version: 66.07.10.p01
glider: 574
mission: 7
dive: 163
start: 11 19 113 20 37 42
data:
$ID,574
$MISSION,7
$DIVE,163
$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,-13883.743
$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,55
$R_STBD_OVSHOOT,76
$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,142
$GPS1,191113,202828,-4302.568,828.348,71,0.8,71,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-72.3
$GPS2,191113,203647,-4302.532,828.399,31,1.3,31,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.049,-0.162
$KALMAN_X,-159144.3,-448.3,-374.5,52062.0,2696.8
$KALMAN_Y,520344.1,-196.2,-571.6,-734086.0,6226.2
$MHEAD_RNG_PITCHd_Wd,221.9,5167,-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,25,-0.93,-61.2,0.0,0.0,0,58,0.00,0.00,-31.55,0.000,2,0.000,0.000,67,1957,2524,0,0,0,0,0,0
$GC,60,-0.93,-140.3,3.2,-1.3,5,104,11.65,0.00,-29.30,0.000,6,0.262,0.000,2729,1956,3173,0,0,0,0,0,0
$GC,153,-0.93,-140.3,10.3,-18.1,20,160,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1955,3178,0,0,0,0,0,0
$GC,209,-0.93,-140.3,21.0,-18.9,29,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1955,3178,0,0,0,0,0,0
$GC,352,-0.93,-140.3,51.2,-20.7,54,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1955,3179,0,0,0,0,0,0
$GC,697,-0.93,-140.3,117.6,-18.4,107,701,0.00,0.40,0.00,0.000,4,0.000,0.050,2729,1673,3180,0,0,0,0,0,0
$GC,935,-0.93,-140.3,160.3,-18.0,128,938,0.00,0.35,0.00,0.000,6,0.000,0.038,2728,1951,3181,0,0,0,0,0,0
$GC,1265,-0.93,-140.3,217.1,-16.8,159,1268,0.00,0.45,0.00,0.000,4,0.000,0.042,2726,2294,3182,0,0,0,0,0,0
$GC,1517,-0.93,-140.3,258.5,-15.9,181,1522,0.00,0.50,0.00,0.000,6,0.000,0.037,2726,1946,3182,0,0,0,0,0,0
$GC,1841,-0.93,-140.3,310.9,-16.4,212,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1946,3182,0,0,0,0,0,0
$GC,2161,-0.93,-140.3,363.6,-17.2,242,2164,0.00,0.35,0.00,0.000,4,0.000,0.050,2726,1687,3183,0,0,0,0,0,0
$GC,2380,-0.93,-140.3,401.0,-16.7,261,2386,0.00,0.35,0.00,0.000,6,0.000,0.037,2726,1958,3183,0,0,0,0,0,0
$GC,2696,-0.93,-140.3,455.1,-17.4,277,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1958,3183,0,0,0,0,0,0
$GC,3005,-0.93,-140.3,510.4,-17.9,292,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1959,3183,0,0,0,0,0,0
$GC,3314,-0.93,-140.3,563.1,-16.8,307,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1959,3183,0,0,0,0,0,0
$GC,3624,-0.93,-140.3,613.8,-16.4,322,3627,0.00,0.40,0.00,0.000,4,0.000,0.043,2724,2268,3183,0,0,0,0,0,0
$GC,3871,-0.93,-140.3,653.8,-16.0,333,3875,0.00,0.45,0.00,0.000,6,0.000,0.040,2724,1939,3183,0,0,0,0,0,0
$GC,4202,-0.93,-140.3,705.1,-15.3,349,4204,0.03,0.00,0.00,0.000,6,0.289,0.000,2731,1939,3183,0,0,0,0,0,0
$GC,4511,-0.93,-140.3,751.6,-15.1,364,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1939,3183,0,0,0,0,0,0
$GC,4821,-0.93,-140.3,799.2,-15.4,379,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1939,3182,0,0,0,0,0,0
$GC,5130,-0.93,-140.3,845.8,-15.1,394,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1939,3182,0,0,0,0,0,0
$GC,5439,-0.93,-140.3,890.2,-14.3,409,5443,0.00,0.55,0.00,0.000,4,0.000,0.049,2733,1558,3182,0,0,0,0,0,0
$GC,5657,-0.93,-140.3,921.5,-14.4,418,5662,0.00,0.55,0.00,0.000,6,0.000,0.031,2733,1956,3182,0,0,0,0,0,0
$GC,5972,-0.93,-140.3,966.1,-14.2,434,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1955,3182,0,0,0,0,0,0
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6225,-0.17,0.0,1000.5,13.7,446,6349,0.90,0.00,120.55,1.583,6,0.188,0.000,2976,1814,2600,0,0,0,0,0,0
$STATE,6350,end apogee,CONTROL_FINISHED_OK
$STATE,6350,begin climb
$GC,6352,0.93,140.3,1004.1,0.0,452,6486,1.20,0.00,130.30,1.525,6,0.107,0.000,3338,1814,2027,0,0,0,0,0,0
$GC,6789,0.93,140.3,933.6,18.0,474,6793,0.00,1.65,0.00,0.000,4,0.000,0.054,3346,814,2017,0,0,0,0,0,0
$GC,6934,0.93,140.3,906.5,18.9,480,6939,0.00,1.55,0.00,0.000,6,0.000,0.025,3345,1794,2014,0,0,0,0,0,0
$GC,7256,0.93,140.3,847.4,18.1,496,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1794,2013,0,0,0,0,0,0
$GC,7565,0.93,140.3,789.5,19.0,511,7569,0.00,0.75,0.00,0.000,4,0.000,0.047,3348,1329,2013,0,0,0,0,0,0
$GC,7732,0.93,140.3,757.9,19.7,518,7736,0.00,0.75,0.00,0.000,6,0.000,0.028,3348,1841,2012,0,0,0,0,0,0
$GC,8053,0.93,140.3,698.2,18.6,534,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1841,2011,0,0,0,0,0,0
$GC,8362,0.93,140.3,641.8,18.4,549,8366,0.00,1.65,0.00,0.000,4,0.000,0.054,3354,803,2011,0,0,0,0,0,0
$GC,8501,0.93,140.3,615.9,17.8,555,8506,0.03,1.52,0.00,0.000,6,0.216,0.027,3346,1798,2011,0,0,0,0,0,0
$GC,8828,0.93,140.3,560.2,17.0,571,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1798,2010,0,0,0,0,0,0
$GC,9137,0.93,140.3,505.9,17.5,586,9141,0.00,0.45,0.00,0.000,4,0.000,0.047,3346,1493,2010,0,0,0,0,0,0
$GC,9354,0.93,140.3,465.9,19.5,595,9360,0.00,0.47,0.00,0.000,6,0.000,0.034,3346,1845,2010,0,0,0,0,0,0
$GC,9670,0.93,140.3,408.4,18.2,611,9674,0.00,0.90,0.00,0.000,4,0.000,0.048,3349,1279,2009,0,0,0,0,0,0
$GC,9928,0.93,140.3,361.4,18.1,631,9932,0.00,0.73,0.00,0.000,6,0.000,0.029,3349,1788,2009,0,0,0,0,0,0
$GC,10258,0.93,140.3,302.0,18.5,662,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1788,2010,0,0,0,0,0,0
$GC,10577,0.93,140.3,244.0,18.4,692,10581,0.00,0.52,0.00,0.000,4,0.000,0.044,3350,1444,2010,0,0,0,0,0,0
$GC,10837,0.93,140.3,195.1,19.6,715,10841,0.00,0.50,0.00,0.000,6,0.000,0.033,3351,1826,2010,0,0,0,0,0,0
$GC,11167,0.93,140.3,134.0,18.2,746,11171,0.00,0.77,0.00,0.000,4,0.000,0.046,3353,1331,2009,0,0,0,0,0,0
$GC,11429,0.93,140.3,87.1,17.4,775,11434,0.00,0.65,0.00,0.000,6,0.000,0.029,3352,1804,2009,0,0,0,0,0,0
$GC,11775,0.93,140.3,26.3,18.5,836,11782,0.00,0.47,0.00,0.000,4,0.000,0.044,3353,1483,2010,0,0,0,0,0,0
$STATE,11893,end climb,SURFACE_DEPTH_REACHED
$STATE,11893,begin surface coast
$FINISH,1.6,1.026608
$STATE,11907,end surface coast,CONTROL_FINISHED_OK
$STATE,11907,begin surface
$SM_CCo,11923,19.58,0.859,0,0,1844,185.20
$SM_GC,3.05,0.00,0.00,19.58,0.000,0.000,0.859,86,1982,1844,-9.22,0.90,185.20
$IRIDIUM_FIX,-4244.98,831.12,191113,141429
$TT8_MAMPS,0.026964
$HUMID,63.46
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.40
$XPDR_PINGS,0
$24V_AH,22.7,26.696
$10V_AH,10.3,22.090
$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,22.925,18.525,250.850,19.575,0.000,29.998,22.341,310.570,0.500,0.000,33.777,2123.491,7423.745,342.969,2435.045,113.545,33.362,1200.038,0.000,2024.067,0.000,5.323,0.000
$DEVICE_MAMPS,289.170,54.315,1582.785,859.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.015,587.588,569.727,52.802,0.000,0.000,0.000,0.000,0.000,0.000
$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,50278,858
$CAP_FILE_SIZE,104363,0
$CFSIZE,2097086464,2073722880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191113,235758,-4302.785,827.873,37,0.9,38,-25.0