version: 66.07.10.p01
glider: 574
mission: 7
dive: 206
start: 11 29 113 7 42 40
data:
$ID,574
$MISSION,7
$DIVE,206
$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,320
$T_MISSION,360
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,180
$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,-13988.742
$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,31
$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,1930
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,67
$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,185
$GPS1,291113,073252,-4252.158,826.833,59,1.0,59,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-71.4
$GPS2,291113,074219,-4252.065,826.986,31,0.9,31,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4302.864,826.986
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.046,-0.252
$KALMAN_X,-104145.1,149.0,319.1,-10292.6,-420.6
$KALMAN_Y,685452.3,363.5,416.2,-873197.9,3982.5
$MHEAD_RNG_PITCHd_Wd,205.0,20000,-18.3,-10.417
$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,25,-0.60,-155.7,0.0,0.0,0,35,0.00,0.00,-7.95,0.000,2,0.000,0.000,66,1933,2018,0,0,0,0,0,0
$GC,37,-0.60,-155.7,3.1,-0.0,1,116,12.90,0.45,-61.55,0.000,4,0.278,0.108,2831,1600,3235,0,0,0,0,0,0
$GC,149,-0.60,-155.7,2.9,-4.4,19,157,0.03,0.47,0.00,0.000,6,0.191,0.037,2836,1944,3236,0,0,0,0,0,0
$GC,206,-0.60,-155.7,8.6,-12.1,28,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1944,3237,0,0,0,0,0,0
$GC,261,-0.60,-155.7,16.8,-13.8,37,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1944,3237,0,0,0,0,0,0
$GC,314,-0.60,-155.7,24.9,-14.8,46,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1944,3238,0,0,0,0,0,0
$GC,458,-0.60,-155.7,44.5,-14.9,71,463,0.00,0.50,0.00,0.000,4,0.000,0.041,2835,2310,3238,0,0,0,0,0,0
$GC,624,-0.60,-155.7,66.5,-12.6,100,629,0.00,0.57,0.00,0.000,6,0.000,0.040,2835,1912,3238,0,0,0,0,0,0
$GC,971,-0.60,-155.7,109.9,-12.3,155,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1912,3238,0,0,0,0,0,0
$GC,1293,-0.60,-155.7,149.2,-11.9,185,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1911,3239,0,0,0,0,0,0
$GC,1609,-0.60,-155.7,187.1,-11.7,215,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1912,3240,0,0,0,0,0,0
$GC,1932,-0.60,-155.7,223.7,-11.5,245,1935,0.00,0.47,0.00,0.000,4,0.000,0.037,2833,2267,3241,0,0,0,0,0,0
$GC,2123,-0.60,-155.7,245.4,-11.2,262,2127,0.00,0.47,0.00,0.000,6,0.000,0.041,2833,1930,3241,0,0,0,0,0,0
$GC,2455,-0.60,-155.7,282.4,-10.9,293,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1930,3242,0,0,0,0,0,0
$GC,2773,-0.60,-155.7,319.1,-11.6,323,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1930,3242,0,0,0,0,0,0
$GC,3095,-0.60,-155.7,354.8,-10.9,353,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1930,3242,0,0,0,0,0,0
$GC,3420,-0.60,-155.7,389.4,-10.2,384,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1930,3242,0,0,0,0,0,0
$GC,3732,-0.60,-155.7,420.6,-10.2,404,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1930,3242,0,0,0,0,0,0
$GC,4041,-0.60,-155.7,452.8,-10.5,419,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1929,3242,0,0,0,0,0,0
$GC,4350,-0.60,-155.7,487.1,-11.4,434,4354,0.00,0.43,0.00,0.000,4,0.000,0.052,2833,1628,3242,0,0,0,0,0,0
$GC,4455,-0.60,-155.7,499.4,-11.8,438,4461,0.00,0.43,0.00,0.000,6,0.000,0.037,2832,1944,3242,0,0,0,0,0,0
$GC,4771,-0.60,-155.7,536.0,-11.3,454,4775,0.00,0.38,0.00,0.000,4,0.000,0.044,2830,2240,3242,0,0,0,0,0,0
$GC,4939,-0.60,-155.7,555.2,-11.4,461,4943,0.05,0.45,0.00,0.000,6,0.219,0.038,2840,1911,3242,0,0,0,0,0,0
$GC,5260,-0.60,-155.7,589.2,-10.1,477,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1911,3242,0,0,0,0,0,0
$GC,5570,-0.60,-155.7,618.8,-9.5,492,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1911,3242,0,0,0,0,0,0
$GC,5879,-0.60,-155.7,648.4,-9.8,507,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1911,3242,0,0,0,0,0,0
$GC,6188,-0.60,-155.7,678.8,-10.0,522,6192,0.00,0.47,0.00,0.000,4,0.000,0.050,2841,1576,3242,0,0,0,0,0,0
$GC,6361,-0.60,-155.7,696.4,-10.2,529,6367,0.00,0.50,0.00,0.000,6,0.000,0.033,2840,1940,3241,0,0,0,0,0,0
$GC,6677,-0.60,-155.7,726.8,-9.6,545,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1940,3241,0,0,0,0,0,0
$GC,6986,-0.60,-155.7,756.4,-9.7,560,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1940,3241,0,0,0,0,0,0
$GC,7296,-0.60,-155.7,785.9,-9.7,575,7299,0.00,0.55,0.00,0.000,4,0.000,0.042,2837,2339,3241,0,0,0,0,0,0
$GC,7513,-0.60,-155.7,806.7,-9.9,584,7519,0.00,0.57,0.00,0.000,6,0.000,0.037,2837,1946,3240,0,0,0,0,0,0
$GC,7829,-0.60,-155.7,837.0,-9.6,600,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1946,3240,0,0,0,0,0,0
$GC,8139,-0.60,-155.7,866.1,-9.4,615,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1946,3240,0,0,0,0,0,0
$GC,8448,-0.60,-155.7,895.4,-9.4,630,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1946,3239,0,0,0,0,0,0
$GC,8757,-0.60,-155.7,923.1,-8.8,645,8761,0.00,0.38,0.00,0.000,4,0.000,0.054,2836,1678,3239,0,0,0,0,0,0
$GC,8908,-0.60,-155.7,936.4,-9.3,651,8914,0.00,0.32,0.00,0.000,6,0.000,0.038,2836,1924,3238,0,0,0,0,0,0
$GC,9224,-0.60,-155.7,962.6,-8.3,667,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1924,3238,0,0,0,0,0,0
$GC,9533,-0.60,-155.7,986.4,-7.1,682,9537,0.00,0.40,0.00,0.000,4,0.000,0.044,2834,2231,3238,0,0,0,0,0,0
$STATE,9724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9724,begin apogee
$GC,9728,-0.16,0.0,1000.0,7.2,690,9865,0.47,0.00,133.07,1.700,6,0.155,0.000,2975,1832,2600,0,0,0,0,0,0
$STATE,9866,end apogee,CONTROL_FINISHED_OK
$STATE,9866,begin climb
$GC,9867,0.60,155.7,1001.9,0.0,697,10019,0.85,0.00,146.30,1.624,6,0.107,0.000,3229,1832,1964,0,0,0,0,0,0
$GC,10329,0.60,155.7,950.1,12.0,720,10332,0.00,1.58,0.00,0.000,4,0.000,0.055,3236,903,1956,0,0,0,0,0,0
$GC,10501,0.60,155.7,929.3,11.5,727,10507,0.00,1.45,0.00,0.000,6,0.000,0.025,3236,1822,1955,0,0,0,0,0,0
$GC,10817,0.60,155.7,892.6,11.7,743,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1822,1955,0,0,0,0,0,0
$GC,11127,0.60,155.7,858.7,10.7,758,11130,0.00,0.65,0.00,0.000,4,0.000,0.046,3237,1411,1955,0,0,0,0,0,0
$GC,11383,0.60,155.7,829.5,11.7,769,11388,0.00,0.65,0.00,0.000,6,0.000,0.030,3237,1862,1955,0,0,0,0,0,0
$GC,11705,0.60,155.7,793.7,11.0,785,11709,0.00,1.75,0.00,0.000,4,0.000,0.055,3244,800,1955,0,0,0,0,0,0
$GC,11884,0.60,155.7,773.2,11.8,793,11888,0.00,1.52,0.00,0.000,6,0.000,0.027,3245,1805,1955,0,0,0,0,0,0
$GC,12216,0.60,155.7,733.4,11.9,809,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1805,1955,0,0,0,0,0,0
$GC,12525,0.60,155.7,696.3,11.8,824,12529,0.00,0.93,0.00,0.000,4,0.000,0.048,3247,1226,1954,0,0,0,0,0,0
$GC,12715,0.60,155.7,673.2,12.4,832,12719,0.00,0.93,0.00,0.000,6,0.000,0.026,3245,1847,1954,0,0,0,0,0,0
$GC,13036,0.60,155.7,634.9,11.9,848,13040,0.00,0.47,0.00,0.000,4,0.000,0.046,3246,1534,1955,0,0,0,0,0,0
$GC,13293,0.60,155.7,603.6,12.3,859,13297,0.00,0.43,0.00,0.000,6,0.000,0.034,3245,1837,1955,0,0,0,0,0,0
$GC,13614,0.60,155.7,565.4,11.6,875,13618,0.00,1.30,0.00,0.000,4,0.000,0.053,3250,1037,1954,0,0,0,0,0,0
$GC,13805,0.60,155.7,543.2,10.7,883,13809,0.03,1.17,0.00,0.000,6,0.184,0.028,3240,1825,1955,0,0,0,0,0,0
$GC,14125,0.60,155.7,507.7,11.0,899,14129,0.00,0.43,0.00,0.000,4,0.000,0.047,3241,1541,1955,0,0,0,0,0,0
$GC,14381,0.60,155.7,478.9,11.2,910,14385,0.00,0.43,0.00,0.000,6,0.000,0.034,3241,1856,1955,0,0,0,0,0,0
$GC,14702,0.60,155.7,441.4,12.0,926,14706,0.00,0.88,0.00,0.000,4,0.000,0.048,3243,1308,1955,0,0,0,0,0,0
$GC,14959,0.60,155.7,411.0,11.5,937,14964,0.00,0.75,0.00,0.000,6,0.000,0.028,3243,1826,1955,0,0,0,0,0,0
$GC,15287,0.60,155.7,372.0,11.9,964,15291,0.00,0.40,0.00,0.000,4,0.000,0.045,3244,1557,1955,0,0,0,0,0,0
$GC,15469,0.60,155.7,350.4,12.3,980,15472,0.00,0.35,0.00,0.000,6,0.000,0.037,3244,1826,1956,0,0,0,0,0,0
$GC,15799,0.60,155.7,309.2,12.6,1011,15802,0.00,0.65,0.00,0.000,4,0.000,0.045,3246,1410,1956,0,0,0,0,0,0
$GC,16059,0.60,155.7,276.4,12.1,1034,16064,0.03,0.57,0.00,0.000,6,0.164,0.031,3237,1847,1956,0,0,0,0,0,0
$GC,16393,0.60,155.7,238.4,11.3,1065,16396,0.00,0.73,0.00,0.000,4,0.000,0.046,3239,1382,1957,0,0,0,0,0,0
$GC,16652,0.60,158.1,209.5,10.3,1088,16656,0.00,0.60,0.00,0.000,6,0.000,0.030,3239,1825,1957,0,0,0,0,0,0
$GC,16982,0.60,158.1,172.1,11.2,1119,16986,0.00,0.43,0.00,0.000,4,0.000,0.044,3239,1533,1957,0,0,0,0,0,0
$GC,17243,0.60,158.1,142.1,11.5,1142,17247,0.00,0.38,0.00,0.000,6,0.000,0.036,3239,1820,1958,0,0,0,0,0,0
$GC,17577,0.60,158.1,103.3,11.9,1173,17581,0.00,0.93,0.00,0.000,4,0.000,0.050,3241,1244,1959,0,0,0,0,0,0
$GC,17806,0.60,162.7,77.4,10.2,1210,17817,0.00,0.85,7.00,1.036,6,0.000,0.027,3241,1842,1936,0,0,0,0,0,0
$GC,18161,0.60,192.3,40.8,9.1,1272,18194,0.00,1.33,26.83,1.087,4,0.000,0.050,3246,1039,1815,0,0,0,0,0,0
$GC,18374,0.60,192.3,18.4,10.6,1309,18381,0.00,1.17,0.00,0.000,6,0.000,0.025,3246,1826,1812,0,0,0,0,0,0
$GC,18431,0.60,192.3,11.2,12.9,1318,18437,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1826,1811,0,0,0,0,0,0
$GC,18486,0.60,192.3,4.3,11.4,1327,18493,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1826,1811,0,0,0,0,0,0
$STATE,18499,end climb,SURFACE_DEPTH_REACHED
$STATE,18499,begin surface coast
$FINISH,1.8,1.026548
$STATE,18524,end surface coast,CONTROL_FINISHED_OK
$STATE,18524,begin surface
$SM_CCo,18601,0.00,0.000,0,0,1807,194.52
$SM_GC,3.32,8.70,0.00,0.00,0.045,0.000,0.000,76,1981,1807,-9.19,1.44,194.52
$IRIDIUM_FIX,-4236.17,826.91,291113,020209
$TT8_MAMPS,0.026964
$HUMID,62.01
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,22.5,34.197
$10V_AH,10.2,27.303
$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,23.050,32.200,313.200,0.000,0.000,41.742,41.510,341.800,0.250,0.000,33.215,3295.353,11613.383,401.272,3682.730,169.593,0.000,1754.406,0.000,3188.013,0.000,2.832,0.000
$DEVICE_MAMPS,278.460,107.865,1699.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.106,914.111,880.856,81.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,76778,1333
$CAP_FILE_SIZE,164303,0
$CFSIZE,2097086464,2068021248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291113,125422,-4253.045,827.092,67,1.0,67,-25.0