version: 66.07.10.p01
glider: 574
mission: 7
dive: 172
start: 11 21 113 14 18 24
data:
$ID,574
$MISSION,7
$DIVE,172
$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,-13907.033
$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,55
$R_STBD_OVSHOOT,94
$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,151
$GPS1,211113,140824,-4300.603,829.171,202,1.2,202,-25.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.2
$GPS2,211113,141730,-4300.580,829.358,17,1.2,17,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.063,-0.202
$KALMAN_X,-149562.5,-545.0,-79.0,43613.0,2179.4
$KALMAN_Y,552786.9,-900.9,141.6,-762940.8,5195.2
$MHEAD_RNG_PITCHd_Wd,222.4,1382,-22.3,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.75,-95.2,0.0,0.0,0,52,0.00,0.00,-25.42,0.000,2,0.000,0.000,65,1967,2376,0,0,0,0,0,0
$GC,55,-0.75,-155.7,3.1,-3.2,4,110,12.32,1.10,-38.17,0.000,4,0.272,0.057,2784,2709,3235,0,0,0,0,0,0
$GC,333,-0.75,-155.7,37.5,-15.0,51,338,0.00,1.15,0.00,0.000,6,0.000,0.034,2783,1970,3238,0,0,0,0,0,0
$GC,477,-0.75,-155.7,60.7,-16.4,76,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1970,3239,0,0,0,0,0,0
$GC,824,-0.75,-155.7,115.6,-16.3,129,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1970,3239,0,0,0,0,0,0
$GC,1142,-0.75,-155.7,168.1,-16.8,159,1145,0.00,0.52,0.00,0.000,4,0.000,0.049,2784,1606,3240,0,0,0,0,0,0
$GC,1266,-0.75,-155.7,188.8,-16.4,170,1270,0.00,0.43,0.00,0.000,6,0.000,0.035,2783,1941,3239,0,0,0,0,0,0
$GC,1600,-0.75,-155.7,241.4,-15.4,201,1603,0.00,0.62,0.00,0.000,4,0.000,0.039,2779,2390,3240,0,0,0,0,0,0
$GC,1859,-0.75,-155.7,281.7,-14.7,224,1863,0.03,0.65,0.00,0.000,6,0.222,0.037,2787,1929,3240,0,0,0,0,0,0
$GC,2189,-0.75,-155.7,327.6,-13.1,255,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1929,3240,0,0,0,0,0,0
$GC,2512,-0.75,-155.7,370.4,-13.3,285,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1929,3241,0,0,0,0,0,0
$GC,2833,-0.75,-155.7,415.8,-14.0,311,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1929,3240,0,0,0,0,0,0
$GC,3142,-0.75,-155.7,459.1,-13.8,326,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1929,3240,0,0,0,0,0,0
$GC,3452,-0.75,-155.7,501.4,-13.5,341,3456,0.00,0.35,0.00,0.000,4,0.000,0.054,2788,1669,3240,0,0,0,0,0,0
$GC,3619,-0.75,-155.7,524.2,-13.2,348,3623,0.00,0.38,0.00,0.000,6,0.000,0.037,2788,1957,3240,0,0,0,0,0,0
$GC,3940,-0.75,-155.7,565.9,-12.9,364,3944,0.00,0.38,0.00,0.000,4,0.000,0.043,2786,2255,3240,0,0,0,0,0,0
$GC,4123,-0.75,-155.7,590.6,-13.6,372,4127,0.00,0.43,0.00,0.000,6,0.000,0.041,2787,1951,3240,0,0,0,0,0,0
$GC,4450,-0.75,-155.7,633.1,-13.2,388,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1951,3240,0,0,0,0,0,0
$GC,4761,-0.75,-155.7,672.6,-12.8,403,4765,0.00,0.77,0.00,0.000,4,0.000,0.048,2789,1442,3239,0,0,0,0,0,0
$GC,4888,-0.75,-155.7,689.7,-13.3,408,4894,0.00,0.73,0.00,0.000,6,0.000,0.030,2788,1941,3239,0,0,0,0,0,0
$GC,5204,-0.75,-155.7,731.1,-13.1,424,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1942,3239,0,0,0,0,0,0
$GC,5513,-0.75,-155.7,772.8,-13.6,439,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1942,3239,0,0,0,0,0,0
$GC,5823,-0.75,-155.7,814.9,-13.6,454,5826,0.00,0.60,0.00,0.000,4,0.000,0.039,2785,2375,3238,0,0,0,0,0,0
$GC,6062,-0.75,-155.7,846.9,-13.2,464,6068,0.00,0.62,0.00,0.000,6,0.000,0.037,2786,1952,3237,0,0,0,0,0,0
$GC,6378,-0.75,-155.7,886.9,-12.5,480,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1951,3237,0,0,0,0,0,0
$GC,6688,-0.75,-155.7,923.3,-11.4,495,6691,0.00,0.62,0.00,0.000,4,0.000,0.050,2788,1525,3236,0,0,0,0,0,0
$GC,6845,-0.75,-155.7,940.8,-11.4,502,6849,0.00,0.60,0.00,0.000,6,0.000,0.033,2788,1960,3236,0,0,0,0,0,0
$GC,7177,-0.75,-155.7,978.1,-11.3,518,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1961,3236,0,0,0,0,0,0
$STATE,7383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7383,begin apogee
$GC,7388,-0.17,0.0,1001.9,11.5,528,7524,0.70,0.00,132.12,1.617,6,0.177,0.000,2980,1812,2600,0,0,0,0,0,0
$STATE,7524,end apogee,CONTROL_FINISHED_OK
$STATE,7525,begin climb
$GC,7526,0.75,155.7,1006.0,0.0,535,7678,0.95,1.70,144.57,1.564,4,0.112,0.054,3275,858,1965,0,0,0,0,0,0
$GC,7800,0.75,155.7,972.3,15.3,548,7805,0.00,1.52,0.00,0.000,6,0.000,0.024,3275,1797,1957,0,0,0,0,0,0
$GC,8128,0.75,155.7,921.2,15.6,564,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1797,1955,0,0,0,0,0,0
$GC,8437,0.75,155.7,875.2,14.6,579,8441,0.00,0.57,0.00,0.000,4,0.000,0.045,3277,1435,1954,0,0,0,0,0,0
$GC,8684,0.75,155.7,839.8,13.4,590,8687,0.00,0.55,0.00,0.000,6,0.000,0.031,3277,1841,1954,0,0,0,0,0,0
$GC,9016,0.75,155.7,791.0,14.8,606,9019,0.00,0.95,0.00,0.000,4,0.000,0.049,3280,1258,1954,0,0,0,0,0,0
$GC,9177,0.75,155.7,767.0,15.6,613,9182,0.00,0.80,0.00,0.000,6,0.000,0.027,3279,1793,1954,0,0,0,0,0,0
$GC,9504,0.75,155.7,718.3,14.7,629,9508,0.00,0.95,0.00,0.000,4,0.000,0.050,3282,1203,1954,0,0,0,0,0,0
$GC,9673,0.75,155.7,692.4,15.7,636,9676,0.00,0.90,0.00,0.000,6,0.000,0.027,3282,1817,1954,0,0,0,0,0,0
$GC,9994,0.75,155.7,643.4,15.2,652,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1817,1954,0,0,0,0,0,0
$GC,10303,0.75,155.7,596.7,15.2,667,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1817,1954,0,0,0,0,0,0
$GC,10612,0.75,155.7,550.7,15.2,682,10616,0.00,0.90,0.00,0.000,4,0.000,0.048,3285,1252,1954,0,0,0,0,0,0
$GC,10779,0.75,155.7,524.4,15.5,689,10783,0.00,0.82,0.00,0.000,6,0.000,0.025,3285,1807,1954,0,0,0,0,0,0
$GC,11100,0.75,155.7,476.0,15.0,705,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1807,1954,0,0,0,0,0,0
$GC,11410,0.75,155.7,429.2,15.1,720,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1807,1955,0,0,0,0,0,0
$GC,11722,0.75,155.7,382.5,14.3,740,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1955,0,0,0,0,0,0
$GC,12042,0.75,155.7,335.0,14.9,770,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1955,0,0,0,0,0,0
$GC,12360,0.75,155.7,286.6,15.1,800,12361,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1956,0,0,0,0,0,0
$GC,12679,0.75,155.7,240.9,14.0,830,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1956,0,0,0,0,0,0
$GC,12997,0.75,155.7,197.3,13.3,860,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1956,0,0,0,0,0,0
$GC,13316,0.75,155.7,154.6,13.8,890,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1956,0,0,0,0,0,0
$GC,13635,0.75,155.7,110.9,13.9,920,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1957,0,0,0,0,0,0
$GC,13969,0.75,155.7,63.3,14.6,972,13976,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1808,1958,0,0,0,0,0,0
$GC,14320,0.75,155.7,16.5,14.0,1033,14327,0.00,2.28,0.00,0.000,4,0.000,0.060,3294,422,1958,0,0,0,0,0,0
$STATE,14451,end climb,SURFACE_DEPTH_REACHED
$STATE,14451,begin surface coast
$FINISH,1.8,1.026588
$STATE,14471,end surface coast,CONTROL_FINISHED_OK
$STATE,14471,begin surface
$SM_CCo,14490,13.75,0.908,0,0,1845,185.20
$SM_GC,4.27,0.00,0.00,13.75,0.000,0.000,0.908,87,1936,1845,-9.22,-0.40,185.20
$IRIDIUM_FIX,-4244.98,758.64,211113,090948
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,22.6,28.012
$10V_AH,10.2,23.050
$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,23.125,24.600,276.700,13.750,0.000,30.634,23.807,373.945,0.250,0.000,19.594,2587.547,9104.788,333.305,2895.376,127.954,33.372,1354.829,0.000,2425.807,0.000,2.830,0.000
$DEVICE_MAMPS,271.575,66.555,1617.210,908.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.764,749.021,701.076,71.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,60154,1058
$CAP_FILE_SIZE,121678,0
$CFSIZE,2097086464,2072576000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211113,182205,-4301.019,828.843,81,0.9,81,-25.0