version: 66.07.10.p01
glider: 574
mission: 7
dive: 126
start: 11 11 113 20 35 42
data:
$ID,574
$MISSION,7
$DIVE,126
$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,-13767.211
$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,35
$R_STBD_OVSHOOT,64
$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,105
$GPS1,111113,202534,-4240.787,840.384,77,1.0,77,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-74.9
$GPS2,111113,203447,-4240.716,840.474,19,0.9,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.001,-0.266
$KALMAN_X,-167560.4,-173.7,113.6,76556.2,-377.2
$KALMAN_Y,387361.5,15.4,170.0,-561685.5,4638.4
$MHEAD_RNG_PITCHd_Wd,205.3,47935,-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,-155.7,0.0,0.0,0,51,0.00,0.00,-25.10,0.000,2,0.000,0.000,68,1952,2393,0,0,0,0,0,0
$GC,53,-0.59,-155.7,3.0,-2.1,4,109,12.18,2.28,-36.85,0.000,4,0.263,0.067,2844,551,3236,0,0,0,0,0,0
$GC,332,-0.59,-155.7,30.7,-12.3,51,337,0.00,2.10,0.00,0.000,6,0.000,0.028,2836,1932,3239,0,0,0,0,0,0
$GC,476,-0.59,-155.7,49.7,-13.0,76,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1933,3238,0,0,0,0,0,0
$GC,823,-0.59,-155.7,93.0,-12.0,137,828,0.00,2.08,0.00,0.000,4,0.000,0.047,2826,3257,3239,0,0,0,0,0,0
$GC,984,-0.59,-155.7,110.7,-11.0,157,989,0.10,2.00,0.00,0.000,6,0.177,0.034,2850,1943,3239,0,0,0,0,0,0
$GC,1308,-0.59,-155.7,144.8,-10.4,187,1312,0.00,0.45,0.00,0.000,4,0.000,0.053,2851,1627,3240,0,0,0,0,0,0
$GC,1437,-0.59,-155.7,159.0,-10.3,198,1442,0.00,0.50,0.00,0.000,6,0.000,0.034,2850,1985,3240,0,0,0,0,0,0
$GC,1765,-0.59,-155.7,194.1,-10.9,229,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1985,3241,0,0,0,0,0,0
$GC,2090,-0.59,-155.7,229.1,-10.6,260,2094,0.00,0.38,0.00,0.000,4,0.000,0.045,2848,2277,3241,0,0,0,0,0,0
$GC,2240,-0.59,-155.7,244.6,-10.5,273,2244,0.00,0.47,0.00,0.000,6,0.000,0.042,2848,1941,3241,0,0,0,0,0,0
$GC,2570,-0.59,-155.7,279.5,-10.9,304,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1941,3241,0,0,0,0,0,0
$GC,2889,-0.59,-155.7,314.0,-10.9,334,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1942,3241,0,0,0,0,0,0
$GC,3208,-0.59,-155.7,349.9,-11.0,364,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1941,3240,0,0,0,0,0,0
$GC,3526,-0.59,-155.7,383.7,-10.4,394,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1941,3241,0,0,0,0,0,0
$GC,3840,-0.59,-155.7,414.7,-9.5,417,3844,0.00,0.50,0.00,0.000,4,0.000,0.053,2848,1596,3241,0,0,0,0,0,0
$GC,3953,-0.59,-155.7,425.5,-9.9,422,3956,0.00,0.47,0.00,0.000,6,0.000,0.034,2847,1952,3241,0,0,0,0,0,0
$GC,4284,-0.59,-155.7,458.7,-10.2,438,4288,0.00,0.68,0.00,0.000,4,0.000,0.041,2843,2428,3241,0,0,0,0,0,0
$GC,4487,-0.59,-155.7,479.9,-10.8,447,4490,0.00,0.70,0.00,0.000,6,0.000,0.039,2843,1951,3241,0,0,0,0,0,0
$GC,4818,-0.59,-155.7,516.0,-11.1,463,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1951,3240,0,0,0,0,0,0
$GC,5128,-0.59,-155.7,548.8,-10.7,478,5131,0.00,0.45,0.00,0.000,4,0.000,0.055,2843,1636,3240,0,0,0,0,0,0
$GC,5317,-0.59,-155.7,568.7,-10.1,486,5321,0.00,0.43,0.00,0.000,6,0.000,0.037,2842,1957,3239,0,0,0,0,0,0
$GC,5638,-0.59,-155.7,602.7,-10.6,502,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3240,0,0,0,0,0,0
$GC,5947,-0.59,-155.7,634.0,-9.7,517,5951,0.00,0.43,0.00,0.000,4,0.000,0.044,2842,1664,3239,0,0,0,0,0,0
$GC,6204,-0.59,-155.7,659.8,-9.7,528,6208,0.00,0.38,0.00,0.000,6,0.000,0.038,2841,1949,3238,0,0,0,0,0,0
$GC,6526,-0.59,-155.7,690.4,-9.3,544,6529,0.00,1.15,0.00,0.000,4,0.000,0.050,2841,1225,3238,0,0,0,0,0,0
$GC,6728,-0.59,-155.7,710.6,-9.5,553,6732,0.00,1.02,0.00,0.000,6,0.000,0.028,2837,1920,3238,0,0,0,0,0,0
$GC,7060,-0.59,-155.7,745.0,-10.3,569,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1920,3238,0,0,0,0,0,0
$GC,7370,-0.59,-155.7,774.8,-9.5,584,7373,0.00,0.60,0.00,0.000,4,0.000,0.041,2834,2351,3237,0,0,0,0,0,0
$GC,7587,-0.59,-155.7,795.3,-9.1,593,7594,0.05,0.60,0.00,0.000,6,0.219,0.039,2844,1938,3237,0,0,0,0,0,0
$GC,7904,-0.59,-155.7,822.2,-8.5,609,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1937,3237,0,0,0,0,0,0
$GC,8213,-0.59,-155.7,847.6,-8.2,624,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1937,3237,0,0,0,0,0,0
$GC,8522,-0.59,-155.7,873.1,-8.4,639,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1938,3236,0,0,0,0,0,0
$GC,8831,-0.59,-155.7,899.5,-8.7,654,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1938,3236,0,0,0,0,0,0
$GC,9141,-0.59,-155.7,925.8,-8.4,669,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1938,3236,0,0,0,0,0,0
$GC,9450,-0.59,-155.7,952.8,-8.9,684,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1937,3236,0,0,0,0,0,0
$GC,9759,-0.59,-155.7,980.2,-8.8,699,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1937,3235,0,0,0,0,0,0
$STATE,9986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9986,begin apogee
$GC,9990,-0.17,0.0,1000.2,8.9,710,10126,0.45,0.00,130.12,1.571,6,0.148,0.000,2978,1812,2600,0,0,0,0,0,0
$STATE,10127,end apogee,CONTROL_FINISHED_OK
$STATE,10127,begin climb
$GC,10128,0.59,155.7,1004.5,0.0,717,10274,0.80,0.00,141.62,1.521,6,0.104,0.000,3222,1811,1964,0,0,0,0,0,0
$GC,10576,0.59,155.7,962.4,10.5,739,10580,0.00,2.35,0.00,0.000,4,0.000,0.065,3227,432,1955,0,0,0,0,0,0
$GC,10728,0.59,155.7,945.7,11.2,746,10732,0.00,2.15,0.00,0.000,6,0.000,0.028,3227,1804,1953,0,0,0,0,0,0
$GC,11054,0.59,155.7,910.2,11.0,762,11057,0.00,0.80,0.00,0.000,4,0.000,0.050,3228,1318,1952,0,0,0,0,0,0
$GC,11237,0.59,155.7,889.5,11.6,770,11241,0.00,0.77,0.00,0.000,6,0.000,0.028,3228,1827,1952,0,0,0,0,0,0
$GC,11564,0.59,155.7,851.5,11.8,786,11567,0.00,1.05,0.00,0.000,4,0.000,0.051,3231,1184,1951,0,0,0,0,0,0
$GC,11730,0.59,155.7,831.8,12.3,793,11735,0.00,0.95,0.00,0.000,6,0.000,0.027,3231,1823,1951,0,0,0,0,0,0
$GC,12052,0.59,155.7,794.3,11.8,809,12056,0.00,0.70,0.00,0.000,4,0.000,0.049,3232,1382,1950,0,0,0,0,0,0
$GC,12309,0.59,155.7,764.1,11.3,820,12313,0.00,0.62,0.00,0.000,6,0.000,0.028,3232,1801,1949,0,0,0,0,0,0
$GC,12630,0.59,155.7,725.9,11.9,836,12634,0.00,1.25,0.00,0.000,4,0.000,0.055,3237,1036,1949,0,0,0,0,0,0
$GC,12842,0.59,155.7,701.0,11.6,845,12846,0.00,1.15,0.00,0.000,6,0.000,0.028,3237,1806,1949,0,0,0,0,0,0
$GC,13163,0.59,155.7,664.2,11.6,861,13167,0.00,0.50,0.00,0.000,4,0.000,0.048,3238,1481,1949,0,0,0,0,0,0
$GC,13419,0.59,155.7,634.7,11.9,872,13423,0.00,0.47,0.00,0.000,6,0.000,0.031,3238,1810,1949,0,0,0,0,0,0
$GC,13740,0.59,155.7,599.3,10.9,888,13744,0.00,1.45,0.00,0.000,4,0.000,0.057,3243,925,1949,0,0,0,0,0,0
$GC,13929,0.59,155.7,578.2,10.4,896,13934,0.00,1.35,0.00,0.000,6,0.000,0.028,3243,1812,1949,0,0,0,0,0,0
$GC,14251,0.59,155.7,541.7,11.2,912,14255,0.00,0.93,0.00,0.000,4,0.000,0.050,3246,1233,1949,0,0,0,0,0,0
$GC,14468,0.59,155.7,518.2,10.2,921,14475,0.08,0.88,0.00,0.000,6,0.184,0.028,3229,1826,1949,0,0,0,0,0,0
$GC,14784,0.59,155.7,487.5,9.9,937,14788,0.00,0.75,0.00,0.000,4,0.000,0.050,3231,1354,1949,0,0,0,0,0,0
$GC,14986,0.59,155.7,467.1,9.8,946,14990,0.00,0.65,0.00,0.000,6,0.000,0.030,3231,1820,1949,0,0,0,0,0,0
$GC,15318,0.59,155.7,431.2,11.1,962,15322,0.00,1.05,0.00,0.000,4,0.000,0.053,3235,1166,1948,0,0,0,0,0,0
$GC,15513,0.59,155.7,409.6,10.9,970,15519,0.00,0.95,0.00,0.000,6,0.000,0.026,3235,1805,1949,0,0,0,0,0,0
$GC,15840,0.59,155.7,372.3,12.0,997,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1806,1949,0,0,0,0,0,0
$GC,16165,0.59,155.7,334.1,11.2,1028,16168,0.00,1.05,0.00,0.000,4,0.000,0.052,3239,1153,1948,0,0,0,0,0,0
$GC,16317,0.59,155.7,316.8,10.6,1041,16323,0.00,0.98,0.00,0.000,6,0.000,0.026,3239,1818,1949,0,0,0,0,0,0
$GC,16642,0.59,155.7,281.6,10.7,1072,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1817,1948,0,0,0,0,0,0
$GC,16961,0.59,155.7,248.6,10.2,1102,16962,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1817,1948,0,0,0,0,0,0
$GC,17279,0.59,155.7,215.3,10.3,1132,17283,0.00,0.62,0.00,0.000,4,0.000,0.047,3240,1414,1948,0,0,0,0,0,0
$GC,17540,0.59,155.7,189.0,11.2,1155,17543,0.00,0.55,0.00,0.000,6,0.000,0.031,3240,1830,1948,0,0,0,0,0,0
$GC,17869,0.59,155.7,152.3,11.6,1186,17873,0.00,0.47,0.00,0.000,4,0.000,0.047,3240,1510,1949,0,0,0,0,0,0
$GC,18132,0.59,155.8,123.9,9.8,1209,18136,0.00,0.38,0.00,0.000,6,0.000,0.034,3240,1797,1949,0,0,0,0,0,0
$GC,18465,0.59,155.8,86.6,12.1,1249,18470,0.00,1.23,0.00,0.000,4,0.000,0.053,3244,1034,1949,0,0,0,0,0,0
$GC,18698,0.59,155.8,59.8,11.0,1290,18705,0.03,1.12,0.00,0.000,6,0.183,0.027,3234,1809,1949,0,0,0,0,0,0
$GC,19050,0.59,161.9,24.6,9.5,1351,19056,0.00,0.75,1.52,0.348,4,0.000,0.043,3236,1314,1939,0,0,0,0,0,0
$GC,19239,0.59,166.1,4.6,9.6,1383,19248,0.00,0.70,2.50,0.488,6,0.000,0.029,3236,1823,1921,0,0,0,0,0,0
$STATE,19260,end climb,SURFACE_DEPTH_REACHED
$STATE,19260,begin surface coast
$FINISH,1.5,1.015586
$STATE,19297,end surface coast,CONTROL_FINISHED_OK
$STATE,19297,begin surface
$SM_CCo,19313,8.75,0.822,0,0,1844,185.20
$SM_GC,4.08,0.00,0.00,8.75,0.000,0.000,0.822,79,1944,1844,-9.25,-0.17,185.20
$IRIDIUM_FIX,-4259.69,856.67,111113,141409
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.7,21.269
$10V_AH,10.3,17.794
$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,22.375,46.525,275.775,8.750,0.000,23.881,53.322,355.551,0.250,0.000,22.215,3467.725,11989.118,387.239,3861.573,165.672,33.400,1784.836,0.000,3383.980,0.000,2.833,0.000
$DEVICE_MAMPS,263.160,82.620,1571.310,822.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.167,960.510,925.732,87.454,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,80130,1392
$CAP_FILE_SIZE,171246,0
$CFSIZE,2097086464,2078474240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121113,015926,-4240.697,839.961,47,2.4,66,-25.1