version: 66.07.10.p01
glider: 574
mission: 7
dive: 156
start: 11 18 113 14 47 12
data:
$ID,574
$MISSION,7
$DIVE,156
$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,-13865.04
$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,81
$R_STBD_OVSHOOT,71
$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,135
$GPS1,181113,143457,-4302.226,829.552,67,1.4,70,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-72.2
$GPS2,181113,144617,-4302.224,829.751,25,0.9,25,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.051,-0.162
$KALMAN_X,-167679.4,-163.5,2.3,61811.3,1300.4
$KALMAN_Y,500558.8,-651.0,-612.0,-713234.9,7104.3
$MHEAD_RNG_PITCHd_Wd,222.6,4133,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.93,-61.2,0.0,0.0,0,51,0.00,0.00,-25.67,0.000,2,0.000,0.000,66,1910,2398,0,0,0,0,0,0
$GC,54,-0.93,-129.7,3.1,-2.5,4,104,11.68,2.25,-32.72,0.000,4,0.262,0.058,2720,3315,3130,0,0,0,0,0,0
$GC,275,-0.93,-129.7,31.5,-17.5,41,281,0.05,2.05,0.00,0.000,6,0.244,0.032,2733,1984,3132,0,0,0,0,0,0
$GC,418,-0.93,-129.7,56.6,-15.5,66,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3133,0,0,0,0,0,0
$GC,768,-0.93,-129.7,111.9,-15.8,121,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3134,0,0,0,0,0,0
$GC,1085,-0.93,-129.7,163.4,-16.1,151,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3134,0,0,0,0,0,0
$GC,1407,-0.93,-129.7,217.3,-16.9,181,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3135,0,0,0,0,0,0
$GC,1732,-0.93,-129.7,270.0,-15.2,212,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3134,0,0,0,0,0,0
$GC,2051,-0.93,-129.7,320.8,-16.1,242,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1984,3135,0,0,0,0,0,0
$GC,2369,-0.93,-129.7,372.6,-16.4,272,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3135,0,0,0,0,0,0
$GC,2683,-0.93,-129.7,424.0,-16.1,295,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1984,3135,0,0,0,0,0,0
$GC,2993,-0.93,-129.7,474.5,-16.4,310,2996,0.00,0.95,0.00,0.000,4,0.000,0.047,2734,1365,3135,0,0,0,0,0,0
$GC,3176,-0.93,-129.7,505.1,-16.6,318,3180,0.00,0.85,0.00,0.000,6,0.000,0.028,2732,1950,3135,0,0,0,0,0,0
$GC,3503,-0.93,-129.7,555.6,-14.9,334,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1950,3135,0,0,0,0,0,0
$GC,3813,-0.93,-129.7,602.4,-14.7,349,3816,0.00,0.70,0.00,0.000,4,0.000,0.038,2728,2444,3136,0,0,0,0,0,0
$GC,4069,-0.93,-129.7,641.8,-15.1,360,4074,0.00,0.75,0.00,0.000,6,0.000,0.035,2729,1940,3136,0,0,0,0,0,0
$GC,4390,-0.93,-129.7,690.1,-14.7,376,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1940,3136,0,0,0,0,0,0
$GC,4699,-0.93,-129.7,737.1,-14.9,391,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1940,3136,0,0,0,0,0,0
$GC,5009,-0.93,-129.7,784.6,-15.1,406,5012,0.00,0.47,0.00,0.000,4,0.000,0.051,2729,1605,3135,0,0,0,0,0,0
$GC,5266,-0.93,-129.7,823.8,-14.9,417,5270,0.00,0.50,0.00,0.000,6,0.000,0.033,2727,1966,3135,0,0,0,0,0,0
$GC,5587,-0.93,-129.7,870.0,-14.1,433,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1967,3134,0,0,0,0,0,0
$GC,5896,-0.93,-129.7,911.6,-13.2,448,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1967,3134,0,0,0,0,0,0
$GC,6205,-0.93,-129.7,952.6,-13.3,463,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1967,3133,0,0,0,0,0,0
$GC,6515,-0.93,-129.7,992.9,-13.0,478,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1967,3133,0,0,0,0,0,0
$STATE,6578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6578,begin apogee
$GC,6582,-0.17,0.0,1000.8,12.7,481,6697,0.93,0.00,110.22,1.593,6,0.190,0.000,2976,1812,2599,0,0,0,0,0,0
$STATE,6698,end apogee,CONTROL_FINISHED_OK
$STATE,6698,begin climb
$GC,6699,0.93,129.7,1003.4,0.0,487,6827,1.17,1.23,118.47,1.542,4,0.107,0.054,3337,1141,2070,0,0,0,0,0,0
$GC,7000,0.93,129.7,954.6,20.2,501,7004,0.00,1.05,0.00,0.000,6,0.000,0.026,3337,1801,2062,0,0,0,0,0,0
$GC,7327,0.93,129.7,893.2,18.6,517,7331,0.00,0.68,0.00,0.000,4,0.000,0.045,3339,1382,2058,0,0,0,0,0,0
$GC,7583,0.93,129.7,845.3,18.7,528,7587,0.00,0.65,0.00,0.000,6,0.000,0.031,3339,1828,2057,0,0,0,0,0,0
$GC,7904,0.93,129.7,789.0,17.6,544,7908,0.00,1.02,0.00,0.000,4,0.000,0.047,3342,1196,2056,0,0,0,0,0,0
$GC,8161,0.93,129.7,743.0,18.7,555,8165,0.00,0.93,0.00,0.000,6,0.000,0.027,3342,1812,2056,0,0,0,0,0,0
$GC,8482,0.93,129.7,687.5,17.3,571,8486,0.00,0.90,0.00,0.000,4,0.000,0.048,3345,1253,2055,0,0,0,0,0,0
$GC,8731,0.93,129.7,642.7,18.1,582,8735,0.00,0.82,0.00,0.000,6,0.000,0.028,3345,1816,2054,0,0,0,0,0,0
$GC,9062,0.93,129.7,584.3,17.2,598,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1816,2053,0,0,0,0,0,0
$GC,9372,0.93,129.7,530.8,17.7,613,9375,0.00,0.90,0.00,0.000,4,0.000,0.049,3348,1254,2053,0,0,0,0,0,0
$GC,9628,0.93,129.7,485.6,18.2,624,9633,0.00,0.82,0.00,0.000,6,0.000,0.027,3348,1808,2053,0,0,0,0,0,0
$GC,9950,0.93,129.7,431.4,16.6,640,9953,0.00,0.82,0.00,0.000,4,0.000,0.047,3350,1285,2053,0,0,0,0,0,0
$GC,10156,0.93,129.7,396.3,17.0,649,10162,0.00,0.80,0.00,0.000,6,0.000,0.028,3350,1824,2052,0,0,0,0,0,0
$GC,10481,0.93,129.7,338.6,18.3,680,10484,0.00,0.52,0.00,0.000,4,0.000,0.045,3352,1476,2052,0,0,0,0,0,0
$GC,10720,0.93,129.7,296.0,18.4,701,10724,0.00,0.45,0.00,0.000,6,0.000,0.034,3352,1826,2052,0,0,0,0,0,0
$GC,11050,0.93,129.7,238.1,16.7,732,11053,0.00,0.73,0.00,0.000,4,0.000,0.046,3354,1360,2052,0,0,0,0,0,0
$GC,11289,0.93,129.7,197.1,17.7,753,11293,0.03,0.62,0.00,0.000,6,0.231,0.030,3347,1822,2052,0,0,0,0,0,0
$GC,11618,0.93,129.7,139.8,16.7,784,11622,0.00,0.47,0.00,0.000,4,0.000,0.045,3348,1501,2052,0,0,0,0,0,0
$GC,11878,0.93,129.7,94.4,17.5,809,11883,0.00,0.38,0.00,0.000,6,0.000,0.035,3348,1786,2052,0,0,0,0,0,0
$GC,12224,0.93,129.7,33.8,16.3,870,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1786,2052,0,0,0,0,0,0
$GC,12370,0.93,129.7,9.0,17.1,895,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1786,2052,0,0,0,0,0,0
$STATE,12413,end climb,SURFACE_DEPTH_REACHED
$STATE,12413,begin surface coast
$FINISH,1.7,1.026521
$STATE,12432,end surface coast,CONTROL_FINISHED_OK
$STATE,12432,begin surface
$SM_CCo,12448,24.98,0.883,0,0,1844,185.20
$SM_GC,2.58,0.00,0.00,24.98,0.000,0.000,0.883,74,1954,1844,-9.26,0.11,185.20
$IRIDIUM_FIX,-4244.98,831.12,181113,090930
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,10.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.8,7.9
$24V_AH,22.8,25.749
$10V_AH,10.2,21.406
$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,22.650,22.725,228.700,24.975,0.000,58.564,126.939,309.196,0.500,0.000,27.938,2262.793,7689.030,304.809,2783.087,113.744,33.366,1256.377,0.000,2235.775,0.000,5.465,0.000
$DEVICE_MAMPS,261.630,67.320,1592.730,882.810,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.070,636.801,597.803,59.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,50324,905
$CAP_FILE_SIZE,112584,0
$CFSIZE,2097086464,2074640384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181113,181625,-4302.602,829.468,44,0.8,44,-25.0