version: 66.07.10.p01
glider: 574
mission: 7
dive: 178
start: 11 22 113 17 6 35
data:
$ID,574
$MISSION,7
$DIVE,178
$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,-13922.122
$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,40
$R_STBD_OVSHOOT,42
$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,157
$GPS1,221113,164334,-4303.108,828.463,85,1.0,85,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-74.9
$GPS2,221113,170541,-4303.007,828.622,16,1.5,16,-25.0
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.015,-0.151
$KALMAN_X,-145885.4,-395.4,-135.9,38818.4,1633.4
$KALMAN_Y,572275.4,-876.2,-638.9,-786151.5,8319.6
$MHEAD_RNG_PITCHd_Wd,199.2,5874,-27.7,-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,-0.90,-51.9,0.0,0.0,0,45,0.00,0.00,-19.10,0.000,2,0.000,0.000,66,1930,2255,0,0,0,0,0,0
$GC,47,-0.90,-115.6,3.0,-1.6,3,104,12.32,0.43,-40.03,0.000,4,0.275,0.123,2738,1645,3072,0,0,0,0,0,0
$GC,286,-0.90,-115.6,33.1,-17.6,43,291,0.00,0.43,0.00,0.000,6,0.000,0.035,2737,1970,3076,0,0,0,0,0,0
$GC,428,-0.90,-115.6,59.4,-18.4,68,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1970,3076,0,0,0,0,0,0
$GC,768,-0.90,-115.6,116.7,-16.9,120,771,0.00,0.28,0.00,0.000,4,0.000,0.047,2735,2204,3077,0,0,0,0,0,0
$GC,1028,-0.90,-115.6,161.1,-16.8,143,1031,0.00,0.40,0.00,0.000,6,0.000,0.041,2735,1909,3077,0,0,0,0,0,0
$GC,1358,-0.90,-115.6,216.3,-16.8,174,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1909,3078,0,0,0,0,0,0
$GC,1677,-0.90,-115.6,266.8,-15.6,204,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1909,3078,0,0,0,0,0,0
$GC,1996,-0.90,-115.6,319.7,-15.8,234,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1909,3078,0,0,0,0,0,0
$GC,2314,-0.90,-115.6,370.4,-15.5,264,2318,0.00,0.32,0.00,0.000,4,0.000,0.054,2735,1664,3078,0,0,0,0,0,0
$GC,2464,-0.90,-115.6,393.2,-14.9,277,2468,0.00,0.32,0.00,0.000,6,0.000,0.037,2735,1927,3078,0,0,0,0,0,0
$GC,2796,-0.90,-115.6,444.3,-14.8,295,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1927,3078,0,0,0,0,0,0
$GC,3105,-0.90,-115.6,491.1,-15.3,310,3109,0.00,0.40,0.00,0.000,4,0.000,0.041,2733,2243,3077,0,0,0,0,0,0
$GC,3345,-0.90,-115.6,527.3,-14.3,320,3351,0.05,0.45,0.00,0.000,6,0.249,0.038,2742,1909,3077,0,0,0,0,0,0
$GC,3661,-0.90,-115.6,571.8,-14.6,336,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1908,3077,0,0,0,0,0,0
$GC,3970,-0.90,-115.6,615.2,-13.7,351,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1909,3076,0,0,0,0,0,0
$GC,4279,-0.90,-115.6,656.9,-13.4,366,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1909,3076,0,0,0,0,0,0
$GC,4589,-0.90,-115.6,697.4,-12.7,381,4592,0.00,0.65,0.00,0.000,4,0.000,0.047,2743,1470,3075,0,0,0,0,0,0
$GC,4772,-0.90,-115.6,721.7,-12.6,389,4777,0.00,0.65,0.00,0.000,6,0.000,0.031,2742,1926,3075,0,0,0,0,0,0
$GC,5099,-0.90,-115.6,764.0,-12.8,405,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1926,3075,0,0,0,0,0,0
$GC,5408,-0.90,-115.6,803.5,-13.2,420,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1927,3074,0,0,0,0,0,0
$GC,5718,-0.90,-115.6,843.2,-12.6,435,5721,0.00,0.35,0.00,0.000,4,0.000,0.045,2740,2211,3073,0,0,0,0,0,0
$GC,5974,-0.90,-115.6,876.3,-13.0,446,5979,0.00,0.38,0.00,0.000,6,0.000,0.041,2740,1944,3073,0,0,0,0,0,0
$GC,6296,-0.90,-115.6,915.8,-12.1,462,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1945,3073,0,0,0,0,0,0
$GC,6605,-0.90,-115.6,951.4,-11.4,477,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1944,3072,0,0,0,0,0,0
$GC,6914,-0.90,-115.6,987.0,-11.7,492,6918,0.00,0.62,0.00,0.000,4,0.000,0.048,2740,1519,3072,0,0,0,0,0,0
$STATE,7020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7020,begin apogee
$GC,7025,-0.16,0.0,1000.1,11.7,496,7130,0.88,0.00,98.40,1.717,6,0.197,0.000,2974,1846,2600,0,0,0,0,0,0
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7131,begin climb
$GC,7132,0.90,115.6,1002.9,0.0,502,7244,1.17,0.00,107.88,1.645,6,0.112,0.000,3325,1846,2128,0,0,0,0,0,0
$GC,7540,0.90,115.6,940.6,17.2,522,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1846,2118,0,0,0,0,0,0
$GC,7848,0.90,115.6,887.5,17.0,537,7852,0.00,1.17,0.00,0.000,4,0.000,0.048,3330,1133,2115,0,0,0,0,0,0
$GC,8083,0.90,115.6,846.5,17.7,547,8087,0.00,1.02,0.00,0.000,6,0.000,0.025,3330,1807,2114,0,0,0,0,0,0
$GC,8404,0.90,115.6,792.2,16.8,563,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1807,2113,0,0,0,0,0,0
$GC,8714,0.90,115.6,742.4,15.9,578,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1807,2113,0,0,0,0,0,0
$GC,9023,0.90,115.6,693.0,16.0,593,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1806,2112,0,0,0,0,0,0
$GC,9332,0.90,115.6,643.2,16.1,608,9336,0.00,0.52,0.00,0.000,4,0.000,0.044,3331,1462,2111,0,0,0,0,0,0
$GC,9572,0.90,115.6,603.2,16.8,618,9578,0.00,0.55,0.00,0.000,6,0.000,0.030,3331,1858,2111,0,0,0,0,0,0
$GC,9888,0.90,115.6,552.5,16.2,634,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1858,2111,0,0,0,0,0,0
$GC,10197,0.90,115.6,501.7,16.2,649,10201,0.00,1.35,0.00,0.000,4,0.000,0.050,3337,1019,2111,0,0,0,0,0,0
$GC,10454,0.90,115.6,457.9,17.6,660,10459,0.00,1.20,0.00,0.000,6,0.000,0.025,3337,1818,2110,0,0,0,0,0,0
$GC,10776,0.90,115.6,404.9,16.3,676,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1818,2110,0,0,0,0,0,0
$GC,11094,0.90,115.6,352.7,15.8,704,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1818,2110,0,0,0,0,0,0
$GC,11412,0.90,115.6,301.5,15.4,734,11416,0.00,0.93,0.00,0.000,4,0.000,0.045,3340,1237,2110,0,0,0,0,0,0
$GC,11609,0.90,115.6,269.5,16.1,751,11615,0.00,0.88,0.00,0.000,6,0.000,0.026,3338,1831,2110,0,0,0,0,0,0
$GC,11934,0.90,115.6,217.1,16.5,782,11938,0.00,0.38,0.00,0.000,4,0.000,0.045,3339,1563,2109,0,0,0,0,0,0
$GC,12163,0.90,115.6,180.2,15.7,802,12169,0.00,0.38,0.00,0.000,6,0.000,0.035,3339,1846,2110,0,0,0,0,0,0
$GC,12492,0.90,115.6,130.2,14.9,833,12495,0.00,0.52,0.00,0.000,4,0.000,0.044,3340,1494,2109,0,0,0,0,0,0
$GC,12751,0.90,115.6,89.9,15.2,861,12758,0.00,0.45,0.00,0.000,6,0.000,0.033,3339,1856,2109,0,0,0,0,0,0
$GC,13100,0.90,115.6,36.1,14.0,922,13107,0.00,0.47,0.00,0.000,4,0.000,0.044,3339,1531,2109,0,0,0,0,0,0
$STATE,13316,end climb,SURFACE_DEPTH_REACHED
$STATE,13317,begin surface coast
$FINISH,1.8,1.016827
$STATE,13324,end surface coast,CONTROL_FINISHED_OK
$STATE,13324,begin surface
$SM_CCo,13340,54.65,1.310,2,0,1844,185.20
$SM_GC,3.20,0.00,0.00,54.65,0.000,0.000,1.310,73,1898,1844,-9.24,-0.93,185.20
$IRIDIUM_FIX,-4244.98,831.12,221113,161648
$TT8_MAMPS,0.026964
$HUMID,62.64
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.50
$XPDR_PINGS,0
$24V_AH,22.7,28.976
$10V_AH,10.2,23.661
$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,23.450,16.450,206.275,54.650,0.000,85.258,128.098,797.577,0.500,0.000,18.269,2371.757,8536.842,348.679,3298.074,159.381,33.355,1273.390,0.000,2229.220,0.000,5.322,0.000
$DEVICE_MAMPS,275.400,123.165,1717.425,1310.445,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.037,656.684,645.145,61.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,53623,960
$CAP_FILE_SIZE,124453,2
$CFSIZE,2097086464,2071822336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221113,205152,-4303.999,829.156,75,0.9,75,-25.0