version: 66.07.10.p01
glider: 574
mission: 7
dive: 71
start: 10 29 113 7 33 24
data:
$ID,574
$MISSION,7
$DIVE,71
$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,380
$T_MISSION,420
$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,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,200
$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,-13578.889
$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,29
$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,2000
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,76
$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,50
$GPS1,291013,072433,-4206.035,901.376,39,1.2,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-75.2
$GPS2,291013,073229,-4206.001,901.336,19,1.0,20,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4205.000,900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.087,-0.174
$KALMAN_X,-119964.7,519.0,-118.0,57593.7,-3836.7
$KALMAN_Y,153175.4,-452.5,-478.6,-262074.1,5816.9
$MHEAD_RNG_PITCHd_Wd,178.6,2610,-21.6,-8.772
$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,23,-0.75,-85.3,0.0,0.0,0,80,0.00,0.00,-51.58,0.000,6,0.000,0.000,72,2021,2949,0,0,0,0,0,0
$GC,82,-0.75,-155.7,3.4,-2.2,9,109,11.68,1.42,-7.47,0.000,4,0.263,0.067,2788,1127,3237,0,0,0,0,0,0
$GC,239,-0.75,-155.7,26.8,-15.4,35,244,0.00,1.30,0.00,0.000,6,0.000,0.030,2784,1972,3239,0,0,0,0,0,0
$GC,380,-0.75,-155.7,49.1,-15.2,60,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1972,3240,0,0,0,0,0,0
$GC,731,-0.75,-155.7,103.4,-15.7,120,734,0.00,0.90,0.00,0.000,4,0.000,0.041,2780,2576,3241,0,0,0,0,0,0
$GC,938,-0.75,-155.7,135.3,-15.1,138,945,0.08,0.93,0.00,0.000,6,0.213,0.037,2794,1975,3240,0,0,0,0,0,0
$GC,1265,-0.75,-155.7,184.7,-14.9,169,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1974,3241,0,0,0,0,0,0
$GC,1582,-0.75,-155.7,233.7,-15.2,199,1586,0.00,0.52,0.00,0.000,4,0.000,0.051,2794,1607,3241,0,0,0,0,0,0
$GC,1789,-0.75,-155.7,265.6,-14.2,217,1795,0.00,0.60,0.00,0.000,6,0.000,0.033,2793,2027,3241,0,0,0,0,0,0
$GC,2114,-0.75,-155.7,312.2,-14.5,248,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2027,3242,0,0,0,0,0,0
$GC,2435,-0.75,-155.7,356.6,-13.8,278,2438,0.00,0.52,0.00,0.000,4,0.000,0.043,2791,2410,3241,0,0,0,0,0,0
$GC,2574,-0.75,-155.7,375.0,-12.5,290,2580,0.00,0.62,0.00,0.000,6,0.000,0.040,2791,1988,3242,0,0,0,0,0,0
$GC,2906,-0.75,-155.7,421.0,-14.1,315,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1988,3242,0,0,0,0,0,0
$GC,3215,-0.75,-155.7,463.0,-13.5,330,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1987,3242,0,0,0,0,0,0
$GC,3524,-0.75,-155.7,503.5,-12.8,345,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1988,3243,0,0,0,0,0,0
$GC,3833,-0.75,-155.7,541.2,-12.1,360,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1988,3242,0,0,0,0,0,0
$GC,4143,-0.75,-155.7,577.7,-11.9,375,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1988,3243,0,0,0,0,0,0
$GC,4452,-0.75,-155.7,616.4,-12.9,390,4455,0.00,0.50,0.00,0.000,4,0.000,0.053,2791,1640,3242,0,0,0,0,0,0
$GC,4631,-0.75,-155.7,639.8,-12.7,398,4635,0.00,0.50,0.00,0.000,6,0.000,0.037,2789,2005,3241,0,0,0,0,0,0
$GC,4963,-0.75,-155.7,682.8,-13.0,414,4967,0.00,0.40,0.00,0.000,4,0.000,0.045,2788,2313,3240,0,0,0,0,0,0
$GC,5219,-0.75,-155.7,717.0,-13.6,425,5224,0.00,0.45,0.00,0.000,6,0.000,0.042,2788,1996,3241,0,0,0,0,0,0
$GC,5540,-0.75,-155.7,759.8,-13.1,441,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1995,3240,0,0,0,0,0,0
$GC,5850,-0.75,-155.7,799.8,-12.9,456,5853,0.00,0.43,0.00,0.000,4,0.000,0.054,2787,1694,3239,0,0,0,0,0,0
$GC,6053,-0.75,-155.7,825.1,-12.3,465,6057,0.00,0.40,0.00,0.000,6,0.000,0.041,2787,2005,3240,0,0,0,0,0,0
$GC,6385,-0.75,-155.7,865.8,-11.8,481,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2005,3238,0,0,0,0,0,0
$GC,6694,-0.75,-155.7,901.2,-11.2,496,6698,0.00,0.65,0.00,0.000,4,0.000,0.042,2784,2459,3237,0,0,0,0,0,0
$GC,6883,-0.75,-155.7,923.3,-10.9,504,6888,0.00,0.68,0.00,0.000,6,0.000,0.041,2784,2008,3237,0,0,0,0,0,0
$GC,7205,-0.75,-155.7,960.1,-11.4,520,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2008,3236,0,0,0,0,0,0
$GC,7514,-0.75,-155.7,996.6,-12.0,535,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2008,3236,0,0,0,0,0,0
$STATE,7557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7557,begin apogee
$GC,7561,-0.17,0.0,1001.4,11.9,537,7695,0.68,0.00,130.60,1.534,6,0.167,0.000,2980,1792,2600,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7698,0.75,155.7,1005.3,0.0,544,7840,0.98,0.00,139.02,1.493,6,0.107,0.000,3274,1792,1964,0,0,0,0,0,0
$GC,8145,0.75,155.7,943.7,15.6,566,8148,0.00,1.25,0.00,0.000,4,0.000,0.060,3279,1049,1954,0,0,0,0,0,0
$GC,8392,0.75,155.7,904.5,15.0,577,8395,0.00,1.10,0.00,0.000,6,0.000,0.030,3279,1764,1952,0,0,0,0,0,0
$GC,8723,0.75,155.7,853.7,15.2,593,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1764,1950,0,0,0,0,0,0
$GC,9033,0.75,155.7,807.1,15.0,608,9037,0.00,0.70,0.00,0.000,4,0.000,0.054,3280,1332,1949,0,0,0,0,0,0
$GC,9289,0.75,155.7,769.7,15.5,619,9294,0.00,0.70,0.00,0.000,6,0.000,0.031,3281,1786,1950,0,0,0,0,0,0
$GC,9610,0.75,155.7,723.7,14.9,635,9614,0.00,0.88,0.00,0.000,4,0.000,0.054,3283,1246,1949,0,0,0,0,0,0
$GC,9867,0.75,155.7,683.8,16.8,646,9871,0.00,0.85,0.00,0.000,6,0.000,0.030,3283,1802,1948,0,0,0,0,0,0
$GC,10188,0.75,155.7,635.0,15.0,662,10192,0.00,0.73,0.00,0.000,4,0.000,0.052,3285,1348,1948,0,0,0,0,0,0
$GC,10445,0.75,155.7,596.7,15.0,673,10449,0.00,0.68,0.00,0.000,6,0.000,0.031,3285,1790,1947,0,0,0,0,0,0
$GC,10766,0.75,155.7,550.4,14.4,689,10770,0.00,0.57,0.00,0.000,4,0.000,0.051,3286,1422,1948,0,0,0,0,0,0
$GC,11022,0.75,155.7,513.8,14.0,700,11026,0.00,0.55,0.00,0.000,6,0.000,0.033,3285,1797,1947,0,0,0,0,0,0
$GC,11343,0.75,155.7,467.6,14.4,716,11347,0.00,0.85,0.00,0.000,4,0.000,0.054,3289,1264,1947,0,0,0,0,0,0
$GC,11600,0.75,155.7,428.6,15.1,727,11604,0.00,0.80,0.00,0.000,6,0.000,0.031,3289,1791,1947,0,0,0,0,0,0
$GC,11928,0.75,155.7,380.8,14.7,749,11932,0.00,0.73,0.00,0.000,4,0.000,0.053,3291,1338,1946,0,0,0,0,0,0
$GC,12188,0.75,155.7,342.6,15.1,772,12191,0.00,0.65,0.00,0.000,6,0.000,0.031,3291,1783,1947,0,0,0,0,0,0
$GC,12517,0.75,155.7,293.1,15.5,803,12521,0.00,1.60,0.00,0.000,4,0.000,0.060,3297,798,1947,0,0,0,0,0,0
$GC,12736,0.75,155.7,259.0,15.2,822,12744,0.05,1.52,0.00,0.000,6,0.233,0.028,3287,1806,1947,0,0,0,0,0,0
$GC,13066,0.75,155.7,211.7,15.0,853,13069,0.00,0.65,0.00,0.000,4,0.000,0.052,3289,1395,1947,0,0,0,0,0,0
$GC,13325,0.75,155.7,171.8,15.1,876,13328,0.00,0.57,0.00,0.000,6,0.000,0.032,3289,1797,1947,0,0,0,0,0,0
$GC,13655,0.75,155.7,122.7,14.5,907,13658,0.00,0.85,0.00,0.000,4,0.000,0.052,3292,1260,1947,0,0,0,0,0,0
$GC,13889,0.75,155.7,87.6,15.0,934,13894,0.00,0.77,0.00,0.000,6,0.000,0.031,3291,1791,1946,0,0,0,0,0,0
$GC,14238,0.75,155.7,33.5,16.0,995,14243,0.00,0.77,0.00,0.000,4,0.000,0.052,3294,1301,1947,0,0,0,0,0,0
$GC,14396,0.75,155.7,9.5,15.5,1022,14403,0.00,0.70,0.00,0.000,6,0.000,0.031,3294,1788,1947,0,0,0,0,0,0
$STATE,14445,end climb,SURFACE_DEPTH_REACHED
$STATE,14445,begin surface coast
$FINISH,1.3,1.014704
$STATE,14471,end surface coast,CONTROL_FINISHED_OK
$STATE,14471,begin surface
$SM_CCo,14486,18.85,0.812,0,0,1784,200.16
$SM_GC,2.33,0.00,0.00,18.85,0.000,0.000,0.812,78,2018,1784,-9.26,0.51,200.16
$IRIDIUM_FIX,-4149.58,901.52,291013,010136
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,9.29194
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1001.4,7.9
$24V_AH,23.3,12.780
$10V_AH,10.3,10.405
$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,22.025,29.875,269.625,18.850,0.000,26.224,22.072,309.219,0.500,0.000,21.703,2599.282,8892.976,371.222,2994.719,116.914,33.383,1462.374,0.000,2590.366,0.000,5.466,0.000
$DEVICE_MAMPS,263.160,67.320,1533.825,812.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.403,702.992,685.816,63.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,60106,1034
$CAP_FILE_SIZE,130818,0
$CFSIZE,2097086464,2085781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291013,113626,-4207.264,901.953,43,0.9,43,-25.1