version: 66.07.10.p01
glider: 574
mission: 7
dive: 212
start: 11 30 113 16 10 3
data:
$ID,574
$MISSION,7
$DIVE,212
$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,-14004.538
$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,52
$R_STBD_OVSHOOT,42
$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,191
$GPS1,301113,155737,-4258.836,828.776,48,1.0,48,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-74.1
$GPS2,301113,160941,-4258.751,828.982,19,1.1,19,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4309.551,828.982
$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,-155.7,0.0,0.0,0,34,0.00,0.00,-8.12,0.000,2,0.000,0.000,67,1915,1988,0,0,0,0,0,0
$GC,36,-0.60,-155.7,3.2,-0.0,1,121,12.27,0.68,-63.38,0.000,4,0.260,0.093,2839,2365,3234,0,0,0,0,0,0
$GC,314,-0.60,-155.7,23.9,-11.2,48,321,0.00,0.62,0.00,0.000,6,0.000,0.037,2838,1933,3237,0,0,0,0,0,0
$GC,461,-0.60,-155.7,42.0,-12.5,73,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1933,3237,0,0,0,0,0,0
$GC,807,-0.60,-155.7,85.8,-12.1,134,812,0.00,0.55,0.00,0.000,4,0.000,0.034,2836,2328,3238,0,0,0,0,0,0
$GC,999,-0.60,-155.7,108.8,-12.1,162,1002,0.00,0.57,0.00,0.000,6,0.000,0.036,2836,1922,3238,0,0,0,0,0,0
$GC,1332,-0.60,-155.7,147.7,-12.0,193,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1922,3239,0,0,0,0,0,0
$GC,1657,-0.60,-155.7,185.6,-11.6,224,1661,0.00,0.50,0.00,0.000,4,0.000,0.047,2837,1568,3239,0,0,0,0,0,0
$GC,1817,-0.60,-155.7,204.4,-11.3,238,1821,0.00,0.52,0.00,0.000,6,0.000,0.032,2835,1956,3239,0,0,0,0,0,0
$GC,2150,-0.60,-155.7,242.5,-11.8,269,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1956,3239,0,0,0,0,0,0
$GC,2476,-0.60,-155.7,279.7,-11.5,300,2479,0.00,0.43,0.00,0.000,4,0.000,0.043,2833,2283,3239,0,0,0,0,0,0
$GC,2724,-0.60,-155.7,306.1,-10.4,322,2728,0.00,0.50,0.00,0.000,6,0.000,0.038,2833,1924,3239,0,0,0,0,0,0
$GC,3058,-0.60,-155.7,339.5,-9.8,353,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1924,3239,0,0,0,0,0,0
$GC,3383,-0.60,-155.7,371.9,-9.7,384,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1924,3239,0,0,0,0,0,0
$GC,3712,-0.60,-155.7,404.4,-9.7,413,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1923,3239,0,0,0,0,0,0
$GC,4020,-0.60,-155.7,436.1,-10.3,428,4024,0.00,0.45,0.00,0.000,4,0.000,0.049,2832,1602,3239,0,0,0,0,0,0
$GC,4178,-0.60,-155.7,452.9,-10.6,435,4182,0.00,0.43,0.00,0.000,6,0.000,0.037,2831,1933,3239,0,0,0,0,0,0
$GC,4510,-0.60,-155.7,489.4,-10.9,451,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1933,3239,0,0,0,0,0,0
$GC,4819,-0.60,-155.7,523.6,-11.2,466,4823,0.00,0.60,0.00,0.000,4,0.000,0.041,2828,2363,3239,0,0,0,0,0,0
$GC,5009,-0.60,-155.7,544.6,-10.5,474,5014,0.08,0.65,0.00,0.000,6,0.195,0.037,2845,1922,3238,0,0,0,0,0,0
$GC,5330,-0.60,-155.7,577.6,-10.5,490,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1922,3238,0,0,0,0,0,0
$GC,5640,-0.60,-155.7,609.5,-10.3,505,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1922,3237,0,0,0,0,0,0
$GC,5949,-0.60,-155.7,639.8,-9.7,520,5953,0.00,0.70,0.00,0.000,4,0.000,0.048,2845,1457,3237,0,0,0,0,0,0
$GC,6100,-0.60,-155.7,654.7,-10.5,526,6105,0.00,0.68,0.00,0.000,6,0.000,0.030,2843,1932,3237,0,0,0,0,0,0
$GC,6416,-0.60,-155.7,685.7,-10.0,542,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1932,3236,0,0,0,0,0,0
$GC,6725,-0.60,-155.7,716.2,-9.6,557,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1932,3236,0,0,0,0,0,0
$GC,7034,-0.60,-155.7,747.1,-9.9,572,7038,0.00,0.38,0.00,0.000,4,0.000,0.044,2841,2228,3235,0,0,0,0,0,0
$GC,7292,-0.60,-155.7,771.8,-9.0,583,7296,0.00,0.43,0.00,0.000,6,0.000,0.040,2842,1927,3234,0,0,0,0,0,0
$GC,7613,-0.60,-155.7,801.6,-9.1,599,7617,0.00,0.40,0.00,0.000,4,0.000,0.050,2841,1638,3234,0,0,0,0,0,0
$GC,7815,-0.60,-155.7,820.5,-9.2,608,7819,0.00,0.38,0.00,0.000,6,0.000,0.038,2840,1939,3234,0,0,0,0,0,0
$GC,8147,-0.60,-155.7,849.7,-8.7,624,8151,0.00,0.35,0.00,0.000,4,0.000,0.044,2838,2221,3233,0,0,0,0,0,0
$GC,8395,-0.60,-155.7,871.2,-9.6,635,8399,0.00,0.40,0.00,0.000,6,0.000,0.040,2839,1921,3233,0,0,0,0,0,0
$GC,8727,-0.60,-155.7,900.7,-8.6,651,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1921,3233,0,0,0,0,0,0
$GC,9037,-0.60,-155.7,926.3,-8.3,666,9040,0.00,0.43,0.00,0.000,4,0.000,0.050,2838,1621,3234,0,0,0,0,0,0
$GC,9232,-0.60,-155.7,943.1,-8.4,674,9237,0.00,0.43,0.00,0.000,6,0.000,0.037,2837,1934,3233,0,0,0,0,0,0
$GC,9548,-0.60,-155.7,967.9,-7.7,690,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1934,3232,0,0,0,0,0,0
$GC,9857,-0.60,-155.7,990.5,-7.4,705,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1934,3232,0,0,0,0,0,0
$STATE,10001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10001,begin apogee
$GC,10005,-0.16,0.0,1001.1,7.3,712,10156,0.50,0.00,147.27,1.773,6,0.154,0.000,2980,1810,2600,0,0,0,0,0,0
$STATE,10157,end apogee,CONTROL_FINISHED_OK
$STATE,10157,begin climb
$GC,10158,0.60,155.7,1003.1,0.0,719,10309,0.80,0.93,143.80,1.615,4,0.106,0.052,3225,1298,1964,0,0,0,0,0,0
$GC,10499,0.60,155.7,964.7,12.6,735,10505,0.00,0.82,0.00,0.000,6,0.000,0.026,3225,1829,1959,0,0,0,0,0,0
$GC,10815,0.60,155.7,925.4,12.3,751,10818,0.00,0.65,0.00,0.000,4,0.000,0.044,3226,1427,1957,0,0,0,0,0,0
$GC,11071,0.60,155.7,894.6,11.4,762,11076,0.00,0.60,0.00,0.000,6,0.000,0.029,3226,1853,1955,0,0,0,0,0,0
$GC,11393,0.60,155.7,859.0,11.1,778,11397,0.00,0.62,0.00,0.000,4,0.000,0.046,3226,1458,1954,0,0,0,0,0,0
$GC,11610,0.60,156.8,835.5,10.4,787,11616,0.00,0.52,0.00,0.000,6,0.000,0.032,3226,1827,1954,0,0,0,0,0,0
$GC,11926,0.60,156.8,802.1,10.7,803,11929,0.00,0.38,0.00,0.000,4,0.000,0.046,3226,1578,1953,0,0,0,0,0,0
$GC,12183,0.60,169.3,775.1,9.9,814,12199,0.00,0.35,13.38,1.886,6,0.000,0.035,3227,1823,1909,0,0,0,0,0,0
$GC,12521,0.60,169.3,739.3,10.8,831,12525,0.00,0.98,0.00,0.000,4,0.000,0.049,3229,1221,1904,0,0,0,0,0,0
$GC,12683,0.60,169.3,721.3,11.6,838,12688,0.00,0.90,0.00,0.000,6,0.000,0.026,3229,1840,1903,0,0,0,0,0,0
$GC,13010,0.60,169.3,685.9,10.9,854,13013,0.00,0.82,0.00,0.000,4,0.000,0.047,3232,1316,1903,0,0,0,0,0,0
$GC,13149,0.60,169.3,670.3,11.0,860,13153,0.00,0.77,0.00,0.000,6,0.000,0.028,3231,1842,1903,0,0,0,0,0,0
$GC,13476,0.60,169.3,635.5,10.7,876,13479,0.00,0.80,0.00,0.000,4,0.000,0.045,3233,1330,1903,0,0,0,0,0,0
$GC,13682,0.60,169.3,612.9,11.7,885,13686,0.00,0.75,0.00,0.000,6,0.000,0.028,3232,1846,1903,0,0,0,0,0,0
$GC,14009,0.60,169.3,576.3,11.5,901,14013,0.00,0.45,0.00,0.000,4,0.000,0.044,3233,1537,1903,0,0,0,0,0,0
$GC,14266,0.60,169.3,547.0,11.3,912,14270,0.00,0.40,0.00,0.000,6,0.000,0.035,3232,1842,1903,0,0,0,0,0,0
$GC,14587,0.60,169.3,510.5,11.3,928,14591,0.00,1.58,0.00,0.000,4,0.000,0.051,3239,871,1903,0,0,0,0,0,0
$GC,14738,0.60,169.3,492.8,11.4,934,14743,0.00,1.40,0.00,0.000,6,0.000,0.026,3238,1802,1903,0,0,0,0,0,0
$GC,15053,0.60,169.3,457.1,11.0,950,15055,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1803,1903,0,0,0,0,0,0
$GC,15363,0.60,169.3,423.9,10.6,965,15367,0.00,0.35,0.00,0.000,4,0.000,0.044,3239,1563,1903,0,0,0,0,0,0
$GC,15624,0.60,169.3,396.8,10.7,977,15628,0.00,0.35,0.00,0.000,6,0.000,0.037,3239,1832,1903,0,0,0,0,0,0
$GC,15955,0.60,177.8,361.7,10.0,1008,15968,0.00,1.30,9.45,1.751,4,0.000,0.050,3244,1049,1874,0,0,0,0,0,0
$GC,16151,0.60,177.8,340.8,10.7,1025,16155,0.00,1.15,0.00,0.000,6,0.000,0.027,3243,1822,1871,0,0,0,0,0,0
$GC,16481,0.60,177.8,305.0,11.7,1056,16484,0.00,0.70,0.00,0.000,4,0.000,0.045,3245,1375,1871,0,0,0,0,0,0
$GC,16665,0.60,177.8,284.2,11.0,1072,16673,0.00,0.68,0.00,0.000,6,0.000,0.028,3245,1844,1871,0,0,0,0,0,0
$GC,16992,0.60,177.8,249.1,11.2,1103,16995,0.00,0.55,0.00,0.000,4,0.000,0.043,3247,1481,1871,0,0,0,0,0,0
$GC,17253,0.60,182.5,219.8,10.2,1126,17264,0.03,0.47,5.43,1.632,6,0.181,0.033,3239,1864,1856,0,0,0,0,0,0
$GC,17584,0.60,182.5,184.2,10.5,1157,17588,0.00,0.82,0.00,0.000,4,0.000,0.046,3241,1338,1855,0,0,0,0,0,0
$GC,17789,0.60,182.5,160.7,12.4,1175,17793,0.00,0.65,0.00,0.000,6,0.000,0.028,3241,1820,1855,0,0,0,0,0,0
$GC,18120,0.60,182.5,119.5,12.8,1206,18123,0.00,0.40,0.00,0.000,4,0.000,0.042,3242,1549,1855,0,0,0,0,0,0
$GC,18380,0.60,182.5,87.3,11.0,1238,18385,0.00,0.32,0.00,0.000,6,0.000,0.035,3241,1804,1855,0,0,0,0,0,0
$GC,18725,0.60,207.8,47.9,9.3,1299,18758,0.00,0.93,27.35,1.547,4,0.000,0.044,3244,1210,1750,0,0,0,0,0,0
$GC,18944,0.60,207.8,24.9,11.3,1337,18949,0.00,0.90,0.00,0.000,6,0.000,0.026,3244,1830,1744,0,0,0,0,0,0
$GC,19092,0.60,207.8,7.8,12.4,1362,19098,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1830,1743,0,0,0,0,0,0
$STATE,19128,end climb,SURFACE_DEPTH_REACHED
$STATE,19128,begin surface coast
$FINISH,1.9,1.011225
$STATE,19160,end surface coast,CONTROL_FINISHED_OK
$STATE,19160,begin surface
$SM_CCo,19236,0.00,0.000,0,0,1738,211.45
$SM_GC,2.96,8.65,0.00,0.00,0.046,0.000,0.000,90,1921,1738,-9.16,-0.25,211.45
$IRIDIUM_FIX,-4242.04,830.68,301113,101052
$TT8_MAMPS,0.026215
$HUMID,62.60
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.4,35.237
$10V_AH,10.1,28.057
$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,22.325,34.550,346.675,0.000,0.000,58.031,62.721,386.781,0.250,0.000,22.486,3428.201,11857.749,404.974,4079.022,183.757,0.000,1897.195,0.000,3483.731,0.000,2.831,0.000
$DEVICE_MAMPS,260.100,94.860,1885.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,960.037,941.103,905.061,87.179,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,80198,1373
$CAP_FILE_SIZE,178741,0
$CFSIZE,2097086464,2067234816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301113,213153,-4259.795,829.231,40,0.9,40,-25.0