version: 66.07.10.p01
glider: 574
mission: 7
dive: 210
start: 11 30 113 5 10 53
data:
$ID,574
$MISSION,7
$DIVE,210
$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,-13999.194
$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,51
$R_STBD_OVSHOOT,79
$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,189
$GPS1,301113,050155,-4256.579,828.076,78,2.0,78,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-72.9
$GPS2,301113,051031,-4256.492,828.131,34,1.9,35,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4307.292,828.131
$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,-8.52,0.000,2,0.000,0.000,66,1971,1958,0,0,0,0,0,0
$GC,37,-0.60,-155.7,3.0,-0.0,1,122,12.48,0.60,-64.65,0.000,4,0.265,0.081,2837,2384,3235,0,0,0,0,0,0
$GC,307,-0.60,-155.7,15.5,-12.5,46,314,0.00,0.68,0.00,0.000,6,0.000,0.036,2838,1922,3237,0,0,0,0,0,0
$GC,363,-0.60,-155.7,22.5,-12.8,55,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1922,3237,0,0,0,0,0,0
$GC,505,-0.60,-155.7,40.5,-13.2,80,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1922,3237,0,0,0,0,0,0
$GC,851,-0.60,-155.7,83.4,-12.4,141,858,0.00,0.45,0.00,0.000,4,0.000,0.049,2838,1602,3238,0,0,0,0,0,0
$GC,1011,-0.60,-155.7,103.0,-12.5,167,1015,0.00,0.43,0.00,0.000,6,0.000,0.036,2836,1936,3238,0,0,0,0,0,0
$GC,1341,-0.60,-155.7,142.4,-12.0,198,1344,0.00,0.35,0.00,0.000,4,0.000,0.044,2834,2220,3239,0,0,0,0,0,0
$GC,1591,-0.60,-155.7,171.2,-11.5,220,1594,0.00,0.40,0.00,0.000,6,0.000,0.040,2834,1922,3239,0,0,0,0,0,0
$GC,1921,-0.60,-155.7,208.8,-11.4,251,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1922,3239,0,0,0,0,0,0
$GC,2244,-0.60,-155.7,244.7,-11.0,281,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1923,3239,0,0,0,0,0,0
$GC,2569,-0.60,-155.7,281.8,-11.4,312,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1922,3239,0,0,0,0,0,0
$GC,2887,-0.60,-155.7,317.6,-11.0,342,2891,0.00,0.55,0.00,0.000,4,0.000,0.047,2835,1538,3240,0,0,0,0,0,0
$GC,3074,-0.60,-155.7,338.4,-10.8,358,3079,0.00,0.52,0.00,0.000,6,0.000,0.031,2833,1924,3240,0,0,0,0,0,0
$GC,3402,-0.60,-155.7,374.3,-11.1,389,3406,0.00,0.47,0.00,0.000,4,0.000,0.041,2830,2288,3240,0,0,0,0,0,0
$GC,3654,-0.60,-155.7,402.2,-11.6,411,3658,0.05,0.52,0.00,0.000,6,0.220,0.037,2840,1916,3240,0,0,0,0,0,0
$GC,3981,-0.60,-155.7,436.5,-10.7,427,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3240,0,0,0,0,0,0
$GC,4290,-0.60,-155.7,470.1,-11.1,442,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3240,0,0,0,0,0,0
$GC,4600,-0.60,-155.7,502.6,-10.2,457,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3240,0,0,0,0,0,0
$GC,4909,-0.60,-155.7,534.1,-10.0,472,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1916,3240,0,0,0,0,0,0
$GC,5218,-0.60,-155.7,565.1,-10.0,487,5222,0.00,0.47,0.00,0.000,4,0.000,0.050,2840,1584,3240,0,0,0,0,0,0
$GC,5425,-0.60,-155.7,586.4,-10.3,496,5429,0.00,0.47,0.00,0.000,6,0.000,0.034,2840,1935,3239,0,0,0,0,0,0
$GC,5752,-0.60,-155.7,619.5,-10.2,512,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1936,3238,0,0,0,0,0,0
$GC,6061,-0.60,-155.7,650.6,-10.2,527,6065,0.00,0.35,0.00,0.000,4,0.000,0.044,2838,2219,3239,0,0,0,0,0,0
$GC,6319,-0.60,-155.7,677.1,-9.7,538,6323,0.00,0.40,0.00,0.000,6,0.000,0.039,2838,1932,3238,0,0,0,0,0,0
$GC,6640,-0.60,-155.7,709.0,-9.9,554,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1932,3238,0,0,0,0,0,0
$GC,6950,-0.60,-155.7,738.7,-9.3,569,6953,0.00,0.62,0.00,0.000,4,0.000,0.048,2838,1510,3237,0,0,0,0,0,0
$GC,7122,-0.60,-155.7,755.6,-10.0,576,7128,0.00,0.57,0.00,0.000,6,0.000,0.031,2836,1923,3236,0,0,0,0,0,0
$GC,7438,-0.60,-155.7,786.5,-9.9,592,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1922,3237,0,0,0,0,0,0
$GC,7748,-0.60,-155.7,818.0,-10.1,607,7751,0.00,0.55,0.00,0.000,4,0.000,0.041,2833,2324,3236,0,0,0,0,0,0
$GC,7960,-0.60,-155.7,839.3,-10.0,616,7964,0.00,0.57,0.00,0.000,6,0.000,0.038,2833,1932,3236,0,0,0,0,0,0
$GC,8282,-0.60,-155.7,872.0,-10.2,632,8285,0.00,0.40,0.00,0.000,4,0.000,0.053,2833,1645,3236,0,0,0,0,0,0
$GC,8417,-0.60,-155.7,885.7,-10.0,638,8421,0.00,0.38,0.00,0.000,6,0.000,0.037,2832,1937,3236,0,0,0,0,0,0
$GC,8749,-0.60,-155.7,918.1,-9.7,654,8753,0.00,0.30,0.00,0.000,4,0.000,0.048,2831,2189,3235,0,0,0,0,0,0
$GC,9006,-0.60,-155.7,943.0,-9.2,665,9010,0.00,0.38,0.00,0.000,6,0.000,0.041,2831,1928,3235,0,0,0,0,0,0
$GC,9328,-0.60,-155.7,972.2,-8.9,681,9332,0.03,0.43,0.00,0.000,4,0.280,0.054,2840,1638,3234,0,0,0,0,0,0
$GC,9579,-0.60,-155.7,993.0,-8.1,692,9583,0.00,0.40,0.00,0.000,6,0.000,0.037,2840,1937,3234,0,0,0,0,0,0
$STATE,9679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9679,begin apogee
$GC,9683,-0.16,0.0,1001.0,8.2,697,9819,0.50,0.00,132.43,1.687,6,0.155,0.000,2983,1800,2600,0,0,0,0,0,0
$STATE,9820,end apogee,CONTROL_FINISHED_OK
$STATE,9820,begin climb
$GC,9822,0.60,155.7,1004.4,0.0,704,9974,0.82,0.82,145.60,1.618,4,0.106,0.052,3233,1341,1964,0,0,0,0,0,0
$GC,10228,0.60,155.7,962.1,11.7,723,10232,0.00,0.70,0.00,0.000,6,0.000,0.028,3233,1813,1957,0,0,0,0,0,0
$GC,10560,0.60,155.7,925.7,10.7,739,10563,0.00,0.52,0.00,0.000,4,0.000,0.045,3234,1482,1955,0,0,0,0,0,0
$GC,10807,0.60,155.7,898.9,10.9,750,10811,0.00,0.47,0.00,0.000,6,0.000,0.034,3233,1842,1955,0,0,0,0,0,0
$GC,11139,0.60,155.7,862.1,11.2,766,11143,0.00,0.55,0.00,0.000,4,0.000,0.044,3235,1487,1954,0,0,0,0,0,0
$GC,11396,0.60,155.7,832.5,12.5,777,11400,0.00,0.47,0.00,0.000,6,0.000,0.033,3235,1843,1955,0,0,0,0,0,0
$GC,11717,0.60,155.7,795.1,11.6,793,11721,0.00,0.95,0.00,0.000,4,0.000,0.047,3238,1254,1955,0,0,0,0,0,0
$GC,11879,0.60,155.7,775.9,12.3,800,11882,0.00,0.80,0.00,0.000,6,0.000,0.028,3238,1814,1955,0,0,0,0,0,0
$GC,12205,0.60,155.7,735.9,12.5,816,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1814,1955,0,0,0,0,0,0
$GC,12514,0.60,155.7,697.5,12.0,831,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1814,1955,0,0,0,0,0,0
$GC,12824,0.60,155.7,660.2,12.0,846,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1814,1955,0,0,0,0,0,0
$GC,13133,0.60,155.7,622.7,12.1,861,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1814,1955,0,0,0,0,0,0
$GC,13442,0.60,155.7,586.5,11.5,876,13446,0.00,0.55,0.00,0.000,4,0.000,0.047,3239,1456,1955,0,0,0,0,0,0
$GC,13615,0.60,155.7,567.3,10.8,883,13621,0.00,0.52,0.00,0.000,6,0.000,0.031,3240,1845,1955,0,0,0,0,0,0
$GC,13931,0.60,155.7,532.8,10.8,899,13934,0.00,0.43,0.00,0.000,4,0.000,0.045,3240,1560,1955,0,0,0,0,0,0
$GC,14188,0.60,175.3,505.9,9.5,910,14220,0.00,0.35,21.20,1.750,6,0.000,0.034,3240,1810,1884,0,0,0,0,1,0
$GC,14529,0.60,175.3,469.3,11.4,927,14532,0.00,0.77,0.00,0.000,4,0.000,0.048,3241,1329,1883,0,0,0,0,0,0
$GC,14674,0.60,175.3,452.5,11.6,933,14678,0.00,0.75,0.00,0.000,6,0.000,0.028,3241,1846,1883,0,0,0,0,0,0
$GC,14995,0.60,175.3,415.7,11.5,949,14996,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1846,1883,0,0,0,0,0,0
$GC,15310,0.60,175.3,379.8,11.3,972,15313,0.00,0.68,0.00,0.000,4,0.000,0.045,3243,1411,1883,0,0,0,0,0,0
$GC,15528,0.60,175.3,354.9,11.7,991,15534,0.00,0.60,0.00,0.000,6,0.000,0.029,3243,1843,1883,0,0,0,0,0,0
$GC,15853,0.60,175.3,319.6,10.4,1022,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1844,1883,0,0,0,0,0,0
$GC,16173,0.60,175.3,284.0,11.7,1052,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1844,1883,0,0,0,0,0,0
$GC,16491,0.60,175.3,247.3,11.4,1082,16495,0.00,0.98,0.00,0.000,4,0.000,0.046,3246,1225,1883,0,0,0,0,0,0
$GC,16688,0.60,175.3,224.0,10.5,1099,16694,0.00,0.88,0.00,0.000,6,0.000,0.026,3246,1829,1883,0,0,0,0,0,0
$GC,17013,0.60,175.3,185.9,11.3,1130,17015,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1829,1883,0,0,0,0,0,0
$GC,17333,0.60,175.3,149.5,11.4,1160,17334,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1829,1883,0,0,0,0,0,0
$GC,17651,0.60,175.3,111.7,12.2,1190,17655,0.00,0.52,0.00,0.000,4,0.000,0.042,3246,1472,1883,0,0,0,0,0,0
$GC,17811,0.60,175.3,92.5,11.1,1209,17818,0.00,0.47,0.00,0.000,6,0.000,0.033,3246,1852,1883,0,0,0,0,0,0
$GC,18161,0.60,186.9,54.9,9.9,1270,18179,0.00,1.15,11.48,1.148,4,0.000,0.045,3250,1136,1838,0,0,0,0,0,0
$GC,18352,0.60,186.9,32.8,11.6,1303,18357,0.03,0.98,0.00,0.000,6,0.173,0.024,3240,1817,1837,0,0,0,0,0,0
$GC,18498,0.60,186.9,15.9,11.3,1328,18505,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1817,1837,0,0,0,0,0,0
$GC,18555,0.60,186.9,9.8,10.9,1337,18561,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1817,1837,0,0,0,0,0,0
$GC,18610,0.60,186.9,3.4,10.7,1346,18617,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1823,1837,0,0,0,0,0,0
$STATE,18623,end climb,SURFACE_DEPTH_REACHED
$STATE,18623,begin surface coast
$FINISH,1.9,1.014835
$STATE,18660,end surface coast,CONTROL_FINISHED_OK
$STATE,18661,begin surface
$SM_CCo,18737,0.00,0.000,0,0,1832,188.14
$SM_GC,3.19,8.57,0.00,0.00,0.045,0.000,0.000,87,1925,1832,-9.17,-0.20,188.14
$IRIDIUM_FIX,-4239.11,824.00,291113,181856
$TT8_MAMPS,0.026964
$HUMID,62.24
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.5,34.850
$10V_AH,10.1,27.800
$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,22.475,26.450,310.700,0.000,0.000,25.564,19.010,327.595,0.250,0.000,37.447,3354.410,11541.529,381.690,3782.522,187.264,0.000,1801.422,0.000,3347.058,0.000,2.832,0.000
$DEVICE_MAMPS,279.990,97.920,1750.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.628,967.212,905.258,93.853,0.000,0.000,0.000,0.000,0.000,0.000
$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,77055,1354
$CAP_FILE_SIZE,168451,1
$CFSIZE,2097086464,2067496960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,301113,102422,-4257.599,828.546,39,0.9,39,-25.0