version: 66.07.10.p01
glider: 574
mission: 7
dive: 128
start: 11 12 113 7 44 42
data:
$ID,574
$MISSION,7
$DIVE,128
$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,-13773.589
$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,39
$R_STBD_OVSHOOT,56
$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,107
$GPS1,121113,073534,-4241.081,839.545,70,0.9,70,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-75.3
$GPS2,121113,074347,-4240.998,839.654,19,0.9,20,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.048,-0.262
$KALMAN_X,-168860.2,90.8,18.4,76541.1,-711.4
$KALMAN_Y,398171.9,-27.4,-250.4,-572544.5,5914.8
$MHEAD_RNG_PITCHd_Wd,194.6,46988,-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,-36.75,0.000,2,0.000,0.000,67,1950,2652,0,0,0,0,0,0
$GC,65,-0.59,-155.7,3.0,-1.2,6,104,11.90,1.20,-21.30,0.000,4,0.256,0.065,2836,2731,3235,0,0,0,0,0,0
$GC,268,-0.59,-155.7,22.9,-11.1,40,275,0.00,1.20,0.00,0.000,6,0.000,0.034,2836,1954,3238,0,0,0,0,0,0
$GC,413,-0.59,-155.7,40.7,-12.8,65,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3238,0,0,0,0,0,0
$GC,757,-0.59,-155.7,82.2,-11.6,126,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3239,0,0,0,0,0,0
$GC,1092,-0.59,-155.7,120.9,-11.5,170,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3240,0,0,0,0,0,0
$GC,1411,-0.59,-155.7,158.3,-11.8,200,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3240,0,0,0,0,0,0
$GC,1730,-0.59,-155.7,195.9,-11.2,230,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3241,0,0,0,0,0,0
$GC,2048,-0.59,-155.7,232.4,-11.5,260,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3241,0,0,0,0,0,0
$GC,2367,-0.59,-155.7,268.6,-11.2,290,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3241,0,0,0,0,0,0
$GC,2686,-0.59,-155.7,304.8,-11.6,320,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1954,3241,0,0,0,0,0,0
$GC,3004,-0.59,-155.7,340.2,-10.4,350,3008,0.00,0.47,0.00,0.000,4,0.000,0.051,2836,1620,3241,0,0,0,0,0,0
$GC,3110,-0.59,-155.7,352.1,-10.6,359,3116,0.00,0.50,0.00,0.000,6,0.000,0.033,2835,1979,3241,0,0,0,0,0,0
$GC,3435,-0.59,-155.7,386.5,-10.5,390,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1979,3241,0,0,0,0,0,0
$GC,3748,-0.59,-155.7,420.7,-11.0,411,3752,0.00,0.43,0.00,0.000,4,0.000,0.042,2833,2306,3241,0,0,0,0,0,0
$GC,3915,-0.59,-155.7,439.7,-11.3,418,3920,0.08,0.55,0.00,0.000,6,0.191,0.039,2849,1924,3241,0,0,0,0,0,0
$GC,4236,-0.59,-155.7,475.3,-11.3,434,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1924,3242,0,0,0,0,0,0
$GC,4545,-0.59,-155.7,508.9,-10.3,449,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1924,3241,0,0,0,0,0,0
$GC,4855,-0.59,-155.7,539.2,-9.5,464,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1924,3241,0,0,0,0,0,0
$GC,5164,-0.59,-155.7,568.2,-9.6,479,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1924,3241,0,0,0,0,0,0
$GC,5473,-0.59,-155.7,596.8,-9.3,494,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1924,3240,0,0,0,0,0,0
$GC,5783,-0.59,-155.7,625.9,-9.3,509,5786,0.00,0.40,0.00,0.000,4,0.000,0.053,2849,1638,3239,0,0,0,0,0,0
$GC,5922,-0.59,-155.7,638.6,-9.1,515,5926,0.00,0.43,0.00,0.000,6,0.000,0.036,2849,1961,3239,0,0,0,0,0,0
$GC,6249,-0.59,-155.7,668.3,-9.1,531,6253,0.00,0.38,0.00,0.000,4,0.000,0.044,2847,2259,3238,0,0,0,0,0,0
$GC,6475,-0.59,-155.7,689.1,-9.4,541,6479,0.00,0.43,0.00,0.000,6,0.000,0.042,2847,1949,3238,0,0,0,0,0,0
$GC,6807,-0.59,-155.7,721.2,-9.6,557,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1949,3238,0,0,0,0,0,0
$GC,7117,-0.59,-155.7,751.3,-9.7,572,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1949,3237,0,0,0,0,0,0
$GC,7426,-0.59,-155.7,780.1,-9.1,587,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1949,3237,0,0,0,0,0,0
$GC,7735,-0.59,-155.7,807.1,-8.5,602,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1949,3236,0,0,0,0,0,0
$GC,8045,-0.59,-155.7,831.8,-7.9,617,8048,0.00,0.65,0.00,0.000,4,0.000,0.049,2847,1511,3236,0,0,0,0,0,0
$GC,8206,-0.59,-155.7,844.6,-7.6,624,8211,0.00,0.60,0.00,0.000,6,0.000,0.032,2845,1942,3236,0,0,0,0,0,0
$GC,8533,-0.59,-155.7,869.7,-7.7,640,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1942,3236,0,0,0,0,0,0
$GC,8842,-0.59,-155.7,894.8,-8.1,655,8846,0.00,0.32,0.00,0.000,4,0.000,0.049,2843,2209,3236,0,0,0,0,0,0
$GC,9099,-0.59,-155.7,915.8,-8.7,666,9103,0.00,0.38,0.00,0.000,6,0.000,0.044,2843,1940,3235,0,0,0,0,0,0
$GC,9421,-0.59,-155.7,943.5,-9.0,682,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1940,3235,0,0,0,0,0,0
$GC,9730,-0.59,-155.7,970.9,-8.7,697,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3235,0,0,0,0,0,0
$GC,10039,-0.59,-155.7,997.1,-8.0,712,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1940,3234,0,0,0,0,0,0
$STATE,10081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10082,begin apogee
$GC,10086,-0.17,0.0,1000.4,8.1,714,10240,0.47,0.00,148.10,1.735,6,0.149,0.000,2983,1814,2595,0,0,0,0,0,0
$STATE,10241,end apogee,CONTROL_FINISHED_OK
$STATE,10241,begin climb
$GC,10242,0.59,155.7,1004.0,0.0,722,10401,0.80,0.57,150.95,1.610,4,0.104,0.055,3226,1482,1964,0,0,0,0,0,0
$GC,10653,0.59,155.7,960.1,12.6,741,10657,0.00,0.47,0.00,0.000,6,0.000,0.031,3226,1803,1958,0,0,0,0,0,0
$GC,10980,0.59,155.7,919.4,12.7,757,10983,0.00,0.50,0.00,0.000,4,0.000,0.045,3226,1485,1956,0,0,0,0,0,0
$GC,11236,0.59,155.7,887.1,12.0,768,11240,0.00,0.47,0.00,0.000,6,0.000,0.031,3226,1814,1954,0,0,0,0,0,0
$GC,11557,0.59,155.7,849.7,11.4,784,11561,0.00,0.82,0.00,0.000,4,0.000,0.050,3226,1309,1953,0,0,0,0,0,0
$GC,11760,0.59,155.7,827.8,11.3,793,11763,0.00,0.73,0.00,0.000,6,0.000,0.028,3226,1794,1953,0,0,0,0,0,0
$GC,12091,0.59,155.7,793.4,10.2,809,12095,0.00,0.62,0.00,0.000,4,0.000,0.047,3226,1401,1953,0,0,0,0,0,0
$GC,12348,0.59,155.7,766.1,10.5,820,12352,0.00,0.62,0.00,0.000,6,0.000,0.031,3226,1816,1952,0,0,0,0,0,0
$GC,12669,0.59,155.7,729.5,11.8,836,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1816,1953,0,0,0,0,0,0
$GC,12978,0.59,155.7,693.3,11.5,851,12982,0.00,1.20,0.00,0.000,4,0.000,0.055,3229,1080,1952,0,0,0,0,0,0
$GC,13190,0.59,155.7,668.3,11.7,860,13195,0.00,1.12,0.00,0.000,6,0.000,0.029,3229,1822,1952,0,0,0,0,0,0
$GC,13513,0.59,155.7,632.6,11.1,876,13517,0.00,0.52,0.00,0.000,4,0.000,0.047,3230,1480,1951,0,0,0,0,0,0
$GC,13702,0.59,155.7,611.9,10.1,884,13706,0.00,0.47,0.00,0.000,6,0.000,0.034,3230,1821,1951,0,0,0,0,0,0
$GC,14024,0.59,162.3,579.5,9.5,900,14032,0.00,0.45,3.97,1.691,4,0.000,0.051,3231,1541,1939,0,0,0,0,0,0
$GC,14285,0.59,182.1,555.7,9.0,911,14317,0.00,0.38,24.48,1.802,6,0.000,0.036,3231,1803,1856,0,0,0,0,1,0
$GC,14638,0.59,182.9,523.0,9.8,929,14642,0.00,1.05,0.00,0.000,4,0.000,0.052,3235,1156,1847,0,0,0,0,0,0
$GC,14807,0.59,188.2,506.8,9.6,936,14817,0.00,0.98,4.00,0.946,6,0.000,0.028,3235,1816,1831,0,0,0,0,0,0
$GC,15127,0.59,191.5,475.5,9.7,952,15134,0.00,0.00,4.62,1.022,6,0.000,0.000,3235,1816,1818,0,0,0,0,0,0
$GC,15436,0.59,191.5,444.4,10.3,967,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1817,1821,0,0,0,0,0,0
$GC,15745,0.59,191.5,411.8,11.0,982,15749,0.00,0.68,0.00,0.000,4,0.000,0.040,3235,2289,1821,0,0,0,0,0,0
$GC,15873,0.59,191.5,396.9,11.8,988,15881,0.00,0.73,0.00,0.000,6,0.000,0.043,3237,1823,1821,0,0,0,0,0,0
$GC,16198,0.59,191.5,357.9,12.0,1019,16201,0.00,1.33,0.00,0.000,4,0.000,0.059,3242,1001,1821,0,0,0,0,0,0
$GC,16361,0.59,191.5,337.5,12.9,1033,16367,0.00,1.23,0.00,0.000,6,0.000,0.028,3242,1806,1821,0,0,0,0,0,0
$GC,16686,0.59,191.5,296.6,13.3,1064,16687,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1806,1821,0,0,0,0,0,0
$GC,17005,0.59,191.5,256.8,12.4,1094,17009,0.00,0.82,0.00,0.000,4,0.000,0.039,3242,2372,1821,0,0,0,0,0,0
$GC,17119,0.59,191.5,243.3,11.7,1104,17123,0.03,0.85,0.00,0.000,6,0.201,0.042,3237,1814,1821,0,0,0,0,0,0
$GC,17448,0.59,191.5,206.9,11.3,1135,17452,0.00,1.52,0.00,0.000,4,0.000,0.060,3242,868,1821,0,0,0,0,0,0
$GC,17609,0.59,191.5,188.7,12.4,1149,17612,0.00,1.40,0.00,0.000,6,0.000,0.028,3242,1808,1821,0,0,0,0,0,0
$GC,17938,0.59,191.5,149.0,12.5,1180,17939,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1808,1821,0,0,0,0,0,0
$GC,18258,0.59,191.5,111.5,11.5,1210,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1808,1821,0,0,0,0,0,0
$GC,18592,0.59,191.5,70.7,11.8,1261,18597,0.00,0.65,0.00,0.000,4,0.000,0.050,3245,1390,1822,0,0,0,0,0,0
$GC,18740,0.59,191.5,53.4,11.1,1287,18748,0.03,0.60,0.00,0.000,6,0.184,0.031,3236,1834,1822,0,0,0,0,0,0
$GC,19093,0.59,191.5,14.3,11.9,1348,19100,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1834,1822,0,0,0,0,0,0
$GC,19149,0.59,191.5,7.7,12.0,1357,19156,0.00,0.62,0.00,0.000,4,0.000,0.047,3237,1432,1822,0,0,0,0,0,0
$STATE,19192,end climb,SURFACE_DEPTH_REACHED
$STATE,19192,begin surface coast
$FINISH,1.5,1.015197
$STATE,19223,end surface coast,CONTROL_FINISHED_OK
$STATE,19223,begin surface
$SM_CCo,19300,0.00,0.000,0,0,1818,191.82
$SM_GC,2.66,8.55,0.00,0.00,0.047,0.000,0.000,80,1960,1818,-9.18,0.28,191.82
$IRIDIUM_FIX,-4120.75,831.42,111113,202016
$TT8_MAMPS,0.026215
$HUMID,61.77
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,10.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.4,8.9
$24V_AH,22.6,21.614
$10V_AH,10.3,18.044
$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,21.850,30.250,336.125,0.000,0.000,27.550,43.592,300.268,0.500,0.000,22.327,3380.083,12228.798,416.167,3612.903,149.449,33.380,1757.385,0.000,3189.870,0.000,5.471,0.000
$DEVICE_MAMPS,256.275,83.385,1801.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.349,900.847,918.300,84.291,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,76976,1369
$CAP_FILE_SIZE,164547,1
$CFSIZE,2097086464,2078212096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,121113,130735,-4241.684,840.616,40,0.9,40,-25.1