version: 66.07.10.p01
glider: 574
mission: 7
dive: 159
start: 11 19 113 2 58 48
data:
$ID,574
$MISSION,7
$DIVE,159
$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,-13873.261
$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,57
$R_STBD_OVSHOOT,49
$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,138
$GPS1,191113,024622,-4303.257,829.015,62,1.0,62,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-72.7
$GPS2,191113,025753,-4303.200,829.116,22,0.9,22,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.016,-0.169
$KALMAN_X,-165559.3,-152.5,-69.4,58871.1,1394.3
$KALMAN_Y,509051.5,-679.6,-661.4,-723450.9,7719.9
$MHEAD_RNG_PITCHd_Wd,210.3,6046,-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,-19.55,0.000,2,0.000,0.000,66,1956,2255,0,0,0,0,0,0
$GC,47,-0.93,-121.7,3.0,-3.3,3,104,11.77,1.02,-38.72,0.000,4,0.263,0.063,2731,2644,3097,0,0,0,0,0,0
$GC,297,-0.93,-121.7,37.5,-17.9,45,302,0.00,1.05,0.00,0.000,6,0.000,0.034,2731,1969,3101,0,0,0,0,0,0
$GC,441,-0.93,-121.7,61.0,-17.1,70,446,0.00,0.60,0.00,0.000,4,0.000,0.045,2731,1556,3102,0,0,0,0,0,0
$GC,639,-0.93,-121.7,94.0,-16.7,105,646,0.00,0.57,0.00,0.000,6,0.000,0.031,2730,1979,3102,0,0,0,0,0,0
$GC,967,-0.93,-121.7,149.5,-17.3,139,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1979,3103,0,0,0,0,0,0
$GC,1289,-0.93,-121.7,205.4,-17.6,169,1292,0.00,0.50,0.00,0.000,4,0.000,0.040,2727,2356,3103,0,0,0,0,0,0
$GC,1548,-0.93,-121.7,253.2,-17.7,192,1552,0.00,0.60,0.00,0.000,6,0.000,0.036,2727,1932,3104,0,0,0,0,0,0
$GC,1878,-0.93,-121.7,310.1,-16.9,223,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3103,0,0,0,0,0,0
$GC,2201,-0.93,-121.7,361.5,-16.0,253,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3104,0,0,0,0,0,0
$GC,2534,-0.93,-121.7,412.8,-15.1,281,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3104,0,0,0,0,0,0
$GC,2843,-0.93,-121.7,460.4,-15.4,296,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3104,0,0,0,0,0,0
$GC,3152,-0.93,-121.7,508.6,-15.7,311,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3104,0,0,0,0,0,0
$GC,3462,-0.93,-121.7,556.8,-15.4,326,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3104,0,0,0,0,0,0
$GC,3771,-0.93,-121.7,604.2,-15.0,341,3775,0.00,0.45,0.00,0.000,4,0.000,0.049,2727,1611,3104,0,0,0,0,0,0
$GC,3853,-0.93,-121.7,617.4,-14.7,344,3858,0.00,0.47,0.00,0.000,6,0.000,0.033,2725,1960,3104,0,0,0,0,0,0
$GC,4168,-0.93,-121.7,665.5,-15.5,360,4172,0.00,0.32,0.00,0.000,4,0.000,0.045,2723,2232,3105,0,0,0,0,0,0
$GC,4425,-0.93,-121.7,703.4,-14.2,371,4430,0.05,0.40,0.00,0.000,6,0.247,0.040,2732,1939,3106,0,0,0,0,0,0
$GC,4745,-0.93,-121.7,747.3,-13.8,387,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1939,3105,0,0,0,0,0,0
$GC,5055,-0.93,-121.7,787.9,-12.8,402,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1939,3105,0,0,0,0,0,0
$GC,5364,-0.93,-121.7,826.6,-12.5,417,5368,0.00,0.57,0.00,0.000,4,0.000,0.049,2732,1543,3105,0,0,0,0,0,0
$GC,5604,-0.93,-121.7,858.5,-12.5,427,5609,0.00,0.57,0.00,0.000,6,0.000,0.031,2731,1958,3105,0,0,0,0,0,0
$GC,5919,-0.93,-121.7,901.6,-13.8,443,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1958,3104,0,0,0,0,0,0
$GC,6229,-0.93,-121.7,946.8,-15.2,458,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1958,3105,0,0,0,0,0,0
$GC,6538,-0.93,-121.7,993.6,-15.0,473,6542,0.00,0.65,0.00,0.000,4,0.000,0.040,2728,2417,3104,0,0,0,0,0,0
$STATE,6586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6586,begin apogee
$GC,6591,-0.17,0.0,1000.5,15.1,475,6699,0.93,0.00,104.15,1.571,6,0.184,0.000,2980,1825,2600,0,0,0,0,0,0
$STATE,6699,end apogee,CONTROL_FINISHED_OK
$STATE,6699,begin climb
$GC,6701,0.93,121.7,1006.1,0.0,480,6822,1.12,1.38,111.12,1.526,4,0.107,0.051,3333,1069,2102,0,0,0,0,0,0
$GC,6984,0.93,121.7,969.9,16.2,493,6989,0.00,1.15,0.00,0.000,6,0.000,0.026,3333,1792,2093,0,0,0,0,0,0
$GC,7312,0.93,121.7,917.2,16.4,509,7315,0.00,0.38,0.00,0.000,4,0.000,0.045,3334,1544,2091,0,0,0,0,0,0
$GC,7568,0.93,121.7,872.4,17.0,520,7572,0.00,0.40,0.00,0.000,6,0.000,0.034,3334,1828,2090,0,0,0,0,0,0
$GC,7889,0.93,121.7,816.9,17.5,536,7893,0.00,1.00,0.00,0.000,4,0.000,0.049,3338,1211,2088,0,0,0,0,0,0
$GC,8146,0.93,121.7,770.8,18.6,547,8150,0.00,0.90,0.00,0.000,6,0.000,0.028,3338,1814,2087,0,0,0,0,0,0
$GC,8467,0.93,121.7,713.5,17.8,563,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1814,2086,0,0,0,0,0,0
$GC,8777,0.93,121.7,659.2,17.3,578,8780,0.00,0.40,0.00,0.000,4,0.000,0.044,3339,1539,2086,0,0,0,0,0,0
$GC,8994,0.93,121.7,620.2,17.9,587,8999,0.00,0.38,0.00,0.000,6,0.000,0.034,3339,1810,2085,0,0,0,0,0,0
$GC,9309,0.93,121.7,565.9,17.0,603,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1810,2083,0,0,0,0,0,0
$GC,9619,0.93,121.7,513.0,17.1,618,9623,0.00,1.30,0.00,0.000,4,0.000,0.050,3344,1006,2084,0,0,0,0,0,0
$GC,9866,0.93,121.7,470.5,17.9,629,9870,0.00,1.17,0.00,0.000,6,0.000,0.026,3344,1798,2083,0,0,0,0,0,0
$GC,10198,0.93,121.7,414.5,16.7,645,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1798,2083,0,0,0,0,0,0
$GC,10513,0.93,121.7,360.8,17.0,670,10517,0.00,0.52,0.00,0.000,4,0.000,0.044,3345,1454,2083,0,0,0,0,0,0
$GC,10776,0.93,121.7,315.4,17.8,693,10779,0.00,0.50,0.00,0.000,6,0.000,0.032,3345,1840,2083,0,0,0,0,0,0
$GC,11105,0.93,121.7,256.9,17.6,724,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1840,2083,0,0,0,0,0,0
$GC,11425,0.93,121.7,199.8,18.1,754,11428,0.00,1.48,0.00,0.000,4,0.000,0.050,3351,923,2083,0,0,0,0,0,0
$GC,11641,0.93,121.7,160.6,18.0,773,11645,0.00,1.27,0.00,0.000,6,0.000,0.026,3350,1781,2082,0,0,0,0,0,0
$GC,11971,0.93,121.7,101.3,17.9,804,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1781,2082,0,0,0,0,0,0
$GC,12311,0.93,121.7,44.4,16.4,863,12316,0.00,0.47,0.00,0.000,4,0.000,0.046,3352,1463,2082,0,0,0,0,0,0
$GC,12527,0.93,121.7,9.2,15.5,900,12534,0.00,0.47,0.00,0.000,6,0.000,0.034,3352,1822,2082,0,0,0,0,0,0
$STATE,12564,end climb,SURFACE_DEPTH_REACHED
$STATE,12564,begin surface coast
$FINISH,1.6,1.003350
$STATE,12584,end surface coast,CONTROL_FINISHED_OK
$STATE,12584,begin surface
$SM_CCo,12600,28.52,0.859,0,0,1845,185.20
$SM_GC,2.48,0.00,0.00,28.52,0.000,0.000,0.859,74,1960,1845,-9.26,0.25,185.20
$IRIDIUM_FIX,-4250.85,837.82,191113,020201
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.5,8.7
$24V_AH,22.9,26.145
$10V_AH,10.2,21.690
$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,22.775,22.000,215.275,28.525,0.000,61.084,121.480,322.571,0.500,0.000,25.035,2258.366,7910.084,296.170,2732.091,123.649,33.367,1224.832,0.000,2182.515,0.000,5.467,0.000
$DEVICE_MAMPS,263.160,63.495,1571.310,859.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.050,637.008,601.721,59.483,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,53598,909
$CAP_FILE_SIZE,111806,0
$CFSIZE,2097086464,2074247168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191113,063053,-4304.023,829.268,61,0.8,61,-25.0