version: 66.07.10.p01
glider: 574
mission: 7
dive: 125
start: 11 11 113 15 1 31
data:
$ID,574
$MISSION,7
$DIVE,125
$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,-13763.73
$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,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,104
$GPS1,111113,145135,-4240.716,841.300,34,1.0,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-75.6
$GPS2,111113,150036,-4240.654,841.371,16,0.9,17,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.051,-0.261
$KALMAN_X,-166948.2,-158.5,-288.7,77583.9,429.8
$KALMAN_Y,381940.4,246.7,139.7,-556351.2,4193.8
$MHEAD_RNG_PITCHd_Wd,216.0,48580,-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,-155.7,0.0,0.0,0,57,0.00,0.00,-30.80,0.000,2,0.000,0.000,67,1938,2506,0,0,0,0,0,0
$GC,59,-0.59,-155.7,3.0,-1.3,5,109,12.10,1.50,-30.15,0.000,4,0.262,0.063,2838,2870,3234,0,0,0,0,0,0
$GC,234,-0.59,-155.7,17.4,-12.3,34,242,0.00,1.45,0.00,0.000,6,0.000,0.034,2838,1953,3237,0,0,0,0,0,0
$GC,290,-0.59,-155.7,24.6,-13.6,43,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1953,3237,0,0,0,0,0,0
$GC,432,-0.59,-155.7,43.6,-13.3,68,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1953,3237,0,0,0,0,0,0
$GC,777,-0.59,-155.7,86.9,-12.1,129,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1953,3238,0,0,0,0,0,0
$GC,1112,-0.59,-155.7,128.5,-12.3,169,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1953,3239,0,0,0,0,0,0
$GC,1437,-0.59,-155.7,167.5,-11.4,200,1440,0.00,0.40,0.00,0.000,4,0.000,0.055,2838,1668,3239,0,0,0,0,0,0
$GC,1561,-0.59,-155.7,181.9,-11.2,211,1565,0.00,0.40,0.00,0.000,6,0.000,0.037,2837,1981,3239,0,0,0,0,0,0
$GC,1891,-0.59,-155.7,221.5,-12.1,242,1895,0.00,0.30,0.00,0.000,4,0.000,0.047,2836,2230,3240,0,0,0,0,0,0
$GC,2153,-0.59,-155.7,253.1,-12.2,265,2157,0.00,0.43,0.00,0.000,6,0.000,0.044,2836,1926,3240,0,0,0,0,0,0
$GC,2483,-0.59,-155.7,293.6,-12.3,296,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1926,3240,0,0,0,0,0,0
$GC,2802,-0.59,-155.7,332.7,-12.1,326,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1926,3240,0,0,0,0,0,0
$GC,3121,-0.59,-155.7,370.7,-11.6,356,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1926,3240,0,0,0,0,0,0
$GC,3438,-0.59,-155.7,405.4,-10.9,384,3442,0.00,0.57,0.00,0.000,4,0.000,0.050,2836,1531,3240,0,0,0,0,0,0
$GC,3560,-0.59,-155.7,419.0,-10.9,389,3565,0.05,0.57,0.00,0.000,6,0.236,0.033,2843,1943,3240,0,0,0,0,0,0
$GC,3881,-0.59,-155.7,450.5,-9.8,405,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1944,3241,0,0,0,0,0,0
$GC,4191,-0.59,-155.7,481.0,-9.8,420,4194,0.00,0.47,0.00,0.000,4,0.000,0.042,2842,2303,3241,0,0,0,0,0,0
$GC,4349,-0.59,-155.7,496.3,-9.2,427,4352,0.00,0.50,0.00,0.000,6,0.000,0.041,2842,1950,3241,0,0,0,0,0,0
$GC,4681,-0.59,-155.7,528.0,-9.4,443,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3241,0,0,0,0,0,0
$GC,4990,-0.59,-155.7,556.8,-9.2,458,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3240,0,0,0,0,0,0
$GC,5299,-0.59,-155.7,586.0,-9.4,473,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3240,0,0,0,0,0,0
$GC,5608,-0.59,-155.7,616.3,-10.1,488,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1949,3240,0,0,0,0,0,0
$GC,5918,-0.59,-155.7,647.8,-10.4,503,5921,0.00,0.50,0.00,0.000,4,0.000,0.053,2842,1604,3240,0,0,0,0,0,0
$GC,6022,-0.59,-155.7,658.8,-10.6,507,6028,0.00,0.47,0.00,0.000,6,0.000,0.036,2841,1952,3239,0,0,0,0,0,0
$GC,6338,-0.59,-155.7,691.4,-10.5,523,6341,0.00,0.55,0.00,0.000,4,0.000,0.042,2838,2354,3239,0,0,0,0,0,0
$GC,6499,-0.59,-155.7,708.6,-10.7,530,6504,0.00,0.60,0.00,0.000,6,0.000,0.041,2838,1949,3239,0,0,0,0,0,0
$GC,6826,-0.59,-155.7,742.5,-10.4,546,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1948,3239,0,0,0,0,0,0
$GC,7135,-0.59,-155.7,773.8,-9.9,561,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1948,3238,0,0,0,0,0,0
$GC,7445,-0.59,-155.7,804.4,-9.9,576,7448,0.00,0.62,0.00,0.000,4,0.000,0.051,2838,1524,3238,0,0,0,0,0,0
$GC,7595,-0.59,-155.7,819.3,-9.8,582,7601,0.00,0.60,0.00,0.000,6,0.000,0.033,2836,1948,3238,0,0,0,0,0,0
$GC,7911,-0.59,-155.7,850.2,-10.0,598,7914,0.00,0.50,0.00,0.000,4,0.000,0.043,2834,2319,3237,0,0,0,0,0,0
$GC,8083,-0.59,-155.7,867.0,-10.2,605,8089,0.05,0.55,0.00,0.000,6,0.223,0.041,2843,1939,3237,0,0,0,0,0,0
$GC,8399,-0.59,-155.7,895.9,-9.3,621,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1939,3237,0,0,0,0,0,0
$GC,8708,-0.59,-155.7,924.1,-9.1,636,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1939,3237,0,0,0,0,0,0
$GC,9018,-0.59,-155.7,951.4,-8.9,651,9021,0.00,0.45,0.00,0.000,4,0.000,0.054,2844,1626,3236,0,0,0,0,0,0
$GC,9191,-0.59,-155.7,966.8,-7.9,658,9196,0.00,0.45,0.00,0.000,6,0.000,0.037,2842,1960,3236,0,0,0,0,0,0
$GC,9506,-0.59,-155.7,993.7,-8.9,674,9510,0.00,0.65,0.00,0.000,4,0.000,0.043,2840,2416,3236,0,0,0,0,0,0
$STATE,9585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9585,begin apogee
$GC,9589,-0.17,0.0,1000.6,9.0,677,9725,0.45,0.00,132.05,1.714,6,0.149,0.000,2977,1819,2600,0,0,0,0,0,0
$STATE,9726,end apogee,CONTROL_FINISHED_OK
$STATE,9726,begin climb
$GC,9727,0.59,155.7,1004.9,0.0,684,9875,0.82,1.20,141.65,1.589,4,0.107,0.054,3228,1146,1964,0,0,0,0,0,0
$GC,10008,0.59,155.7,979.3,11.1,697,10015,0.00,1.02,0.00,0.000,6,0.000,0.026,3228,1793,1958,0,0,0,0,0,0
$GC,10324,0.59,155.7,944.9,10.7,713,10328,0.00,0.45,0.00,0.000,4,0.000,0.047,3228,1510,1955,0,0,0,0,0,0
$GC,10581,0.59,155.7,917.2,11.0,724,10586,0.00,0.43,0.00,0.000,6,0.000,0.033,3228,1807,1955,0,0,0,0,0,0
$GC,10902,0.59,155.7,883.8,10.3,740,10906,0.00,1.02,0.00,0.000,4,0.000,0.052,3232,1180,1955,0,0,0,0,0,0
$GC,11086,0.59,155.7,863.9,12.1,748,11090,0.00,0.95,0.00,0.000,6,0.000,0.027,3232,1819,1954,0,0,0,0,0,0
$GC,11413,0.59,155.7,828.4,10.9,764,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1819,1954,0,0,0,0,0,0
$GC,11722,0.59,155.7,794.8,10.6,779,11726,0.00,0.52,0.00,0.000,4,0.000,0.048,3233,1477,1954,0,0,0,0,0,0
$GC,11978,0.59,155.7,768.0,10.1,790,11982,0.00,0.47,0.00,0.000,6,0.000,0.032,3233,1807,1954,0,0,0,0,0,0
$GC,12299,0.59,155.7,735.3,9.9,806,12303,0.00,2.22,0.00,0.000,4,0.000,0.061,3239,446,1954,0,0,0,0,0,0
$GC,12432,0.59,155.7,721.6,10.2,812,12436,0.00,2.05,0.00,0.000,6,0.000,0.027,3240,1790,1954,0,0,0,0,0,0
$GC,12759,0.59,155.7,688.8,10.2,828,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1790,1954,0,0,0,0,0,0
$GC,13068,0.59,155.7,657.4,10.4,843,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1790,1954,0,0,0,0,0,0
$GC,13378,0.59,155.7,624.9,10.8,858,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1790,1954,0,0,0,0,0,0
$GC,13687,0.59,155.7,590.6,11.1,873,13690,0.00,0.38,0.00,0.000,4,0.000,0.050,3240,1539,1954,0,0,0,0,0,0
$GC,13943,0.59,155.7,561.8,11.3,884,13948,0.00,0.40,0.00,0.000,6,0.000,0.035,3240,1824,1954,0,0,0,0,0,0
$GC,14264,0.59,155.7,526.0,11.4,900,14268,0.00,1.92,0.00,0.000,4,0.000,0.060,3247,630,1954,0,0,0,0,0,0
$GC,14432,0.59,155.7,505.5,12.3,907,14436,0.08,1.75,0.00,0.000,6,0.196,0.027,3231,1809,1954,0,0,0,0,0,0
$GC,14752,0.59,155.7,470.1,11.2,923,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1809,1954,0,0,0,0,0,0
$GC,15061,0.59,155.7,434.1,11.9,938,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1809,1955,0,0,0,0,0,0
$GC,15371,0.59,155.7,399.1,11.1,953,15372,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1809,1955,0,0,0,0,0,0
$GC,15690,0.59,155.7,364.9,10.9,983,15691,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1809,1955,0,0,0,0,0,0
$GC,16012,0.59,155.7,331.8,9.9,1013,16016,0.00,0.57,0.00,0.000,4,0.000,0.050,3232,1441,1955,0,0,0,0,0,0
$GC,16240,0.59,166.4,310.1,9.4,1033,16254,0.00,0.52,11.07,1.812,6,0.000,0.034,3232,1835,1921,0,0,0,0,0,0
$GC,16581,0.59,166.4,276.5,10.1,1065,16585,0.00,0.47,0.00,0.000,4,0.000,0.046,3233,1523,1919,0,0,0,0,0,0
$GC,16789,0.59,166.4,254.9,10.6,1083,16794,0.00,0.38,0.00,0.000,6,0.000,0.034,3233,1786,1919,0,0,0,0,0,0
$GC,17115,0.59,166.4,222.0,10.1,1114,17116,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1787,1918,0,0,0,0,0,0
$GC,17433,0.59,168.4,190.9,9.7,1144,17434,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1786,1919,0,0,0,0,0,0
$GC,17752,0.59,171.7,160.0,9.7,1174,17760,0.00,0.00,6.70,1.619,6,0.000,0.000,3233,1786,1900,0,0,0,0,0,0
$GC,18081,0.59,171.7,126.6,10.1,1205,18085,0.00,0.62,0.00,0.000,4,0.000,0.049,3235,1385,1898,0,0,0,0,0,0
$GC,18278,0.59,177.8,106.5,9.5,1222,18289,0.00,0.65,5.97,0.950,6,0.000,0.030,3235,1834,1876,0,0,0,0,0,0
$GC,18628,0.59,177.8,70.9,10.2,1278,18634,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1834,1876,0,0,0,0,0,0
$GC,18977,0.59,177.8,34.2,10.7,1339,18981,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1834,1876,0,0,0,0,0,0
$GC,19122,0.59,177.8,19.3,10.0,1364,19128,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1834,1876,0,0,0,0,0,0
$GC,19177,0.59,177.8,13.5,11.2,1373,19184,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1834,1876,0,0,0,0,0,0
$GC,19233,0.59,177.8,7.6,10.7,1382,19240,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1834,1876,0,0,0,0,0,0
$STATE,19282,end climb,SURFACE_DEPTH_REACHED
$STATE,19282,begin surface coast
$FINISH,1.5,1.026516
$STATE,19313,end surface coast,CONTROL_FINISHED_OK
$STATE,19313,begin surface
$SM_CCo,19328,3.20,0.649,0,0,1844,185.20
$SM_GC,3.98,0.00,0.00,3.20,0.000,0.000,0.649,87,1949,1844,-9.23,-0.03,185.20
$IRIDIUM_FIX,-4123.62,855.06,111113,090927
$TT8_MAMPS,0.026964
$HUMID,62.32
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.6,7.9
$24V_AH,22.6,21.123
$10V_AH,10.2,17.665
$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,22.050,31.600,297.450,3.200,0.000,28.035,39.915,354.278,0.500,0.000,19.073,3431.376,12182.217,367.070,3725.022,163.090,33.405,1749.309,0.000,3267.824,0.000,5.463,0.000
$DEVICE_MAMPS,261.630,76.500,1811.520,649.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.866,953.696,933.592,86.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,80157,1395
$CAP_FILE_SIZE,168252,0
$CFSIZE,2097086464,2078605312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111113,202534,-4240.787,840.384,77,1.0,77,-25.1