version: 66.07.10.p01
glider: 574
mission: 7
dive: 208
start: 11 29 113 18 28 8
data:
$ID,574
$MISSION,7
$DIVE,208
$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,-13993.411
$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,59
$R_STBD_OVSHOOT,57
$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,187
$GPS1,291113,181553,-4254.163,827.329,104,0.8,104,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-73.5
$GPS2,291113,182747,-4254.127,827.384,22,0.8,22,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4304.926,827.384
$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,23,begin dive
$GC,24,-0.60,-155.7,0.0,0.0,0,40,0.00,0.00,-13.40,0.000,2,0.000,0.000,66,1958,2141,0,0,0,0,0,0
$GC,42,-0.60,-155.7,3.1,-1.1,2,115,12.48,0.00,-54.70,0.000,6,0.266,0.000,2834,1962,3234,0,0,0,0,0,0
$GC,165,-0.60,-155.7,7.0,-12.1,22,171,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,3236,0,0,0,0,0,0
$GC,220,-0.60,-155.7,14.1,-12.4,31,227,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,3237,0,0,0,0,0,0
$GC,276,-0.60,-155.7,20.3,-10.9,40,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,3237,0,0,0,0,0,0
$GC,421,-0.60,-155.7,39.5,-14.9,65,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,3237,0,0,0,0,0,0
$GC,563,-0.60,-155.7,60.0,-15.3,90,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1962,3237,0,0,0,0,0,0
$GC,915,-0.60,-155.7,104.1,-12.4,149,919,0.00,0.57,0.00,0.000,4,0.000,0.045,2833,1565,3237,0,0,0,0,0,0
$GC,1040,-0.60,-155.7,119.9,-13.1,160,1043,0.00,0.52,0.00,0.000,6,0.000,0.032,2831,1944,3238,0,0,0,0,0,0
$GC,1369,-0.60,-155.7,162.1,-13.2,191,1373,0.00,0.47,0.00,0.000,4,0.000,0.041,2829,2300,3238,0,0,0,0,0,0
$GC,1565,-0.60,-155.7,187.8,-12.9,208,1574,0.08,0.55,0.00,0.000,6,0.203,0.037,2844,1915,3238,0,0,0,0,0,0
$GC,1892,-0.60,-155.7,227.1,-11.8,239,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1915,3239,0,0,0,0,0,0
$GC,2212,-0.60,-155.7,265.1,-12.2,269,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1915,3239,0,0,0,0,0,0
$GC,2528,-0.60,-155.7,303.3,-11.8,299,2532,0.00,0.38,0.00,0.000,4,0.000,0.053,2844,1641,3240,0,0,0,0,0,0
$GC,2680,-0.60,-155.7,321.7,-11.8,312,2688,0.00,0.40,0.00,0.000,6,0.000,0.035,2844,1952,3240,0,0,0,0,0,0
$GC,3007,-0.60,-155.7,358.6,-11.3,343,3010,0.00,0.35,0.00,0.000,4,0.000,0.044,2842,2236,3240,0,0,0,0,0,0
$GC,3257,-0.60,-155.7,386.4,-10.9,365,3260,0.00,0.40,0.00,0.000,6,0.000,0.042,2842,1938,3239,0,0,0,0,0,0
$GC,3591,-0.60,-155.7,422.9,-10.7,387,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3240,0,0,0,0,0,0
$GC,3901,-0.60,-155.7,454.8,-10.1,402,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1937,3240,0,0,0,0,0,0
$GC,4210,-0.60,-155.7,485.5,-9.9,417,4214,0.00,0.45,0.00,0.000,4,0.000,0.051,2842,1621,3239,0,0,0,0,0,0
$GC,4405,-0.60,-155.7,504.8,-9.8,425,4411,0.00,0.40,0.00,0.000,6,0.000,0.035,2841,1929,3239,0,0,0,0,0,0
$GC,4721,-0.60,-155.7,535.8,-10.0,441,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1928,3239,0,0,0,0,0,0
$GC,5030,-0.60,-155.7,567.1,-10.1,456,5034,0.00,0.35,0.00,0.000,4,0.000,0.044,2839,2213,3239,0,0,0,0,0,0
$GC,5288,-0.60,-155.7,592.6,-10.1,467,5292,0.00,0.40,0.00,0.000,6,0.000,0.041,2839,1928,3238,0,0,0,0,0,0
$GC,5609,-0.60,-155.7,625.4,-10.2,483,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1928,3237,0,0,0,0,0,0
$GC,5918,-0.60,-155.7,656.0,-10.0,498,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1928,3237,0,0,0,0,0,0
$GC,6228,-0.60,-155.7,686.4,-9.9,513,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1928,3237,0,0,0,0,0,0
$GC,6537,-0.60,-155.7,717.3,-9.7,528,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1928,3236,0,0,0,0,0,0
$GC,6846,-0.60,-155.7,748.4,-10.1,543,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1928,3236,0,0,0,0,0,0
$GC,7156,-0.60,-155.7,778.9,-9.7,558,7159,0.00,0.62,0.00,0.000,4,0.000,0.049,2839,1505,3236,0,0,0,0,0,0
$GC,7307,-0.60,-155.7,793.9,-9.9,564,7312,0.00,0.57,0.00,0.000,6,0.000,0.032,2837,1921,3236,0,0,0,0,0,0
$GC,7622,-0.60,-155.7,825.2,-10.0,580,7626,0.00,0.38,0.00,0.000,4,0.000,0.045,2835,2216,3235,0,0,0,0,0,0
$GC,7879,-0.60,-155.7,849.4,-9.0,591,7884,0.00,0.40,0.00,0.000,6,0.000,0.041,2835,1928,3234,0,0,0,0,0,0
$GC,8201,-0.60,-155.7,878.8,-9.3,607,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3234,0,0,0,0,0,0
$GC,8510,-0.60,-155.7,906.6,-8.7,622,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1928,3234,0,0,0,0,0,0
$GC,8820,-0.60,-155.7,933.5,-8.7,637,8823,0.00,0.38,0.00,0.000,4,0.000,0.053,2835,1655,3233,0,0,0,0,0,0
$GC,8965,-0.60,-155.7,947.1,-8.6,643,8969,0.00,0.38,0.00,0.000,6,0.000,0.037,2834,1937,3233,0,0,0,0,0,0
$GC,9286,-0.60,-155.7,976.2,-8.9,659,9290,0.00,0.35,0.00,0.000,4,0.000,0.047,2833,2214,3233,0,0,0,0,0,0
$GC,9459,-0.60,-155.7,991.6,-9.1,666,9464,0.00,0.40,0.00,0.000,6,0.000,0.041,2832,1928,3233,0,0,0,0,0,0
$STATE,9569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9570,begin apogee
$GC,9574,-0.16,0.0,1001.1,8.8,672,9709,0.52,0.00,132.15,1.691,6,0.159,0.000,2981,1841,2600,0,0,0,0,0,0
$STATE,9710,end apogee,CONTROL_FINISHED_OK
$STATE,9710,begin climb
$GC,9712,0.60,155.7,1005.2,0.0,679,9862,0.82,0.00,146.45,1.616,6,0.108,0.000,3227,1841,1964,0,0,0,0,0,0
$GC,10157,0.60,155.7,963.0,10.7,701,10161,0.00,1.48,0.00,0.000,4,0.000,0.054,3233,969,1956,0,0,0,0,0,0
$GC,10302,0.60,155.7,946.8,11.4,707,10307,0.00,1.30,0.00,0.000,6,0.000,0.025,3233,1808,1954,0,0,0,0,0,0
$GC,10624,0.60,155.7,911.0,11.0,723,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1808,1953,0,0,0,0,0,0
$GC,10933,0.60,155.7,874.6,12.1,738,10937,0.00,0.73,0.00,0.000,4,0.000,0.046,3235,1357,1953,0,0,0,0,0,0
$GC,11189,0.60,155.7,843.2,11.9,749,11194,0.00,0.73,0.00,0.000,6,0.000,0.028,3235,1846,1953,0,0,0,0,0,0
$GC,11511,0.60,155.7,805.2,11.7,765,11514,0.00,0.70,0.00,0.000,4,0.000,0.046,3236,1400,1952,0,0,0,0,0,0
$GC,11767,0.60,155.7,775.2,12.1,776,11772,0.00,0.62,0.00,0.000,6,0.000,0.030,3236,1846,1952,0,0,0,0,0,0
$GC,12089,0.60,155.7,738.5,11.5,792,12092,0.00,0.95,0.00,0.000,4,0.000,0.048,3239,1255,1952,0,0,0,0,0,0
$GC,12272,0.60,155.7,717.3,11.1,800,12277,0.00,0.82,0.00,0.000,6,0.000,0.026,3239,1819,1952,0,0,0,0,0,0
$GC,12600,0.60,155.7,680.9,11.3,816,12603,0.00,0.40,0.00,0.000,4,0.000,0.046,3240,1548,1952,0,0,0,0,0,0
$GC,12856,0.60,155.7,651.3,11.3,827,12860,0.00,0.40,0.00,0.000,6,0.000,0.034,3240,1837,1952,0,0,0,0,0,0
$GC,13178,0.60,155.7,612.9,12.2,843,13181,0.00,1.73,0.00,0.000,4,0.000,0.055,3246,754,1951,0,0,0,0,0,0
$GC,13339,0.60,155.7,592.3,12.8,850,13344,0.00,1.60,0.00,0.000,6,0.000,0.026,3245,1814,1951,0,0,0,0,0,0
$GC,13666,0.60,155.7,551.7,12.4,866,13670,0.00,0.45,0.00,0.000,4,0.000,0.041,3245,2159,1951,0,0,0,0,0,0
$GC,13788,0.60,155.7,536.3,12.6,871,13792,0.00,0.50,0.00,0.000,6,0.000,0.043,3246,1826,1951,0,0,0,0,0,0
$GC,14109,0.60,155.7,497.8,12.3,887,14113,0.00,1.55,0.00,0.000,4,0.000,0.056,3252,871,1951,0,0,0,0,0,0
$GC,14276,0.60,155.7,476.5,12.8,894,14282,0.03,1.45,0.00,0.000,6,0.178,0.026,3242,1837,1951,0,0,0,0,0,0
$GC,14598,0.60,155.7,438.1,11.8,910,14599,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1838,1951,0,0,0,0,0,0
$GC,14907,0.60,155.7,401.6,12.0,925,14911,0.00,0.82,0.00,0.000,4,0.000,0.048,3245,1318,1951,0,0,0,0,0,0
$GC,15148,0.60,155.7,372.7,11.8,945,15154,0.00,0.77,0.00,0.000,6,0.000,0.028,3245,1849,1951,0,0,0,0,0,0
$GC,15473,0.60,155.7,332.9,12.0,976,15474,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1848,1951,0,0,0,0,0,0
$GC,15792,0.60,155.7,293.4,12.5,1006,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1849,1951,0,0,0,0,0,0
$GC,16111,0.60,155.7,254.9,12.2,1036,16112,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1849,1951,0,0,0,0,0,0
$GC,16430,0.60,155.7,217.5,11.7,1066,16433,0.00,0.85,0.00,0.000,4,0.000,0.047,3247,1310,1950,0,0,0,0,0,0
$GC,16659,0.60,155.7,190.3,11.3,1086,16666,0.03,0.77,0.00,0.000,6,0.272,0.028,3238,1847,1951,0,0,0,0,0,0
$GC,16988,0.60,155.7,155.1,10.7,1117,16993,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1847,1951,0,0,0,0,0,0
$GC,17313,0.60,155.7,119.0,11.2,1148,17317,0.00,1.05,0.00,0.000,4,0.000,0.048,3241,1192,1952,0,0,0,0,0,0
$GC,17512,0.60,155.7,97.4,10.5,1167,17519,0.00,0.90,0.00,0.000,6,0.000,0.027,3241,1822,1952,0,0,0,0,0,0
$GC,17861,0.60,155.7,60.3,10.9,1228,17866,0.00,0.52,0.00,0.000,4,0.000,0.040,3240,2214,1952,0,0,0,0,0,0
$GC,18068,0.60,155.7,39.8,11.4,1264,18075,0.00,0.57,0.00,0.000,6,0.000,0.041,3242,1823,1952,0,0,0,0,0,0
$GC,18216,0.60,201.5,24.9,8.4,1289,18250,0.00,0.40,26.12,1.034,4,0.000,0.060,3242,1558,1777,0,0,0,0,0,0
$STATE,18404,end climb,SURFACE_DEPTH_REACHED
$STATE,18404,begin surface coast
$FINISH,2.1,1.026564
$STATE,18429,end surface coast,CONTROL_FINISHED_OK
$STATE,18429,begin surface
$SM_CCo,18505,0.00,0.000,0,0,1765,204.82
$SM_GC,2.80,8.77,0.00,0.00,0.050,0.000,0.000,79,1957,1765,-9.19,0.76,204.82
$IRIDIUM_FIX,-4239.11,824.43,291113,181829
$TT8_MAMPS,0.026964
$HUMID,61.81
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.5,34.522
$10V_AH,10.2,27.550
$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,22.725,31.425,304.725,0.000,0.000,54.821,40.814,411.352,0.250,0.000,24.904,3279.778,11587.762,402.023,3771.727,171.378,0.000,1756.544,0.000,3194.425,0.000,2.834,0.000
$DEVICE_MAMPS,272.340,103.275,1691.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.951,910.975,875.874,84.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354632
$DATA_FILE_SIZE,76972,1325
$CAP_FILE_SIZE,166433,0
$CFSIZE,2097086464,2067759104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291113,233805,-4255.243,827.742,58,0.9,58,-25.0