version: 66.07.10.p01
glider: 574
mission: 7
dive: 135
start: 11 13 113 22 21 14
data:
$ID,574
$MISSION,7
$DIVE,135
$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,-13796.711
$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,56
$R_STBD_OVSHOOT,86
$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,114
$GPS1,131113,221152,-4246.253,839.565,56,0.8,56,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-74.1
$GPS2,131113,222019,-4246.250,839.627,23,1.6,23,-25.1
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4304.000,825.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.013,-0.266
$KALMAN_X,-168127.0,-83.3,180.2,75783.0,-476.1
$KALMAN_Y,425692.3,-124.0,-44.8,-609898.4,4216.9
$MHEAD_RNG_PITCHd_Wd,208.0,38370,-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,-155.7,0.0,0.0,0,45,0.00,0.00,-19.27,0.000,2,0.000,0.000,66,1968,2266,0,0,0,0,0,0
$GC,48,-0.59,-155.7,3.1,-4.4,3,109,11.98,0.00,-43.97,0.000,6,0.256,0.000,2843,1967,3233,0,0,0,0,0,0
$GC,158,-0.59,-155.7,8.2,-11.7,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3236,0,0,0,0,0,0
$GC,213,-0.59,-155.7,14.6,-11.0,30,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3236,0,0,0,0,0,0
$GC,269,-0.59,-155.7,20.5,-10.7,39,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3236,0,0,0,0,0,0
$GC,411,-0.59,-155.7,38.3,-13.7,64,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3237,0,0,0,0,0,0
$GC,554,-0.59,-155.7,56.2,-11.5,89,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3237,0,0,0,0,0,0
$GC,899,-0.59,-155.7,97.3,-11.0,150,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3238,0,0,0,0,0,0
$GC,1232,-0.59,-155.7,135.0,-11.2,183,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1968,3238,0,0,0,0,0,0
$GC,1551,-0.59,-155.7,169.2,-10.5,213,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3239,0,0,0,0,0,0
$GC,1867,-0.59,-155.7,202.9,-10.7,243,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3239,0,0,0,0,0,0
$GC,2190,-0.59,-155.7,238.7,-11.6,273,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3239,0,0,0,0,0,0
$GC,2514,-0.59,-155.7,274.2,-10.5,304,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1968,3239,0,0,0,0,0,0
$GC,2833,-0.59,-155.7,306.4,-10.0,334,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1968,3240,0,0,0,0,0,0
$GC,3152,-0.59,-155.7,338.8,-10.4,364,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3240,0,0,0,0,0,0
$GC,3470,-0.59,-155.7,371.7,-10.5,394,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1967,3240,0,0,0,0,0,0
$GC,3797,-0.59,-155.7,407.4,-11.0,422,3801,0.00,0.40,0.00,0.000,4,0.000,0.053,2843,1684,3240,0,0,0,0,0,0
$GC,3948,-0.59,-155.7,424.4,-11.5,428,3953,0.00,0.35,0.00,0.000,6,0.000,0.039,2843,1951,3240,0,0,0,0,0,0
$GC,4263,-0.59,-155.7,459.0,-10.9,444,4267,0.00,0.43,0.00,0.000,4,0.000,0.044,2841,2277,3239,0,0,0,0,0,0
$GC,4514,-0.59,-155.7,486.0,-10.7,455,4518,0.00,0.47,0.00,0.000,6,0.000,0.041,2840,1952,3239,0,0,0,0,0,0
$GC,4841,-0.59,-155.7,520.2,-10.6,471,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1952,3239,0,0,0,0,0,0
$GC,5150,-0.59,-155.7,552.7,-10.4,486,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1952,3239,0,0,0,0,0,0
$GC,5460,-0.59,-155.7,584.6,-10.0,501,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1952,3238,0,0,0,0,0,0
$GC,5769,-0.59,-155.7,615.7,-10.0,516,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1952,3238,0,0,0,0,0,0
$GC,6078,-0.59,-155.7,647.1,-10.1,531,6082,0.00,0.43,0.00,0.000,4,0.000,0.055,2841,1652,3237,0,0,0,0,0,0
$GC,6200,-0.59,-155.7,659.8,-9.8,536,6204,0.00,0.40,0.00,0.000,6,0.000,0.038,2840,1954,3237,0,0,0,0,0,0
$GC,6521,-0.59,-155.7,692.0,-10.1,552,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1954,3237,0,0,0,0,0,0
$GC,6830,-0.59,-155.7,723.3,-9.9,567,6834,0.00,0.30,0.00,0.000,4,0.000,0.050,2838,2205,3236,0,0,0,0,0,0
$GC,7003,-0.59,-155.7,740.3,-9.6,574,7008,0.00,0.38,0.00,0.000,6,0.000,0.044,2838,1943,3236,0,0,0,0,0,0
$GC,7319,-0.59,-155.7,768.9,-9.0,590,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1943,3235,0,0,0,0,0,0
$GC,7628,-0.59,-155.7,795.1,-8.3,605,7632,0.00,0.40,0.00,0.000,4,0.000,0.056,2838,1660,3235,0,0,0,0,0,0
$GC,7834,-0.59,-155.7,812.7,-9.1,614,7838,0.00,0.40,0.00,0.000,6,0.000,0.037,2837,1960,3235,0,0,0,0,0,0
$GC,8161,-0.59,-155.7,840.8,-8.6,630,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1960,3234,0,0,0,0,0,0
$GC,8470,-0.59,-155.7,867.6,-8.9,645,8474,0.00,0.65,0.00,0.000,4,0.000,0.044,2834,2415,3233,0,0,0,0,0,0
$GC,8673,-0.59,-155.7,885.1,-8.8,654,8677,0.00,0.68,0.00,0.000,6,0.000,0.041,2834,1956,3233,0,0,0,0,0,0
$GC,9005,-0.59,-155.7,914.4,-9.0,670,9007,0.05,0.00,0.00,0.000,6,0.226,0.000,2844,1956,3233,0,0,0,0,0,0
$GC,9314,-0.59,-155.7,940.5,-8.5,685,9318,0.00,0.43,0.00,0.000,4,0.000,0.056,2844,1655,3233,0,0,0,0,0,0
$GC,9454,-0.59,-155.7,952.4,-7.9,691,9458,0.00,0.40,0.00,0.000,6,0.000,0.039,2844,1953,3233,0,0,0,0,0,0
$GC,9781,-0.59,-155.7,980.8,-8.8,707,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1954,3233,0,0,0,0,0,0
$STATE,10010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10010,begin apogee
$GC,10014,-0.17,0.0,1001.2,9.1,718,10148,0.47,0.00,130.40,1.595,6,0.151,0.000,2984,1800,2600,0,0,0,0,0,0
$STATE,10149,end apogee,CONTROL_FINISHED_OK
$STATE,10149,begin climb
$GC,10150,0.59,155.7,1005.2,0.0,725,10301,0.77,1.10,142.50,1.545,4,0.110,0.054,3226,1204,1964,0,0,0,0,0,0
$GC,10485,0.59,155.7,975.0,10.6,740,10491,0.00,0.93,0.00,0.000,6,0.000,0.027,3226,1798,1955,0,0,0,0,0,0
$GC,10801,0.59,155.7,941.1,10.7,756,10805,0.00,0.70,0.00,0.000,4,0.000,0.048,3226,1375,1953,0,0,0,0,0,0
$GC,11057,0.59,155.7,912.2,12.0,767,11062,0.00,0.65,0.00,0.000,6,0.000,0.028,3227,1794,1952,0,0,0,0,0,0
$GC,11379,0.59,155.7,875.3,11.5,783,11382,0.00,0.68,0.00,0.000,4,0.000,0.049,3226,1378,1951,0,0,0,0,0,0
$GC,11581,0.59,155.7,851.7,11.8,792,11584,0.00,0.65,0.00,0.000,6,0.000,0.029,3226,1807,1951,0,0,0,0,0,0
$GC,11912,0.59,155.7,812.4,11.7,808,11916,0.00,0.55,0.00,0.000,4,0.000,0.047,3226,1458,1950,0,0,0,0,0,0
$GC,12118,0.59,155.7,788.4,10.8,817,12123,0.00,0.55,0.00,0.000,6,0.000,0.031,3227,1831,1950,0,0,0,0,0,0
$GC,12445,0.59,155.7,750.4,11.6,833,12449,0.00,0.90,0.00,0.000,4,0.000,0.051,3228,1275,1950,0,0,0,0,0,0
$GC,12607,0.59,155.7,731.5,11.8,840,12611,0.00,0.80,0.00,0.000,6,0.000,0.028,3228,1800,1950,0,0,0,0,0,0
$GC,12934,0.59,155.7,693.6,11.7,856,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1801,1949,0,0,0,0,0,0
$GC,13243,0.59,155.7,658.1,11.5,871,13247,0.00,0.88,0.00,0.000,4,0.000,0.051,3230,1256,1950,0,0,0,0,0,0
$GC,13426,0.59,155.7,637.0,11.4,879,13431,0.00,0.85,0.00,0.000,6,0.000,0.028,3230,1821,1949,0,0,0,0,0,0
$GC,13753,0.59,155.7,601.2,10.8,895,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1821,1949,0,0,0,0,0,0
$GC,14062,0.59,155.7,567.7,10.9,910,14066,0.00,0.75,0.00,0.000,4,0.000,0.049,3232,1349,1949,0,0,0,0,0,0
$GC,14265,0.59,155.7,545.4,11.8,919,14268,0.00,0.68,0.00,0.000,6,0.000,0.029,3232,1816,1949,0,0,0,0,0,0
$GC,14596,0.59,155.7,507.8,11.4,935,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1815,1949,0,0,0,0,0,0
$GC,14906,0.59,155.7,471.9,11.6,950,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1816,1949,0,0,0,0,0,0
$GC,15215,0.59,155.7,435.4,11.9,965,15219,0.00,0.50,0.00,0.000,4,0.000,0.047,3233,1487,1949,0,0,0,0,0,0
$GC,15421,0.59,155.7,411.3,11.2,974,15425,0.00,0.47,0.00,0.000,6,0.000,0.035,3233,1842,1949,0,0,0,0,0,0
$GC,15744,0.59,155.7,374.0,11.4,1000,15745,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1842,1949,0,0,0,0,0,0
$GC,16063,0.59,155.7,338.0,11.1,1030,16067,0.00,1.52,0.00,0.000,4,0.000,0.054,3239,902,1949,0,0,0,0,0,0
$GC,16190,0.59,155.7,323.9,11.3,1041,16194,0.00,1.33,0.00,0.000,6,0.000,0.028,3239,1789,1949,0,0,0,0,0,0
$GC,16520,0.59,155.7,285.3,11.5,1072,16523,0.00,0.47,0.00,0.000,4,0.000,0.040,3239,2148,1949,0,0,0,0,0,0
$GC,16633,0.59,155.7,272.0,10.9,1082,16637,0.00,0.50,0.00,0.000,6,0.000,0.046,3240,1808,1949,0,0,0,0,0,0
$GC,16967,0.59,155.7,233.6,11.1,1113,16970,0.00,1.42,0.00,0.000,4,0.000,0.058,3245,918,1949,0,0,0,0,0,0
$GC,17128,0.59,155.7,214.5,11.4,1127,17135,0.05,1.35,0.00,0.000,6,0.220,0.027,3233,1816,1949,0,0,0,0,0,0
$GC,17453,0.59,155.7,179.3,10.3,1158,17454,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1816,1949,0,0,0,0,0,0
$GC,17772,0.59,155.7,145.7,10.4,1188,17776,0.00,0.57,0.00,0.000,4,0.000,0.047,3235,1445,1949,0,0,0,0,0,0
$GC,17901,0.59,161.0,131.8,9.6,1199,17907,0.00,0.52,0.00,0.000,6,0.000,0.033,3235,1834,1949,0,0,0,0,0,0
$GC,18228,0.59,161.0,96.1,10.9,1233,18235,0.00,0.47,0.00,0.000,4,0.000,0.045,3236,1512,1950,0,0,0,0,0,0
$GC,18493,0.59,161.0,67.9,10.0,1279,18498,0.00,0.38,0.00,0.000,6,0.000,0.037,3235,1796,1950,0,0,0,0,0,0
$GC,18840,0.59,161.0,30.7,10.9,1340,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1796,1950,0,0,0,0,0,0
$GC,18987,0.59,161.0,14.7,10.6,1365,18994,0.00,0.65,0.00,0.000,4,0.000,0.049,3238,1381,1950,0,0,0,0,0,0
$STATE,19107,end climb,SURFACE_DEPTH_REACHED
$STATE,19107,begin surface coast
$FINISH,1.7,1.015611
$STATE,19139,end surface coast,CONTROL_FINISHED_OK
$STATE,19139,begin surface
$SM_CCo,19155,12.70,0.863,0,0,1844,185.20
$SM_GC,3.72,0.00,0.00,12.70,0.000,0.000,0.863,77,1950,1844,-9.26,0.00,185.20
$IRIDIUM_FIX,-4230.32,840.98,131113,161600
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.2,9.8
$24V_AH,22.7,22.670
$10V_AH,10.3,18.905
$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,21.800,28.000,272.900,12.700,0.000,31.311,47.650,300.310,0.500,0.000,25.091,3421.298,12018.570,357.712,3719.431,153.478,33.375,1740.108,0.000,3278.592,0.000,5.472,0.000
$DEVICE_MAMPS,256.275,58.140,1595.025,862.920,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.419,963.833,927.767,89.069,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,80237,1390
$CAP_FILE_SIZE,165788,0
$CFSIZE,2097086464,2077294592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141113,034152,-4247.524,838.852,36,0.7,36,-25.1