version: 66.07.10.p01
glider: 574
mission: 7
dive: 68
start: 10 28 113 15 29 19
data:
$ID,574
$MISSION,7
$DIVE,68
$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,200
$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,-13568.937
$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,29
$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,2000
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,41
$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,47
$GPS1,281013,152029,-4203.815,859.357,40,0.8,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-75.5
$GPS2,281013,152824,-4203.790,859.326,17,1.0,18,-25.1
$SPEED_LIMITS,0.152,0.256
$TGT_NAME,WP1
$TGT_LATLONG,-4205.000,900.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.099,-0.125
$KALMAN_X,-112804.9,-394.6,-470.4,48913.4,-1324.6
$KALMAN_Y,143197.2,454.6,811.6,-250219.4,625.1
$MHEAD_RNG_PITCHd_Wd,166.8,2424,-26.4,-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,-0.91,-57.0,0.0,0.0,0,104,0.00,0.00,-75.45,0.000,6,0.000,0.000,77,1997,2830,0,0,0,0,0,0
$GC,105,-0.92,-128.6,2.8,-1.4,13,132,11.57,1.00,-9.35,0.000,4,0.268,0.072,2738,1338,3124,0,0,0,0,0,0
$GC,391,-0.92,-128.6,47.4,-15.8,62,396,0.00,1.02,0.00,0.000,6,0.000,0.031,2735,2014,3125,0,0,0,0,0,0
$GC,741,-0.92,-128.6,103.9,-16.2,122,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2014,3126,0,0,0,0,0,0
$GC,1060,-0.92,-128.6,156.7,-16.5,152,1063,0.00,0.40,0.00,0.000,4,0.000,0.044,2733,2318,3126,0,0,0,0,0,0
$GC,1320,-0.92,-128.6,200.2,-17.3,175,1323,0.00,0.47,0.00,0.000,6,0.000,0.042,2733,1974,3126,0,0,0,0,0,0
$GC,1649,-0.92,-128.6,253.9,-15.5,206,1653,0.00,0.45,0.00,0.000,4,0.000,0.037,2733,2313,3127,0,0,0,0,0,0
$GC,1867,-0.92,-128.6,287.1,-15.1,225,1871,0.00,0.43,0.00,0.000,6,0.000,0.044,2733,1997,3127,0,0,0,0,0,0
$GC,2196,-0.92,-128.6,337.9,-14.9,256,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1996,3127,0,0,0,0,0,0
$GC,2517,-0.92,-128.6,387.1,-15.4,286,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3127,0,0,0,0,0,0
$GC,2827,-0.92,-128.6,435.8,-15.6,305,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3127,0,0,0,0,0,0
$GC,3136,-0.92,-128.6,483.2,-15.6,320,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3127,0,0,0,0,0,0
$GC,3446,-0.92,-128.6,530.1,-14.8,335,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3127,0,0,0,0,0,0
$GC,3755,-0.92,-128.6,572.9,-13.2,350,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3127,0,0,0,0,0,0
$GC,4064,-0.92,-128.6,614.0,-13.0,365,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3127,0,0,0,0,0,0
$GC,4374,-0.92,-128.6,655.0,-13.3,380,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3126,0,0,0,0,0,0
$GC,4683,-0.92,-128.6,697.0,-13.4,395,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1997,3125,0,0,0,0,0,0
$GC,4992,-0.92,-128.6,740.2,-14.0,410,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1996,3124,0,0,0,0,0,0
$GC,5302,-0.92,-128.6,784.4,-14.4,425,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1996,3123,0,0,0,0,0,0
$GC,5611,-0.92,-128.6,829.9,-14.8,440,5615,0.00,0.60,0.00,0.000,4,0.000,0.054,2734,1587,3122,0,0,0,0,0,0
$GC,5867,-0.92,-128.6,867.6,-13.7,451,5872,0.00,0.62,0.00,0.000,6,0.000,0.034,2734,2024,3121,0,0,0,0,0,0
$GC,6190,-0.92,-128.6,911.5,-13.9,467,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2024,3121,0,0,0,0,0,0
$GC,6498,-0.92,-128.6,952.3,-12.8,482,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2025,3120,0,0,0,0,0,0
$GC,6807,-0.92,-128.6,990.7,-12.3,497,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2025,3119,0,0,0,0,0,0
$STATE,6891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6892,begin apogee
$GC,6895,-0.17,0.0,1000.8,12.2,501,7006,0.88,0.00,106.68,1.556,6,0.193,0.000,2974,1809,2600,0,0,0,0,0,0
$STATE,7006,end apogee,CONTROL_FINISHED_OK
$STATE,7007,begin climb
$GC,7008,0.92,128.6,1003.7,0.0,506,7128,1.15,0.75,114.43,1.505,4,0.114,0.052,3328,1348,2074,0,0,0,0,0,0
$GC,7381,0.92,128.6,946.0,17.7,524,7385,0.00,0.65,0.00,0.000,6,0.000,0.032,3328,1767,2064,0,0,0,0,0,0
$GC,7713,0.92,128.6,889.1,17.1,540,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1767,2061,0,0,0,0,0,0
$GC,8022,0.92,128.6,836.8,16.7,555,8026,0.00,1.02,0.00,0.000,4,0.000,0.057,3332,1144,2060,0,0,0,0,0,0
$GC,8279,0.92,128.6,793.9,16.7,566,8283,0.00,1.02,0.00,0.000,6,0.000,0.031,3332,1815,2059,0,0,0,0,0,0
$GC,8602,0.92,128.6,740.5,16.3,582,8605,0.00,0.68,0.00,0.000,4,0.000,0.052,3334,1393,2058,0,0,0,0,0,0
$GC,8858,0.92,128.6,696.8,16.9,593,8862,0.00,0.60,0.00,0.000,6,0.000,0.034,3334,1796,2057,0,0,0,0,0,0
$GC,9179,0.92,128.6,644.4,16.5,609,9183,0.00,1.05,0.00,0.000,4,0.000,0.057,3338,1149,2057,0,0,0,0,0,0
$GC,9436,0.92,128.6,601.9,16.7,620,9440,0.00,0.98,0.00,0.000,6,0.000,0.031,3338,1794,2057,0,0,0,0,0,0
$GC,9757,0.92,128.6,548.6,17.1,636,9761,0.00,0.82,0.00,0.000,4,0.000,0.053,3340,1280,2056,0,0,0,0,0,0
$GC,10013,0.92,128.6,503.4,17.2,647,10018,0.00,0.77,0.00,0.000,6,0.000,0.032,3340,1792,2057,0,0,0,0,0,0
$GC,10335,0.92,128.6,450.0,16.2,663,10339,0.00,0.50,0.00,0.000,4,0.000,0.051,3341,1467,2057,0,0,0,0,0,0
$GC,10591,0.92,128.6,407.2,16.1,674,10595,0.00,0.47,0.00,0.000,6,0.000,0.037,3341,1805,2056,0,0,0,0,0,0
$GC,10920,0.92,128.6,351.9,17.1,703,10924,0.00,0.98,0.00,0.000,4,0.000,0.054,3345,1196,2056,0,0,0,0,0,0
$GC,11181,0.92,128.6,307.6,17.6,726,11184,0.00,0.85,0.00,0.000,6,0.000,0.031,3345,1768,2056,0,0,0,0,0,0
$GC,11514,0.92,128.6,253.4,16.2,757,11518,0.00,0.70,0.00,0.000,4,0.000,0.053,3347,1330,2056,0,0,0,0,0,0
$GC,11773,0.92,128.6,210.9,16.3,780,11777,0.00,0.68,0.00,0.000,6,0.000,0.033,3347,1797,2056,0,0,0,0,0,0
$GC,12103,0.92,128.6,156.3,17.0,811,12106,0.00,0.52,0.00,0.000,4,0.000,0.050,3349,1455,2056,0,0,0,0,0,0
$GC,12363,0.92,128.6,112.7,16.2,834,12367,0.03,0.47,0.00,0.000,6,0.216,0.037,3341,1803,2056,0,0,0,0,0,0
$GC,12703,0.92,128.6,56.4,16.2,887,12708,0.00,1.00,0.00,0.000,4,0.000,0.054,3344,1173,2056,0,0,0,0,0,0
$GC,12864,0.92,128.6,29.8,17.2,915,12869,0.00,0.90,0.00,0.000,6,0.000,0.031,3345,1792,2056,0,0,0,0,0,0
$GC,13011,0.92,128.6,4.8,16.2,940,13018,0.00,0.40,0.00,0.000,4,0.000,0.050,3345,1522,2057,0,0,0,0,0,0
$STATE,13025,end climb,SURFACE_DEPTH_REACHED
$STATE,13025,begin surface coast
$FINISH,1.3,1.018814
$STATE,13044,end surface coast,CONTROL_FINISHED_OK
$STATE,13044,begin surface
$SM_CCo,13060,31.67,0.830,0,0,1783,200.16
$SM_GC,3.25,0.00,0.00,31.67,0.000,0.000,0.830,80,1989,1783,-9.25,-0.31,200.16
$IRIDIUM_FIX,-4149.58,852.93,281013,090906
$TT8_MAMPS,0.026964
$HUMID,62.32
$INTERNAL_PRESSURE,9.28218
$TCM_TEMP,11.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.8,7.8
$24V_AH,23.5,12.344
$10V_AH,10.3,10.031
$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,22.400,21.850,221.100,31.675,0.000,27.051,18.675,311.096,0.500,0.000,20.365,2356.127,8076.720,322.987,2708.782,94.924,33.391,1297.027,0.000,2305.881,0.000,5.465,0.000
$DEVICE_MAMPS,267.750,71.910,1556.010,830.025,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.576,663.521,620.585,61.119,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,53684,945
$CAP_FILE_SIZE,115467,0
$CFSIZE,2097086464,2086174720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,281013,190852,-4204.626,859.731,47,0.9,47,-25.1