version: 66.07.10.p01
glider: 574
mission: 7
dive: 179
start: 11 22 113 21 4 35
data:
$ID,574
$MISSION,7
$DIVE,179
$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,-13924.456
$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,56
$R_STBD_OVSHOOT,55
$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,158
$GPS1,221113,205152,-4303.999,829.156,75,0.9,75,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-73.0
$GPS2,221113,210341,-4304.000,829.249,20,0.9,20,-25.0
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.079,-0.130
$KALMAN_X,-145411.2,-529.9,-29.8,39246.3,1969.3
$KALMAN_Y,573936.7,-1556.7,-469.7,-789123.4,8893.1
$MHEAD_RNG_PITCHd_Wd,236.3,7476,-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,-19.27,0.000,2,0.000,0.000,66,1898,2246,0,0,0,0,0,0
$GC,48,-0.90,-119.8,3.1,-1.1,3,109,12.25,0.00,-43.80,0.000,6,0.274,0.000,2742,1902,3088,0,0,0,0,0,0
$GC,158,-0.90,-119.8,6.1,-11.7,21,165,0.00,0.95,0.00,0.000,4,0.000,0.036,2739,2519,3090,0,0,0,0,0,0
$GC,367,-0.90,-119.8,43.3,-18.5,57,374,0.00,0.88,0.00,0.000,6,0.000,0.034,2739,1941,3091,0,0,0,0,0,0
$GC,714,-0.90,-119.8,104.3,-16.4,116,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1941,3091,0,0,0,0,0,0
$GC,1034,-0.90,-119.8,157.2,-16.3,146,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1941,3092,0,0,0,0,0,0
$GC,1352,-0.90,-119.8,207.0,-14.5,176,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1941,3093,0,0,0,0,0,0
$GC,1671,-0.90,-119.8,253.1,-14.7,206,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1941,3093,0,0,0,0,0,0
$GC,1990,-0.90,-119.8,299.8,-14.8,236,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1940,3093,0,0,0,0,0,0
$GC,2308,-0.90,-119.8,349.5,-16.3,266,2312,0.00,0.38,0.00,0.000,4,0.000,0.036,2738,2244,3093,0,0,0,0,0,0
$GC,2562,-0.90,-119.8,391.1,-15.5,288,2570,0.00,0.47,0.00,0.000,6,0.000,0.037,2738,1912,3093,0,0,0,0,0,0
$GC,2889,-0.90,-119.8,442.2,-15.4,307,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1912,3093,0,0,0,0,0,0
$GC,3199,-0.90,-119.8,491.0,-15.8,322,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1912,3093,0,0,0,0,0,0
$GC,3508,-0.90,-119.8,542.2,-16.5,337,3512,0.00,0.60,0.00,0.000,4,0.000,0.047,2738,1502,3093,0,0,0,0,0,0
$GC,3765,-0.90,-119.8,584.4,-15.4,348,3769,0.00,0.65,0.00,0.000,6,0.000,0.030,2736,1961,3093,0,0,0,0,0,0
$GC,4086,-0.90,-119.8,632.0,-14.9,364,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1961,3092,0,0,0,0,0,0
$GC,4395,-0.90,-119.8,675.3,-13.6,379,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1961,3091,0,0,0,0,0,0
$GC,4705,-0.90,-119.8,717.0,-13.3,394,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1961,3091,0,0,0,0,0,0
$GC,5014,-0.90,-119.8,758.8,-14.0,409,5018,0.00,0.30,0.00,0.000,4,0.000,0.047,2735,2217,3091,0,0,0,0,0,0
$GC,5119,-0.90,-119.8,773.6,-13.9,413,5124,0.00,0.40,0.00,0.000,6,0.000,0.040,2734,1927,3091,0,0,0,0,0,0
$GC,5434,-0.90,-119.8,816.8,-13.9,429,5439,0.03,0.50,0.00,0.000,4,0.292,0.050,2745,1583,3091,0,0,0,0,0,0
$GC,5637,-0.90,-119.8,843.8,-12.1,438,5640,0.00,0.45,0.00,0.000,6,0.000,0.034,2745,1937,3090,0,0,0,0,0,0
$GC,5968,-0.90,-119.8,886.8,-13.0,454,5972,0.00,0.95,0.00,0.000,4,0.000,0.039,2740,2578,3090,0,0,0,0,0,0
$GC,6119,-0.90,-119.8,906.9,-13.7,460,6125,0.00,0.95,0.00,0.000,6,0.000,0.034,2740,1944,3089,0,0,0,0,0,0
$GC,6435,-0.90,-119.8,946.2,-12.1,476,6438,0.00,0.80,0.00,0.000,4,0.000,0.047,2740,1416,3089,0,0,0,0,0,0
$GC,6585,-0.90,-119.8,965.6,-12.5,482,6591,0.00,0.70,0.00,0.000,6,0.000,0.030,2737,1911,3089,0,0,0,0,0,0
$STATE,6883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6883,begin apogee
$GC,6888,-0.16,0.0,1002.2,12.2,497,7002,0.93,0.00,111.15,1.811,6,0.193,0.000,2983,1786,2600,0,0,0,0,0,0
$STATE,7003,end apogee,CONTROL_FINISHED_OK
$STATE,7003,begin climb
$GC,7005,0.90,119.8,1005.2,0.0,503,7122,1.15,1.38,110.28,1.634,4,0.108,0.052,3333,1038,2111,0,0,0,0,0,0
$GC,7258,0.90,119.8,966.7,18.7,515,7261,0.00,1.23,0.00,0.000,6,0.000,0.027,3333,1806,2104,0,0,0,0,0,0
$GC,7590,0.90,119.8,905.3,18.1,531,7593,0.00,0.47,0.00,0.000,4,0.000,0.045,3334,1502,2102,0,0,0,0,0,0
$GC,7846,0.90,119.8,859.6,18.2,542,7850,0.00,0.50,0.00,0.000,6,0.000,0.033,3334,1858,2102,0,0,0,0,0,0
$GC,8167,0.90,119.8,804.8,16.8,558,8171,0.00,0.47,0.00,0.000,4,0.000,0.044,3336,1542,2101,0,0,0,0,0,0
$GC,8424,0.90,119.8,761.5,16.9,569,8428,0.00,0.40,0.00,0.000,6,0.000,0.037,3336,1830,2101,0,0,0,0,0,0
$GC,8745,0.90,119.8,706.7,16.9,585,8749,0.00,1.25,0.00,0.000,4,0.000,0.049,3341,1058,2101,0,0,0,0,0,0
$GC,8912,0.90,119.8,677.3,17.8,592,8917,0.00,1.15,0.00,0.000,6,0.000,0.028,3339,1822,2101,0,0,0,0,0,0
$GC,9234,0.90,119.8,621.0,17.5,608,9237,0.00,0.43,0.00,0.000,4,0.000,0.045,3339,1535,2101,0,0,0,0,0,0
$GC,9490,0.90,119.8,574.5,18.0,619,9495,0.00,0.45,0.00,0.000,6,0.000,0.034,3338,1876,2101,0,0,0,0,0,0
$GC,9812,0.90,119.8,516.8,18.0,635,9815,0.00,1.50,0.00,0.000,4,0.000,0.049,3344,945,2101,0,0,0,0,0,0
$GC,9979,0.90,119.8,486.0,18.7,642,9984,0.03,1.27,0.00,0.000,6,0.220,0.027,3337,1804,2101,0,0,0,0,0,0
$GC,10300,0.90,119.8,431.3,16.8,658,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1804,2101,0,0,0,0,0,0
$GC,10612,0.90,119.8,380.6,15.8,678,10616,0.00,0.30,0.00,0.000,4,0.000,0.045,3337,1597,2101,0,0,0,0,0,0
$GC,10829,0.90,119.8,347.2,15.6,697,10832,0.00,0.30,0.00,0.000,6,0.000,0.039,3337,1819,2101,0,0,0,0,0,0
$GC,11159,0.90,119.8,295.9,15.6,728,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1819,2101,0,0,0,0,0,0
$GC,11478,0.90,119.8,247.5,15.3,758,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1819,2101,0,0,0,0,0,0
$GC,11797,0.90,119.8,198.5,15.7,788,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1819,2102,0,0,0,0,0,0
$GC,12115,0.90,119.8,146.4,16.5,818,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1819,2102,0,0,0,0,0,0
$GC,12437,0.90,119.8,95.1,15.5,850,12441,0.00,0.73,0.00,0.000,4,0.000,0.046,3338,1354,2102,0,0,0,0,0,0
$GC,12697,0.90,119.8,54.6,15.9,896,12702,0.00,0.70,0.00,0.000,6,0.000,0.030,3339,1845,2102,0,0,0,0,0,0
$STATE,13037,end climb,SURFACE_DEPTH_REACHED
$STATE,13037,begin surface coast
$FINISH,1.8,1.014448
$STATE,13057,end surface coast,CONTROL_FINISHED_OK
$STATE,13058,begin surface
$SM_CCo,13073,63.20,1.210,4,0,1845,185.20
$SM_GC,3.17,0.00,0.00,63.20,0.000,0.000,1.210,87,1851,1845,-9.23,-2.23,185.20
$IRIDIUM_FIX,-4247.91,819.47,221113,161651
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1002.2,9.1
$24V_AH,22.6,29.138
$10V_AH,10.2,23.755
$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,23.375,21.625,221.425,63.200,0.000,29.726,20.301,511.497,0.500,0.000,22.791,2373.906,8057.955,359.531,2915.540,145.880,33.363,1334.425,0.000,2315.659,0.000,5.468,0.000
$DEVICE_MAMPS,292.230,64.260,1810.755,1210.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.155,693.123,643.905,64.578,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,53617,958
$CAP_FILE_SIZE,119904,4
$CFSIZE,2097086464,2071691264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,231113,004503,-4303.498,828.183,35,0.9,35,-25.0