version: 66.07.10.p01
glider: 574
mission: 7
dive: 214
start: 12 1 113 3 19 44
data:
$ID,574
$MISSION,7
$DIVE,214
$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,-14009.31
$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,38
$R_STBD_OVSHOOT,80
$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,193
$GPS1,011213,030123,-4300.864,829.632,76,0.9,76,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-72.4
$GPS2,011213,031923,-4300.785,829.790,18,1.0,18,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4311.584,829.790
$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,-155.7,0.0,0.0,0,40,0.00,0.00,-13.50,0.000,2,0.000,0.000,65,1965,2146,0,0,0,0,0,0
$GC,42,-0.60,-155.7,3.1,-1.6,2,116,12.12,2.17,-52.50,0.000,4,0.255,0.059,2832,3293,3238,0,0,0,0,0,0
$GC,230,-0.60,-155.7,17.5,-13.2,33,237,0.00,2.12,0.00,0.000,6,0.000,0.030,2832,1932,3238,0,0,0,0,0,0
$GC,284,-0.60,-155.7,24.7,-13.3,42,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1932,3239,0,0,0,0,0,0
$GC,431,-0.60,-155.7,42.8,-12.8,67,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1932,3239,0,0,0,0,0,0
$GC,778,-0.60,-155.7,85.5,-11.8,128,783,0.00,1.02,0.00,0.000,4,0.000,0.045,2832,1274,3240,0,0,0,0,0,0
$GC,949,-0.60,-155.7,105.6,-11.5,154,953,0.03,0.93,0.00,0.000,6,0.203,0.027,2836,1910,3241,0,0,0,0,0,0
$GC,1280,-0.60,-155.7,141.4,-10.3,185,1284,0.00,0.57,0.00,0.000,4,0.000,0.037,2835,2333,3240,0,0,0,0,0,0
$GC,1454,-0.60,-155.7,159.4,-9.7,200,1462,0.00,0.62,0.00,0.000,6,0.000,0.034,2834,1903,3241,0,0,0,0,0,0
$GC,1781,-0.60,-155.7,193.3,-11.2,231,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1903,3241,0,0,0,0,0,0
$GC,2101,-0.60,-155.7,229.1,-11.5,261,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1903,3241,0,0,0,0,0,0
$GC,2418,-0.60,-155.7,266.5,-11.8,291,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1903,3241,0,0,0,0,0,0
$GC,2740,-0.60,-155.7,302.8,-11.6,321,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1903,3241,0,0,0,0,0,0
$GC,3065,-0.60,-155.7,340.5,-11.7,352,3068,0.00,0.43,0.00,0.000,4,0.000,0.050,2834,1597,3241,0,0,0,0,0,0
$GC,3250,-0.60,-155.7,361.9,-11.7,368,3258,0.00,0.47,0.00,0.000,6,0.000,0.032,2833,1948,3241,0,0,0,0,0,0
$GC,3575,-0.60,-155.7,396.8,-11.0,399,3579,0.00,0.25,0.00,0.000,4,0.000,0.050,2832,2182,3240,0,0,0,0,0,0
$GC,3832,-0.60,-155.7,424.6,-10.5,412,3836,0.00,0.35,0.00,0.000,6,0.000,0.040,2832,1931,3241,0,0,0,0,0,0
$GC,4154,-0.60,-155.7,457.7,-10.5,428,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1931,3240,0,0,0,0,0,0
$GC,4463,-0.60,-155.7,489.5,-10.1,443,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1931,3240,0,0,0,0,0,0
$GC,4774,-0.60,-155.7,521.6,-10.7,458,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1930,3240,0,0,0,0,0,0
$GC,5082,-0.60,-155.7,555.4,-11.1,473,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1930,3239,0,0,0,0,0,0
$GC,5391,-0.60,-155.7,590.2,-11.1,488,5395,0.00,0.45,0.00,0.000,4,0.000,0.049,2832,1611,3238,0,0,0,0,0,0
$GC,5616,-0.60,-155.7,615.2,-10.8,498,5620,0.00,0.40,0.00,0.000,6,0.000,0.036,2830,1933,3237,0,0,0,0,0,0
$GC,5948,-0.60,-155.7,650.7,-10.3,514,5950,0.05,0.00,0.00,0.000,6,0.246,0.000,2840,1933,3236,0,0,0,0,0,0
$GC,6258,-0.60,-155.7,681.1,-9.6,529,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1933,3236,0,0,0,0,0,0
$GC,6567,-0.60,-155.7,711.0,-9.7,544,6571,0.00,0.30,0.00,0.000,4,0.000,0.046,2839,2194,3235,0,0,0,0,0,0
$GC,6796,-0.60,-155.7,733.5,-10.1,554,6800,0.00,0.38,0.00,0.000,6,0.000,0.038,2839,1924,3235,0,0,0,0,0,0
$GC,7123,-0.60,-155.7,764.5,-9.6,570,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1924,3235,0,0,0,0,0,0
$GC,7433,-0.60,-155.7,794.8,-9.8,585,7436,0.00,0.62,0.00,0.000,4,0.000,0.047,2839,1498,3235,0,0,0,0,0,0
$GC,7601,-0.60,-155.7,811.0,-9.3,592,7604,0.00,0.57,0.00,0.000,6,0.000,0.031,2837,1923,3234,0,0,0,0,0,0
$GC,7922,-0.60,-155.7,840.2,-9.1,608,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1923,3234,0,0,0,0,0,0
$GC,8231,-0.60,-155.7,867.7,-8.7,623,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1923,3233,0,0,0,0,0,0
$GC,8540,-0.60,-155.7,894.5,-8.6,638,8544,0.00,0.62,0.00,0.000,4,0.000,0.040,2834,2371,3232,0,0,0,0,0,0
$GC,8714,-0.60,-155.7,908.7,-8.0,645,8719,0.00,0.65,0.00,0.000,6,0.000,0.036,2833,1929,3232,0,0,0,0,0,0
$GC,9030,-0.60,-155.7,934.7,-8.5,661,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1929,3232,0,0,0,0,0,0
$GC,9339,-0.60,-155.7,961.4,-8.8,676,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1929,3232,0,0,0,0,0,0
$GC,9648,-0.60,-155.7,988.8,-8.9,691,9652,0.00,0.45,0.00,0.000,4,0.000,0.050,2834,1610,3231,0,0,0,0,0,0
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9775,-0.16,0.0,1000.4,8.9,696,9934,0.47,0.00,155.20,1.567,6,0.155,0.000,2974,1815,2600,0,0,0,0,0,0
$STATE,9935,end apogee,CONTROL_FINISHED_OK
$STATE,9935,begin climb
$GC,9936,0.60,155.7,1005.0,0.0,704,10112,0.85,0.52,169.25,1.488,4,0.107,0.038,3226,1500,1963,0,0,0,0,0,0
$GC,10302,0.60,156.6,970.9,10.4,721,10307,0.00,0.50,0.00,0.000,6,0.000,0.028,3226,1849,1943,0,0,0,0,0,0
$GC,10617,0.60,156.6,934.9,11.5,737,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1849,1940,0,0,0,0,0,0
$GC,10927,0.60,156.6,899.4,11.6,752,10931,0.00,0.77,0.00,0.000,4,0.000,0.044,3227,1364,1940,0,0,0,0,0,0
$GC,11086,0.60,156.6,881.5,11.2,759,11090,0.00,0.65,0.00,0.000,6,0.000,0.027,3227,1816,1939,0,0,0,0,0,0
$GC,11418,0.60,156.6,843.0,11.5,775,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1816,1939,0,0,0,0,0,0
$GC,11728,0.60,156.6,806.2,12.1,790,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1817,1938,0,0,0,0,0,0
$GC,12037,0.60,156.6,769.5,11.7,805,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1817,1938,0,0,0,0,0,0
$GC,12346,0.60,156.6,733.9,11.7,820,12350,0.00,0.55,0.00,0.000,4,0.000,0.044,3228,1459,1938,0,0,0,0,0,0
$GC,12575,0.60,156.6,707.7,10.6,830,12579,0.00,0.55,0.00,0.000,6,0.000,0.030,3229,1860,1937,0,0,0,0,0,0
$GC,12902,0.60,156.6,672.3,10.7,846,12905,0.00,0.52,0.00,0.000,4,0.000,0.043,3229,1516,1938,0,0,0,0,0,0
$GC,13159,0.60,156.6,644.7,11.2,857,13163,0.00,0.43,0.00,0.000,6,0.000,0.032,3230,1846,1938,0,0,0,0,0,0
$GC,13480,0.60,156.6,610.0,10.9,873,13484,0.00,0.62,0.00,0.000,4,0.000,0.044,3231,1444,1938,0,0,0,0,0,0
$GC,13642,0.60,156.6,592.1,10.9,880,13646,0.00,0.52,0.00,0.000,6,0.000,0.031,3231,1837,1937,0,0,0,0,0,0
$GC,13969,0.60,156.8,558.1,10.4,896,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1837,1937,0,0,0,0,0,0
$GC,14278,0.60,156.8,525.6,10.5,911,14281,0.00,0.70,0.00,0.000,4,0.000,0.044,3233,1388,1937,0,0,0,0,0,0
$GC,14436,0.60,163.7,509.2,10.1,918,14440,0.00,0.57,0.00,0.000,6,0.000,0.030,3233,1824,1938,0,0,0,0,0,0
$GC,14769,0.60,172.5,475.1,10.0,934,14789,0.00,0.00,13.38,1.327,6,0.000,0.000,3233,1824,1896,0,0,0,0,1,0
$GC,15097,0.60,172.5,440.5,10.7,950,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1823,1893,0,0,0,0,0,0
$GC,15407,0.60,172.5,408.3,10.5,965,15408,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1824,1892,0,0,0,0,0,0
$GC,15725,0.60,176.1,375.4,10.3,991,15733,0.00,0.00,5.50,1.210,6,0.000,0.000,3233,1824,1882,0,0,0,0,0,0
$GC,16052,0.60,176.1,340.8,11.1,1022,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1824,1875,0,0,0,0,0,0
$GC,16371,0.60,176.1,307.0,10.5,1052,16375,0.00,1.27,0.00,0.000,4,0.000,0.048,3238,1024,1875,0,0,0,0,0,0
$GC,16565,0.60,176.1,285.7,11.1,1069,16568,0.00,1.15,0.00,0.000,6,0.000,0.025,3238,1804,1875,0,0,0,0,0,0
$GC,16895,0.60,176.1,248.3,11.1,1100,16896,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1805,1875,0,0,0,0,0,0
$GC,17214,0.60,176.1,212.0,11.5,1130,17215,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1805,1875,0,0,0,0,0,0
$GC,17533,0.60,176.1,174.0,11.7,1160,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1805,1875,0,0,0,0,0,0
$GC,17851,0.60,176.1,136.3,11.9,1190,17855,0.00,0.60,0.00,0.000,4,0.000,0.044,3240,1413,1876,0,0,0,0,0,0
$GC,18048,0.60,176.1,112.3,12.4,1207,18054,0.00,0.60,0.00,0.000,6,0.000,0.028,3240,1851,1875,0,0,0,0,0,0
$GC,18390,0.60,176.1,71.7,12.2,1258,18395,0.00,0.68,0.00,0.000,4,0.000,0.043,3241,1413,1875,0,0,0,0,0,0
$GC,18617,0.60,178.7,46.5,10.3,1298,18622,0.00,0.55,0.00,0.000,6,0.000,0.029,3241,1837,1875,0,0,0,0,0,0
$GC,18970,0.60,178.7,9.3,11.9,1359,18977,0.00,0.50,0.00,0.000,4,0.000,0.043,3241,1503,1876,0,0,0,0,0,0
$STATE,19025,end climb,SURFACE_DEPTH_REACHED
$STATE,19025,begin surface coast
$FINISH,1.9,1.026568
$STATE,19033,end surface coast,CONTROL_FINISHED_OK
$STATE,19033,begin surface
$SM_CCo,19049,10.02,1.087,0,0,1845,185.20
$SM_GC,4.27,0.00,0.00,10.02,0.000,0.000,1.087,77,1933,1845,-9.25,0.08,185.20
$IRIDIUM_FIX,-4244.98,831.12,011213,030353
$TT8_MAMPS,0.026964
$HUMID,62.91
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.5,35.619
$10V_AH,10.1,28.308
$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,22.050,26.525,343.325,10.025,0.000,58.140,72.942,699.789,0.250,0.000,20.561,3346.878,12123.702,423.887,4012.312,209.852,0.000,1735.513,0.000,3124.822,0.000,2.832,0.000
$DEVICE_MAMPS,254.745,58.905,1566.720,1087.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.707,914.064,917.473,82.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354492
$DATA_FILE_SIZE,76855,1369
$CAP_FILE_SIZE,168900,1
$CFSIZE,2097086464,2066972672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,011213,083852,-4302.021,830.378,53,0.8,53,-25.0