0.00,0.90,0.00,0.000,4,0.000,0.052,3237,1254,1954,0,0,0,0,0,0
$GC,13971,0.59,155.7,572.4,10.9,897,13977,0.00,0.82,0.00,0.000,6,0.000,0.028,3238,1816,1955,0,0,0,0,0,0
$GC,14287,0.59,155.7,538.3,10.8,913,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1815,1954,0,0,0,0,0,0
$GC,14596,0.59,155.7,504.7,11.0,928,14597,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1816,1955,0,0,0,0,0,0
$GC,14905,0.59,155.7,470.0,11.2,943,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1816,1955,0,0,0,0,0,0
$GC,15215,0.59,155.7,435.7,10.9,958,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1816,1955,0,0,0,0,0,0
$GC,15524,0.59,164.4,405.0,9.4,973,15533,0.00,0.00,7.25,1.040,6,0.000,0.000,3237,1816,1929,0,0,0,0,0,0
$GC,15842,0.59,168.4,374.4,9.6,1000,15853,0.00,0.00,4.95,0.904,6,0.000,0.000,3237,1816,1914,0,0,0,0,0,0
$GC,16170,0.59,168.4,342.5,10.1,1031,16173,0.00,1.05,0.00,0.000,4,0.000,0.054,3240,1167,1915,0,0,0,0,0,0
$GC,16363,0.59,171.3,323.4,9.7,1048,16375,0.00,0.93,4.82,0.869,6,0.000,0.028,3240,1800,1900,0,0,0,0,0,0
$GC,16692,0.59,171.3,290.5,10.0,1079,16695,0.00,0.43,0.00,0.000,4,0.000,0.042,3240,2123,1901,0,0,0,0,0,0
$GC,16817,0.59,180.7,278.1,9.4,1090,16831,0.00,0.45,10.07,1.021,6,0.000,0.047,3241,1817,1862,0,0,0,0,0,0
$GC,17156,0.59,180.7,243.5,10.0,1122,17160,0.00,0.98,0.00,0.000,4,0.000,0.057,3245,1201,1862,0,0,0,0,0,0
$GC,17296,0.59,183.7,228.9,9.7,1134,17307,0.03,0.90,4.97,1.362,6,0.177,0.027,3235,1823,1848,0,0,0,0,0,0
$GC,17632,0.59,185.1,196.1,9.7,1166,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1823,1848,0,0,0,0,0,0
$GC,17950,0.59,185.1,164.3,10.0,1196,17952,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1824,1847,0,0,0,0,0,0
$GC,18269,0.59,185.1,131.9,10.5,1226,18273,0.00,0.77,0.00,0.000,4,0.000,0.048,3237,1331,1847,0,0,0,0,0,0
$GC,18431,0.59,185.1,115.2,10.9,1240,18439,0.00,0.70,0.00,0.000,6,0.000,0.030,3237,1815,1847,0,0,0,0,0,0
$GC,18768,0.59,185.1,79.5,10.7,1287,18775,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1815,1847,0,0,0,0,0,0
$GC,19117,0.59,187.6,43.5,9.7,1348,19126,0.00,0.00,4.15,0.736,6,0.000,0.000,3237,1815,1835,0,0,0,0,0,0
$GC,19475,0.59,187.6,5.7,11.1,1410,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1815,1835,0,0,0,0,0,0
$STATE,19500,end climb,SURFACE_DEPTH_REACHED
$STATE,19500,begin surface coast
$FINISH,1.5,1.021283
$STATE,19531,end surface coast,CONTROL_FINISHED_OK
$STATE,19531,begin surface
$SM_CCo,19607,0.00,0.000,0,0,1830,188.63
$SM_GC,3.04,8.57,0.00,0.00,0.049,0.000,0.000,84,1941,1830,-9.17,-0.25,188.63
$IRIDIUM_FIX,-4326.32,1049.98,111113,030344
$TT8_MAMPS,0.027713
$HUMID,62.87
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.8,20.961
$10V_AH,10.3,17.539
$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,22.200,26.950,306.125,0.000,0.000,22.521,18.662,369.299,0.250,0.000,19.582,3466.938,12445.814,365.175,3699.812,152.608,33.407,1720.234,0.000,3247.472,0.000,2.829,0.000
$DEVICE_MAMPS,265.455,74.205,1543.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.477,966.862,948.930,86.813,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,80036,1419
$CAP_FILE_SIZE,164405,0
$CFSIZE,2097086464,2078736384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111113,145135,-4240.716,841.300,34,1.0,34,-25.1