version: 66.07.10.p01
glider: 574
mission: 7
dive: 127
start: 11 12 113 2 8 42
data:
$ID,574
$MISSION,7
$DIVE,127
$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,-13770.114
$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,52
$R_STBD_OVSHOOT,61
$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,106
$GPS1,121113,015926,-4240.697,839.961,47,2.4,66,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-75.7
$GPS2,121113,020747,-4240.627,839.980,19,0.9,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,-0.266
$KALMAN_X,-168129.5,16.6,-182.0,76538.1,-27.6
$KALMAN_Y,393060.9,-3.9,87.2,-567117.1,5375.8
$MHEAD_RNG_PITCHd_Wd,205.1,47796,-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,-155.7,0.0,0.0,0,63,0.00,0.00,-36.80,0.000,2,0.000,0.000,66,1944,2650,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.0,-1.4,6,103,12.07,1.10,-20.08,0.000,4,0.260,0.064,2840,2648,3234,0,0,0,0,0,0
$GC,264,-0.59,-155.7,22.8,-11.2,39,269,0.00,1.05,0.00,0.000,6,0.000,0.034,2840,1963,3237,0,0,0,0,0,0
$GC,406,-0.59,-155.7,40.7,-12.6,64,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1963,3238,0,0,0,0,0,0
$GC,753,-0.59,-155.7,83.0,-11.5,125,758,0.00,0.73,0.00,0.000,4,0.000,0.049,2840,1484,3238,0,0,0,0,0,0
$GC,885,-0.59,-155.7,98.7,-12.3,148,890,0.00,0.68,0.00,0.000,6,0.000,0.031,2838,1961,3239,0,0,0,0,0,0
$GC,1214,-0.59,-155.7,139.1,-11.8,180,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1961,3239,0,0,0,0,0,0
$GC,1533,-0.59,-155.7,176.8,-11.6,210,1537,0.00,0.75,0.00,0.000,4,0.000,0.041,2834,2483,3239,0,0,0,0,0,0
$GC,1706,-0.59,-155.7,195.8,-10.6,225,1710,0.03,0.80,0.00,0.000,6,0.191,0.037,2842,1937,3239,0,0,0,0,0,0
$GC,2035,-0.59,-155.7,232.0,-11.1,256,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3240,0,0,0,0,0,0
$GC,2354,-0.59,-155.7,267.0,-10.5,286,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3240,0,0,0,0,0,0
$GC,2673,-0.59,-155.7,301.2,-10.6,316,2677,0.00,0.35,0.00,0.000,4,0.000,0.054,2842,1683,3240,0,0,0,0,0,0
$GC,2779,-0.59,-155.7,313.0,-11.1,325,2784,0.00,0.38,0.00,0.000,6,0.000,0.037,2842,1968,3240,0,0,0,0,0,0
$GC,3104,-0.59,-155.7,347.0,-11.0,356,3107,0.00,0.32,0.00,0.000,4,0.000,0.046,2840,2239,3240,0,0,0,0,0,0
$GC,3240,-0.59,-155.7,361.6,-11.4,368,3243,0.00,0.40,0.00,0.000,6,0.000,0.041,2840,1942,3240,0,0,0,0,0,0
$GC,3569,-0.59,-155.7,397.6,-10.8,399,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1942,3240,0,0,0,0,0,0
$GC,3890,-0.59,-155.7,432.8,-11.2,416,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1942,3240,0,0,0,0,0,0
$GC,4199,-0.59,-155.7,466.5,-10.7,431,4203,0.00,0.35,0.00,0.000,4,0.000,0.055,2841,1689,3240,0,0,0,0,0,0
$GC,4327,-0.59,-155.7,480.2,-10.6,436,4332,0.00,0.35,0.00,0.000,6,0.000,0.037,2840,1955,3240,0,0,0,0,0,0
$GC,4642,-0.59,-155.7,513.9,-10.8,452,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1956,3240,0,0,0,0,0,0
$GC,4951,-0.59,-155.7,546.7,-10.6,467,4955,0.00,0.62,0.00,0.000,4,0.000,0.041,2836,2400,3239,0,0,0,0,0,0
$GC,5113,-0.59,-155.7,563.3,-10.5,474,5117,0.00,0.68,0.00,0.000,6,0.000,0.037,2837,1949,3239,0,0,0,0,0,0
$GC,5440,-0.59,-155.7,597.6,-10.5,490,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1949,3239,0,0,0,0,0,0
$GC,5749,-0.59,-155.7,628.0,-9.4,505,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1949,3238,0,0,0,0,0,0
$GC,6059,-0.59,-155.7,656.9,-9.2,520,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1949,3238,0,0,0,0,0,0
$GC,6368,-0.59,-155.7,686.0,-9.8,535,6371,0.00,0.40,0.00,0.000,4,0.000,0.054,2837,1665,3237,0,0,0,0,0,0
$GC,6562,-0.59,-155.7,706.0,-10.5,543,6568,0.00,0.38,0.00,0.000,6,0.000,0.037,2835,1954,3237,0,0,0,0,0,0
$GC,6878,-0.59,-155.7,739.7,-11.2,559,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1954,3237,0,0,0,0,0,0
$GC,7187,-0.59,-155.7,774.9,-11.5,574,7191,0.00,0.62,0.00,0.000,4,0.000,0.041,2832,2401,3237,0,0,0,0,0,0
$GC,7331,-0.59,-155.7,791.2,-11.4,580,7336,0.08,0.68,0.00,0.000,6,0.190,0.037,2848,1942,3237,0,0,0,0,0,0
$GC,7652,-0.59,-155.7,823.3,-10.1,596,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1942,3236,0,0,0,0,0,0
$GC,7962,-0.59,-155.7,852.3,-9.0,611,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1942,3236,0,0,0,0,0,0
$GC,8271,-0.59,-155.7,879.2,-8.7,626,8275,0.00,0.32,0.00,0.000,4,0.000,0.057,2848,1703,3235,0,0,0,0,0,0
$GC,8451,-0.59,-155.7,894.8,-8.7,634,8455,0.00,0.30,0.00,0.000,6,0.000,0.039,2849,1939,3235,0,0,0,0,0,0
$GC,8783,-0.59,-155.7,922.1,-8.0,650,8787,0.00,0.35,0.00,0.000,4,0.000,0.046,2847,2223,3234,0,0,0,0,0,0
$GC,9040,-0.59,-155.7,942.9,-8.2,661,9044,0.00,0.40,0.00,0.000,6,0.000,0.043,2847,1938,3234,0,0,0,0,0,0
$GC,9361,-0.59,-155.7,968.3,-7.9,677,9365,0.00,0.35,0.00,0.000,4,0.000,0.058,2847,1686,3234,0,0,0,0,0,0
$GC,9545,-0.59,-155.7,983.4,-8.4,685,9550,0.00,0.38,0.00,0.000,6,0.000,0.038,2847,1965,3234,0,0,0,0,0,0
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9774,-0.17,0.0,1001.5,8.0,696,9916,0.45,0.00,138.60,1.763,6,0.149,0.000,2978,1817,2599,0,0,0,0,0,0
$STATE,9917,end apogee,CONTROL_FINISHED_OK
$STATE,9917,begin climb
$GC,9918,0.59,155.7,1005.4,0.0,703,10064,0.77,1.10,140.15,1.606,4,0.107,0.052,3222,1196,1965,0,0,0,0,0,0
$GC,10226,0.59,155.7,977.7,10.4,717,10232,0.00,0.95,0.00,0.000,6,0.000,0.026,3222,1806,1959,0,0,0,0,0,0
$GC,10542,0.59,155.7,944.6,10.6,733,10545,0.00,0.45,0.00,0.000,4,0.000,0.045,3222,1524,1956,0,0,0,0,0,0
$GC,10748,0.59,155.7,922.0,12.1,742,10752,0.00,0.40,0.00,0.000,6,0.000,0.033,3222,1803,1955,0,0,0,0,0,0
$GC,11075,0.59,155.7,886.7,10.9,758,11078,0.00,0.45,0.00,0.000,4,0.000,0.047,3223,1512,1954,0,0,0,0,0,0
$GC,11331,0.59,155.7,857.9,11.8,769,11335,0.00,0.43,0.00,0.000,6,0.000,0.033,3223,1812,1954,0,0,0,0,0,0
$GC,11652,0.59,155.7,821.5,11.5,785,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1812,1953,0,0,0,0,0,0
$GC,11961,0.59,155.7,786.5,10.9,800,11965,0.00,0.90,0.00,0.000,4,0.000,0.050,3226,1255,1953,0,0,0,0,0,0
$GC,12121,0.59,155.7,769.2,10.7,807,12124,0.00,0.80,0.00,0.000,6,0.000,0.028,3226,1797,1953,0,0,0,0,0,0
$GC,12452,0.59,155.7,734.4,10.5,823,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1797,1952,0,0,0,0,0,0
$GC,12762,0.59,155.7,703.0,10.2,838,12765,0.00,0.65,0.00,0.000,4,0.000,0.047,3227,1387,1953,0,0,0,0,0,0
$GC,12991,0.59,159.8,679.6,9.6,848,12995,0.00,0.65,0.00,0.000,6,0.000,0.031,3227,1844,1952,0,0,0,0,0,0
$GC,13318,0.59,159.8,646.1,10.0,864,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1844,1952,0,0,0,0,0,0
$GC,13627,0.59,160.1,615.8,9.8,879,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1844,1952,0,0,0,0,0,0
$GC,13937,0.59,169.2,585.5,9.4,894,13956,0.00,0.60,13.35,1.632,4,0.000,0.047,3227,1479,1907,0,0,0,0,0,0
$GC,14208,0.59,172.3,559.6,9.7,906,14212,0.00,0.45,0.00,0.000,6,0.000,0.033,3227,1802,1905,0,0,0,0,0,0
$GC,14535,0.59,172.3,527.4,10.1,922,14538,0.00,1.00,0.00,0.000,4,0.000,0.052,3229,1178,1905,0,0,0,0,0,0
$GC,14692,0.59,172.3,511.0,11.3,929,14696,0.00,0.93,0.00,0.000,6,0.000,0.027,3230,1813,1905,0,0,0,0,0,0
$GC,15024,0.59,172.3,476.0,10.6,945,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1813,1905,0,0,0,0,0,0
$GC,15334,0.59,172.3,443.5,10.2,960,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1813,1904,0,0,0,0,0,0
$GC,15643,0.59,175.1,413.1,9.7,975,15652,0.00,0.00,6.78,1.860,6,0.000,0.000,3230,1813,1887,0,0,0,0,0,0
$GC,15957,0.59,175.1,382.3,9.9,998,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1813,1883,0,0,0,0,0,0
$GC,16276,0.59,175.1,349.5,10.6,1028,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1813,1882,0,0,0,0,0,0
$GC,16595,0.59,175.1,316.6,10.5,1058,16599,0.00,0.68,0.00,0.000,4,0.000,0.048,3232,1377,1882,0,0,0,0,0,0
$GC,16768,0.59,175.1,298.1,10.7,1073,16774,0.00,0.62,0.00,0.000,6,0.000,0.031,3232,1819,1882,0,0,0,0,0,0
$GC,17093,0.59,175.1,263.6,10.9,1104,17094,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1819,1883,0,0,0,0,0,0
$GC,17414,0.59,175.1,229.1,11.5,1134,17415,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1819,1882,0,0,0,0,0,0
$GC,17731,0.59,175.1,192.9,11.3,1164,17734,0.00,0.43,0.00,0.000,4,0.000,0.046,3233,1527,1883,0,0,0,0,0,0
$GC,17984,0.59,175.1,164.8,10.5,1186,17989,0.00,0.40,0.00,0.000,6,0.000,0.036,3233,1829,1882,0,0,0,0,0,0
$GC,18312,0.59,175.1,128.5,11.1,1217,18316,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1829,1883,0,0,0,0,0,0
$GC,18643,0.59,175.1,90.6,11.2,1255,18647,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1829,1883,0,0,0,0,0,0
$GC,18988,0.59,175.1,52.8,10.3,1316,18993,0.00,1.45,0.00,0.000,4,0.000,0.052,3239,926,1883,0,0,0,0,0,0
$GC,19106,0.59,175.1,39.9,10.6,1337,19111,0.00,1.27,0.00,0.000,6,0.000,0.026,3239,1796,1883,0,0,0,0,0,0
$GC,19251,0.59,175.1,24.9,10.8,1362,19258,0.00,0.47,0.00,0.000,4,0.000,0.039,3239,2160,1883,0,0,0,0,0,0
$GC,19365,0.59,175.1,12.4,10.9,1381,19372,0.00,0.50,0.00,0.000,6,0.000,0.044,3240,1819,1883,0,0,0,0,0,0
$GC,19421,0.59,175.1,6.3,10.4,1390,19428,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1818,1884,0,0,0,0,0,0
$STATE,19452,end climb,SURFACE_DEPTH_REACHED
$STATE,19452,begin surface coast
$FINISH,1.4,1.015907
$STATE,19483,end surface coast,CONTROL_FINISHED_OK
$STATE,19483,begin surface
$SM_CCo,19499,8.95,1.417,0,0,1845,185.20
$SM_GC,3.89,0.00,0.00,8.95,0.000,0.000,1.417,83,1949,1845,-9.24,-0.03,185.20
$IRIDIUM_FIX,-4120.75,831.42,111113,202016
$TT8_MAMPS,0.026964
$HUMID,61.57
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.6,21.435
$10V_AH,10.3,17.920
$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,22.100,28.650,298.875,8.950,0.000,27.707,44.040,307.558,0.250,0.000,21.675,3452.344,12315.265,374.208,3704.653,158.263,33.377,1757.775,0.000,3279.945,0.000,2.832,0.000
$DEVICE_MAMPS,260.100,64.260,1859.715,1416.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,981.153,933.902,936.339,83.982,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,80200,1400
$CAP_FILE_SIZE,168634,0
$CFSIZE,2097086464,2078343168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121113,073534,-4241.081,839.545,70,0.9,70,-25.1