version: 66.07.10.p01
glider: 574
mission: 7
dive: 215
start: 12 1 113 8 53 21
data:
$ID,574
$MISSION,7
$DIVE,215
$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,-14012.329
$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,53
$R_STBD_OVSHOOT,69
$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,194
$GPS1,011213,083852,-4302.021,830.378,53,0.8,53,-25.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-75.1
$GPS2,011213,085259,-4301.993,830.616,33,0.8,33,-25.0
$SPEED_LIMITS,0.180,0.271
$TGT_NAME,HEADING
$TGT_LATLONG,-4312.792,830.616
$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,-8.15,0.000,2,0.000,0.000,65,1933,2012,0,0,0,0,0,0
$GC,36,-0.60,-155.7,3.1,-0.0,1,122,11.93,2.20,-62.03,0.000,4,0.249,0.058,2828,3303,3236,0,0,0,0,0,0
$GC,277,-0.60,-155.7,19.3,-11.3,41,284,0.05,2.12,0.00,0.000,6,0.161,0.030,2844,1941,3236,0,0,0,0,0,0
$GC,331,-0.60,-155.7,25.8,-11.8,50,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1941,3237,0,0,0,0,0,0
$GC,474,-0.60,-155.7,43.3,-11.9,75,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1941,3238,0,0,0,0,0,0
$GC,823,-0.60,-155.7,84.6,-11.9,136,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1941,3238,0,0,0,0,0,0
$GC,1160,-0.60,-155.7,123.6,-11.1,179,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1941,3239,0,0,0,0,0,0
$GC,1483,-0.60,-155.7,159.9,-11.7,209,1486,0.00,0.62,0.00,0.000,4,0.000,0.045,2844,1516,3239,0,0,0,0,0,0
$GC,1622,-0.60,-155.7,176.7,-11.6,221,1628,0.00,0.60,0.00,0.000,6,0.000,0.029,2843,1952,3239,0,0,0,0,0,0
$GC,1947,-0.60,-155.7,213.6,-11.4,252,1951,0.00,0.35,0.00,0.000,4,0.000,0.042,2841,2243,3239,0,0,0,0,0,0
$GC,2208,-0.60,-155.7,242.1,-10.2,275,2211,0.00,0.45,0.00,0.000,6,0.000,0.037,2841,1913,3239,0,0,0,0,0,0
$GC,2538,-0.60,-155.7,276.6,-9.8,306,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1913,3239,0,0,0,0,0,0
$GC,2857,-0.60,-155.7,308.5,-10.0,336,2861,0.00,0.43,0.00,0.000,4,0.000,0.050,2841,1604,3239,0,0,0,0,0,0
$GC,3065,-0.60,-155.7,331.6,-10.8,354,3071,0.00,0.45,0.00,0.000,6,0.000,0.032,2839,1948,3239,0,0,0,0,0,0
$GC,3392,-0.60,-155.7,367.6,-11.1,385,3395,0.00,0.93,0.00,0.000,4,0.000,0.037,2835,2575,3239,0,0,0,0,0,0
$GC,3595,-0.60,-155.7,390.1,-10.8,403,3599,0.00,0.95,0.00,0.000,6,0.000,0.034,2835,1940,3239,0,0,0,0,0,0
$GC,3918,-0.60,-155.7,427.2,-11.4,423,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1940,3239,0,0,0,0,0,0
$GC,4227,-0.60,-155.7,461.0,-10.8,438,4231,0.00,0.38,0.00,0.000,4,0.000,0.050,2834,1665,3239,0,0,0,0,0,0
$GC,4344,-0.60,-155.7,473.4,-10.0,443,4348,0.00,0.32,0.00,0.000,6,0.000,0.036,2834,1925,3238,0,0,0,0,0,0
$GC,4672,-0.60,-155.7,506.7,-10.0,459,4675,0.00,0.40,0.00,0.000,4,0.000,0.041,2832,2245,3238,0,0,0,0,0,0
$GC,4929,-0.60,-155.7,531.4,-9.6,470,4933,0.00,0.47,0.00,0.000,6,0.000,0.037,2832,1911,3239,0,0,0,0,0,0
$GC,5250,-0.60,-155.7,561.9,-9.9,486,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1911,3237,0,0,0,0,0,0
$GC,5560,-0.60,-155.7,592.8,-10.2,501,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1911,3238,0,0,0,0,0,0
$GC,5869,-0.60,-155.7,624.8,-10.5,516,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1911,3237,0,0,0,0,0,0
$GC,6178,-0.60,-155.7,656.9,-10.3,531,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3236,0,0,0,0,0,0
$GC,6488,-0.60,-155.7,688.1,-10.0,546,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1911,3236,0,0,0,0,0,0
$GC,6797,-0.60,-155.7,716.9,-9.0,561,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3235,0,0,0,0,0,0
$GC,7107,-0.60,-155.7,744.1,-8.8,576,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3235,0,0,0,0,0,0
$GC,7416,-0.60,-155.7,771.5,-9.3,591,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1911,3235,0,0,0,0,0,0
$GC,7725,-0.60,-155.7,800.4,-9.5,606,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3235,0,0,0,0,0,0
$GC,8034,-0.60,-155.7,830.4,-9.8,621,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3234,0,0,0,0,0,0
$GC,8344,-0.60,-155.7,860.4,-9.9,636,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3233,0,0,0,0,0,0
$GC,8653,-0.60,-155.7,889.7,-9.2,651,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3233,0,0,0,0,0,0
$GC,8962,-0.60,-155.7,917.3,-8.6,666,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1910,3233,0,0,0,0,0,0
$GC,9272,-0.60,-155.7,942.9,-8.1,681,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3233,0,0,0,0,0,0
$GC,9581,-0.60,-155.7,967.7,-8.0,696,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3232,0,0,0,0,0,0
$GC,9890,-0.60,-155.7,992.0,-8.0,711,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1910,3232,0,0,0,0,0,0
$STATE,9993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9993,begin apogee
$GC,9997,-0.16,0.0,1000.2,7.9,716,10157,0.52,0.00,156.15,1.562,6,0.152,0.000,2982,1839,2599,0,0,0,0,0,0
$STATE,10158,end apogee,CONTROL_FINISHED_OK
$STATE,10158,begin climb
$GC,10159,0.60,155.7,1003.2,0.0,724,10373,0.80,0.00,168.57,1.449,6,0.104,0.000,3224,1839,1965,0,0,0,0,8,0
$GC,10670,0.60,155.7,950.8,11.4,749,10674,0.00,1.02,0.00,0.000,4,0.000,0.050,3228,1220,1944,0,0,0,0,0,0
$GC,10832,0.60,155.7,932.6,11.3,756,10836,0.00,0.88,0.00,0.000,6,0.000,0.023,3228,1808,1942,0,0,0,0,0,0
$GC,11159,0.60,155.7,897.3,10.7,772,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1808,1942,0,0,0,0,0,0
$GC,11468,0.60,159.9,865.3,10.2,787,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1808,1942,0,0,0,0,0,0
$GC,11777,0.60,159.9,833.1,10.5,802,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1808,1942,0,0,0,0,0,0
$GC,12087,0.60,160.2,800.9,10.4,817,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1808,1941,0,0,0,0,0,0
$GC,12396,0.60,160.2,767.0,11.2,832,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1808,1942,0,0,0,0,0,0
$GC,12705,0.60,160.2,732.7,11.2,847,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1808,1942,0,0,0,0,0,0
$GC,13015,0.60,160.2,698.1,11.0,862,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1809,1941,0,0,0,0,0,0
$GC,13324,0.60,160.2,664.5,10.7,877,13328,0.00,0.38,0.00,0.000,4,0.000,0.043,3229,1550,1941,0,0,0,0,0,0
$GC,13581,0.60,166.6,636.8,10.1,888,13596,0.00,0.40,10.07,1.421,6,0.000,0.033,3228,1859,1917,0,0,0,0,0,0
$GC,13924,0.60,166.6,600.0,11.2,905,13928,0.00,1.60,0.00,0.000,4,0.000,0.050,3235,877,1908,0,0,0,0,0,0
$GC,14075,0.60,166.6,583.0,11.7,911,14080,0.00,1.38,0.00,0.000,6,0.000,0.023,3235,1799,1907,0,0,0,0,0,0
$GC,14390,0.60,166.6,547.9,11.2,927,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1798,1907,0,0,0,0,0,0
$GC,14700,0.60,166.6,512.9,11.6,942,14701,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1799,1907,0,0,0,0,0,0
$GC,15009,0.60,166.6,476.7,11.6,957,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1907,0,0,0,0,0,0
$GC,15318,0.60,166.6,441.1,11.4,972,15319,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1798,1907,0,0,0,0,0,0
$GC,15628,0.60,166.6,406.3,11.2,987,15631,0.00,0.57,0.00,0.000,4,0.000,0.044,3237,1421,1907,0,0,0,0,0,0
$GC,15887,0.60,166.6,376.8,11.3,1007,15890,0.00,0.57,0.00,0.000,6,0.000,0.029,3237,1854,1908,0,0,0,0,0,0
$GC,16216,0.60,166.6,339.8,10.8,1038,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1854,1909,0,0,0,0,0,0
$GC,16536,0.60,167.2,306.5,10.4,1068,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1854,1909,0,0,0,0,0,0
$GC,16855,0.60,167.2,273.7,10.6,1098,16858,0.00,1.08,0.00,0.000,4,0.000,0.047,3240,1183,1910,0,0,0,0,0,0
$GC,17035,0.60,167.2,253.9,10.8,1114,17039,0.00,0.90,0.00,0.000,6,0.000,0.026,3240,1807,1909,0,0,0,0,0,0
$GC,17367,0.60,167.2,216.2,11.8,1145,17369,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1808,1910,0,0,0,0,0,0
$GC,17685,0.60,167.2,179.7,11.5,1175,17686,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1807,1910,0,0,0,0,0,0
$GC,18007,0.60,167.2,144.9,10.4,1205,18011,0.00,0.52,0.00,0.000,4,0.000,0.044,3241,1465,1910,0,0,0,0,0,0
$GC,18267,0.60,172.8,117.4,10.2,1228,18280,0.00,0.50,7.18,1.111,6,0.000,0.031,3241,1862,1894,0,0,0,0,0,0
$GC,18608,0.60,177.7,80.7,10.2,1274,18621,0.00,0.90,6.03,1.079,4,0.000,0.042,3243,1297,1873,0,0,0,0,0,0
$GC,18879,0.60,177.7,52.0,10.7,1321,18884,0.00,0.73,0.00,0.000,6,0.000,0.026,3244,1823,1869,0,0,0,0,0,0
$GC,19231,0.60,185.0,13.3,10.1,1382,19245,0.00,0.77,9.75,1.087,4,0.000,0.044,3246,1349,1840,0,0,0,0,0,0
$STATE,19321,end climb,SURFACE_DEPTH_REACHED
$STATE,19322,begin surface coast
$FINISH,2.0,1.026549
$STATE,19330,end surface coast,CONTROL_FINISHED_OK
$STATE,19330,begin surface
$SM_CCo,19407,0.00,0.000,0,0,1827,189.61
$SM_GC,2.98,8.62,0.00,0.00,0.047,0.000,0.000,85,1907,1827,-9.17,-0.68,189.61
$IRIDIUM_FIX,-4244.98,831.12,011213,030309
$TT8_MAMPS,0.026964
$HUMID,62.83
$INTERNAL_PRESSURE,9.27241
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.6,35.807
$10V_AH,10.2,28.432
$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,21.925,23.775,357.750,0.000,0.000,27.783,43.132,595.812,0.250,0.000,36.335,3355.618,12514.443,441.489,3731.406,188.399,0.000,1700.819,0.000,3012.297,0.000,2.832,0.000
$DEVICE_MAMPS,249.390,113.985,1562.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.808,943.741,930.180,85.912,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,80304,1398
$CAP_FILE_SIZE,158510,8
$CFSIZE,2097086464,2066874368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1
$GPS,011213,141823,-4303.335,831.718,61,0.8,61,-25.1