version: 66.07.10.p01
glider: 574
mission: 7
dive: 207
start: 11 29 113 13 3 15
data:
$ID,574
$MISSION,7
$DIVE,207
$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,-13991.077
$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,43
$R_STBD_OVSHOOT,62
$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,186
$GPS1,291113,125422,-4253.045,827.092,67,1.0,67,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-74.7
$GPS2,291113,130253,-4252.948,827.185,19,1.3,19,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4303.747,827.185
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.60,-155.7,0.0,0.0,0,40,0.00,0.00,-13.77,0.000,2,0.000,0.000,65,1981,2108,0,0,0,0,0,0
$GC,42,-0.60,-155.7,3.2,-2.6,2,109,12.62,0.00,-51.47,0.000,6,0.269,0.000,2835,1981,3235,0,0,0,0,0,0
$GC,159,-0.60,-155.7,9.0,-12.9,21,165,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1981,3238,0,0,0,0,0,0
$GC,214,-0.60,-155.7,17.7,-15.3,30,221,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1981,3239,0,0,0,0,0,0
$GC,269,-0.60,-155.7,25.2,-12.4,39,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1981,3239,0,0,0,0,0,0
$GC,413,-0.60,-155.7,44.5,-13.0,64,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1981,3238,0,0,0,0,0,0
$GC,759,-0.60,-155.7,89.1,-12.6,125,764,0.00,0.85,0.00,0.000,4,0.000,0.045,2835,1427,3239,0,0,0,0,0,0
$GC,929,-0.60,-155.7,109.5,-12.1,148,933,0.00,0.73,0.00,0.000,6,0.000,0.029,2832,1937,3239,0,0,0,0,0,0
$GC,1259,-0.60,-155.7,150.1,-12.4,179,1263,0.00,0.77,0.00,0.000,4,0.000,0.037,2828,2471,3240,0,0,0,0,0,0
$GC,1443,-0.60,-155.7,172.2,-11.7,195,1449,0.05,0.82,0.00,0.000,6,0.227,0.034,2840,1916,3241,0,0,0,0,0,0
$GC,1768,-0.60,-155.7,208.9,-11.7,226,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3240,0,0,0,0,0,0
$GC,2088,-0.60,-155.7,246.0,-11.7,256,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3241,0,0,0,0,0,0
$GC,2408,-0.60,-155.7,284.2,-11.9,286,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1916,3242,0,0,0,0,0,0
$GC,2724,-0.60,-155.7,321.3,-11.5,316,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1916,3242,0,0,0,0,0,0
$GC,3043,-0.60,-155.7,356.5,-11.3,346,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3242,0,0,0,0,0,0
$GC,3362,-0.60,-155.7,390.3,-10.6,376,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3242,0,0,0,0,0,0
$GC,3684,-0.60,-155.7,422.7,-9.8,396,3687,0.00,0.32,0.00,0.000,4,0.000,0.055,2840,1677,3242,0,0,0,0,0,0
$GC,3829,-0.60,-155.7,437.8,-10.0,402,3833,0.00,0.35,0.00,0.000,6,0.000,0.036,2840,1945,3243,0,0,0,0,0,0
$GC,4150,-0.60,-155.7,468.6,-9.1,418,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1945,3243,0,0,0,0,0,0
$GC,4460,-0.60,-155.7,497.2,-9.2,433,4464,0.00,0.77,0.00,0.000,4,0.000,0.037,2836,2484,3242,0,0,0,0,0,0
$GC,4622,-0.60,-155.7,512.0,-8.9,440,4626,0.00,0.80,0.00,0.000,6,0.000,0.036,2836,1940,3243,0,0,0,0,0,0
$GC,4948,-0.60,-155.7,542.5,-9.3,456,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1940,3242,0,0,0,0,0,0
$GC,5258,-0.60,-155.7,572.1,-9.8,471,5261,0.00,0.68,0.00,0.000,4,0.000,0.049,2836,1488,3242,0,0,0,0,0,0
$GC,5397,-0.60,-155.7,586.4,-10.0,477,5401,0.00,0.60,0.00,0.000,6,0.000,0.032,2834,1923,3242,0,0,0,0,0,0
$GC,5724,-0.60,-155.7,619.3,-10.1,493,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1923,3241,0,0,0,0,0,0
$GC,6033,-0.60,-155.7,651.7,-10.6,508,6037,0.00,1.00,0.00,0.000,4,0.000,0.040,2829,2589,3242,0,0,0,0,0,0
$GC,6245,-0.60,-155.7,674.2,-10.7,517,6250,0.05,1.02,0.00,0.000,6,0.220,0.035,2839,1923,3241,0,0,0,0,0,0
$GC,6566,-0.60,-155.7,706.8,-10.2,533,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1924,3241,0,0,0,0,0,0
$GC,6876,-0.60,-155.7,736.5,-9.3,548,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1923,3240,0,0,0,0,0,0
$GC,7185,-0.60,-155.7,765.0,-9.5,563,7189,0.00,0.80,0.00,0.000,4,0.000,0.050,2839,1401,3241,0,0,0,0,0,0
$GC,7330,-0.60,-155.7,779.2,-10.2,569,7334,0.00,0.75,0.00,0.000,6,0.000,0.029,2837,1925,3240,0,0,0,0,0,0
$GC,7652,-0.60,-155.7,810.2,-9.8,585,7655,0.00,0.50,0.00,0.000,4,0.000,0.041,2835,2295,3240,0,0,0,0,0,0
$GC,7858,-0.60,-155.7,829.7,-9.3,594,7862,0.00,0.55,0.00,0.000,6,0.000,0.038,2835,1920,3239,0,0,0,0,0,0
$GC,8185,-0.60,-155.7,859.8,-9.2,610,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1920,3239,0,0,0,0,0,0
$GC,8495,-0.60,-155.7,886.9,-8.6,625,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1920,3239,0,0,0,0,0,0
$GC,8804,-0.60,-155.7,912.2,-8.3,640,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1919,3239,0,0,0,0,0,0
$GC,9113,-0.60,-155.7,937.2,-8.3,655,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1920,3238,0,0,0,0,0,0
$GC,9423,-0.60,-155.7,963.4,-8.8,670,9426,0.00,0.40,0.00,0.000,4,0.000,0.055,2835,1637,3238,0,0,0,0,0,0
$GC,9612,-0.60,-155.7,980.8,-9.1,678,9616,0.00,0.43,0.00,0.000,6,0.000,0.036,2834,1953,3238,0,0,0,0,0,0
$STATE,9830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9830,begin apogee
$GC,9834,-0.16,0.0,1000.9,9.4,689,9971,0.52,0.00,133.43,1.697,6,0.161,0.000,2981,1813,2600,0,0,0,0,0,0
$STATE,9972,end apogee,CONTROL_FINISHED_OK
$STATE,9972,begin climb
$GC,9973,0.60,155.7,1005.5,0.0,696,10126,0.82,0.65,145.85,1.626,4,0.108,0.046,3229,1441,1964,0,0,0,0,0,0
$GC,10379,0.60,155.7,966.1,11.2,715,10383,0.00,0.52,0.00,0.000,6,0.000,0.029,3230,1796,1957,0,0,0,0,0,0
$GC,10711,0.60,155.7,927.5,11.5,731,10715,0.00,1.80,0.00,0.000,4,0.000,0.055,3236,696,1955,0,0,0,0,0,0
$GC,10862,0.60,155.7,909.9,12.1,737,10867,0.00,1.75,0.00,0.000,6,0.000,0.026,3236,1827,1954,0,0,0,0,0,0
$GC,11177,0.60,155.7,871.8,12.4,753,11181,0.00,0.70,0.00,0.000,4,0.000,0.046,3238,1387,1953,0,0,0,0,0,0
$GC,11434,0.60,155.7,839.8,11.8,764,11438,0.00,0.70,0.00,0.000,6,0.000,0.028,3238,1869,1953,0,0,0,0,0,0
$GC,11755,0.60,155.7,798.9,12.8,780,11759,0.00,1.58,0.00,0.000,4,0.000,0.054,3244,911,1953,0,0,0,0,0,0
$GC,11906,0.60,155.7,779.2,13.4,786,11912,0.00,1.35,0.00,0.000,6,0.000,0.026,3244,1809,1953,0,0,0,0,0,0
$GC,12222,0.60,155.7,738.7,12.8,802,12225,0.00,0.93,0.00,0.000,4,0.000,0.049,3246,1236,1953,0,0,0,0,0,0
$GC,12478,0.60,155.7,705.9,11.9,813,12483,0.00,0.90,0.00,0.000,6,0.000,0.027,3246,1837,1953,0,0,0,0,0,0
$GC,12800,0.60,155.7,665.7,12.7,829,12804,0.00,0.88,0.00,0.000,4,0.000,0.050,3248,1292,1953,0,0,0,0,0,0
$GC,13039,0.60,155.7,636.9,12.2,839,13046,0.05,0.80,0.00,0.000,6,0.226,0.027,3238,1828,1953,0,0,0,0,0,0
$GC,13355,0.60,155.7,602.6,10.5,855,13359,0.00,1.12,0.00,0.000,4,0.000,0.050,3242,1132,1953,0,0,0,0,0,0
$GC,13539,0.60,155.7,582.7,10.6,863,13544,0.00,1.05,0.00,0.000,6,0.000,0.026,3242,1832,1953,0,0,0,0,0,0
$GC,13866,0.60,155.7,546.9,11.2,879,13870,0.00,0.62,0.00,0.000,4,0.000,0.047,3243,1432,1953,0,0,0,0,0,0
$GC,14123,0.60,155.7,518.0,11.1,890,14128,0.00,0.60,0.00,0.000,6,0.000,0.031,3243,1866,1953,0,0,0,0,0,0
$GC,14445,0.60,155.7,479.9,12.1,906,14448,0.00,0.85,0.00,0.000,4,0.000,0.048,3246,1330,1953,0,0,0,0,0,0
$GC,14640,0.60,155.7,455.2,13.0,914,14646,0.00,0.70,0.00,0.000,6,0.000,0.028,3245,1808,1953,0,0,0,0,0,0
$GC,14956,0.60,155.7,414.4,13.1,930,14959,0.00,0.43,0.00,0.000,4,0.000,0.046,3246,1525,1953,0,0,0,0,0,0
$GC,15215,0.60,155.7,380.6,12.4,948,15219,0.00,0.40,0.00,0.000,6,0.000,0.034,3245,1829,1954,0,0,0,0,0,0
$GC,15545,0.60,155.7,339.8,12.3,979,15549,0.00,0.90,0.00,0.000,4,0.000,0.049,3248,1265,1954,0,0,0,0,0,0
$GC,15796,0.60,155.7,309.8,11.1,1001,15801,0.03,0.80,0.00,0.000,6,0.173,0.028,3239,1838,1953,0,0,0,0,0,0
$GC,16126,0.60,155.7,272.2,11.1,1032,16130,0.00,1.05,0.00,0.000,4,0.000,0.050,3242,1182,1954,0,0,0,0,0,0
$GC,16311,0.60,155.7,251.3,11.4,1048,16319,0.00,0.95,0.00,0.000,6,0.000,0.026,3242,1830,1953,0,0,0,0,0,0
$GC,16638,0.60,155.7,215.0,10.9,1079,16639,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1831,1954,0,0,0,0,0,0
$GC,16958,0.60,155.7,179.5,10.7,1109,16962,0.00,0.98,0.00,0.000,4,0.000,0.049,3245,1214,1954,0,0,0,0,0,0
$GC,17188,0.60,156.3,153.6,10.4,1129,17194,0.00,0.90,0.00,0.000,6,0.000,0.025,3245,1833,1954,0,0,0,0,0,0
$GC,17513,0.60,156.3,117.4,11.0,1160,17517,0.00,0.40,0.00,0.000,4,0.000,0.046,3246,1555,1955,0,0,0,0,0,0
$GC,17776,0.60,156.3,88.0,11.6,1192,17781,0.00,0.35,0.00,0.000,6,0.000,0.035,3245,1821,1955,0,0,0,0,0,0
$GC,18123,0.60,178.8,51.1,9.4,1253,18151,0.00,1.20,19.77,1.090,4,0.000,0.046,3250,1080,1869,0,0,0,0,0,0
$GC,18376,0.60,178.8,23.4,11.6,1297,18381,0.03,1.10,0.00,0.000,6,0.181,0.028,3242,1821,1868,0,0,0,0,0,0
$GC,18525,0.60,178.8,7.9,11.5,1322,18532,0.00,0.43,0.00,0.000,4,0.000,0.048,3242,1540,1868,0,0,0,0,0,0
$STATE,18568,end climb,SURFACE_DEPTH_REACHED
$STATE,18568,begin surface coast
$FINISH,1.9,1.016133
$STATE,18599,end surface coast,CONTROL_FINISHED_OK
$STATE,18599,begin surface
$SM_CCo,18616,2.08,0.521,0,0,1844,185.20
$SM_GC,3.98,0.00,0.00,2.08,0.000,0.000,0.521,80,1962,1844,-9.25,0.90,185.20
$IRIDIUM_FIX,-4236.17,826.91,291113,070746
$TT8_MAMPS,0.026215
$HUMID,62.20
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.5,34.356
$10V_AH,10.1,27.426
$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,22.875,40.275,299.050,2.075,0.000,27.518,18.676,336.222,0.250,0.000,21.846,3331.325,11490.437,389.278,3732.768,182.427,0.000,1789.960,0.000,3301.185,0.000,2.833,0.000
$DEVICE_MAMPS,269.280,55.080,1696.770,520.965,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.164,897.648,892.617,81.134,0.000,0.000,0.000,0.000,0.000,0.000
$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,76815,1334
$CAP_FILE_SIZE,169643,0
$CFSIZE,2097086464,2067890176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291113,181553,-4254.163,827.329,104,0.8,104,-25.0