version: 66.07.10.p01
glider: 574
mission: 7
dive: 177
start: 11 22 113 11 42 12
data:
$ID,574
$MISSION,7
$DIVE,177
$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,380
$T_MISSION,420
$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,-13919.789
$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,31
$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,1930
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,45
$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,156
$GPS1,221113,112728,-4302.049,828.190,163,1.1,163,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-72.8
$GPS2,221113,114117,-4301.918,828.321,18,1.1,18,-25.0
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.010,-0.221
$KALMAN_X,-146196.0,-56.0,-215.7,38453.4,2103.3
$KALMAN_Y,568879.9,-496.6,-242.2,-781522.1,8563.1
$MHEAD_RNG_PITCHd_Wd,202.4,4218,-18.8,-8.772
$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,-0.61,-111.6,0.0,0.0,0,51,0.00,0.00,-25.67,0.000,2,0.000,0.000,66,1937,2397,0,0,0,0,0,0
$GC,54,-0.61,-155.7,3.1,-1.4,4,110,12.02,1.27,-39.03,0.000,4,0.256,0.063,2826,2735,3234,0,0,0,0,0,0
$GC,275,-0.61,-155.7,23.4,-12.1,41,280,0.00,1.25,0.00,0.000,6,0.000,0.033,2830,1929,3238,0,0,0,0,0,0
$GC,418,-0.61,-155.7,43.1,-15.0,66,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1929,3238,0,0,0,0,0,0
$GC,767,-0.61,-155.7,88.5,-13.3,127,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1929,3239,0,0,0,0,0,0
$GC,1103,-0.61,-155.7,131.8,-12.5,166,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1929,3240,0,0,0,0,0,0
$GC,1421,-0.61,-155.7,170.5,-11.5,196,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1929,3240,0,0,0,0,0,0
$GC,1740,-0.61,-155.7,206.4,-11.1,226,1743,0.00,0.47,0.00,0.000,4,0.000,0.047,2830,1588,3240,0,0,0,0,0,0
$GC,1903,-0.61,-155.7,224.1,-10.5,240,1910,0.00,0.52,0.00,0.000,6,0.000,0.031,2829,1969,3241,0,0,0,0,0,0
$GC,2229,-0.61,-155.7,259.6,-10.7,271,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1969,3241,0,0,0,0,0,0
$GC,2549,-0.61,-155.7,295.0,-11.0,301,2553,0.00,0.65,0.00,0.000,4,0.000,0.040,2826,2426,3241,0,0,0,0,0,0
$GC,2754,-0.61,-155.7,317.9,-11.1,319,2758,0.00,0.73,0.00,0.000,6,0.000,0.035,2826,1931,3241,0,0,0,0,0,0
$GC,3084,-0.61,-155.7,357.6,-12.3,350,3086,0.03,0.00,0.00,0.000,6,0.275,0.000,2834,1930,3241,0,0,0,0,0,0
$GC,3403,-0.61,-155.7,392.1,-10.6,380,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1930,3241,0,0,0,0,0,0
$GC,3725,-0.61,-155.7,426.8,-10.8,399,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1930,3241,0,0,0,0,0,0
$GC,4034,-0.61,-155.7,460.4,-11.2,414,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1930,3241,0,0,0,0,0,0
$GC,4343,-0.61,-155.7,495.5,-11.5,429,4347,0.00,0.38,0.00,0.000,4,0.000,0.050,2834,1652,3241,0,0,0,0,0,0
$GC,4471,-0.61,-155.7,510.8,-12.3,434,4476,0.00,0.38,0.00,0.000,6,0.000,0.035,2834,1941,3241,0,0,0,0,0,0
$GC,4786,-0.61,-155.7,547.1,-11.8,450,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1941,3241,0,0,0,0,0,0
$GC,5096,-0.61,-155.7,583.0,-11.2,465,5099,0.00,0.30,0.00,0.000,4,0.000,0.047,2832,2197,3241,0,0,0,0,0,0
$GC,5352,-0.61,-155.7,610.6,-10.2,476,5357,0.00,0.40,0.00,0.000,6,0.000,0.040,2832,1909,3241,0,0,0,0,0,0
$GC,5674,-0.61,-155.7,644.0,-11.0,492,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,5983,-0.61,-155.7,679.2,-11.6,507,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,6292,-0.61,-155.7,715.0,-11.5,522,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,6602,-0.61,-155.7,749.4,-10.7,537,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,6911,-0.61,-155.7,780.2,-9.9,552,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,7220,-0.61,-155.7,809.1,-9.4,567,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,7530,-0.61,-155.7,838.7,-9.6,582,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,7839,-0.61,-155.7,868.2,-9.3,597,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,8148,-0.61,-155.7,896.3,-8.8,612,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,8458,-0.61,-155.7,923.9,-9.0,627,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,8767,-0.61,-155.7,950.7,-8.6,642,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$GC,9076,-0.61,-155.7,977.8,-8.9,657,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1908,3240,0,0,0,0,0,0
$STATE,9344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9344,begin apogee
$GC,9348,-0.16,0.0,1001.5,8.7,670,9485,0.52,0.00,133.70,1.704,6,0.159,0.000,2982,1841,2600,0,0,0,0,0,0
$STATE,9486,end apogee,CONTROL_FINISHED_OK
$STATE,9486,begin climb
$GC,9488,0.61,155.7,1004.8,0.0,677,9638,0.85,0.00,146.68,1.637,6,0.107,0.000,3236,1841,1965,0,0,0,0,0,0
$GC,9933,0.61,155.7,955.5,12.5,699,9937,0.00,2.00,0.00,0.000,4,0.000,0.057,3243,652,1955,0,0,0,0,0,0
$GC,10095,0.61,155.7,934.4,13.3,706,10100,0.00,1.77,0.00,0.000,6,0.000,0.024,3244,1794,1954,0,0,0,0,0,0
$GC,10422,0.61,155.7,892.2,12.7,722,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1794,1953,0,0,0,0,0,0
$GC,10731,0.61,155.7,853.2,12.7,737,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1794,1953,0,0,0,0,0,0
$GC,11041,0.61,155.7,814.7,12.5,752,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1794,1954,0,0,0,0,0,0
$GC,11350,0.61,155.7,777.3,12.1,767,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1794,1953,0,0,0,0,0,0
$GC,11659,0.61,155.7,740.5,11.9,782,11663,0.00,0.62,0.00,0.000,4,0.000,0.045,3246,1390,1954,0,0,0,0,0,0
$GC,11884,0.61,155.7,713.4,11.8,792,11888,0.00,0.65,0.00,0.000,6,0.000,0.028,3246,1867,1953,0,0,0,0,0,0
$GC,12216,0.61,155.7,673.5,12.3,808,12220,0.00,0.65,0.00,0.000,4,0.000,0.044,3246,1448,1953,0,0,0,0,0,0
$GC,12456,0.61,155.7,643.6,12.6,818,12462,0.00,0.52,0.00,0.000,6,0.000,0.029,3246,1831,1953,0,0,0,0,0,0
$GC,12772,0.61,155.7,604.2,12.4,834,12775,0.00,0.95,0.00,0.000,4,0.000,0.048,3250,1235,1953,0,0,0,0,0,0
$GC,12961,0.61,155.7,580.4,12.2,842,12966,0.00,0.85,0.00,0.000,6,0.000,0.025,3250,1807,1954,0,0,0,0,0,0
$GC,13282,0.61,155.7,541.3,12.3,858,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1807,1954,0,0,0,0,0,0
$GC,13592,0.61,155.7,504.4,11.6,873,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1807,1954,0,0,0,0,0,0
$GC,13901,0.61,155.7,468.5,11.8,888,13905,0.00,0.60,0.00,0.000,4,0.000,0.046,3251,1417,1955,0,0,0,0,0,0
$GC,14113,0.61,155.7,443.8,11.2,897,14117,0.00,0.60,0.00,0.000,6,0.000,0.028,3251,1860,1955,0,0,0,0,0,0
$GC,14434,0.61,155.7,407.4,11.4,913,14438,0.00,0.73,0.00,0.000,4,0.000,0.047,3253,1396,1955,0,0,0,0,0,0
$GC,14574,0.61,155.7,390.9,11.4,922,14580,0.05,0.60,0.00,0.000,6,0.227,0.029,3243,1839,1956,0,0,0,0,0,0
$GC,14902,0.61,155.7,355.0,11.7,953,14906,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1839,1956,0,0,0,0,0,0
$GC,15227,0.61,155.7,316.2,12.0,984,15231,0.00,1.17,0.00,0.000,4,0.000,0.050,3246,1105,1957,0,0,0,0,0,0
$GC,15475,0.61,155.7,286.0,11.7,1006,15479,0.00,1.00,0.00,0.000,6,0.000,0.026,3246,1801,1957,0,0,0,0,0,0
$GC,15808,0.61,155.7,246.4,12.5,1037,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1801,1956,0,0,0,0,0,0
$GC,16133,0.61,155.7,206.4,12.3,1068,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1801,1957,0,0,0,0,0,0
$GC,16452,0.61,155.7,168.2,12.4,1098,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1801,1958,0,0,0,0,0,0
$GC,16771,0.61,155.7,130.2,11.9,1128,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1801,1958,0,0,0,0,0,0
$GC,17093,0.61,155.7,92.4,10.5,1163,17098,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1801,1958,0,0,0,0,0,0
$GC,17440,0.61,155.7,54.6,9.9,1224,17447,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1801,1958,0,0,0,0,0,0
$GC,17792,0.61,155.7,17.9,10.3,1285,17799,0.00,1.05,0.00,0.000,4,0.000,0.050,3250,1146,1959,0,0,0,0,0,0
$STATE,17911,end climb,SURFACE_DEPTH_REACHED
$STATE,17911,begin surface coast
$FINISH,1.9,1.026583
$STATE,17920,end surface coast,CONTROL_FINISHED_OK
$STATE,17920,begin surface
$SM_CCo,17936,19.65,1.257,1,0,1844,185.44
$SM_GC,2.56,0.00,0.00,19.65,0.000,0.000,1.257,78,1937,1844,-9.24,0.20,185.44
$IRIDIUM_FIX,-4244.98,834.47,221113,060628
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,22.5,28.801
$10V_AH,10.2,23.565
$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,22.100,21.375,280.375,19.650,0.000,32.791,23.883,606.918,0.250,0.000,21.482,3145.302,11543.734,390.462,3520.857,173.979,33.368,1534.599,0.000,2815.080,0.000,2.832,0.000
$DEVICE_MAMPS,274.635,114.750,1704.420,1256.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.759,890.746,870.060,80.479,0.000,0.000,0.000,0.000,0.000,0.000
$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,73586,1306
$CAP_FILE_SIZE,144131,1
$CFSIZE,2097086464,2071887872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221113,164334,-4303.108,828.463,85,1.0,85,-25.0