version: 66.07.10.p01
glider: 574
mission: 7
dive: 181
start: 11 23 113 5 4 48
data:
$ID,574
$MISSION,7
$DIVE,181
$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,-13929.121
$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,43
$R_STBD_OVSHOOT,51
$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,160
$GPS1,231113,045122,-4304.265,827.815,72,1.2,72,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-73.7
$GPS2,231113,050354,-4304.209,827.917,16,1.0,17,-25.0
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.127,-0.084
$KALMAN_X,-146191.1,-11.6,-183.5,37809.2,411.6
$KALMAN_Y,578512.8,-532.0,-850.2,-794734.8,9392.2
$MHEAD_RNG_PITCHd_Wd,148.4,8291,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.90,-51.9,0.0,0.0,0,58,0.00,0.00,-31.25,0.000,2,0.000,0.000,66,1935,2521,0,0,0,0,0,0
$GC,60,-0.90,-116.3,3.3,-1.5,5,104,12.45,2.30,-24.00,0.000,4,0.280,0.063,2739,533,3073,0,0,0,0,0,0
$GC,339,-0.90,-116.3,43.7,-19.1,52,345,0.08,2.12,0.00,0.000,6,0.243,0.028,2743,1925,3077,0,0,0,0,0,0
$GC,690,-0.90,-116.3,104.4,-16.3,112,694,0.00,0.47,0.00,0.000,4,0.000,0.041,2742,2283,3077,0,0,0,0,0,0
$GC,950,-0.90,-116.3,148.3,-17.4,135,954,0.00,0.52,0.00,0.000,6,0.000,0.039,2742,1915,3078,0,0,0,0,0,0
$GC,1280,-0.90,-116.3,205.1,-17.2,166,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1915,3079,0,0,0,0,0,0
$GC,1599,-0.90,-116.3,259.9,-16.7,196,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1915,3079,0,0,0,0,0,0
$GC,1918,-0.90,-116.3,314.7,-16.8,226,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1915,3079,0,0,0,0,0,0
$GC,2237,-0.90,-116.3,362.3,-14.8,256,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1915,3080,0,0,0,0,0,0
$GC,2565,-0.90,-116.3,406.3,-13.2,285,2568,0.00,0.60,0.00,0.000,4,0.000,0.034,2740,2344,3079,0,0,0,0,0,0
$GC,2821,-0.90,-116.3,439.5,-12.2,296,2826,0.00,0.62,0.00,0.000,6,0.000,0.037,2741,1921,3080,0,0,0,0,0,0
$GC,3143,-0.90,-116.3,481.5,-13.1,312,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1921,3080,0,0,0,0,0,0
$GC,3452,-0.90,-116.3,522.7,-13.6,327,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1921,3080,0,0,0,0,0,0
$GC,3761,-0.90,-116.3,566.4,-14.5,342,3765,0.00,0.40,0.00,0.000,4,0.000,0.052,2740,1635,3080,0,0,0,0,0,0
$GC,4018,-0.90,-116.3,603.4,-13.9,353,4022,0.00,0.45,0.00,0.000,6,0.000,0.035,2739,1972,3080,0,0,0,0,0,0
$GC,4339,-0.90,-116.3,647.1,-13.5,369,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1972,3080,0,0,0,0,0,0
$GC,4649,-0.90,-116.3,687.2,-12.6,384,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1972,3080,0,0,0,0,0,0
$GC,4958,-0.90,-116.3,725.6,-11.9,399,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1972,3080,0,0,0,0,0,0
$GC,5267,-0.90,-116.3,763.4,-12.5,414,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1972,3080,0,0,0,0,0,0
$GC,5577,-0.90,-116.3,804.9,-13.7,429,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1972,3080,0,0,0,0,0,0
$GC,5886,-0.90,-116.3,848.4,-14.2,444,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1972,3080,0,0,0,0,0,0
$GC,6195,-0.90,-116.3,891.1,-13.6,459,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1972,3080,0,0,0,0,0,0
$GC,6505,-0.90,-116.3,931.4,-13.0,474,6508,0.00,0.55,0.00,0.000,4,0.000,0.041,2736,2372,3080,0,0,0,0,0,0
$GC,6761,-0.90,-116.3,965.0,-12.9,485,6766,0.00,0.65,0.00,0.000,6,0.000,0.038,2736,1932,3080,0,0,0,0,0,0
$STATE,7044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7045,begin apogee
$GC,7049,-0.16,0.0,1000.0,12.2,499,7164,0.93,0.00,111.97,1.818,6,0.191,0.000,2983,1824,2600,0,0,0,0,0,0
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7167,0.90,116.3,1003.5,0.0,505,7282,1.12,0.70,108.45,1.720,4,0.107,0.049,3324,1425,2124,0,0,0,0,0,0
$GC,7495,0.90,116.3,954.4,17.8,520,7499,0.00,0.60,0.00,0.000,6,0.000,0.031,3324,1823,2116,0,0,0,0,0,0
$GC,7816,0.90,116.3,900.7,16.7,536,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1824,2113,0,0,0,0,0,0
$GC,8125,0.90,116.3,848.0,16.8,551,8129,0.00,0.45,0.00,0.000,4,0.000,0.046,3325,1531,2113,0,0,0,0,0,0
$GC,8382,0.90,116.3,804.4,17.0,562,8386,0.00,0.43,0.00,0.000,6,0.000,0.036,3325,1840,2112,0,0,0,0,0,0
$GC,8703,0.90,116.3,748.6,17.8,578,8707,0.00,1.35,0.00,0.000,4,0.000,0.053,3330,1016,2110,0,0,0,0,0,0
$GC,8960,0.90,116.3,701.7,16.5,589,8965,0.00,1.23,0.00,0.000,6,0.000,0.028,3330,1813,2110,0,0,0,0,0,0
$GC,9282,0.90,116.3,646.7,16.5,605,9286,0.00,0.65,0.00,0.000,4,0.000,0.046,3332,1399,2109,0,0,0,0,0,0
$GC,9539,0.90,116.3,605.4,16.3,616,9543,0.00,0.65,0.00,0.000,6,0.000,0.031,3332,1842,2109,0,0,0,0,0,0
$GC,9860,0.90,116.3,555.2,15.8,632,9864,0.00,0.88,0.00,0.000,4,0.000,0.048,3335,1294,2108,0,0,0,0,0,0
$GC,10117,0.90,116.3,512.6,18.2,643,10121,0.00,0.80,0.00,0.000,6,0.000,0.029,3335,1832,2108,0,0,0,0,0,0
$GC,10438,0.90,116.3,458.6,17.0,659,10442,0.00,1.23,0.00,0.000,4,0.000,0.051,3340,1069,2108,0,0,0,0,0,0
$GC,10655,0.90,116.3,420.3,17.1,668,10661,0.00,1.15,0.00,0.000,6,0.000,0.028,3339,1826,2108,0,0,0,0,0,0
$GC,10979,0.90,116.3,365.3,16.5,693,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1826,2108,0,0,0,0,0,0
$GC,11295,0.90,116.3,313.1,16.6,723,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1826,2107,0,0,0,0,0,0
$GC,11618,0.90,116.3,260.6,16.4,753,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1826,2107,0,0,0,0,0,0
$GC,11943,0.90,116.3,207.8,16.2,784,11946,0.00,0.45,0.00,0.000,4,0.000,0.046,3339,1527,2107,0,0,0,0,0,0
$GC,12204,0.90,116.3,165.5,16.7,807,12207,0.00,0.43,0.00,0.000,6,0.000,0.036,3338,1856,2107,0,0,0,0,0,0
$GC,12533,0.90,116.3,112.4,15.8,838,12537,0.00,1.15,0.00,0.000,4,0.000,0.048,3342,1139,2107,0,0,0,0,0,0
$GC,12797,0.90,116.3,68.6,16.9,877,12802,0.00,0.98,0.00,0.000,6,0.000,0.028,3342,1810,2107,0,0,0,0,0,0
$GC,13146,0.90,116.3,13.5,16.0,938,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1809,2107,0,0,0,0,0,0
$GC,13202,0.90,116.3,3.9,17.3,947,13209,0.00,0.38,0.00,0.000,4,0.000,0.057,3344,1554,2108,0,0,0,0,0,0
$STATE,13216,end climb,SURFACE_DEPTH_REACHED
$STATE,13216,begin surface coast
$FINISH,1.7,1.025835
$STATE,13235,end surface coast,CONTROL_FINISHED_OK
$STATE,13235,begin surface
$SM_CCo,13251,60.88,1.275,4,0,1844,185.44
$SM_GC,3.08,0.00,0.00,60.88,0.000,0.000,1.275,76,1968,1844,-9.24,1.07,185.44
$IRIDIUM_FIX,-4250.85,825.73,231113,000003
$TT8_MAMPS,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.5,29.489
$10V_AH,10.2,23.947
$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,23.600,22.825,220.425,60.875,0.000,27.001,20.811,553.313,0.500,0.000,20.152,2372.732,8239.284,366.006,2941.275,150.237,33.363,1331.829,0.000,2305.913,0.000,5.656,0.000
$DEVICE_MAMPS,279.990,92.565,1817.640,1275.255,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.757,653.385,638.575,60.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,53644,952
$CAP_FILE_SIZE,119270,4
$CFSIZE,2097086464,2071429120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,231113,084828,-4304.417,830.879,52,1.0,52,-25.1