version: 66.07.10.p01
glider: 574
mission: 7
dive: 130
start: 11 12 113 18 58 42
data:
$ID,574
$MISSION,7
$DIVE,130
$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,-13780.494
$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,58
$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,109
$GPS1,121113,184658,-4242.243,841.762,36,1.1,36,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-73.7
$GPS2,121113,185747,-4242.170,841.718,18,1.1,19,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.007,-0.266
$KALMAN_X,-168233.4,232.8,-37.8,78696.6,-19.7
$KALMAN_Y,406950.5,-338.4,-255.2,-583174.1,5638.1
$MHEAD_RNG_PITCHd_Wd,203.6,46326,-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,-155.7,0.0,0.0,0,69,0.00,0.00,-42.42,0.000,2,0.000,0.000,66,1996,2704,0,0,0,0,0,0
$GC,71,-0.59,-155.7,3.1,-1.6,7,103,12.12,0.00,-17.00,0.000,6,0.261,0.000,2842,1996,3236,0,0,0,0,0,0
$GC,153,-0.59,-155.7,10.2,-9.4,20,159,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1996,3238,0,0,0,0,0,0
$GC,208,-0.59,-155.7,16.3,-11.4,29,215,0.00,0.60,0.00,0.000,4,0.000,0.044,2842,1598,3239,0,0,0,0,0,0
$GC,447,-0.59,-155.7,45.2,-12.1,70,452,0.00,0.50,0.00,0.000,6,0.000,0.034,2841,1962,3240,0,0,0,0,0,0
$GC,792,-0.59,-155.7,86.1,-11.5,131,797,0.00,0.40,0.00,0.000,4,0.000,0.044,2839,2274,3241,0,0,0,0,0,0
$GC,988,-0.59,-155.7,108.9,-11.7,159,993,0.00,0.50,0.00,0.000,6,0.000,0.041,2839,1933,3241,0,0,0,0,0,0
$GC,1312,-0.59,-155.7,145.7,-11.5,190,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1933,3241,0,0,0,0,0,0
$GC,1632,-0.59,-155.7,181.5,-11.5,220,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3242,0,0,0,0,0,0
$GC,1952,-0.59,-155.7,217.5,-11.1,250,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3242,0,0,0,0,0,0
$GC,2269,-0.59,-155.7,253.0,-11.0,280,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3242,0,0,0,0,0,0
$GC,2588,-0.59,-155.7,288.0,-11.0,310,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1933,3242,0,0,0,0,0,0
$GC,2906,-0.59,-155.7,323.0,-10.8,340,2910,0.00,0.47,0.00,0.000,4,0.000,0.050,2839,1593,3242,0,0,0,0,0,0
$GC,3092,-0.59,-155.7,343.9,-11.4,356,3099,0.00,0.50,0.00,0.000,6,0.000,0.033,2837,1957,3242,0,0,0,0,0,0
$GC,3418,-0.59,-155.7,378.6,-10.8,387,3421,0.00,0.45,0.00,0.000,4,0.000,0.043,2835,2300,3242,0,0,0,0,0,0
$GC,3675,-0.59,-155.7,406.9,-10.4,407,3679,0.00,0.52,0.00,0.000,6,0.000,0.041,2835,1939,3242,0,0,0,0,0,0
$GC,3996,-0.59,-155.7,441.4,-10.7,423,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1939,3242,0,0,0,0,0,0
$GC,4306,-0.59,-155.7,473.8,-10.3,438,4307,0.03,0.00,0.00,0.000,6,0.269,0.000,2844,1939,3242,0,0,0,0,0,0
$GC,4615,-0.59,-155.7,503.3,-9.4,453,4619,0.00,0.43,0.00,0.000,4,0.000,0.054,2844,1638,3241,0,0,0,0,0,0
$GC,4822,-0.59,-155.7,523.6,-9.7,462,4826,0.00,0.43,0.00,0.000,6,0.000,0.036,2844,1961,3241,0,0,0,0,0,0
$GC,5149,-0.59,-155.7,554.8,-9.5,478,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1961,3240,0,0,0,0,0,0
$GC,5458,-0.59,-155.7,584.4,-9.4,493,5462,0.00,0.35,0.00,0.000,4,0.000,0.045,2842,2241,3240,0,0,0,0,0,0
$GC,5649,-0.59,-155.7,602.4,-9.7,501,5653,0.00,0.40,0.00,0.000,6,0.000,0.043,2842,1942,3239,0,0,0,0,0,0
$GC,5970,-0.59,-155.7,632.8,-9.5,517,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1942,3239,0,0,0,0,0,0
$GC,6279,-0.59,-155.7,661.6,-9.4,532,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,3238,0,0,0,0,0,0
$GC,6589,-0.59,-155.7,691.6,-9.7,547,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,3237,0,0,0,0,0,0
$GC,6898,-0.59,-155.7,720.2,-9.0,562,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,3237,0,0,0,0,0,0
$GC,7207,-0.59,-155.7,750.4,-8.8,577,7209,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,3236,0,0,0,0,0,0
$GC,7517,-0.59,-155.7,780.0,-9.6,592,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1941,3236,0,0,0,0,0,0
$GC,7826,-0.59,-155.7,811.1,-10.3,607,7829,0.00,0.45,0.00,0.000,4,0.000,0.055,2842,1627,3236,0,0,0,0,0,0
$GC,7987,-0.59,-155.7,828.0,-10.7,614,7992,0.00,0.43,0.00,0.000,6,0.000,0.037,2841,1952,3235,0,0,0,0,0,0
$GC,8314,-0.59,-155.7,861.7,-10.3,630,8317,0.00,0.62,0.00,0.000,4,0.000,0.041,2838,2398,3234,0,0,0,0,0,0
$GC,8483,-0.59,-155.7,877.9,-9.5,637,8487,0.00,0.65,0.00,0.000,6,0.000,0.040,2838,1954,3234,0,0,0,0,0,0
$GC,8803,-0.59,-155.7,909.6,-9.8,653,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1954,3234,0,0,0,0,0,0
$GC,9113,-0.59,-155.7,938.6,-9.3,668,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1954,3233,0,0,0,0,0,0
$GC,9422,-0.59,-155.7,966.0,-8.6,683,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1954,3233,0,0,0,0,0,0
$GC,9732,-0.59,-155.7,991.9,-8.6,698,9735,0.00,0.55,0.00,0.000,4,0.000,0.053,2837,1578,3233,0,0,0,0,0,0
$STATE,9828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9833,-0.17,0.0,1000.2,8.8,702,9968,0.45,0.00,130.25,1.588,6,0.155,0.000,2973,1780,2599,0,0,0,0,0,0
$STATE,9969,end apogee,CONTROL_FINISHED_OK
$STATE,9969,begin climb
$GC,9971,0.59,155.7,1003.9,0.0,709,10116,0.82,0.00,142.12,1.541,6,0.110,0.000,3220,1780,1965,0,0,0,0,0,0
$GC,10418,0.59,155.7,961.0,11.0,731,10421,0.00,0.77,0.00,0.000,4,0.000,0.050,3223,1320,1955,0,0,0,0,0,0
$GC,10657,0.59,155.7,934.2,10.9,741,10663,0.00,0.77,0.00,0.000,6,0.000,0.027,3223,1812,1954,0,0,0,0,0,0
$GC,10973,0.59,155.7,899.4,11.0,757,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1813,1953,0,0,0,0,0,0
$GC,11283,0.59,155.7,865.5,11.0,772,11286,0.00,0.82,0.00,0.000,4,0.000,0.052,3225,1308,1952,0,0,0,0,0,0
$GC,11466,0.59,161.7,845.2,9.6,780,11474,0.00,0.77,4.15,1.046,6,0.000,0.028,3225,1821,1940,0,0,0,0,0,0
$GC,11789,0.59,161.7,809.6,11.2,796,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1820,1940,0,0,0,0,0,0
$GC,12098,0.59,161.7,776.6,10.5,811,12102,0.00,1.02,0.00,0.000,4,0.000,0.054,3227,1184,1940,0,0,0,0,0,0
$GC,12265,0.59,161.7,759.0,10.5,818,12270,0.00,0.95,0.00,0.000,6,0.000,0.028,3226,1826,1940,0,0,0,0,0,0
$GC,12587,0.59,161.7,726.3,9.9,834,12590,0.00,0.68,0.00,0.000,4,0.000,0.050,3227,1396,1940,0,0,0,0,0,0
$GC,12843,0.59,162.3,699.9,9.8,845,12848,0.00,0.60,0.00,0.000,6,0.000,0.029,3228,1796,1940,0,0,0,0,0,0
$GC,13165,0.59,162.3,665.8,11.0,861,13169,0.00,0.65,0.00,0.000,4,0.000,0.050,3229,1378,1939,0,0,0,0,0,0
$GC,13359,0.59,162.3,644.0,10.7,869,13365,0.00,0.65,0.00,0.000,6,0.000,0.030,3229,1813,1940,0,0,0,0,0,0
$GC,13675,0.59,162.3,609.3,10.9,885,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1814,1940,0,0,0,0,0,0
$GC,13984,0.59,162.3,574.5,11.3,900,13988,0.00,0.82,0.00,0.000,4,0.000,0.052,3231,1290,1939,0,0,0,0,0,0
$GC,14218,0.59,162.3,547.8,11.7,910,14223,0.00,0.80,0.00,0.000,6,0.000,0.028,3231,1827,1940,0,0,0,0,0,0
$GC,14540,0.59,162.3,513.0,10.4,926,14543,0.00,1.00,0.00,0.000,4,0.000,0.051,3235,1200,1940,0,0,0,0,0,0
$GC,14731,0.59,169.8,494.2,9.5,934,14745,0.00,0.90,8.75,1.194,6,0.000,0.028,3235,1812,1907,0,0,0,0,0,0
$GC,15073,0.59,169.8,460.0,10.1,951,15074,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1812,1907,0,0,0,0,0,0
$GC,15381,0.59,169.8,428.0,10.5,966,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1812,1907,0,0,0,0,0,0
$GC,15692,0.59,169.8,395.2,10.5,983,15693,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1812,1907,0,0,0,0,0,0
$GC,16015,0.59,169.8,361.1,10.8,1013,16019,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1812,1907,0,0,0,0,0,0
$GC,16340,0.59,169.8,326.1,10.3,1044,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1812,1907,0,0,0,0,0,0
$GC,16658,0.59,169.8,291.9,10.7,1074,16662,0.00,0.43,0.00,0.000,4,0.000,0.041,3235,2144,1907,0,0,0,0,0,0
$GC,16764,0.59,169.8,280.2,10.9,1083,16770,0.00,0.50,0.00,0.000,6,0.000,0.045,3236,1812,1907,0,0,0,0,0,0
$GC,17089,0.59,169.8,246.5,10.8,1114,17092,0.00,1.30,0.00,0.000,4,0.000,0.058,3240,999,1906,0,0,0,0,0,0
$GC,17269,0.59,169.8,227.2,10.4,1130,17273,0.00,1.20,0.00,0.000,6,0.000,0.028,3240,1811,1907,0,0,0,0,0,0
$GC,17601,0.59,169.8,191.3,11.0,1161,17602,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1811,1907,0,0,0,0,0,0
$GC,17918,0.59,169.8,156.0,10.8,1191,17920,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1811,1907,0,0,0,0,0,0
$GC,18241,0.59,169.8,120.1,11.4,1221,18245,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1811,1907,0,0,0,0,0,0
$GC,18574,0.59,169.8,82.3,11.5,1265,18579,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1811,1907,0,0,0,0,0,0
$GC,18921,0.59,169.8,42.2,10.0,1326,18928,0.00,0.43,0.00,0.000,4,0.000,0.047,3241,1523,1907,0,0,0,0,0,0
$GC,19172,0.59,169.8,14.7,10.0,1369,19179,0.00,0.40,0.00,0.000,6,0.000,0.034,3241,1828,1908,0,0,0,0,0,0
$GC,19228,0.59,169.8,8.6,10.2,1378,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1828,1908,0,0,0,0,0,0
$STATE,19277,end climb,SURFACE_DEPTH_REACHED
$STATE,19277,begin surface coast
$FINISH,1.4,1.013809
$STATE,19308,end surface coast,CONTROL_FINISHED_OK
$STATE,19308,begin surface
$SM_CCo,19323,7.22,0.824,0,0,1845,185.20
$SM_GC,3.83,0.00,0.00,7.22,0.000,0.000,0.824,73,1989,1845,-9.27,1.10,185.20
$IRIDIUM_FIX,-4224.47,842.99,121113,131331
$TT8_MAMPS,0.026964
$HUMID,62.36
$INTERNAL_PRESSURE,9.30171
$TCM_TEMP,11.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.2,8.9
$24V_AH,22.7,21.933
$10V_AH,10.2,18.294
$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,21.950,24.100,285.275,7.225,0.000,51.214,99.314,318.743,0.500,0.000,21.305,3408.319,12367.954,383.946,3670.488,146.010,33.377,1687.995,0.000,3150.960,0.000,5.465,0.000
$DEVICE_MAMPS,269.280,75.735,1588.140,823.905,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.910,937.129,927.237,84.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,80282,1391
$CAP_FILE_SIZE,161061,0
$CFSIZE,2097086464,2077982720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131113,002304,-4243.195,842.136,87,0.9,97,-25.1