version: 66.07.10.p01
glider: 574
mission: 7
dive: 211
start: 11 30 113 10 38 10
data:
$ID,574
$MISSION,7
$DIVE,211
$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,-14001.523
$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,73
$R_STBD_OVSHOOT,55
$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,190
$GPS1,301113,102422,-4257.599,828.546,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-74.0
$GPS2,301113,103749,-4257.566,828.694,21,0.9,21,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4308.365,828.694
$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,-155.7,0.0,0.0,0,46,0.00,0.00,-19.23,0.000,2,0.000,0.000,66,1920,2258,0,0,0,0,0,0
$GC,48,-0.60,-155.7,3.2,-2.0,3,115,12.32,1.05,-46.75,0.000,4,0.262,0.064,2829,2596,3236,0,0,0,0,0,0
$GC,253,-0.60,-155.7,18.2,-12.5,37,261,0.03,0.98,0.00,0.000,6,0.203,0.033,2838,1949,3238,0,0,0,0,0,0
$GC,307,-0.60,-155.7,25.6,-13.3,46,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1948,3237,0,0,0,0,0,0
$GC,451,-0.60,-155.7,43.6,-11.3,71,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1949,3238,0,0,0,0,0,0
$GC,796,-0.60,-155.7,84.7,-11.4,132,803,0.00,0.80,0.00,0.000,4,0.000,0.044,2838,1424,3238,0,0,0,0,0,0
$GC,924,-0.60,-155.7,99.5,-11.6,154,929,0.00,0.75,0.00,0.000,6,0.000,0.029,2836,1947,3238,0,0,0,0,0,0
$GC,1252,-0.60,-155.7,139.8,-12.2,185,1256,0.00,0.57,0.00,0.000,4,0.000,0.041,2833,2364,3239,0,0,0,0,0,0
$GC,1489,-0.60,-155.7,169.7,-12.5,206,1492,0.00,0.62,0.00,0.000,6,0.000,0.037,2833,1932,3239,0,0,0,0,0,0
$GC,1822,-0.60,-155.7,211.0,-12.4,237,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1932,3240,0,0,0,0,0,0
$GC,2147,-0.60,-155.7,250.7,-11.9,268,2151,0.00,0.38,0.00,0.000,4,0.000,0.052,2833,1653,3240,0,0,0,0,0,0
$GC,2299,-0.60,-155.7,268.1,-11.4,281,2305,0.00,0.38,0.00,0.000,6,0.000,0.036,2832,1947,3240,0,0,0,0,0,0
$GC,2624,-0.60,-155.7,304.0,-10.9,312,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1946,3240,0,0,0,0,0,0
$GC,2943,-0.60,-155.7,338.9,-11.1,342,2947,0.00,1.02,0.00,0.000,4,0.000,0.040,2827,2628,3240,0,0,0,0,0,0
$GC,3141,-0.60,-155.7,360.4,-10.6,359,3147,0.08,1.08,0.00,0.000,6,0.196,0.031,2844,1924,3240,0,0,0,0,0,0
$GC,3466,-0.60,-155.7,394.4,-10.8,390,3470,0.00,0.40,0.00,0.000,4,0.000,0.050,2845,1631,3240,0,0,0,0,0,0
$GC,3634,-0.60,-155.7,412.8,-11.4,400,3638,0.00,0.40,0.00,0.000,6,0.000,0.035,2844,1942,3240,0,0,0,0,0,0
$GC,3955,-0.60,-155.7,447.4,-10.9,416,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1942,3241,0,0,0,0,0,0
$GC,4264,-0.60,-155.7,481.2,-10.9,431,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1942,3240,0,0,0,0,0,0
$GC,4574,-0.60,-155.7,512.0,-9.8,446,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1942,3240,0,0,0,0,0,0
$GC,4883,-0.60,-155.7,542.9,-9.8,461,4887,0.00,0.62,0.00,0.000,4,0.000,0.039,2841,2391,3240,0,0,0,0,0,0
$GC,5064,-0.60,-155.7,560.4,-9.7,469,5067,0.00,0.68,0.00,0.000,6,0.000,0.037,2842,1926,3240,0,0,0,0,0,0
$GC,5396,-0.60,-155.7,594.4,-10.5,485,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1925,3239,0,0,0,0,0,0
$GC,5705,-0.60,-155.7,625.8,-10.1,500,5709,0.00,0.57,0.00,0.000,4,0.000,0.047,2842,1529,3239,0,0,0,0,0,0
$GC,5845,-0.60,-155.7,640.5,-10.1,506,5849,0.00,0.52,0.00,0.000,6,0.000,0.032,2841,1917,3239,0,0,0,0,0,0
$GC,6172,-0.60,-155.7,673.7,-10.3,522,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1916,3239,0,0,0,0,0,0
$GC,6481,-0.60,-155.7,705.0,-9.9,537,6485,0.00,0.60,0.00,0.000,4,0.000,0.039,2839,2351,3239,0,0,0,0,0,0
$GC,6643,-0.60,-155.7,720.8,-9.9,544,6647,0.00,0.60,0.00,0.000,6,0.000,0.037,2838,1930,3238,0,0,0,0,0,0
$GC,6970,-0.60,-155.7,752.7,-9.9,560,6974,0.00,0.43,0.00,0.000,4,0.000,0.050,2838,1625,3238,0,0,0,0,0,0
$GC,7177,-0.60,-155.7,773.9,-10.0,569,7181,0.00,0.43,0.00,0.000,6,0.000,0.035,2837,1948,3238,0,0,0,0,0,0
$GC,7504,-0.60,-155.7,805.9,-9.8,585,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1948,3237,0,0,0,0,0,0
$GC,7813,-0.60,-155.7,835.5,-9.3,600,7817,0.00,0.38,0.00,0.000,4,0.000,0.044,2835,2243,3236,0,0,0,0,0,0
$GC,8070,-0.60,-155.7,858.2,-8.3,611,8074,0.00,0.45,0.00,0.000,6,0.000,0.038,2835,1923,3236,0,0,0,0,0,0
$GC,8392,-0.60,-155.7,885.1,-8.4,627,8396,0.00,0.43,0.00,0.000,4,0.000,0.051,2835,1622,3236,0,0,0,0,0,0
$GC,8550,-0.60,-155.7,898.5,-8.9,634,8554,0.00,0.38,0.00,0.000,6,0.000,0.037,2834,1922,3235,0,0,0,0,0,0
$GC,8883,-0.60,-155.7,927.0,-8.5,650,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1922,3235,0,0,0,0,0,0
$GC,9192,-0.60,-155.7,952.9,-8.4,665,9196,0.00,0.52,0.00,0.000,4,0.000,0.041,2831,2308,3235,0,0,0,0,0,0
$GC,9440,-0.60,-155.7,973.0,-9.0,676,9444,0.00,0.52,0.00,0.000,6,0.000,0.038,2831,1933,3235,0,0,0,0,0,0
$GC,9772,-0.60,-155.7,999.8,-7.8,692,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1933,3234,0,0,0,0,0,0
$STATE,9792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9792,begin apogee
$GC,9796,-0.16,0.0,1001.4,7.8,693,9942,0.52,0.00,142.05,1.814,6,0.153,0.000,2982,1823,2600,0,0,0,0,0,0
$STATE,9942,end apogee,CONTROL_FINISHED_OK
$STATE,9942,begin climb
$GC,9944,0.60,155.7,1004.1,0.0,700,10094,0.80,0.00,144.40,1.619,6,0.105,0.000,3224,1823,1964,0,0,0,0,0,0
$GC,10395,0.60,155.7,957.7,11.2,722,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1823,1957,0,0,0,0,0,0
$GC,10704,0.60,155.7,923.7,10.7,737,10708,0.00,1.30,0.00,0.000,4,0.000,0.054,3226,1034,1955,0,0,0,0,0,0
$GC,10871,0.60,155.7,905.5,10.6,744,10876,0.00,1.20,0.00,0.000,6,0.000,0.024,3226,1818,1955,0,0,0,0,0,0
$GC,11193,0.60,155.7,870.4,11.0,760,11194,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1819,1954,0,0,0,0,0,0
$GC,11502,0.60,155.7,836.3,10.8,775,11506,0.00,0.65,0.00,0.000,4,0.000,0.047,3227,1407,1954,0,0,0,0,0,0
$GC,11669,0.60,157.2,818.7,10.3,782,11673,0.00,0.62,0.00,0.000,6,0.000,0.028,3227,1836,1954,0,0,0,0,0,0
$GC,11990,0.60,157.2,784.1,10.9,798,11994,0.00,0.43,0.00,0.000,4,0.000,0.044,3227,1554,1953,0,0,0,0,0,0
$GC,12247,0.60,157.2,756.2,10.7,809,12251,0.00,0.40,0.00,0.000,6,0.000,0.034,3227,1842,1954,0,0,0,0,0,0
$GC,12568,0.60,158.4,722.5,10.4,825,12572,0.00,1.38,0.00,0.000,4,0.000,0.050,3232,997,1954,0,0,0,0,0,0
$GC,12719,0.60,170.7,706.7,9.9,831,12739,0.00,1.23,15.55,1.659,6,0.000,0.025,3231,1819,1902,0,0,0,0,0,0
$GC,13055,0.60,170.7,670.8,10.7,848,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1819,1898,0,0,0,0,0,0
$GC,13364,0.60,170.7,637.3,10.9,863,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1819,1898,0,0,0,0,0,0
$GC,13673,0.60,170.7,604.0,10.8,878,13677,0.00,0.57,0.00,0.000,4,0.000,0.044,3232,1439,1897,0,0,0,0,0,0
$GC,13863,0.60,170.7,583.1,10.8,886,13867,0.00,0.57,0.00,0.000,6,0.000,0.030,3232,1856,1898,0,0,0,0,0,0
$GC,14184,0.60,170.7,547.8,11.2,902,14188,0.00,0.60,0.00,0.000,4,0.000,0.044,3233,1457,1898,0,0,0,0,0,0
$GC,14335,0.60,178.0,530.7,10.1,908,14346,0.00,0.50,8.10,1.812,6,0.000,0.031,3233,1842,1874,0,0,0,0,0,0
$GC,14668,0.60,178.0,494.9,10.7,925,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1842,1871,0,0,0,0,0,0
$GC,14977,0.60,178.0,462.4,10.7,940,14980,0.00,0.65,0.00,0.000,4,0.000,0.044,3234,1425,1871,0,0,0,0,0,0
$GC,15234,0.60,187.8,435.0,10.0,951,15249,0.00,0.55,12.00,1.729,6,0.000,0.030,3234,1829,1834,0,0,0,0,0,0
$GC,15567,0.60,187.8,398.1,11.5,968,15571,0.00,2.25,0.00,0.000,4,0.000,0.055,3243,442,1829,0,0,0,0,0,0
$GC,15769,0.60,187.8,373.1,12.8,985,15775,0.00,2.05,0.00,0.000,6,0.000,0.024,3243,1782,1828,0,0,0,0,0,0
$GC,16094,0.60,187.8,332.8,12.5,1016,16098,0.00,0.68,0.00,0.000,4,0.000,0.045,3245,1345,1829,0,0,0,0,0,0
$GC,16254,0.60,187.8,313.5,12.3,1030,16257,0.00,0.73,0.00,0.000,6,0.000,0.028,3245,1857,1829,0,0,0,0,0,0
$GC,16587,0.60,187.8,273.6,12.4,1061,16591,0.00,0.45,0.00,0.000,4,0.000,0.044,3247,1545,1829,0,0,0,0,0,0
$GC,16847,0.60,191.6,243.3,10.2,1084,16853,0.00,0.38,3.45,0.987,6,0.000,0.035,3246,1846,1817,0,0,0,0,0,0
$GC,17171,0.60,191.6,204.8,12.0,1114,17175,0.00,0.50,0.00,0.000,4,0.000,0.044,3247,1513,1819,0,0,0,0,0,0
$GC,17397,0.60,191.6,178.2,11.6,1134,17401,0.03,0.40,0.00,0.000,6,0.190,0.034,3239,1842,1819,0,0,0,0,0,0
$GC,17730,0.60,191.6,141.5,11.0,1165,17733,0.00,0.82,0.00,0.000,4,0.000,0.046,3241,1315,1819,0,0,0,0,0,0
$GC,17925,0.60,191.6,120.0,10.7,1182,17931,0.00,0.73,0.00,0.000,6,0.000,0.027,3241,1820,1819,0,0,0,0,0,0
$GC,18259,0.60,191.6,81.9,12.3,1226,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1820,1819,0,0,0,0,0,0
$GC,18607,0.60,192.3,42.6,10.4,1287,18613,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1820,1819,0,0,0,0,0,0
$GC,18963,0.60,192.3,4.0,10.9,1348,18970,0.00,0.82,0.00,0.000,4,0.000,0.046,3244,1296,1821,0,0,0,0,0,0
$STATE,18977,end climb,SURFACE_DEPTH_REACHED
$STATE,18977,begin surface coast
$FINISH,1.8,1.002007
$STATE,19008,end surface coast,CONTROL_FINISHED_OK
$STATE,19008,begin surface
$SM_CCo,19085,0.00,0.000,0,0,1814,192.31
$SM_GC,3.09,8.57,0.00,0.00,0.046,0.000,0.000,88,1919,1814,-9.16,-0.28,192.31
$IRIDIUM_FIX,-4242.04,830.68,301113,050534
$TT8_MAMPS,0.026964
$HUMID,63.19
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.4,35.044
$10V_AH,10.1,27.928
$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,22.350,37.075,325.550,0.000,0.000,27.972,23.866,580.788,0.250,0.000,24.136,3385.481,11847.989,388.538,4035.533,209.552,0.000,1819.666,0.000,3346.657,0.000,2.832,0.000
$DEVICE_MAMPS,261.630,87.975,1813.815,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.949,920.896,899.156,86.532,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,76937,1355
$CAP_FILE_SIZE,177275,0
$CFSIZE,2097086464,2067365888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301113,155737,-4258.836,828.776,48,1.0,48,-25.0