version: 66.07.10.p01
glider: 574
mission: 7
dive: 175
start: 11 22 113 3 44 56
data:
$ID,574
$MISSION,7
$DIVE,175
$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,-13914.597
$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,96
$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,154
$GPS1,221113,033428,-4302.936,829.689,110,1.1,110,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-73.3
$GPS2,221113,034402,-4302.938,829.771,20,0.9,20,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144,-0.090
$KALMAN_X,-148358.5,-124.4,-79.3,42561.2,1137.0
$KALMAN_Y,561062.5,-282.7,-438.6,-775596.9,5922.5
$MHEAD_RNG_PITCHd_Wd,263.0,5451,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.93,-61.2,0.0,0.0,0,45,0.00,0.00,-19.08,0.000,2,0.000,0.000,65,1974,2236,0,0,0,0,0,0
$GC,47,-0.93,-125.6,3.1,-2.9,3,109,12.35,0.00,-46.10,0.000,6,0.279,0.000,2728,1974,3113,0,0,0,0,0,0
$GC,159,-1.30,-155.7,2.1,-1.4,21,173,0.28,0.00,-5.55,0.000,6,0.079,0.000,2620,1973,3237,0,0,0,0,0,0
$GC,222,-1.04,-155.7,14.0,-23.7,31,229,0.30,0.00,0.00,0.000,6,0.207,0.000,2698,1973,3238,0,0,0,0,0,0
$GC,276,-1.04,-155.7,27.6,-22.9,40,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1973,3238,0,0,0,0,0,0
$GC,418,-1.04,-155.7,61.9,-24.9,65,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1974,3239,0,0,0,0,0,0
$GC,759,-1.04,-155.7,135.2,-21.9,112,763,0.00,1.30,0.00,0.000,4,0.000,0.040,2694,2803,3240,0,0,0,0,0,0
$GC,850,-1.04,-155.7,154.9,-21.8,120,853,0.00,1.30,0.00,0.000,6,0.000,0.032,2694,1966,3240,0,0,0,0,0,0
$GC,1179,-1.04,-155.7,226.1,-21.5,151,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1966,3241,0,0,0,0,0,0
$GC,1501,-1.04,-155.7,292.4,-20.7,181,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1966,3241,0,0,0,0,0,0
$GC,1817,-1.04,-155.7,356.6,-19.9,211,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1966,3241,0,0,0,0,0,0
$GC,2142,-1.04,-155.7,421.9,-20.1,237,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1966,3242,0,0,0,0,0,0
$GC,2452,-1.04,-155.7,482.9,-19.7,252,2455,0.00,0.60,0.00,0.000,4,0.000,0.047,2694,1550,3241,0,0,0,0,0,0
$GC,2596,-1.04,-155.7,512.3,-19.6,258,2600,0.00,0.52,0.00,0.000,6,0.000,0.033,2693,1931,3242,0,0,0,0,0,0
$GC,2917,-1.04,-155.7,576.6,-20.2,274,2921,0.00,1.62,0.00,0.000,4,0.000,0.042,2685,2981,3242,0,0,0,0,0,0
$GC,3007,-1.04,-155.7,594.7,-19.8,278,3011,0.00,1.60,0.00,0.000,6,0.000,0.033,2685,1942,3241,0,0,0,0,0,0
$GC,3339,-1.04,-155.7,663.3,-21.1,294,3341,0.08,0.00,0.00,0.000,6,0.236,0.000,2699,1941,3242,0,0,0,0,0,0
$GC,3648,-1.04,-155.7,723.0,-18.9,309,3652,0.00,0.47,0.00,0.000,4,0.000,0.049,2699,1606,3242,0,0,0,0,0,0
$GC,3748,-1.04,-155.7,742.3,-19.7,313,3752,0.00,0.47,0.00,0.000,6,0.000,0.034,2698,1954,3241,0,0,0,0,0,0
$GC,4069,-1.04,-155.7,802.6,-18.9,329,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1955,3241,0,0,0,0,0,0
$GC,4378,-1.04,-155.7,858.5,-17.9,344,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1955,3240,0,0,0,0,0,0
$GC,4688,-1.04,-155.7,914.7,-18.3,359,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1955,3241,0,0,0,0,0,0
$GC,4997,-1.04,-155.7,968.9,-17.7,374,5000,0.00,0.40,0.00,0.000,4,0.000,0.044,2699,1671,3240,0,0,0,0,0,0
$GC,5109,-1.04,-155.7,988.5,-17.9,379,5113,0.00,0.35,0.00,0.000,6,0.000,0.039,2698,1948,3240,0,0,0,0,0,0
$STATE,5196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5201,-0.17,0.0,1003.0,17.5,383,5337,1.05,0.00,132.50,1.587,6,0.198,0.000,2975,1798,2600,0,0,0,0,0,0
$STATE,5338,end apogee,CONTROL_FINISHED_OK
$STATE,5338,begin climb
$GC,5340,0.94,155.7,1009.3,0.0,390,5494,1.20,1.42,144.73,1.540,4,0.108,0.053,3340,1025,1963,0,0,0,0,0,0
$GC,5566,0.94,155.7,976.0,20.1,401,5571,0.00,1.25,0.00,0.000,6,0.000,0.025,3340,1790,1957,0,0,0,0,0,0
$GC,5894,0.94,155.7,910.7,19.9,417,5897,0.00,1.62,0.00,0.000,4,0.000,0.051,3346,831,1954,0,0,0,0,0,0
$GC,5976,0.94,155.7,893.9,20.1,420,5982,0.00,1.52,0.00,0.000,6,0.000,0.026,3346,1805,1953,0,0,0,0,0,0
$GC,6293,0.94,155.7,830.4,20.6,436,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1805,1952,0,0,0,0,0,0
$GC,6602,0.94,155.7,766.8,20.5,451,6605,0.00,1.60,0.00,0.000,4,0.000,0.052,3352,836,1952,0,0,0,0,0,0
$GC,6707,0.94,155.7,743.9,21.2,455,6713,0.00,1.50,0.00,0.000,6,0.000,0.027,3351,1814,1951,0,0,0,0,0,0
$GC,7023,0.94,155.7,676.7,21.0,471,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1814,1951,0,0,0,0,0,0
$GC,7332,0.94,155.7,612.3,21.0,486,7336,0.00,1.75,0.00,0.000,4,0.000,0.053,3359,723,1951,0,0,0,0,0,0
$GC,7403,0.94,155.7,597.0,21.5,489,7409,0.05,1.65,0.00,0.000,6,0.194,0.028,3345,1814,1951,0,0,0,0,0,0
$GC,7730,0.94,155.7,532.7,19.6,505,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1814,1951,0,0,0,0,0,0
$GC,8040,0.94,155.7,472.6,19.2,520,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1814,1951,0,0,0,0,0,0
$GC,8349,0.94,155.7,414.4,18.6,535,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1814,1951,0,0,0,0,0,0
$GC,8669,0.94,155.7,355.6,18.4,561,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1814,1951,0,0,0,0,0,0
$GC,8994,0.94,155.7,295.5,18.8,592,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1814,1951,0,0,0,0,0,0
$GC,9313,0.94,155.7,236.0,18.8,622,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1814,1951,0,0,0,0,0,0
$GC,9631,0.94,155.7,177.7,17.7,652,9635,0.00,0.40,0.00,0.000,4,0.000,0.050,3345,1544,1951,0,0,0,0,0,0
$GC,9891,0.94,155.7,130.9,18.2,675,9895,0.00,0.38,0.00,0.000,6,0.000,0.039,3345,1821,1950,0,0,0,0,0,0
$GC,10225,0.94,155.7,70.6,18.0,720,10233,0.00,1.12,0.00,0.000,4,0.000,0.049,3349,1115,1951,0,0,0,0,0,0
$GC,10303,0.94,155.7,57.7,17.5,733,10308,0.00,1.02,0.00,0.000,6,0.000,0.028,3349,1814,1951,0,0,0,0,0,0
$STATE,10613,end climb,SURFACE_DEPTH_REACHED
$STATE,10613,begin surface coast
$FINISH,2.0,1.026600
$STATE,10633,end surface coast,CONTROL_FINISHED_OK
$STATE,10633,begin surface
$SM_CCo,10649,12.77,0.875,0,0,1844,185.20
$SM_GC,3.49,0.00,0.00,12.77,0.000,0.000,0.875,79,1980,1844,-9.25,0.85,185.20
$IRIDIUM_FIX,-4244.98,831.12,221113,030348
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1003.0,8.8
$24V_AH,22.6,28.450
$10V_AH,10.1,23.339
$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,24.350,24.250,277.225,12.775,0.000,59.209,102.922,239.224,0.500,0.000,22.536,1919.493,6691.973,335.783,2182.406,112.853,33.359,1107.147,0.000,1752.442,0.000,5.464,0.000
$DEVICE_MAMPS,279.225,58.140,1586.610,875.160,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.998,584.069,529.578,55.994,0.000,0.000,0.000,0.000,0.000,0.000
$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,46951,790
$CAP_FILE_SIZE,95131,0
$CFSIZE,2097086464,2072215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221113,064422,-4302.037,828.948,68,0.9,68,-25.0