version: 66.07.10.p01
glider: 574
mission: 7
dive: 165
start: 11 20 113 4 2 43
data:
$ID,574
$MISSION,7
$DIVE,165
$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,-13890.13
$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,43
$R_STBD_OVSHOOT,75
$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,144
$GPS1,201113,035400,-4303.269,828.284,62,0.9,62,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-73.3
$GPS2,201113,040148,-4303.168,828.379,31,1.4,31,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.115,-0.125
$KALMAN_X,-157686.0,-773.5,-571.7,51097.9,4255.5
$KALMAN_Y,526214.0,-1071.5,-477.7,-740354.1,8015.3
$MHEAD_RNG_PITCHd_Wd,247.7,6265,-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,-25.48,0.000,2,0.000,0.000,65,1968,2380,0,0,0,0,0,0
$GC,53,-0.93,-143.7,3.1,-1.0,4,103,11.60,0.00,-30.77,0.000,6,0.259,0.000,2730,1966,3185,0,0,0,0,0,0
$GC,152,-0.93,-143.7,14.2,-18.5,20,159,0.00,0.80,0.00,0.000,4,0.000,0.044,2730,1453,3187,0,0,0,0,0,0
$GC,415,-0.93,-143.7,70.5,-20.2,66,422,0.00,0.70,0.00,0.000,6,0.000,0.031,2728,1939,3189,0,0,0,0,0,0
$GC,750,-0.93,-143.7,135.2,-19.0,110,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1939,3189,0,0,0,0,0,0
$GC,1069,-0.93,-143.7,194.8,-18.4,140,1073,0.00,1.20,0.00,0.000,4,0.000,0.040,2722,2729,3190,0,0,0,0,0,0
$GC,1164,-0.93,-143.7,212.6,-18.6,148,1173,0.05,1.23,0.00,0.000,6,0.239,0.032,2732,1948,3191,0,0,0,0,0,0
$GC,1491,-0.93,-143.7,269.0,-16.6,179,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1947,3191,0,0,0,0,0,0
$GC,1811,-0.93,-143.7,321.2,-16.5,209,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1948,3192,0,0,0,0,0,0
$GC,2127,-0.93,-143.7,373.5,-17.3,239,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1948,3192,0,0,0,0,0,0
$GC,2451,-0.93,-143.7,429.1,-16.9,262,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1948,3192,0,0,0,0,0,0
$GC,2760,-0.93,-143.7,482.4,-17.1,277,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1948,3192,0,0,0,0,0,0
$GC,3070,-0.93,-143.7,534.7,-16.6,292,3073,0.00,0.57,0.00,0.000,4,0.000,0.047,2734,1550,3193,0,0,0,0,0,0
$GC,3163,-0.93,-143.7,550.5,-16.4,296,3168,0.00,0.57,0.00,0.000,6,0.000,0.031,2734,1966,3193,0,0,0,0,0,0
$GC,3490,-0.93,-143.7,604.1,-15.9,312,3494,0.00,1.40,0.00,0.000,4,0.000,0.041,2727,2870,3193,0,0,0,0,0,0
$GC,3590,-0.93,-143.7,620.1,-15.2,316,3595,0.00,1.45,0.00,0.000,6,0.000,0.032,2727,1932,3192,0,0,0,0,0,0
$GC,3911,-0.93,-143.7,672.8,-16.4,332,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3192,0,0,0,0,0,0
$GC,4222,-0.93,-143.7,722.8,-16.1,347,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3192,0,0,0,0,0,0
$GC,4530,-0.93,-143.7,771.6,-15.8,362,4534,0.00,0.47,0.00,0.000,4,0.000,0.048,2727,1594,3192,0,0,0,0,0,0
$GC,4665,-0.93,-143.7,793.0,-16.2,368,4668,0.00,0.47,0.00,0.000,6,0.000,0.034,2725,1953,3192,0,0,0,0,0,0
$GC,4997,-0.93,-143.7,844.4,-15.3,384,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1953,3192,0,0,0,0,0,0
$GC,5306,-0.93,-143.7,890.5,-14.8,399,5310,0.00,1.00,0.00,0.000,4,0.000,0.040,2721,2622,3192,0,0,0,0,0,0
$GC,5433,-0.93,-143.7,910.0,-15.1,404,5439,0.08,1.05,0.00,0.000,6,0.214,0.033,2735,1940,3192,0,0,0,0,0,0
$GC,5749,-0.93,-143.7,956.0,-15.0,420,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1939,3192,0,0,0,0,0,0
$STATE,6061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6061,begin apogee
$GC,6066,-0.17,0.0,1000.0,14.3,435,6194,0.90,0.00,124.40,1.718,6,0.187,0.000,2979,1787,2600,0,0,0,0,0,0
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6196,0.93,143.7,1004.5,0.0,441,6334,1.15,0.00,134.68,1.603,6,0.107,0.000,3330,1787,2014,0,0,0,0,0,0
$GC,6631,0.93,143.7,934.7,18.4,463,6635,0.00,2.25,0.00,0.000,4,0.000,0.059,3340,440,2004,0,0,0,0,0,0
$GC,6775,0.93,143.7,907.0,18.8,469,6781,0.00,2.10,0.00,0.000,6,0.000,0.026,3339,1772,2003,0,0,0,0,0,0
$GC,7091,0.93,143.7,846.0,19.6,485,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1772,2003,0,0,0,0,0,0
$GC,7400,0.93,143.7,786.6,18.8,500,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1772,2003,0,0,0,0,0,0
$GC,7710,0.93,143.7,730.0,17.8,515,7713,0.00,0.95,0.00,0.000,4,0.000,0.047,3341,1180,2002,0,0,0,0,0,0
$GC,7867,0.93,143.7,701.3,18.4,522,7871,0.00,0.95,0.00,0.000,6,0.000,0.028,3341,1824,2002,0,0,0,0,0,0
$GC,8199,0.93,143.7,641.6,18.0,538,8203,0.00,1.70,0.00,0.000,4,0.000,0.053,3347,768,2002,0,0,0,0,0,0
$GC,8350,0.93,143.7,613.1,18.8,544,8355,0.00,1.58,0.00,0.000,6,0.000,0.027,3348,1803,2002,0,0,0,0,0,0
$GC,8666,0.93,143.7,555.1,18.6,560,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1803,2002,0,0,0,0,0,0
$GC,8975,0.93,143.7,498.4,18.2,575,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1803,2002,0,0,0,0,0,0
$GC,9284,0.93,143.7,442.0,18.1,590,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1803,2002,0,0,0,0,0,0
$GC,9595,0.93,143.7,387.1,17.8,608,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1803,2002,0,0,0,0,0,0
$GC,9915,0.93,143.7,332.8,16.8,638,9918,0.00,1.12,0.00,0.000,4,0.000,0.049,3351,1100,2002,0,0,0,0,0,0
$GC,10122,0.93,143.7,296.6,17.0,656,10130,0.00,1.08,0.00,0.000,6,0.000,0.026,3351,1826,2002,0,0,0,0,0,0
$GC,10447,0.93,143.7,241.4,17.6,687,10451,0.00,0.35,0.00,0.000,4,0.000,0.044,3351,2112,2002,0,0,0,0,0,0
$GC,10504,0.93,143.7,231.6,17.2,692,10507,0.00,0.40,0.00,0.000,6,0.000,0.044,3352,1833,2002,0,0,0,0,0,0
$GC,10833,0.93,143.7,172.2,18.1,723,10837,0.00,1.70,0.00,0.000,4,0.000,0.057,3360,760,2002,0,0,0,0,0,0
$GC,10938,0.93,143.7,152.2,18.2,732,10948,0.05,1.58,0.00,0.000,6,0.195,0.026,3346,1810,2002,0,0,0,0,0,0
$GC,11268,0.93,143.7,92.3,18.9,766,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1810,2002,0,0,0,0,0,0
$GC,11616,0.93,143.7,30.3,17.6,827,11621,0.00,1.30,0.00,0.000,4,0.000,0.051,3351,1001,2002,0,0,0,0,0,0
$STATE,11768,end climb,SURFACE_DEPTH_REACHED
$STATE,11768,begin surface coast
$FINISH,2.1,1.026605
$STATE,11775,end surface coast,CONTROL_FINISHED_OK
$STATE,11775,begin surface
$SM_CCo,11792,19.42,0.968,0,0,1844,185.20
$SM_GC,2.48,0.00,0.00,19.42,0.000,0.000,0.968,72,1969,1844,-9.26,0.54,185.20
$IRIDIUM_FIX,-4247.91,825.73,191113,232322
$TT8_MAMPS,0.026964
$HUMID,63.38
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,1000.0,9.4
$24V_AH,22.6,26.950
$10V_AH,10.2,22.259
$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,22.800,29.600,259.075,19.425,0.000,28.708,47.990,264.506,0.500,0.000,34.760,2079.983,7513.881,355.813,2233.574,102.449,33.364,1141.941,0.000,1839.206,0.000,5.465,0.000
$DEVICE_MAMPS,259.335,73.440,1718.190,967.725,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.520,574.116,568.888,51.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,50257,854
$CAP_FILE_SIZE,98573,0
$CFSIZE,2097086464,2073460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201113,072304,-4302.528,827.509,173,1.0,173,-25.0