version: 66.07.10.p01
glider: 574
mission: 7
dive: 155
start: 11 18 113 9 30 56
data:
$ID,574
$MISSION,7
$DIVE,155
$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,340
$T_MISSION,380
$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,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,-13862.703
$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,30
$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,1950
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,82
$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,134
$GPS1,181113,092300,-4301.250,829.418,55,1.0,55,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-72.2
$GPS2,181113,093001,-4301.184,829.477,15,0.8,17,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.030,-0.251
$KALMAN_X,-168566.7,-163.9,-83.6,62405.3,1339.1
$KALMAN_Y,496964.0,-391.0,-250.1,-708347.4,7301.6
$MHEAD_RNG_PITCHd_Wd,211.8,2304,-18.4,-9.804
$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,23,begin dive
$GC,24,-0.62,-139.1,0.0,0.0,0,51,0.00,0.00,-24.95,0.000,2,0.000,0.000,66,1964,2381,0,0,0,0,0,0
$GC,54,-0.62,-155.7,3.1,-1.4,4,109,12.10,0.35,-37.92,0.000,4,0.262,0.119,2830,2225,3233,0,0,0,0,0,0
$GC,298,-0.62,-155.7,28.0,-14.1,45,303,0.00,0.40,0.00,0.000,6,0.000,0.042,2830,1936,3237,0,0,0,0,0,0
$GC,442,-0.62,-155.7,48.6,-13.9,70,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3237,0,0,0,0,0,0
$GC,788,-0.62,-155.7,92.6,-11.9,131,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3239,0,0,0,0,0,0
$GC,1121,-0.62,-155.7,132.2,-11.8,168,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3239,0,0,0,0,0,0
$GC,1442,-0.62,-155.7,169.7,-11.5,198,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3240,0,0,0,0,0,0
$GC,1759,-0.62,-155.7,206.1,-11.0,228,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3240,0,0,0,0,0,0
$GC,2077,-0.62,-155.7,241.7,-11.0,258,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,2396,-0.62,-155.7,276.8,-11.5,288,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,2715,-0.62,-155.7,312.8,-11.6,318,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,3033,-0.62,-155.7,350.4,-11.9,348,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,3352,-0.62,-155.7,388.3,-11.7,378,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,3664,-0.62,-155.7,425.2,-11.5,398,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,3973,-0.62,-155.7,460.0,-11.1,413,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,4283,-0.62,-155.7,493.6,-11.1,428,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1936,3241,0,0,0,0,0,0
$GC,4592,-0.62,-155.7,527.7,-11.2,443,4596,0.00,0.43,0.00,0.000,4,0.000,0.054,2830,1638,3241,0,0,0,0,0,0
$GC,4794,-0.62,-155.7,550.8,-11.2,452,4798,0.00,0.40,0.00,0.000,6,0.000,0.037,2829,1951,3241,0,0,0,0,0,0
$GC,5126,-0.62,-155.7,585.9,-10.3,468,5130,0.00,0.47,0.00,0.000,4,0.000,0.041,2827,2310,3241,0,0,0,0,0,0
$GC,5288,-0.62,-155.7,603.0,-10.4,475,5292,0.00,0.52,0.00,0.000,6,0.000,0.038,2827,1947,3241,0,0,0,0,0,0
$GC,5614,-0.62,-155.7,638.3,-10.9,491,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1947,3240,0,0,0,0,0,0
$GC,5924,-0.62,-155.7,672.2,-11.1,506,5927,0.00,0.55,0.00,0.000,4,0.000,0.051,2827,1569,3240,0,0,0,0,0,0
$GC,6045,-0.62,-155.7,686.5,-11.6,511,6050,0.00,0.52,0.00,0.000,6,0.000,0.033,2827,1945,3240,0,0,0,0,0,0
$GC,6367,-0.62,-155.7,722.5,-11.1,527,6370,0.00,0.43,0.00,0.000,4,0.000,0.043,2824,2270,3239,0,0,0,0,0,0
$GC,6546,-0.62,-155.7,742.7,-11.6,535,6550,0.00,0.45,0.00,0.000,6,0.000,0.040,2824,1943,3239,0,0,0,0,0,0
$GC,6878,-0.62,-155.7,780.8,-11.5,551,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,3239,0,0,0,0,0,0
$GC,7187,-0.62,-155.7,814.0,-10.2,566,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1943,3238,0,0,0,0,0,0
$GC,7497,-0.62,-155.7,843.5,-9.1,581,7501,0.00,0.38,0.00,0.000,4,0.000,0.055,2824,1676,3238,0,0,0,0,0,0
$GC,7726,-0.62,-155.7,863.0,-8.5,591,7730,0.00,0.38,0.00,0.000,6,0.000,0.037,2823,1960,3237,0,0,0,0,0,0
$GC,8053,-0.62,-155.7,888.2,-7.7,607,8055,0.05,0.00,0.00,0.000,6,0.240,0.000,2833,1960,3237,0,0,0,0,0,0
$GC,8362,-0.62,-155.7,910.9,-7.2,622,8366,0.00,0.62,0.00,0.000,4,0.000,0.041,2831,2402,3237,0,0,0,0,0,0
$GC,8557,-0.62,-155.7,925.3,-7.2,630,8563,0.00,0.68,0.00,0.000,6,0.000,0.037,2831,1951,3237,0,0,0,0,0,0
$GC,8873,-0.62,-155.7,950.5,-8.5,646,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1951,3236,0,0,0,0,0,0
$GC,9183,-0.62,-155.7,978.3,-9.4,661,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1951,3236,0,0,0,0,0,0
$STATE,9409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9409,begin apogee
$GC,9413,-0.17,0.0,1000.2,9.7,672,9549,0.52,0.00,131.70,1.596,6,0.155,0.000,2982,1806,2600,0,0,0,0,0,0
$STATE,9550,end apogee,CONTROL_FINISHED_OK
$STATE,9550,begin climb
$GC,9552,0.62,155.7,1004.7,0.0,679,9700,0.85,0.00,144.82,1.550,6,0.105,0.000,3239,1806,1965,0,0,0,0,0,0
$GC,9999,0.62,155.7,959.6,11.6,701,10002,0.00,0.75,0.00,0.000,4,0.000,0.053,3241,1351,1954,0,0,0,0,0,0
$GC,10233,0.62,155.7,932.1,11.9,711,10238,0.00,0.68,0.00,0.000,6,0.000,0.025,3241,1792,1952,0,0,0,0,0,0
$GC,10554,0.62,155.7,893.9,12.1,727,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1792,1952,0,0,0,0,0,0
$GC,10864,0.62,155.7,856.2,12.1,742,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1791,1951,0,0,0,0,0,0
$GC,11173,0.62,155.7,819.1,12.1,757,11177,0.00,0.45,0.00,0.000,4,0.000,0.045,3241,1497,1950,0,0,0,0,0,0
$GC,11391,0.62,155.7,792.9,11.3,766,11396,0.00,0.47,0.00,0.000,6,0.000,0.031,3241,1834,1950,0,0,0,0,0,0
$GC,11706,0.62,155.7,755.9,11.7,782,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1834,1950,0,0,0,0,0,0
$GC,12015,0.62,155.7,721.3,10.8,797,12019,0.00,1.15,0.00,0.000,4,0.000,0.051,3245,1124,1950,0,0,0,0,0,0
$GC,12166,0.62,155.7,704.2,10.8,803,12171,0.00,1.02,0.00,0.000,6,0.000,0.026,3245,1813,1948,0,0,0,0,0,0
$GC,12482,0.62,155.7,669.6,10.8,819,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1813,1949,0,0,0,0,0,0
$GC,12791,0.62,155.7,634.5,11.6,834,12794,0.00,0.47,0.00,0.000,4,0.000,0.047,3246,1499,1948,0,0,0,0,0,0
$GC,13048,0.62,155.7,604.6,11.3,845,13052,0.00,0.43,0.00,0.000,6,0.000,0.031,3246,1805,1948,0,0,0,0,0,0
$GC,13369,0.62,155.7,566.4,12.3,861,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1805,1948,0,0,0,0,0,0
$GC,13678,0.62,155.7,528.2,12.1,876,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1805,1947,0,0,0,0,0,0
$GC,13987,0.62,155.7,490.3,12.3,891,13991,0.00,0.43,0.00,0.000,4,0.000,0.047,3247,1520,1948,0,0,0,0,0,0
$GC,14244,0.62,155.7,458.5,12.1,902,14248,0.00,0.40,0.00,0.000,6,0.000,0.035,3247,1826,1948,0,0,0,0,0,0
$GC,14565,0.62,155.7,419.4,12.0,918,14568,0.00,0.70,0.00,0.000,4,0.000,0.047,3250,1381,1948,0,0,0,0,0,0
$GC,14771,0.62,155.7,393.8,12.3,928,14779,0.00,0.60,0.00,0.000,6,0.000,0.029,3249,1811,1948,0,0,0,0,0,0
$GC,15096,0.62,155.7,354.4,11.9,959,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1811,1948,0,0,0,0,0,0
$GC,15419,0.62,155.7,316.9,12.0,989,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1811,1948,0,0,0,0,0,0
$GC,15744,0.62,155.7,279.1,11.5,1020,15745,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1811,1948,0,0,0,0,0,0
$GC,16062,0.62,155.7,242.3,11.9,1050,16066,0.00,0.70,0.00,0.000,4,0.000,0.047,3251,1370,1948,0,0,0,0,0,0
$GC,16247,0.62,155.7,220.4,11.4,1066,16253,0.00,0.62,0.00,0.000,6,0.000,0.029,3251,1821,1948,0,0,0,0,0,0
$GC,16574,0.62,155.7,180.6,12.5,1097,16575,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1822,1948,0,0,0,0,0,0
$GC,16891,0.62,155.7,139.7,12.5,1127,16893,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1822,1948,0,0,0,0,0,0
$GC,17214,0.62,155.7,100.3,12.3,1157,17217,0.00,0.80,0.00,0.000,4,0.000,0.048,3254,1320,1948,0,0,0,0,0,0
$GC,17369,0.62,155.7,81.0,12.5,1183,17375,0.03,0.68,0.00,0.000,6,0.202,0.028,3246,1809,1948,0,0,0,0,0,0
$GC,17715,0.62,155.7,40.6,11.0,1244,17720,0.00,0.57,0.00,0.000,4,0.000,0.046,3246,1434,1948,0,0,0,0,0,0
$GC,17860,0.62,155.7,24.8,10.8,1269,17865,0.00,0.50,0.00,0.000,6,0.000,0.031,3247,1803,1948,0,0,0,0,0,0
$GC,18007,0.62,155.7,9.4,11.3,1294,18014,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1803,1948,0,0,0,0,0,0
$GC,18063,0.62,155.7,3.3,11.2,1303,18070,0.00,0.65,0.00,0.000,4,0.000,0.037,3247,2271,1948,0,0,0,0,0,0
$STATE,18077,end climb,SURFACE_DEPTH_REACHED
$STATE,18077,begin surface coast
$FINISH,1.8,1.026524
$STATE,18108,end surface coast,CONTROL_FINISHED_OK
$STATE,18108,begin surface
$SM_CCo,18124,12.27,0.868,0,0,1844,185.20
$SM_GC,4.00,0.00,0.00,12.27,0.000,0.000,0.868,72,1911,1844,-9.26,-1.10,185.20
$IRIDIUM_FIX,-4244.98,831.12,181113,050537
$TT8_MAMPS,0.026964
$HUMID,62.16
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.6,25.615
$10V_AH,10.2,21.317
$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,22.175,19.300,276.525,12.275,0.000,30.938,51.870,229.800,0.250,0.000,20.039,3193.838,11544.550,382.006,3303.923,139.469,33.356,1589.592,0.000,2944.675,0.000,2.829,0.000
$DEVICE_MAMPS,261.630,119.340,1595.790,867.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,917.275,901.085,880.257,83.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,73341,1310
$CAP_FILE_SIZE,146712,0
$CFSIZE,2097086464,2074705920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181113,143457,-4302.226,829.552,67,1.4,70,-25.0