version: 66.07.10.p01
glider: 574
mission: 7
dive: 213
start: 11 30 113 21 40 57
data:
$ID,574
$MISSION,7
$DIVE,213
$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,-14006.879
$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,77
$R_STBD_OVSHOOT,53
$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,192
$GPS1,301113,213153,-4259.795,829.231,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-74.4
$GPS2,301113,214035,-4259.729,829.328,17,1.2,17,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4310.528,829.328
$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,-155.7,0.0,0.0,0,46,0.00,0.00,-19.73,0.000,2,0.000,0.000,67,1919,2166,0,0,0,0,0,0
$GC,48,-0.60,-155.7,3.1,-1.0,3,116,12.15,0.80,-51.17,0.000,4,0.256,0.076,2839,2447,3235,0,0,0,0,0,0
$GC,276,-0.60,-155.7,20.3,-11.9,41,281,0.00,0.73,0.00,0.000,6,0.000,0.036,2839,1956,3238,0,0,0,0,0,0
$GC,419,-0.60,-155.7,38.0,-12.4,66,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1955,3239,0,0,0,0,0,0
$GC,564,-0.60,-155.7,55.5,-11.8,91,569,0.00,0.47,0.00,0.000,4,0.000,0.048,2839,1621,3239,0,0,0,0,0,0
$GC,667,-0.60,-155.7,67.8,-11.7,109,673,0.00,0.45,0.00,0.000,6,0.000,0.034,2837,1962,3239,0,0,0,0,0,0
$GC,1009,-0.60,-155.7,107.5,-11.7,164,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1963,3240,0,0,0,0,0,0
$GC,1329,-0.60,-155.7,145.3,-12.1,194,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1963,3240,0,0,0,0,0,0
$GC,1647,-0.60,-155.7,184.2,-12.1,224,1651,0.00,0.28,0.00,0.000,4,0.000,0.048,2836,2202,3240,0,0,0,0,0,0
$GC,1843,-0.60,-155.7,208.1,-11.5,241,1849,0.00,0.40,0.00,0.000,6,0.000,0.038,2836,1911,3240,0,0,0,0,0,0
$GC,2168,-0.60,-155.7,246.8,-12.9,272,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1911,3242,0,0,0,0,0,0
$GC,2488,-0.60,-155.7,285.5,-12.1,302,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1911,3241,0,0,0,0,0,0
$GC,2806,-0.60,-155.7,322.6,-11.0,332,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1911,3242,0,0,0,0,0,0
$GC,3125,-0.60,-155.7,359.2,-11.5,362,3129,0.00,0.62,0.00,0.000,4,0.000,0.047,2836,1479,3242,0,0,0,0,0,0
$GC,3288,-0.60,-155.7,379.1,-12.7,376,3296,0.00,0.62,0.00,0.000,6,0.000,0.030,2833,1926,3242,0,0,0,0,0,0
$GC,3622,-0.60,-155.7,418.5,-11.9,401,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1926,3242,0,0,0,0,0,0
$GC,3929,-0.60,-155.7,454.1,-11.1,416,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1926,3242,0,0,0,0,0,0
$GC,4238,-0.60,-155.7,486.4,-10.3,431,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1926,3242,0,0,0,0,0,0
$GC,4548,-0.60,-155.7,517.5,-9.9,446,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1926,3242,0,0,0,0,0,0
$GC,4857,-0.60,-155.7,546.0,-8.8,461,4861,0.00,0.32,0.00,0.000,4,0.000,0.046,2831,2197,3242,0,0,0,0,0,0
$GC,4979,-0.60,-155.7,556.8,-8.8,466,4983,0.00,0.38,0.00,0.000,6,0.000,0.040,2832,1921,3242,0,0,0,0,0,0
$GC,5301,-0.60,-155.7,586.2,-9.5,482,5304,0.00,0.43,0.00,0.000,4,0.000,0.051,2831,1619,3242,0,0,0,0,0,0
$GC,5492,-0.60,-155.7,604.8,-10.0,490,5496,0.03,0.40,0.00,0.000,6,0.195,0.036,2838,1939,3242,0,0,0,0,0,0
$GC,5812,-0.60,-155.7,636.2,-10.1,506,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1939,3241,0,0,0,0,0,0
$GC,6121,-0.60,-155.7,668.3,-10.5,521,6125,0.00,1.00,0.00,0.000,4,0.000,0.040,2834,2605,3241,0,0,0,0,0,0
$GC,6328,-0.60,-155.7,689.2,-9.5,530,6332,0.00,1.02,0.00,0.000,6,0.000,0.032,2834,1935,3241,0,0,0,0,0,0
$GC,6655,-0.60,-155.7,722.1,-10.1,546,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1935,3240,0,0,0,0,0,0
$GC,6965,-0.60,-155.7,751.6,-9.3,561,6969,0.00,0.65,0.00,0.000,4,0.000,0.047,2834,1494,3241,0,0,0,0,0,0
$GC,7093,-0.60,-155.7,764.2,-9.6,566,7098,0.00,0.60,0.00,0.000,6,0.000,0.030,2832,1922,3240,0,0,0,0,0,0
$GC,7409,-0.60,-155.7,793.7,-9.2,582,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1922,3240,0,0,0,0,0,0
$GC,7718,-0.60,-155.7,822.8,-9.0,597,7722,0.00,0.38,0.00,0.000,4,0.000,0.043,2830,2220,3240,0,0,0,0,0,0
$GC,7921,-0.60,-155.7,841.4,-9.0,606,7925,0.03,0.40,0.00,0.000,6,0.190,0.041,2839,1909,3239,0,0,0,0,0,0
$GC,8253,-0.60,-155.7,870.9,-9.1,622,8257,0.00,0.43,0.00,0.000,4,0.000,0.051,2839,1604,3240,0,0,0,0,0,0
$GC,8460,-0.60,-155.7,889.2,-8.1,631,8464,0.00,0.45,0.00,0.000,6,0.000,0.034,2838,1944,3240,0,0,0,0,0,0
$GC,8787,-0.60,-155.7,916.1,-8.1,647,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1944,3239,0,0,0,0,0,0
$GC,9096,-0.60,-155.7,941.5,-8.3,662,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1944,3239,0,0,0,0,0,0
$GC,9405,-0.60,-155.7,968.3,-8.8,677,9409,0.00,0.38,0.00,0.000,4,0.000,0.045,2836,2234,3239,0,0,0,0,0,0
$GC,9601,-0.60,-155.7,985.8,-9.3,685,9606,0.00,0.43,0.00,0.000,6,0.000,0.040,2836,1932,3239,0,0,0,0,0,0
$STATE,9771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9772,begin apogee
$GC,9776,-0.16,0.0,1001.3,9.2,694,9932,0.50,0.00,149.65,1.889,6,0.155,0.000,2979,1848,2595,0,0,0,0,0,0
$STATE,9933,end apogee,CONTROL_FINISHED_OK
$STATE,9933,begin climb
$GC,9934,0.60,155.7,1006.2,0.0,702,10085,0.82,0.40,143.85,1.756,4,0.106,0.027,3226,2124,1964,0,0,0,0,0,0
$GC,10165,0.60,160.3,987.3,10.2,713,10174,0.00,0.45,4.78,1.356,6,0.000,0.041,3227,1835,1945,0,0,0,0,0,0
$GC,10496,0.60,160.3,950.8,11.0,729,10500,0.00,0.98,0.00,0.000,4,0.000,0.052,3230,1241,1945,0,0,0,0,0,0
$GC,10655,0.60,160.3,932.6,12.1,736,10658,0.00,0.85,0.00,0.000,6,0.000,0.026,3230,1812,1944,0,0,0,0,0,0
$GC,10986,0.60,160.3,893.1,11.9,752,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1812,1943,0,0,0,0,0,0
$GC,11296,0.60,160.3,857.6,11.1,767,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1812,1943,0,0,0,0,0,0
$GC,11605,0.60,160.3,823.6,10.6,782,11609,0.00,0.80,0.00,0.000,4,0.000,0.046,3232,1305,1943,0,0,0,0,0,0
$GC,11763,0.60,160.3,806.5,11.3,789,11767,0.00,0.75,0.00,0.000,6,0.000,0.027,3231,1832,1942,0,0,0,0,0,0
$GC,12095,0.60,160.3,770.7,10.9,805,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1832,1942,0,0,0,0,0,0
$GC,12406,0.60,160.3,736.9,11.0,820,12410,0.00,0.60,0.00,0.000,4,0.000,0.043,3232,1435,1942,0,0,0,0,0,0
$GC,12608,0.60,160.3,714.0,10.9,829,12612,0.00,0.55,0.00,0.000,6,0.000,0.030,3232,1847,1942,0,0,0,0,0,0
$GC,12940,0.60,160.3,675.7,11.5,845,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1847,1942,0,0,0,0,0,0
$GC,13250,0.60,160.3,640.6,11.6,860,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1847,1942,0,0,0,0,0,0
$GC,13559,0.60,160.3,606.4,10.7,875,13562,0.00,0.47,0.00,0.000,4,0.000,0.042,3232,1523,1942,0,0,0,0,0,0
$GC,13811,0.60,160.3,579.4,10.7,886,13815,0.00,0.40,0.00,0.000,6,0.000,0.035,3232,1849,1942,0,0,0,0,0,0
$GC,14138,0.60,160.5,544.9,10.4,902,14142,0.00,0.45,0.00,0.000,4,0.000,0.042,3233,1543,1942,0,0,0,0,0,0
$GC,14394,0.60,160.5,517.3,11.3,913,14398,0.00,0.35,0.00,0.000,6,0.000,0.034,3233,1811,1942,0,0,0,0,0,0
$GC,14715,0.60,160.5,482.4,10.8,929,14719,0.00,0.38,0.00,0.000,4,0.000,0.044,3234,1548,1942,0,0,0,0,0,0
$GC,14950,0.60,172.8,457.8,9.9,939,14972,0.00,0.38,14.12,1.563,6,0.000,0.034,3234,1834,1896,0,0,0,0,1,0
$GC,15288,0.60,172.8,422.1,10.7,956,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1834,1896,0,0,0,0,0,0
$GC,15600,0.60,175.8,388.9,10.3,975,15610,0.00,0.80,5.82,1.212,4,0.000,0.042,3237,1305,1882,0,0,0,0,0,0
$GC,15736,0.60,175.8,374.3,11.0,987,15739,0.00,0.73,0.00,0.000,6,0.000,0.027,3237,1821,1880,0,0,0,0,0,0
$GC,16066,0.60,175.8,336.9,11.7,1018,16069,0.00,0.62,0.00,0.000,4,0.000,0.044,3239,1418,1879,0,0,0,0,0,0
$GC,16262,0.60,175.8,313.5,11.6,1035,16268,0.00,0.57,0.00,0.000,6,0.000,0.028,3238,1840,1879,0,0,0,0,0,0
$GC,16587,0.60,175.8,275.5,11.4,1066,16588,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1840,1880,0,0,0,0,0,0
$GC,16906,0.60,175.8,239.2,11.1,1096,16908,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1840,1879,0,0,0,0,0,0
$GC,17225,0.60,175.8,203.3,11.0,1126,17226,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1840,1879,0,0,0,0,0,0
$GC,17544,0.60,175.8,167.3,11.4,1156,17545,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1840,1880,0,0,0,0,0,0
$GC,17862,0.60,175.8,133.0,10.9,1186,17866,0.00,0.57,0.00,0.000,4,0.000,0.042,3240,1464,1879,0,0,0,0,0,0
$GC,18044,0.60,180.8,113.6,10.2,1202,18054,0.00,0.47,7.40,1.115,6,0.000,0.031,3240,1840,1861,0,0,0,0,0,0
$GC,18389,0.60,180.8,76.5,11.2,1252,18393,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1840,1857,0,0,0,0,0,0
$GC,18735,0.60,180.8,39.7,10.8,1313,18740,0.00,1.30,0.00,0.000,4,0.000,0.049,3243,1028,1857,0,0,0,0,0,0
$GC,18886,0.60,181.2,24.3,10.4,1339,18891,0.00,1.12,0.00,0.000,6,0.000,0.025,3243,1797,1857,0,0,0,0,0,0
$GC,19034,0.60,181.2,7.4,12.2,1364,19041,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1797,1857,0,0,0,0,0,0
$STATE,19071,end climb,SURFACE_DEPTH_REACHED
$STATE,19071,begin surface coast
$FINISH,1.8,1.013910
$STATE,19097,end surface coast,CONTROL_FINISHED_OK
$STATE,19097,begin surface
$SM_CCo,19113,0.88,0.585,0,0,1846,185.20
$SM_GC,3.93,0.00,0.00,0.88,0.000,0.000,0.585,86,1964,1846,-9.24,0.96,185.20
$IRIDIUM_FIX,-4242.04,830.68,301113,161609
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.3,35.422
$10V_AH,10.1,28.181
$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,22.125,25.875,325.625,0.875,0.000,30.060,22.003,341.889,0.250,0.000,19.675,3386.782,12002.718,385.434,3674.714,181.623,0.000,1754.117,0.000,3233.896,0.000,2.832,0.000
$DEVICE_MAMPS,256.275,97.920,1888.785,585.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.703,935.248,915.872,87.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354588
$DATA_FILE_SIZE,80245,1374
$CAP_FILE_SIZE,167222,1
$CFSIZE,2097086464,2067103744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,011213,030123,-4300.864,829.632,76,0.9,76,-25.0