version: 66.07.10.p01
glider: 574
mission: 7
dive: 157
start: 11 18 113 18 24 30
data:
$ID,574
$MISSION,7
$DIVE,157
$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,-13868.027
$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,41
$R_STBD_OVSHOOT,62
$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,136
$GPS1,181113,181625,-4302.602,829.468,44,0.8,44,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-74.9
$GPS2,181113,182335,-4302.575,829.603,16,1.5,16,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.072,-0.154
$KALMAN_X,-166932.2,-13.2,-81.3,60791.5,1668.2
$KALMAN_Y,502740.9,-813.0,-242.6,-716272.1,7122.6
$MHEAD_RNG_PITCHd_Wd,230.1,4799,-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,-61.2,0.0,0.0,0,45,0.00,0.00,-19.40,0.000,2,0.000,0.000,67,1953,2251,0,0,0,0,0,0
$GC,47,-0.93,-130.4,3.1,-2.4,3,109,11.98,1.62,-41.60,0.000,4,0.270,0.058,2726,2969,3131,0,0,0,0,0,0
$GC,209,-0.93,-130.4,21.2,-17.7,30,216,0.00,1.60,0.00,0.000,6,0.000,0.034,2726,1950,3134,0,0,0,0,0,0
$GC,356,-0.93,-130.4,46.6,-17.7,55,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1950,3134,0,0,0,0,0,0
$GC,707,-0.93,-130.4,108.2,-17.6,113,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1950,3135,0,0,0,0,0,0
$GC,1024,-0.93,-130.4,163.3,-16.8,143,1028,0.00,0.40,0.00,0.000,4,0.000,0.036,2725,2268,3136,0,0,0,0,0,0
$GC,1285,-0.93,-130.4,207.2,-16.2,166,1289,0.00,0.47,0.00,0.000,6,0.000,0.038,2725,1930,3136,0,0,0,0,0,0
$GC,1618,-0.93,-130.4,261.7,-16.0,197,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1930,3137,0,0,0,0,0,0
$GC,1943,-0.93,-130.4,311.6,-15.5,228,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1930,3137,0,0,0,0,0,0
$GC,2262,-0.93,-130.4,361.4,-16.4,258,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1930,3138,0,0,0,0,0,0
$GC,2578,-0.93,-130.4,414.1,-16.7,284,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1930,3138,0,0,0,0,0,0
$GC,2887,-0.93,-130.4,466.6,-17.5,299,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1930,3138,0,0,0,0,0,0
$GC,3196,-0.93,-130.4,518.3,-16.7,314,3200,0.00,0.40,0.00,0.000,4,0.000,0.051,2725,1640,3140,0,0,0,0,0,0
$GC,3414,-0.93,-130.4,555.3,-16.7,323,3419,0.00,0.45,0.00,0.000,6,0.000,0.034,2724,1977,3140,0,0,0,0,0,0
$GC,3729,-0.93,-130.4,607.1,-16.1,339,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1978,3140,0,0,0,0,0,0
$GC,4038,-0.93,-130.4,656.3,-15.9,354,4040,0.03,0.00,0.00,0.000,6,0.316,0.000,2731,1978,3140,0,0,0,0,0,0
$GC,4348,-0.93,-130.4,703.8,-15.3,369,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1978,3140,0,0,0,0,0,0
$GC,4657,-0.93,-130.4,750.9,-15.0,384,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1978,3139,0,0,0,0,0,0
$GC,4966,-0.93,-130.4,794.8,-13.7,399,4970,0.00,0.32,0.00,0.000,4,0.000,0.044,2731,2248,3139,0,0,0,0,0,0
$GC,5161,-0.93,-130.4,821.3,-13.7,407,5167,0.00,0.43,0.00,0.000,6,0.000,0.040,2731,1939,3139,0,0,0,0,0,0
$GC,5477,-0.93,-130.4,863.1,-13.3,423,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1939,3139,0,0,0,0,0,0
$GC,5786,-0.93,-130.4,904.4,-13.4,438,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1939,3138,0,0,0,0,0,0
$GC,6096,-0.93,-130.4,945.9,-13.5,453,6099,0.00,0.68,0.00,0.000,4,0.000,0.048,2731,1483,3138,0,0,0,0,0,0
$GC,6330,-0.93,-130.4,978.8,-13.7,463,6334,0.00,0.65,0.00,0.000,6,0.000,0.031,2728,1938,3138,0,0,0,0,0,0
$STATE,6487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6487,begin apogee
$GC,6491,-0.17,0.0,1000.2,14.0,471,6606,0.93,0.00,110.90,1.593,6,0.189,0.000,2978,1800,2599,0,0,0,0,0,0
$STATE,6607,end apogee,CONTROL_FINISHED_OK
$STATE,6607,begin climb
$GC,6609,0.93,130.4,1004.4,0.0,477,6736,1.17,0.82,119.40,1.544,4,0.106,0.050,3338,1347,2068,0,0,0,0,0,0
$GC,6937,0.93,130.4,956.2,16.5,492,6942,0.00,0.70,0.00,0.000,6,0.000,0.027,3338,1798,2058,0,0,0,0,0,0
$GC,7259,0.93,130.4,903.5,16.5,508,7262,0.00,0.70,0.00,0.000,4,0.000,0.045,3340,1369,2055,0,0,0,0,0,0
$GC,7510,0.93,130.4,860.8,17.5,519,7514,0.00,0.68,0.00,0.000,6,0.000,0.029,3341,1836,2054,0,0,0,0,0,0
$GC,7837,0.93,130.4,802.8,18.2,535,7841,0.00,0.75,0.00,0.000,4,0.000,0.046,3342,1366,2052,0,0,0,0,0,0
$GC,8093,0.93,130.4,755.3,18.9,546,8097,0.00,0.65,0.00,0.000,6,0.000,0.029,3342,1817,2052,0,0,0,0,0,0
$GC,8414,0.93,130.4,697.1,18.3,562,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1818,2051,0,0,0,0,0,0
$GC,8724,0.93,130.4,640.9,17.7,577,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1817,2051,0,0,0,0,0,0
$GC,9033,0.93,130.4,587.6,17.0,592,9037,0.00,0.68,0.00,0.000,4,0.000,0.046,3344,1386,2051,0,0,0,0,0,0
$GC,9289,0.93,130.4,541.8,18.0,603,9293,0.00,0.60,0.00,0.000,6,0.000,0.029,3344,1796,2051,0,0,0,0,0,0
$GC,9610,0.93,130.4,485.5,17.9,619,9614,0.00,1.52,0.00,0.000,4,0.000,0.052,3350,859,2050,0,0,0,0,0,0
$GC,9772,0.93,130.4,455.4,19.2,626,9776,0.00,1.42,0.00,0.000,6,0.000,0.026,3350,1809,2050,0,0,0,0,0,0
$GC,10089,0.93,130.4,396.8,19.1,642,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1809,2050,0,0,0,0,0,0
$GC,10410,0.93,130.4,337.3,18.1,672,10413,0.00,0.45,0.00,0.000,4,0.000,0.044,3351,1506,2050,0,0,0,0,0,0
$GC,10670,0.93,130.4,289.2,17.5,695,10673,0.00,0.43,0.00,0.000,6,0.000,0.034,3351,1833,2049,0,0,0,0,0,0
$GC,10999,0.93,130.4,231.5,17.0,726,11003,0.00,1.42,0.00,0.000,4,0.000,0.050,3357,952,2049,0,0,0,0,0,0
$GC,11158,0.93,130.4,203.9,17.8,740,11163,0.03,1.25,0.00,0.000,6,0.237,0.027,3350,1797,2049,0,0,0,0,0,0
$GC,11488,0.93,130.4,148.7,17.3,771,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1798,2049,0,0,0,0,0,0
$GC,11810,0.93,130.4,93.8,17.1,804,11817,0.00,0.57,0.00,0.000,4,0.000,0.045,3351,1423,2049,0,0,0,0,0,0
$GC,12033,0.93,130.4,55.1,16.1,843,12040,0.00,0.55,0.00,0.000,6,0.000,0.031,3351,1834,2049,0,0,0,0,0,0
$STATE,12335,end climb,SURFACE_DEPTH_REACHED
$STATE,12335,begin surface coast
$FINISH,1.8,1.026609
$STATE,12355,end surface coast,CONTROL_FINISHED_OK
$STATE,12355,begin surface
$SM_CCo,12371,24.75,0.885,0,0,1844,185.20
$SM_GC,2.95,0.00,0.00,24.75,0.000,0.000,0.885,75,1966,1844,-9.26,0.45,185.20
$IRIDIUM_FIX,-4247.91,828.64,181113,141424
$TT8_MAMPS,0.026964
$HUMID,64.01
$INTERNAL_PRESSURE,9.26264
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,22.8,25.875
$10V_AH,10.3,21.489
$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,23.050,20.450,230.300,24.750,0.000,27.310,47.384,249.327,0.500,0.000,19.687,2226.902,7676.462,304.277,2514.191,110.275,33.360,1221.997,0.000,2151.780,0.000,5.320,0.000
$DEVICE_MAMPS,315.945,94.860,1592.730,885.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.164,627.080,598.588,57.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,50256,898
$CAP_FILE_SIZE,107572,0
$CFSIZE,2097086464,2074509312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181113,215251,-4302.410,828.953,55,1.8,70,-25.0