version: 66.07.10.p01
glider: 574
mission: 7
dive: 174
start: 11 22 113 0 15 5
data:
$ID,574
$MISSION,7
$DIVE,174
$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,-13912.266
$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,63
$R_STBD_OVSHOOT,60
$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,153
$GPS1,221113,000429,-4302.141,829.150,76,0.9,76,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.6
$GPS2,221113,001411,-4302.091,829.295,43,0.9,43,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.015,-0.169
$KALMAN_X,-148916.6,66.6,-55.3,42251.7,700.1
$KALMAN_Y,559841.7,-625.9,-606.6,-772294.5,6948.4
$MHEAD_RNG_PITCHd_Wd,200.0,3989,-27.8,-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,-0.93,-61.2,0.0,0.0,0,52,0.00,0.00,-25.52,0.000,2,0.000,0.000,65,1932,2379,0,0,0,0,0,0
$GC,55,-0.93,-139.5,3.0,-1.4,4,110,12.23,0.88,-35.35,0.000,4,0.276,0.070,2728,2510,3171,0,0,0,0,0,0
$GC,371,-0.93,-139.5,55.2,-19.9,58,376,0.00,0.82,0.00,0.000,6,0.000,0.037,2728,1964,3175,0,0,0,0,0,0
$GC,718,-0.93,-139.5,122.1,-18.6,109,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1964,3176,0,0,0,0,0,0
$GC,1043,-0.93,-139.5,182.2,-17.7,140,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1964,3177,0,0,0,0,0,0
$GC,1361,-0.93,-139.5,237.4,-16.6,170,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1964,3177,0,0,0,0,0,0
$GC,1680,-0.93,-139.5,291.0,-17.0,200,1684,0.00,0.52,0.00,0.000,4,0.000,0.047,2728,1597,3177,0,0,0,0,0,0
$GC,1816,-0.93,-139.5,314.6,-17.1,212,1820,0.00,0.50,0.00,0.000,6,0.000,0.034,2727,1968,3177,0,0,0,0,0,0
$GC,2146,-0.93,-139.5,371.1,-17.3,243,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1969,3177,0,0,0,0,0,0
$GC,2471,-0.93,-139.5,422.5,-15.6,267,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1969,3177,0,0,0,0,0,0
$GC,2780,-0.93,-139.5,470.6,-15.3,282,2784,0.00,0.45,0.00,0.000,4,0.000,0.041,2724,2313,3177,0,0,0,0,0,0
$GC,3028,-0.93,-139.5,508.7,-15.3,293,3031,0.00,0.52,0.00,0.000,6,0.000,0.039,2724,1939,3177,0,0,0,0,0,0
$GC,3359,-0.93,-139.5,559.4,-15.6,309,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1939,3176,0,0,0,0,0,0
$GC,3669,-0.93,-139.5,606.7,-15.5,324,3670,0.03,0.00,0.00,0.000,6,0.291,0.000,2731,1939,3176,0,0,0,0,0,0
$GC,3978,-0.93,-139.5,654.1,-15.4,339,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1939,3176,0,0,0,0,0,0
$GC,4287,-0.93,-139.5,704.2,-16.6,354,4291,0.00,0.68,0.00,0.000,4,0.000,0.047,2731,1485,3175,0,0,0,0,0,0
$GC,4499,-0.93,-139.5,740.8,-16.9,363,4503,0.00,0.65,0.00,0.000,6,0.000,0.029,2730,1951,3175,0,0,0,0,0,0
$GC,4820,-0.93,-139.5,794.7,-16.8,379,4824,0.00,0.43,0.00,0.000,4,0.000,0.042,2728,2278,3174,0,0,0,0,0,0
$GC,5060,-0.93,-139.5,835.2,-16.6,389,5066,0.00,0.47,0.00,0.000,6,0.000,0.039,2728,1947,3174,0,0,0,0,0,0
$GC,5376,-0.93,-139.5,888.1,-16.5,405,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1947,3173,0,0,0,0,0,0
$GC,5685,-0.93,-139.5,939.0,-15.9,420,5689,0.00,0.52,0.00,0.000,4,0.000,0.050,2728,1582,3173,0,0,0,0,0,0
$GC,5891,-0.93,-139.5,971.2,-15.0,429,5895,0.00,0.52,0.00,0.000,6,0.000,0.032,2727,1960,3173,0,0,0,0,0,0
$STATE,6094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6094,begin apogee
$GC,6098,-0.17,0.0,1000.5,14.5,439,6221,0.95,0.00,118.68,1.588,6,0.192,0.000,2979,1812,2600,0,0,0,0,0,0
$STATE,6221,end apogee,CONTROL_FINISHED_OK
$STATE,6222,begin climb
$GC,6223,0.93,139.5,1003.2,0.0,445,6359,1.17,0.55,129.88,1.539,4,0.109,0.046,3335,1489,2029,0,0,0,0,0,0
$GC,6526,0.93,139.5,954.1,19.3,459,6532,0.00,0.47,0.00,0.000,6,0.000,0.031,3335,1795,2022,0,0,0,0,0,0
$GC,6842,0.93,139.5,894.8,18.6,475,6846,0.00,0.70,0.00,0.000,4,0.000,0.047,3337,1370,2021,0,0,0,0,0,0
$GC,7099,0.93,139.5,847.6,18.3,486,7103,0.00,0.68,0.00,0.000,6,0.000,0.029,3337,1824,2020,0,0,0,0,0,0
$GC,7420,0.93,139.5,791.5,17.8,502,7424,0.00,1.10,0.00,0.000,4,0.000,0.049,3341,1147,2020,0,0,0,0,0,0
$GC,7615,0.93,139.5,756.7,16.6,510,7621,0.00,1.00,0.00,0.000,6,0.000,0.026,3341,1814,2020,0,0,0,0,0,0
$GC,7931,0.93,139.5,702.5,17.1,526,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1814,2020,0,0,0,0,0,0
$GC,8241,0.93,139.5,648.3,17.7,541,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1814,2020,0,0,0,0,0,0
$GC,8550,0.93,139.5,590.7,19.0,556,8554,0.00,1.15,0.00,0.000,4,0.000,0.049,3345,1099,2020,0,0,0,0,0,0
$GC,8807,0.93,139.5,539.2,20.0,567,8812,0.00,1.08,0.00,0.000,6,0.000,0.026,3345,1818,2020,0,0,0,0,0,0
$GC,9129,0.93,139.5,477.3,19.5,583,9133,0.00,0.47,0.00,0.000,4,0.000,0.045,3346,1504,2021,0,0,0,0,0,0
$GC,9385,0.93,139.5,428.1,19.5,594,9390,0.00,0.43,0.00,0.000,6,0.000,0.033,3345,1826,2021,0,0,0,0,0,0
$GC,9712,0.93,139.5,367.6,18.6,618,9716,0.00,1.33,0.00,0.000,4,0.000,0.049,3351,1004,2021,0,0,0,0,0,0
$GC,9943,0.93,139.5,322.9,18.3,638,9949,0.00,1.20,0.00,0.000,6,0.000,0.026,3351,1800,2021,0,0,0,0,0,0
$GC,10272,0.93,139.5,262.7,18.8,669,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1800,2021,0,0,0,0,0,0
$GC,10597,0.93,139.5,203.7,18.3,700,10601,0.00,0.45,0.00,0.000,4,0.000,0.044,3352,1492,2022,0,0,0,0,0,0
$GC,10857,0.93,139.5,157.6,17.6,723,10861,0.00,0.43,0.00,0.000,6,0.000,0.036,3352,1829,2022,0,0,0,0,0,0
$GC,11187,0.93,139.5,102.4,16.3,754,11191,0.00,0.55,0.00,0.000,4,0.000,0.044,3353,1465,2022,0,0,0,0,0,0
$GC,11447,0.93,139.5,57.8,17.1,798,11454,0.00,0.45,0.00,0.000,6,0.000,0.034,3352,1820,2022,0,0,0,0,0,0
$STATE,11765,end climb,SURFACE_DEPTH_REACHED
$STATE,11765,begin surface coast
$FINISH,1.6,1.007672
$STATE,11779,end surface coast,CONTROL_FINISHED_OK
$STATE,11779,begin surface
$SM_CCo,11795,21.70,0.882,0,0,1845,185.20
$SM_GC,2.81,0.00,0.00,21.70,0.000,0.000,0.882,88,1967,1845,-9.23,0.48,185.20
$IRIDIUM_FIX,-4244.98,828.21,211113,181846
$TT8_MAMPS,0.026964
$HUMID,63.82
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,22.6,28.304
$10V_AH,10.2,23.264
$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,23.400,19.300,248.550,21.700,0.000,30.590,44.146,353.963,0.250,0.000,45.761,2131.850,7210.306,337.973,2588.153,126.062,33.369,1226.027,0.000,2098.333,0.000,2.829,0.000
$DEVICE_MAMPS,290.700,75.735,1588.140,882.045,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.799,590.679,570.282,54.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,50258,855
$CAP_FILE_SIZE,105454,0
$CFSIZE,2097086464,2072313856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221113,033428,-4302.936,829.689,110,1.1,110,-25.0