version: 66.07.10.p01
glider: 574
mission: 7
dive: 152
start: 11 17 113 20 47 36
data:
$ID,574
$MISSION,7
$DIVE,152
$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,340
$T_MISSION,380
$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,-13852.898
$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,30
$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,1950
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,89
$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,131
$GPS1,171113,203759,-4302.605,827.779,46,0.8,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-74.9
$GPS2,171113,204641,-4302.539,827.862,21,0.9,22,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.167,0.032
$KALMAN_X,-170963.5,231.1,107.9,61951.2,-207.2
$KALMAN_Y,485962.3,-58.7,-19.2,-700429.9,4087.2
$MHEAD_RNG_PITCHd_Wd,104.2,5522,-27.8,-9.804
$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,24,-0.93,-61.2,0.0,0.0,0,45,0.00,0.00,-18.92,0.000,2,0.000,0.000,67,1957,2250,0,0,0,0,0,0
$GC,47,-0.93,-141.9,3.0,-1.2,3,109,11.50,2.15,-43.92,0.000,4,0.257,0.056,2721,3307,3180,0,0,0,0,0,0
$GC,371,-0.93,-141.9,49.2,-16.7,58,377,0.05,2.08,0.00,0.000,6,0.239,0.031,2732,1962,3184,0,0,0,0,0,0
$GC,721,-0.93,-141.9,111.5,-17.9,114,724,0.00,1.60,0.00,0.000,4,0.000,0.037,2727,2983,3185,0,0,0,0,0,0
$GC,962,-0.93,-141.9,153.5,-16.9,135,968,0.00,1.60,0.00,0.000,6,0.000,0.031,2727,1946,3186,0,0,0,0,0,0
$GC,1288,-0.93,-141.9,212.5,-18.0,166,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1946,3186,0,0,0,0,0,0
$GC,1607,-0.93,-141.9,270.0,-17.7,196,1610,0.00,0.38,0.00,0.000,4,0.000,0.036,2726,2246,3186,0,0,0,0,0,0
$GC,1724,-0.93,-141.9,291.0,-17.2,206,1730,0.00,0.45,0.00,0.000,6,0.000,0.038,2726,1930,3186,0,0,0,0,0,0
$GC,2052,-0.93,-141.9,346.9,-18.4,237,2056,0.00,1.15,0.00,0.000,4,0.000,0.046,2726,1183,3187,0,0,0,0,0,0
$GC,2146,-0.93,-141.9,364.5,-16.9,245,2153,0.08,1.10,0.00,0.000,6,0.230,0.026,2735,1923,3187,0,0,0,0,0,0
$GC,2469,-0.93,-141.9,417.2,-16.2,271,2473,0.00,0.77,0.00,0.000,4,0.000,0.037,2733,2464,3187,0,0,0,0,0,0
$GC,2708,-0.93,-141.9,455.2,-15.5,281,2714,0.00,0.77,0.00,0.000,6,0.000,0.034,2734,1950,3187,0,0,0,0,0,0
$GC,3024,-0.93,-141.9,505.0,-16.4,297,3028,0.00,0.62,0.00,0.000,4,0.000,0.046,2734,1519,3187,0,0,0,0,0,0
$GC,3175,-0.93,-141.9,530.4,-16.8,303,3180,0.00,0.62,0.00,0.000,6,0.000,0.030,2733,1968,3187,0,0,0,0,0,0
$GC,3490,-0.93,-141.9,583.0,-16.7,319,3494,0.00,0.50,0.00,0.000,4,0.000,0.039,2730,2343,3187,0,0,0,0,0,0
$GC,3663,-0.93,-141.9,611.0,-16.2,326,3668,0.00,0.60,0.00,0.000,6,0.000,0.037,2730,1933,3187,0,0,0,0,0,0
$GC,3978,-0.93,-141.9,658.7,-14.9,342,3982,0.00,0.65,0.00,0.000,4,0.000,0.047,2730,1489,3187,0,0,0,0,0,0
$GC,4100,-0.93,-141.9,678.1,-15.7,347,4104,0.00,0.65,0.00,0.000,6,0.000,0.031,2728,1950,3187,0,0,0,0,0,0
$GC,4421,-0.93,-141.9,729.6,-16.5,363,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1950,3187,0,0,0,0,0,0
$GC,4731,-0.93,-141.9,781.9,-16.9,378,4734,0.00,0.47,0.00,0.000,4,0.000,0.041,2726,2315,3187,0,0,0,0,0,0
$GC,4903,-0.93,-141.9,810.8,-16.7,385,4908,0.00,0.52,0.00,0.000,6,0.000,0.037,2726,1951,3187,0,0,0,0,0,0
$GC,5218,-0.93,-141.9,861.1,-15.7,401,5222,0.00,0.47,0.00,0.000,4,0.000,0.050,2725,1615,3187,0,0,0,0,0,0
$GC,5443,-0.93,-141.9,897.0,-16.4,411,5447,0.00,0.45,0.00,0.000,6,0.000,0.034,2724,1960,3187,0,0,0,0,0,0
$GC,5775,-0.93,-141.9,947.1,-15.1,427,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1960,3187,0,0,0,0,0,0
$GC,6084,-0.93,-141.9,992.3,-14.4,442,6088,0.00,0.30,0.00,0.000,4,0.000,0.050,2723,2216,3187,0,0,0,0,0,0
$STATE,6140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6140,begin apogee
$GC,6144,-0.17,0.0,1000.5,14.9,444,6269,0.93,0.00,121.03,1.591,6,0.182,0.000,2980,1810,2600,0,0,0,0,0,0
$STATE,6270,end apogee,CONTROL_FINISHED_OK
$STATE,6270,begin climb
$GC,6271,0.93,141.9,1003.9,0.0,450,6406,1.12,0.00,131.05,1.546,6,0.106,0.000,3327,1810,2021,0,0,0,0,0,0
$GC,6701,0.93,141.9,932.9,18.4,471,6705,0.00,1.15,0.00,0.000,4,0.000,0.054,3333,1124,2009,0,0,0,0,0,0
$GC,6903,0.93,141.9,894.8,18.5,480,6907,0.00,1.02,0.00,0.000,6,0.000,0.027,3333,1794,2008,0,0,0,0,0,0
$GC,7235,0.93,141.9,835.2,18.0,496,7239,0.00,0.90,0.00,0.000,4,0.000,0.048,3335,1242,2006,0,0,0,0,0,0
$GC,7452,0.93,141.9,795.2,18.3,505,7458,0.00,0.88,0.00,0.000,6,0.000,0.027,3336,1828,2006,0,0,0,0,0,0
$GC,7768,0.93,141.9,737.0,18.8,521,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1829,2005,0,0,0,0,0,0
$GC,8077,0.93,141.9,678.8,18.9,536,8081,0.00,0.57,0.00,0.000,4,0.000,0.046,3337,1461,2004,0,0,0,0,0,0
$GC,8334,0.93,141.9,630.7,18.6,547,8338,0.00,0.50,0.00,0.000,6,0.000,0.034,3337,1820,2005,0,0,0,0,0,0
$GC,8655,0.93,141.9,571.8,18.5,563,8659,0.00,0.90,0.00,0.000,4,0.000,0.047,3340,1258,2004,0,0,0,0,0,0
$GC,8799,0.93,141.9,544.7,18.7,569,8804,0.00,0.80,0.00,0.000,6,0.000,0.028,3340,1791,2004,0,0,0,0,0,0
$GC,9121,0.93,141.9,485.5,18.4,585,9124,0.00,0.38,0.00,0.000,4,0.000,0.047,3339,1533,2004,0,0,0,0,0,0
$GC,9377,0.93,141.9,437.1,18.8,596,9382,0.00,0.40,0.00,0.000,6,0.000,0.035,3339,1819,2004,0,0,0,0,0,0
$GC,9704,0.93,141.9,378.8,18.2,617,9707,0.00,0.60,0.00,0.000,4,0.000,0.047,3341,1430,2004,0,0,0,0,0,0
$GC,9900,0.93,141.9,342.4,18.4,634,9906,0.00,0.55,0.00,0.000,6,0.000,0.032,3340,1826,2004,0,0,0,0,0,0
$GC,10227,0.93,141.9,285.3,17.6,665,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1826,2003,0,0,0,0,0,0
$GC,10544,0.93,141.9,228.5,17.5,695,10547,0.00,1.60,0.00,0.000,4,0.000,0.052,3346,838,2002,0,0,0,0,0,0
$GC,10750,0.93,141.9,191.9,18.0,713,10754,0.00,1.42,0.00,0.000,6,0.000,0.028,3346,1789,2002,0,0,0,0,0,0
$GC,11080,0.93,141.9,132.7,18.0,744,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1789,2002,0,0,0,0,0,0
$GC,11411,0.93,141.9,70.3,19.7,787,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1789,2002,0,0,0,0,0,0
$GC,11761,0.93,141.9,5.7,17.1,848,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1789,2003,0,0,0,0,0,0
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11780,begin surface coast
$FINISH,1.7,1.014080
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11821,18.80,0.891,0,0,1844,185.20
$SM_GC,3.46,0.00,0.00,18.80,0.000,0.000,0.891,77,1976,1844,-9.25,0.74,185.20
$IRIDIUM_FIX,-4247.91,825.29,171113,141410
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.5,8.8
$24V_AH,22.7,25.187
$10V_AH,10.3,20.996
$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,22.575,30.400,252.075,18.800,0.000,28.828,44.428,316.411,0.500,0.000,24.599,2154.045,7119.855,350.442,2620.787,112.364,33.375,1278.864,0.000,2177.849,0.000,5.465,0.000
$DEVICE_MAMPS,257.040,55.845,1591.200,891.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.747,613.892,564.799,57.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,50371,855
$CAP_FILE_SIZE,111598,0
$CFSIZE,2097086464,2075164672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181113,000547,-4300.887,830.660,16,1.2,16,-25.0