version: 66.07.10.p01
glider: 574
mission: 7
dive: 171
start: 11 21 113 9 12 36
data:
$ID,574
$MISSION,7
$DIVE,171
$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,-13904.708
$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,51
$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,150
$GPS1,211113,090304,-4259.866,828.852,100,1.0,100,-25.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.3
$GPS2,211113,091141,-4259.843,829.014,18,1.3,18,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,-0.245
$KALMAN_X,-150653.0,-362.9,-13.0,43984.6,1746.7
$KALMAN_Y,548199.2,463.0,-239.1,-757963.7,4689.2
$MHEAD_RNG_PITCHd_Wd,209.4,1366,-19.0,-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,22,begin dive
$GC,24,-0.64,-130.3,0.0,0.0,0,51,0.00,0.00,-25.50,0.000,2,0.000,0.000,66,1948,2388,0,0,0,0,0,0
$GC,54,-0.64,-155.7,3.0,-1.6,4,109,12.43,2.22,-35.80,0.000,4,0.270,0.057,2811,3327,3236,0,0,0,0,0,0
$GC,252,-0.64,-155.7,21.6,-13.5,37,258,0.08,2.10,0.00,0.000,6,0.194,0.031,2826,1965,3239,0,0,0,0,0,0
$GC,397,-0.64,-155.7,40.4,-13.3,62,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1965,3239,0,0,0,0,0,0
$GC,743,-0.64,-155.7,83.0,-11.4,123,750,0.00,0.35,0.00,0.000,4,0.000,0.037,2826,2246,3239,0,0,0,0,0,0
$GC,993,-0.64,-155.7,113.8,-12.1,158,997,0.00,0.45,0.00,0.000,6,0.000,0.040,2826,1928,3240,0,0,0,0,0,0
$GC,1327,-0.64,-155.7,157.4,-13.1,189,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1928,3241,0,0,0,0,0,0
$GC,1652,-0.64,-155.7,200.7,-12.9,220,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1928,3241,0,0,0,0,0,0
$GC,1970,-0.64,-155.7,239.0,-11.7,250,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1928,3241,0,0,0,0,0,0
$GC,2289,-0.64,-155.7,276.1,-11.8,280,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1928,3242,0,0,0,0,0,0
$GC,2608,-0.64,-155.7,313.5,-11.4,310,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1928,3242,0,0,0,0,0,0
$GC,2926,-0.64,-155.7,350.4,-11.2,340,2930,0.00,0.32,0.00,0.000,4,0.000,0.054,2826,1684,3242,0,0,0,0,0,0
$GC,3097,-0.64,-155.7,369.6,-11.4,355,3101,0.00,0.38,0.00,0.000,6,0.000,0.036,2825,1984,3242,0,0,0,0,0,0
$GC,3425,-0.64,-155.7,408.3,-11.8,383,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1984,3242,0,0,0,0,0,0
$GC,3735,-0.64,-155.7,444.7,-11.6,398,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1983,3242,0,0,0,0,0,0
$GC,4044,-0.64,-155.7,480.7,-11.5,413,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1984,3242,0,0,0,0,0,0
$GC,4353,-0.64,-155.7,515.3,-11.4,428,4357,0.00,0.47,0.00,0.000,4,0.000,0.041,2822,2339,3242,0,0,0,0,0,0
$GC,4588,-0.64,-155.7,541.5,-10.4,438,4592,0.00,0.57,0.00,0.000,6,0.000,0.037,2822,1944,3241,0,0,0,0,0,0
$GC,4909,-0.64,-155.7,576.6,-10.7,454,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1944,3241,0,0,0,0,0,0
$GC,5218,-0.64,-155.7,609.1,-10.1,469,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1944,3241,0,0,0,0,0,0
$GC,5527,-0.64,-155.7,640.0,-9.9,484,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1944,3241,0,0,0,0,0,0
$GC,5837,-0.64,-155.7,671.7,-10.4,499,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1945,3240,0,0,0,0,0,0
$GC,6146,-0.64,-155.7,703.7,-10.0,514,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1944,3240,0,0,0,0,0,0
$GC,6455,-0.64,-155.7,736.2,-10.7,529,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1945,3240,0,0,0,0,0,0
$GC,6765,-0.64,-155.7,771.5,-11.8,544,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1944,3239,0,0,0,0,0,0
$GC,7074,-0.64,-155.7,807.2,-11.5,559,7078,0.00,0.38,0.00,0.000,4,0.000,0.054,2823,1678,3239,0,0,0,0,0,0
$GC,7241,-0.64,-155.7,827.2,-11.2,566,7245,0.00,0.35,0.00,0.000,6,0.000,0.037,2821,1943,3239,0,0,0,0,0,0
$GC,7562,-0.64,-155.7,864.2,-11.6,582,7564,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1944,3239,0,0,0,0,0,0
$GC,7872,-0.64,-155.7,897.7,-10.5,597,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1944,3239,0,0,0,0,0,0
$GC,8181,-0.64,-155.7,929.5,-10.3,612,8185,0.00,0.35,0.00,0.000,4,0.000,0.045,2820,2226,3238,0,0,0,0,0,0
$GC,8438,-0.64,-155.7,956.0,-9.8,623,8442,0.00,0.40,0.00,0.000,6,0.000,0.041,2820,1943,3239,0,0,0,0,0,0
$GC,8759,-0.64,-155.7,988.9,-10.5,639,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1943,3238,0,0,0,0,0,0
$STATE,8884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8884,begin apogee
$GC,8888,-0.17,0.0,1001.5,10.3,645,9024,0.57,0.00,132.82,1.617,6,0.166,0.000,2982,1798,2600,0,0,0,0,0,0
$STATE,9025,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9026,0.64,155.7,1005.7,0.0,652,9177,0.88,0.45,145.23,1.566,4,0.109,0.048,3246,1533,1966,0,0,0,0,0,0
$GC,9431,0.64,155.7,961.2,12.5,671,9434,0.00,0.38,0.00,0.000,6,0.000,0.034,3245,1797,1956,0,0,0,0,0,0
$GC,9762,0.64,155.7,916.7,13.5,687,9766,0.00,0.65,0.00,0.000,4,0.000,0.047,3247,1396,1954,0,0,0,0,0,0
$GC,10019,0.64,155.7,883.2,12.6,698,10023,0.00,0.62,0.00,0.000,6,0.000,0.029,3247,1832,1954,0,0,0,0,0,0
$GC,10340,0.64,155.7,844.1,12.1,714,10344,0.00,1.05,0.00,0.000,4,0.000,0.050,3251,1187,1953,0,0,0,0,0,0
$GC,10520,0.64,155.7,822.3,11.6,722,10524,0.00,0.90,0.00,0.000,6,0.000,0.027,3250,1799,1953,0,0,0,0,0,0
$GC,10852,0.64,155.7,782.5,11.6,738,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1799,1952,0,0,0,0,0,0
$GC,11161,0.64,155.7,746.5,11.7,753,11165,0.00,0.57,0.00,0.000,4,0.000,0.047,3252,1432,1952,0,0,0,0,0,0
$GC,11418,0.64,155.7,716.5,11.8,764,11422,0.00,0.55,0.00,0.000,6,0.000,0.030,3252,1817,1952,0,0,0,0,0,0
$GC,11739,0.64,155.7,680.9,11.0,780,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1817,1952,0,0,0,0,0,0
$GC,12048,0.64,155.7,647.0,11.1,795,12052,0.00,0.73,0.00,0.000,4,0.000,0.050,3253,1362,1952,0,0,0,0,0,0
$GC,12305,0.64,155.7,618.0,11.1,806,12309,0.00,0.65,0.00,0.000,6,0.000,0.026,3253,1819,1952,0,0,0,0,0,0
$GC,12628,0.64,155.7,579.1,12.3,822,12632,0.00,1.30,0.00,0.000,4,0.000,0.054,3256,1020,1952,0,0,0,0,0,0
$GC,12811,0.64,155.7,556.4,11.1,830,12816,0.00,1.17,0.00,0.000,6,0.000,0.026,3256,1803,1952,0,0,0,0,0,0
$GC,13139,0.64,155.7,516.8,12.3,846,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1802,1952,0,0,0,0,0,0
$GC,13448,0.64,155.7,479.9,11.7,861,13452,0.00,0.77,0.00,0.000,4,0.000,0.049,3258,1312,1952,0,0,0,0,0,0
$GC,13705,0.64,155.7,449.8,11.8,872,13710,0.00,0.75,0.00,0.000,6,0.000,0.025,3258,1811,1952,0,0,0,0,0,0
$GC,14026,0.64,155.7,412.3,11.5,888,14030,0.00,0.62,0.00,0.000,4,0.000,0.047,3260,1410,1952,0,0,0,0,0,0
$GC,14285,0.64,155.7,381.7,12.1,906,14289,0.00,0.57,0.00,0.000,6,0.000,0.031,3260,1840,1952,0,0,0,0,0,0
$GC,14619,0.64,155.7,340.5,12.6,937,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1840,1952,0,0,0,0,0,0
$GC,14944,0.64,155.7,299.4,12.9,968,14947,0.00,1.12,0.00,0.000,4,0.000,0.050,3264,1139,1952,0,0,0,0,0,0
$GC,15140,0.64,155.7,274.2,12.2,985,15146,0.08,0.98,0.00,0.000,6,0.200,0.026,3248,1805,1952,0,0,0,0,0,0
$GC,15465,0.64,155.7,237.2,11.7,1016,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1805,1952,0,0,0,0,0,0
$GC,15784,0.64,155.7,200.2,11.9,1046,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1805,1952,0,0,0,0,0,0
$GC,16103,0.64,155.7,161.5,12.2,1076,16107,0.00,0.52,0.00,0.000,4,0.000,0.045,3249,1455,1952,0,0,0,0,0,0
$GC,16273,0.64,155.7,141.1,12.8,1091,16277,0.00,0.47,0.00,0.000,6,0.000,0.032,3249,1822,1953,0,0,0,0,0,0
$GC,16603,0.64,155.7,102.0,12.0,1122,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1821,1953,0,0,0,0,0,0
$GC,16944,0.64,155.7,61.9,11.2,1180,16949,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1822,1953,0,0,0,0,0,0
$GC,17294,0.64,155.7,20.5,12.4,1241,17299,0.00,2.22,0.00,0.000,4,0.000,0.060,3258,429,1953,0,0,0,0,0,0
$GC,17442,0.64,155.7,4.4,14.4,1266,17449,0.00,2.03,0.00,0.000,6,0.000,0.026,3258,1759,1953,0,0,0,0,0,0
$STATE,17455,end climb,SURFACE_DEPTH_REACHED
$STATE,17456,begin surface coast
$FINISH,1.5,1.024962
$STATE,17481,end surface coast,CONTROL_FINISHED_OK
$STATE,17481,begin surface
$SM_CCo,17497,12.90,0.905,0,0,1845,185.20
$SM_GC,3.55,0.00,0.00,12.90,0.000,0.000,0.905,84,1972,1845,-9.24,0.59,185.20
$IRIDIUM_FIX,-4242.04,830.68,211113,030347
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.6,27.860
$10V_AH,10.2,22.951
$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,22.825,27.825,278.050,12.900,0.000,30.175,22.546,336.157,0.250,0.000,20.232,3129.612,10970.348,371.472,3404.532,147.909,33.388,1588.023,0.000,2963.241,0.000,2.832,0.000
$DEVICE_MAMPS,270.045,78.795,1617.210,904.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.619,877.449,841.237,81.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,73597,1272
$CAP_FILE_SIZE,146235,0
$CFSIZE,2097086464,2072641536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211113,140824,-4300.603,829.171,202,1.2,202,-25.0