version: 66.07.10.p01
glider: 574
mission: 7
dive: 186
start: 11 24 113 7 19 24
data:
$ID,574
$MISSION,7
$DIVE,186
$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,-13941.328
$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,54
$R_STBD_OVSHOOT,44
$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,165
$GPS1,241113,070934,-4300.891,827.677,47,0.9,47,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-74.0
$GPS2,241113,071829,-4300.880,827.786,19,1.0,19,-25.0
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.070,-0.135
$KALMAN_X,-135695.0,-1430.8,-307.4,28684.7,4591.0
$KALMAN_Y,595562.9,-228.1,30.3,-806824.6,4559.2
$MHEAD_RNG_PITCHd_Wd,232.4,3413,-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,-51.9,0.0,0.0,0,69,0.00,0.00,-42.80,0.000,2,0.000,0.000,67,1918,2408,0,0,0,0,0,0
$GC,71,-0.90,-119.3,3.1,-1.1,7,120,12.23,0.00,-30.20,0.000,6,0.275,0.000,2741,1923,3088,0,0,0,0,0,0
$GC,169,-0.90,-119.3,10.1,-14.5,23,176,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1923,3089,0,0,0,0,0,0
$GC,225,-0.90,-119.3,19.8,-18.3,32,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1923,3090,0,0,0,0,0,0
$GC,279,-0.90,-119.3,29.7,-18.1,41,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1923,3090,0,0,0,0,0,0
$GC,422,-0.90,-119.3,55.9,-18.9,66,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1924,3090,0,0,0,0,0,0
$GC,764,-0.90,-119.3,112.4,-15.9,120,768,0.00,1.02,0.00,0.000,4,0.000,0.034,2736,2602,3091,0,0,0,0,0,0
$GC,971,-0.90,-119.3,145.4,-15.8,138,977,0.00,1.02,0.00,0.000,6,0.000,0.032,2736,1935,3091,0,0,0,0,0,0
$GC,1300,-0.90,-119.3,197.9,-16.8,169,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1934,3091,0,0,0,0,0,0
$GC,1625,-0.90,-119.3,251.4,-15.9,200,1629,0.00,0.45,0.00,0.000,4,0.000,0.047,2737,1607,3092,0,0,0,0,0,0
$GC,1765,-0.90,-119.3,273.4,-15.3,212,1773,0.00,0.50,0.00,0.000,6,0.000,0.032,2735,1972,3092,0,0,0,0,0,0
$GC,2092,-0.90,-119.3,323.0,-15.3,243,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1972,3092,0,0,0,0,0,0
$GC,2412,-0.90,-119.3,374.3,-15.5,273,2415,0.00,0.68,0.00,0.000,4,0.000,0.039,2732,2453,3092,0,0,0,0,0,0
$GC,2607,-0.90,-119.3,405.2,-15.3,289,2614,0.08,0.80,0.00,0.000,6,0.213,0.035,2746,1917,3092,0,0,0,0,0,0
$GC,2923,-0.90,-119.3,452.2,-15.0,305,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1917,3092,0,0,0,0,0,0
$GC,3232,-0.90,-119.3,499.1,-15.2,320,3236,0.00,0.38,0.00,0.000,4,0.000,0.052,2746,1645,3092,0,0,0,0,0,0
$GC,3480,-0.90,-119.3,535.8,-15.1,331,3483,0.00,0.35,0.00,0.000,6,0.000,0.038,2747,1926,3092,0,0,0,0,0,0
$GC,3812,-0.90,-119.3,584.6,-14.6,347,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1926,3092,0,0,0,0,0,0
$GC,4121,-0.90,-119.3,628.9,-14.4,362,4125,0.00,0.40,0.00,0.000,4,0.000,0.042,2745,2243,3092,0,0,0,0,0,0
$GC,4377,-0.90,-119.3,665.0,-14.1,373,4381,0.00,0.45,0.00,0.000,6,0.000,0.039,2745,1924,3092,0,0,0,0,0,0
$GC,4698,-0.90,-119.3,708.2,-13.2,389,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1923,3092,0,0,0,0,0,0
$GC,5007,-0.90,-119.3,749.7,-13.3,404,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1923,3092,0,0,0,0,0,0
$GC,5317,-0.90,-119.3,792.0,-14.4,419,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1923,3091,0,0,0,0,0,0
$GC,5626,-0.90,-119.3,835.0,-13.7,434,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1924,3091,0,0,0,0,0,0
$GC,5935,-0.90,-119.3,877.6,-13.7,449,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1923,3091,0,0,0,0,0,0
$GC,6245,-0.90,-119.3,920.4,-13.7,464,6248,0.00,0.43,0.00,0.000,4,0.000,0.052,2745,1623,3091,0,0,0,0,0,0
$GC,6501,-0.90,-119.3,955.7,-13.4,475,6505,0.00,0.43,0.00,0.000,6,0.000,0.036,2744,1948,3091,0,0,0,0,0,0
$GC,6823,-0.90,-119.3,996.7,-13.2,491,6826,0.00,0.38,0.00,0.000,4,0.000,0.044,2744,1679,3091,0,0,0,0,0,0
$STATE,6850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6851,begin apogee
$GC,6855,-0.16,0.0,1000.2,13.4,492,6961,0.85,0.00,102.90,1.929,6,0.184,0.000,2979,1828,2600,0,0,0,0,0,0
$STATE,6962,end apogee,CONTROL_FINISHED_OK
$STATE,6962,begin climb
$GC,6964,0.90,119.3,1003.9,0.0,497,7080,1.15,0.00,113.07,1.824,6,0.106,0.000,3325,1828,2113,0,0,0,0,0,0
$GC,7381,0.90,119.3,942.8,16.6,518,7384,0.00,1.73,0.00,0.000,4,0.000,0.052,3332,802,2105,0,0,0,0,0,0
$GC,7576,0.90,119.3,908.6,16.2,526,7582,0.00,1.58,0.00,0.000,6,0.000,0.025,3331,1811,2103,0,0,0,0,0,0
$GC,7892,0.90,119.3,857.3,16.1,542,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1811,2102,0,0,0,0,0,0
$GC,8201,0.90,119.3,807.3,15.8,557,8205,0.00,0.45,0.00,0.000,4,0.000,0.046,3333,1516,2102,0,0,0,0,0,0
$GC,8458,0.90,119.3,765.5,16.5,568,8462,0.00,0.47,0.00,0.000,6,0.000,0.033,3333,1868,2103,0,0,0,0,0,0
$GC,8779,0.90,119.3,711.4,17.5,584,8783,0.00,2.05,0.00,0.000,4,0.000,0.055,3341,603,2102,0,0,0,0,0,0
$GC,8951,0.90,119.3,679.4,18.5,591,8958,0.00,1.83,0.00,0.000,6,0.000,0.027,3341,1794,2102,0,0,0,0,0,0
$GC,9268,0.90,119.3,623.1,18.1,607,9271,0.00,0.70,0.00,0.000,4,0.000,0.041,3341,2281,2102,0,0,0,0,0,0
$GC,9412,0.90,119.3,596.8,18.1,613,9416,0.00,0.68,0.00,0.000,6,0.000,0.037,3343,1833,2102,0,0,0,0,0,0
$GC,9733,0.90,119.3,539.5,17.5,629,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1833,2102,0,0,0,0,0,0
$GC,10043,0.90,119.3,485.6,17.2,644,10046,0.00,0.45,0.00,0.000,4,0.000,0.054,3345,1519,2103,0,0,0,0,0,0
$GC,10299,0.90,119.3,450.1,14.2,655,10304,0.05,0.47,0.00,0.000,6,0.252,0.035,3335,1869,2103,0,0,0,0,0,0
$GC,10620,0.90,119.3,404.5,14.2,671,10624,0.00,1.80,0.00,0.000,4,0.000,0.051,3342,736,2103,0,0,0,0,0,0
$GC,10736,0.90,119.3,387.2,15.3,679,10743,0.00,1.60,0.00,0.000,6,0.000,0.027,3342,1796,2104,0,0,0,0,0,0
$GC,11062,0.90,119.3,341.7,14.8,710,11065,0.00,0.45,0.00,0.000,4,0.000,0.042,3342,2142,2104,0,0,0,0,0,0
$GC,11324,0.90,119.3,304.4,14.3,733,11328,0.03,0.45,0.00,0.000,6,0.231,0.043,3337,1828,2104,0,0,0,0,0,0
$GC,11653,0.90,119.3,257.2,14.4,764,11657,0.00,2.22,0.00,0.000,4,0.000,0.060,3346,439,2104,0,0,0,0,0,0
$GC,11808,0.90,119.3,234.2,14.9,777,11813,0.08,2.08,0.00,0.000,6,0.218,0.027,3332,1832,2104,0,0,0,0,0,0
$GC,12132,0.90,119.3,185.3,14.6,807,12136,0.00,0.85,0.00,0.000,4,0.000,0.047,3333,1293,2105,0,0,0,0,0,0
$GC,12375,0.90,119.3,147.7,15.2,828,12383,0.00,0.82,0.00,0.000,6,0.000,0.028,3333,1851,2105,0,0,0,0,0,0
$GC,12701,0.90,119.3,97.9,15.0,860,12706,0.00,1.02,0.00,0.000,4,0.000,0.049,3337,1204,2105,0,0,0,0,0,0
$GC,12921,0.90,119.3,62.7,15.6,899,12927,0.00,0.90,0.00,0.000,6,0.000,0.028,3338,1829,2105,0,0,0,0,0,0
$GC,13274,0.90,119.3,8.5,14.3,960,13281,0.00,1.17,0.00,0.000,4,0.000,0.050,3342,1094,2105,0,0,0,0,0,0
$STATE,13311,end climb,SURFACE_DEPTH_REACHED
$STATE,13311,begin surface coast
$FINISH,1.6,1.026569
$STATE,13331,end surface coast,CONTROL_FINISHED_OK
$STATE,13331,begin surface
$SM_CCo,13348,35.25,1.271,0,0,1844,185.20
$SM_GC,3.13,0.00,0.00,35.25,0.000,0.000,1.271,75,1913,1844,-9.27,-0.34,185.20
$IRIDIUM_FIX,-4244.98,831.12,241113,000019
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.2,7.9
$24V_AH,22.4,30.431
$10V_AH,10.1,24.542
$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,23.250,32.450,215.975,35.250,0.000,30.833,41.444,331.553,0.500,0.000,22.042,2409.634,8201.779,351.532,2811.151,136.383,33.382,1363.542,0.000,2369.540,0.000,5.465,0.000
$DEVICE_MAMPS,274.635,59.670,1928.565,1271.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.815,686.792,645.581,62.679,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354580
$DATA_FILE_SIZE,56917,969
$CAP_FILE_SIZE,122396,0
$CFSIZE,2097086464,2070740992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241113,110358,-4300.717,827.103,54,0.8,54,-25.0