version: 66.07.10.p01
glider: 574
mission: 7
dive: 182
start: 11 23 113 9 2 0
data:
$ID,574
$MISSION,7
$DIVE,182
$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,-13932.014
$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,50
$R_STBD_OVSHOOT,80
$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,161
$GPS1,231113,084828,-4304.417,830.879,52,1.0,52,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.8
$GPS2,231113,090106,-4304.402,830.925,29,1.4,30,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.142,0.053
$KALMAN_X,-145142.3,-71.9,191.0,40626.6,829.6
$KALMAN_Y,579222.4,-645.7,-577.9,-795959.3,7328.5
$MHEAD_RNG_PITCHd_Wd,315.5,8249,-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,23,begin dive
$GC,24,-0.90,-51.9,0.0,0.0,0,45,0.00,0.00,-18.92,0.000,2,0.000,0.000,66,1961,2241,0,0,0,0,0,0
$GC,47,-0.90,-110.1,3.0,-2.2,3,109,12.30,2.10,-42.38,0.000,4,0.275,0.051,2733,3297,3049,0,0,0,0,0,0
$GC,136,-1.30,-155.7,1.6,0.3,17,156,0.28,2.15,-9.45,0.000,6,0.047,0.032,2616,1940,3232,0,0,0,0,0,0
$GC,206,-1.03,-155.7,12.8,-24.8,28,214,0.32,2.15,0.00,0.000,4,0.217,0.039,2690,3282,3233,0,0,0,0,0,0
$GC,239,-1.03,-155.7,20.9,-23.6,33,244,0.00,2.12,0.00,0.000,6,0.000,0.032,2697,1919,3234,0,0,0,0,0,0
$GC,383,-1.03,-155.7,52.3,-22.3,58,388,0.00,1.00,0.00,0.000,4,0.000,0.048,2697,1284,3234,0,0,0,0,0,0
$GC,419,-1.03,-155.7,60.5,-22.6,64,424,0.00,0.93,0.00,0.000,6,0.000,0.030,2694,1905,3235,0,0,0,0,0,0
$GC,761,-1.03,-155.7,129.8,-19.9,112,765,0.00,2.20,0.00,0.000,4,0.000,0.044,2684,3313,3236,0,0,0,0,0,0
$GC,891,-1.03,-155.7,155.0,-19.4,123,895,0.10,2.15,0.00,0.000,6,0.210,0.034,2705,1926,3236,0,0,0,0,0,0
$GC,1217,-1.03,-155.7,217.0,-19.2,153,1220,0.00,1.60,0.00,0.000,4,0.000,0.037,2699,2952,3237,0,0,0,0,0,0
$GC,1243,-1.03,-155.7,222.7,-19.0,155,1249,0.00,1.60,0.00,0.000,6,0.000,0.034,2699,1926,3237,0,0,0,0,0,0
$GC,1569,-1.03,-155.7,285.6,-18.9,186,1572,0.00,1.65,0.00,0.000,4,0.000,0.037,2693,3014,3237,0,0,0,0,0,0
$GC,1605,-1.03,-155.7,291.8,-18.5,189,1608,0.00,1.67,0.00,0.000,6,0.000,0.033,2695,1915,3237,0,0,0,0,0,0
$GC,1934,-1.03,-155.7,355.1,-20.3,220,1938,0.00,0.57,0.00,0.000,4,0.000,0.033,2694,2336,3237,0,0,0,0,0,0
$GC,1969,-1.03,-155.7,362.2,-20.6,223,1972,0.00,0.60,0.00,0.000,6,0.000,0.037,2694,1917,3237,0,0,0,0,0,0
$GC,2305,-1.03,-155.7,432.4,-20.9,248,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1917,3236,0,0,0,0,0,0
$GC,2614,-1.03,-155.7,495.9,-20.5,263,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1917,3237,0,0,0,0,0,0
$GC,2923,-1.03,-155.7,560.1,-20.7,278,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1916,3237,0,0,0,0,0,0
$GC,3233,-1.03,-155.7,621.1,-19.0,293,3236,0.00,0.65,0.00,0.000,4,0.000,0.049,2694,1477,3237,0,0,0,0,0,0
$GC,3293,-1.03,-155.7,632.7,-18.3,295,3298,0.00,0.68,0.00,0.000,6,0.000,0.030,2692,1953,3236,0,0,0,0,0,0
$GC,3609,-1.03,-155.7,691.3,-18.7,311,3613,0.05,1.62,0.00,0.000,4,0.277,0.041,2693,3023,3236,0,0,0,0,0,0
$GC,3630,-1.03,-155.7,695.2,-17.8,312,3634,0.00,1.67,0.00,0.000,6,0.000,0.034,2698,1923,3236,0,0,0,0,0,0
$GC,3962,-1.03,-155.7,753.5,-17.3,328,3966,0.00,0.68,0.00,0.000,4,0.000,0.048,2698,1470,3236,0,0,0,0,0,0
$GC,3988,-1.03,-155.7,758.4,-17.3,329,3993,0.00,0.65,0.00,0.000,6,0.000,0.031,2697,1930,3236,0,0,0,0,0,0
$GC,4315,-1.03,-155.7,814.4,-17.1,345,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1931,3236,0,0,0,0,0,0
$GC,4625,-1.03,-155.7,868.1,-17.1,360,4628,0.00,1.83,0.00,0.000,4,0.000,0.044,2688,3129,3235,0,0,0,0,0,0
$GC,4657,-1.03,-155.7,874.2,-18.0,361,4662,0.05,1.88,0.00,0.000,6,0.191,0.034,2702,1922,3235,0,0,0,0,0,0
$GC,4978,-1.03,-155.7,927.1,-16.2,377,4981,0.00,0.47,0.00,0.000,4,0.000,0.053,2702,1591,3235,0,0,0,0,0,0
$GC,5023,-1.03,-155.7,934.4,-15.9,379,5026,0.00,0.45,0.00,0.000,6,0.000,0.035,2701,1935,3235,0,0,0,0,0,0
$GC,5355,-1.03,-155.7,988.0,-16.6,395,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1935,3235,0,0,0,0,0,0
$STATE,5440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5440,begin apogee
$GC,5444,-0.16,0.0,1001.3,16.3,399,5580,1.05,0.00,132.02,1.793,6,0.197,0.000,2980,1794,2600,0,0,0,0,0,0
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5582,0.90,155.7,1005.1,0.0,406,5738,1.12,2.47,146.43,1.714,4,0.109,0.061,3328,464,1964,0,0,0,0,0,0
$GC,5799,0.90,155.7,973.4,20.1,416,5804,0.00,2.20,0.00,0.000,6,0.000,0.026,3328,1792,1959,0,0,0,0,0,0
$GC,6121,0.90,155.7,911.7,19.1,432,6125,0.00,2.28,0.00,0.000,4,0.000,0.060,3337,453,1954,0,0,0,0,0,0
$GC,6182,0.90,155.7,899.3,20.7,435,6187,0.00,2.17,0.00,0.000,6,0.000,0.028,3337,1838,1954,0,0,0,0,0,0
$GC,6509,0.90,155.7,835.2,19.9,451,6512,0.00,0.85,0.00,0.000,4,0.000,0.049,3340,1317,1952,0,0,0,0,0,0
$GC,6621,0.90,155.7,813.0,20.3,456,6625,0.00,0.80,0.00,0.000,6,0.000,0.031,3339,1855,1952,0,0,0,0,0,0
$GC,6953,0.90,155.7,746.8,19.9,472,6957,0.00,2.28,0.00,0.000,4,0.000,0.059,3348,457,1950,0,0,0,0,0,0
$GC,7119,0.90,155.7,713.1,19.8,479,7126,0.05,2.10,0.00,0.000,6,0.184,0.028,3334,1820,1950,0,0,0,0,0,0
$GC,7435,0.90,155.7,654.7,18.6,495,7439,0.00,1.62,0.00,0.000,4,0.000,0.054,3339,828,1949,0,0,0,0,0,0
$GC,7484,0.90,155.7,645.2,18.8,497,7489,0.00,1.55,0.00,0.000,6,0.000,0.028,3339,1832,1949,0,0,0,0,0,0
$GC,7812,0.90,155.7,584.9,18.3,513,7815,0.00,1.48,0.00,0.000,4,0.000,0.053,3343,925,1949,0,0,0,0,0,0
$GC,7894,0.90,155.7,569.5,18.7,516,7900,0.00,1.40,0.00,0.000,6,0.000,0.028,3344,1838,1949,0,0,0,0,0,0
$GC,8210,0.90,155.7,512.2,18.2,532,8214,0.00,1.62,0.00,0.000,4,0.000,0.054,3349,840,1949,0,0,0,0,0,0
$GC,8281,0.90,155.7,498.3,19.2,535,8287,0.05,1.52,0.00,0.000,6,0.192,0.027,3336,1840,1948,0,0,0,0,0,0
$GC,8608,0.90,155.7,437.1,19.1,551,8612,0.00,0.38,0.00,0.000,4,0.000,0.044,3335,2135,1948,0,0,0,0,0,0
$GC,8635,0.90,155.7,431.7,19.1,552,8639,0.00,0.43,0.00,0.000,6,0.000,0.043,3336,1848,1948,0,0,0,0,0,0
$GC,8955,0.90,155.7,369.7,19.9,574,8959,0.00,2.28,0.00,0.000,4,0.000,0.062,3346,440,1948,0,0,0,0,0,0
$GC,9073,0.90,155.7,346.2,20.2,584,9078,0.05,2.08,0.00,0.000,6,0.243,0.028,3337,1820,1948,0,0,0,0,0,0
$GC,9398,0.90,155.7,286.6,18.5,614,9401,0.00,0.75,0.00,0.000,4,0.000,0.038,3336,2338,1948,0,0,0,0,0,0
$GC,9443,0.90,155.7,278.1,18.8,618,9447,0.00,0.75,0.00,0.000,6,0.000,0.041,3338,1840,1947,0,0,0,0,0,0
$GC,9776,0.90,155.7,218.5,16.7,649,9781,0.00,2.25,0.00,0.000,4,0.000,0.061,3349,433,1948,0,0,0,0,0,0
$GC,9876,0.90,155.7,201.3,16.8,657,9880,0.08,2.10,0.00,0.000,6,0.216,0.028,3333,1831,1947,0,0,0,0,0,0
$GC,10200,0.90,155.7,147.0,16.5,687,10203,0.00,0.40,0.00,0.000,4,0.000,0.049,3334,1565,1947,0,0,0,0,0,0
$GC,10416,0.90,155.7,109.6,17.7,706,10419,0.00,0.38,0.00,0.000,6,0.000,0.037,3334,1853,1947,0,0,0,0,0,0
$GC,10759,0.90,155.7,46.8,18.4,761,10764,0.00,2.30,0.00,0.000,4,0.000,0.058,3344,427,1948,0,0,0,0,0,0
$GC,10828,0.90,155.7,34.2,18.5,773,10834,0.00,2.08,0.00,0.000,6,0.000,0.028,3344,1816,1947,0,0,0,0,0,0
$GC,10975,0.90,155.7,6.9,19.1,798,10982,0.00,2.28,0.00,0.000,4,0.000,0.063,3353,434,1947,0,0,0,0,0,0
$STATE,10995,end climb,SURFACE_DEPTH_REACHED
$STATE,10995,begin surface coast
$FINISH,2.3,1.026584
$STATE,11008,end surface coast,CONTROL_FINISHED_OK
$STATE,11008,begin surface
$SM_CCo,11026,20.55,1.375,1,0,1844,185.20
$SM_GC,2.58,0.00,0.00,20.55,0.000,0.000,1.375,79,1929,1844,-9.24,-0.03,185.20
$IRIDIUM_FIX,-4250.85,826.16,231113,040426
$TT8_MAMPS,0.026215
$HUMID,64.09
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,22.5,29.671
$10V_AH,10.2,24.026
$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,24.525,78.325,278.450,20.550,0.000,27.179,28.396,543.352,0.500,0.000,32.368,2005.413,6791.247,375.858,2490.478,134.521,33.360,1229.288,0.000,1841.326,0.000,5.322,0.000
$DEVICE_MAMPS,276.930,62.730,1793.160,1374.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.133,574.053,530.893,53.157,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,46823,803
$CAP_FILE_SIZE,118243,1
$CFSIZE,2097086464,2071298048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231113,120729,-4302.472,830.636,41,1.0,41,-25.1