version: 66.07.10.p01
glider: 574
mission: 7
dive: 176
start: 11 22 113 6 57 30
data:
$ID,574
$MISSION,7
$DIVE,176
$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,-13916.917
$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,50
$R_STBD_OVSHOOT,81
$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,155
$GPS1,221113,064422,-4302.037,828.948,68,0.9,68,-25.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-71.1
$GPS2,221113,065635,-4301.989,829.079,22,1.1,22,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.065,-0.223
$KALMAN_X,-146573.5,-128.4,152.8,39575.5,2622.2
$KALMAN_Y,564513.4,-513.9,-219.3,-777295.7,8214.7
$MHEAD_RNG_PITCHd_Wd,221.3,3889,-20.2,-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,-0.68,-115.4,0.0,0.0,0,45,0.00,0.00,-19.52,0.000,2,0.000,0.000,65,1977,2251,0,0,0,0,0,0
$GC,48,-0.68,-155.7,3.0,-1.5,3,109,12.82,0.00,-43.90,0.000,6,0.282,0.000,2805,1980,3236,0,0,0,0,0,0
$GC,158,-0.68,-155.7,10.4,-13.4,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1980,3239,0,0,0,0,0,0
$GC,213,-0.68,-155.7,18.7,-16.7,30,220,0.00,0.32,0.00,0.000,4,0.000,0.042,2804,2242,3239,0,0,0,0,0,0
$GC,421,-0.68,-155.7,52.3,-14.8,66,428,0.00,0.43,0.00,0.000,6,0.000,0.041,2804,1939,3239,0,0,0,0,0,0
$GC,774,-0.68,-155.7,101.5,-14.1,127,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1938,3240,0,0,0,0,0,0
$GC,1097,-0.68,-155.7,147.3,-14.7,157,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1938,3241,0,0,0,0,0,0
$GC,1422,-0.68,-155.7,195.7,-14.3,188,1426,0.00,0.32,0.00,0.000,4,0.000,0.054,2804,1697,3241,0,0,0,0,0,0
$GC,1574,-0.68,-155.7,217.8,-13.9,201,1579,0.00,0.32,0.00,0.000,6,0.000,0.038,2804,1943,3242,0,0,0,0,0,0
$GC,1899,-0.68,-155.7,262.9,-13.9,232,1903,0.05,0.68,0.00,0.000,4,0.252,0.041,2810,2409,3242,0,0,0,0,0,0
$GC,2115,-0.68,-155.7,290.6,-13.2,251,2119,0.00,0.68,0.00,0.000,6,0.000,0.037,2810,1949,3242,0,0,0,0,0,0
$GC,2445,-0.68,-155.7,332.9,-12.6,282,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1949,3242,0,0,0,0,0,0
$GC,2765,-0.68,-155.7,372.9,-12.2,312,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1949,3242,0,0,0,0,0,0
$GC,3080,-0.68,-155.7,411.1,-12.0,338,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1949,3242,0,0,0,0,0,0
$GC,3390,-0.68,-155.7,447.8,-11.7,353,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1949,3242,0,0,0,0,0,0
$GC,3699,-0.68,-155.7,483.6,-11.7,368,3703,0.00,0.47,0.00,0.000,4,0.000,0.050,2810,1618,3242,0,0,0,0,0,0
$GC,3860,-0.68,-155.7,502.2,-10.8,375,3865,0.00,0.47,0.00,0.000,6,0.000,0.036,2808,1957,3242,0,0,0,0,0,0
$GC,4187,-0.68,-155.7,538.8,-11.3,391,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1957,3242,0,0,0,0,0,0
$GC,4496,-0.68,-155.7,572.8,-11.3,406,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1957,3241,0,0,0,0,0,0
$GC,4806,-0.68,-155.7,609.1,-11.8,421,4809,0.00,0.95,0.00,0.000,4,0.000,0.043,2804,2592,3240,0,0,0,0,0,0
$GC,5017,-0.68,-155.7,633.9,-11.5,430,5022,0.00,0.98,0.00,0.000,6,0.000,0.034,2804,1953,3240,0,0,0,0,0,0
$GC,5339,-0.68,-155.7,673.3,-12.4,446,5342,0.00,0.43,0.00,0.000,4,0.000,0.052,2804,1651,3240,0,0,0,0,0,0
$GC,5573,-0.68,-155.7,702.5,-12.5,456,5578,0.05,0.43,0.00,0.000,6,0.240,0.035,2813,1975,3239,0,0,0,0,0,0
$GC,5894,-0.68,-155.7,738.3,-10.9,472,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1975,3239,0,0,0,0,0,0
$GC,6203,-0.68,-155.7,772.0,-11.0,487,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1975,3239,0,0,0,0,0,0
$GC,6513,-0.68,-155.7,805.4,-10.4,502,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1976,3239,0,0,0,0,0,0
$GC,6822,-0.68,-155.7,837.6,-10.6,517,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1975,3238,0,0,0,0,0,0
$GC,7131,-0.68,-155.7,871.8,-11.1,532,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1975,3238,0,0,0,0,0,0
$GC,7441,-0.68,-155.7,906.3,-11.0,547,7444,0.00,1.00,0.00,0.000,4,0.000,0.042,2809,2636,3237,0,0,0,0,0,0
$GC,7624,-0.68,-155.7,926.1,-10.4,555,7629,0.00,1.08,0.00,0.000,6,0.000,0.036,2809,1944,3236,0,0,0,0,0,0
$GC,7952,-0.68,-155.7,960.3,-10.5,571,7955,0.00,0.38,0.00,0.000,4,0.000,0.056,2809,1679,3236,0,0,0,0,0,0
$GC,8090,-0.68,-155.7,975.0,-10.6,577,8095,0.00,0.35,0.00,0.000,6,0.000,0.040,2808,1935,3236,0,0,0,0,0,0
$STATE,8355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8355,begin apogee
$GC,8359,-0.17,0.0,1001.1,9.6,590,8500,0.60,0.00,137.95,1.795,6,0.168,0.000,2977,1790,2599,0,0,0,0,0,0
$STATE,8501,end apogee,CONTROL_FINISHED_OK
$STATE,8501,begin climb
$GC,8503,0.68,155.7,1003.0,0.0,597,8657,0.93,1.05,145.15,1.624,4,0.108,0.054,3253,1210,1965,0,0,0,0,0,0
$GC,8801,0.68,155.7,964.1,15.2,611,8806,0.00,0.95,0.00,0.000,6,0.000,0.027,3253,1810,1957,0,0,0,0,0,0
$GC,9123,0.68,155.7,914.7,15.4,627,9127,0.00,0.68,0.00,0.000,4,0.000,0.047,3254,1396,1954,0,0,0,0,0,0
$GC,9285,0.68,155.7,890.6,15.2,634,9289,0.00,0.62,0.00,0.000,6,0.000,0.029,3254,1802,1954,0,0,0,0,0,0
$GC,9612,0.68,155.7,843.0,14.6,650,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1802,1954,0,0,0,0,0,0
$GC,9921,0.68,155.7,798.2,14.6,665,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1802,1953,0,0,0,0,0,0
$GC,10230,0.68,155.7,755.2,14.1,680,10234,0.00,1.38,0.00,0.000,4,0.000,0.053,3259,962,1954,0,0,0,0,0,0
$GC,10365,0.68,155.7,736.2,14.3,686,10369,0.00,1.30,0.00,0.000,6,0.000,0.027,3259,1822,1953,0,0,0,0,0,0
$GC,10697,0.68,155.7,691.8,13.0,702,10701,0.00,0.70,0.00,0.000,4,0.000,0.046,3260,1375,1953,0,0,0,0,0,0
$GC,10909,0.68,155.7,664.1,12.8,711,10913,0.00,0.65,0.00,0.000,6,0.000,0.027,3260,1819,1953,0,0,0,0,0,0
$GC,11230,0.68,155.7,622.5,12.9,727,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1819,1953,0,0,0,0,0,0
$GC,11539,0.68,155.7,582.8,12.7,742,11543,0.00,0.85,0.00,0.000,4,0.000,0.048,3262,1284,1953,0,0,0,0,0,0
$GC,11723,0.68,155.7,558.4,14.1,750,11728,0.00,0.77,0.00,0.000,6,0.000,0.027,3262,1812,1953,0,0,0,0,0,0
$GC,12049,0.68,155.7,514.1,13.5,766,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1813,1954,0,0,0,0,0,0
$GC,12359,0.68,155.7,472.4,13.3,781,12362,0.00,0.75,0.00,0.000,4,0.000,0.047,3264,1336,1953,0,0,0,0,0,0
$GC,12498,0.68,155.7,453.7,12.8,787,12502,0.00,0.70,0.00,0.000,6,0.000,0.028,3264,1827,1953,0,0,0,0,0,0
$GC,12825,0.68,155.7,410.1,13.2,803,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1828,1954,0,0,0,0,0,0
$GC,13145,0.68,155.7,367.9,13.2,829,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1828,1954,0,0,0,0,0,0
$GC,13470,0.68,155.7,324.3,13.1,860,13473,0.00,0.43,0.00,0.000,4,0.000,0.046,3265,1538,1953,0,0,0,0,0,0
$GC,13711,0.68,155.7,292.0,12.2,881,13716,0.00,0.38,0.00,0.000,6,0.000,0.035,3266,1820,1953,0,0,0,0,0,0
$GC,14035,0.68,155.7,247.9,13.4,912,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1820,1954,0,0,0,0,0,0
$GC,14355,0.68,155.7,206.8,12.2,942,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1820,1953,0,0,0,0,0,0
$GC,14673,0.68,155.7,167.1,12.4,972,14677,0.00,1.15,0.00,0.000,4,0.000,0.050,3270,1106,1953,0,0,0,0,0,0
$GC,14823,0.68,155.7,148.6,12.9,985,14827,0.00,1.00,0.00,0.000,6,0.000,0.026,3270,1802,1953,0,0,0,0,0,0
$GC,15152,0.68,155.7,105.3,13.1,1016,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1802,1954,0,0,0,0,0,0
$GC,15492,0.68,155.7,59.8,12.7,1072,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1803,1954,0,0,0,0,0,0
$GC,15842,0.68,155.7,15.2,13.8,1133,15849,0.00,1.55,0.00,0.000,4,0.000,0.052,3276,842,1955,0,0,0,0,0,0
$STATE,15927,end climb,SURFACE_DEPTH_REACHED
$STATE,15927,begin surface coast
$FINISH,1.6,1.026580
$STATE,15952,end surface coast,CONTROL_FINISHED_OK
$STATE,15953,begin surface
$SM_CCo,15970,23.60,1.321,1,0,1845,185.20
$SM_GC,3.15,0.00,0.00,23.60,0.000,0.000,1.321,79,1942,1845,-9.24,-0.40,185.20
$IRIDIUM_FIX,-4247.91,846.56,221113,060649
$TT8_MAMPS,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,22.5,28.623
$10V_AH,10.2,23.446
$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,23.225,26.050,283.100,23.600,0.000,61.323,108.097,354.294,0.250,0.000,24.291,2825.948,10133.510,367.381,3266.356,148.739,33.365,1500.165,0.000,2666.045,0.000,2.828,0.000
$DEVICE_MAMPS,281.520,55.845,1794.690,1321.155,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.474,781.818,770.142,70.287,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,66667,1151
$CAP_FILE_SIZE,136359,1
$CFSIZE,2097086464,2072018944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221113,112728,-4302.049,828.190,163,1.1,163,-25.0