version: 66.07.10.p01
glider: 574
mission: 7
dive: 167
start: 11 20 113 13 5 43
data:
$ID,574
$MISSION,7
$DIVE,167
$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,-13895.388
$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,48
$R_STBD_OVSHOOT,50
$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,146
$GPS1,201113,125258,-4303.843,828.995,48,0.9,48,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.8
$GPS2,201113,130448,-4303.833,829.116,16,1.6,16,-25.0
$SPEED_LIMITS,0.170,0.266
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.058
$KALMAN_X,-157439.9,338.6,18.2,50173.6,502.9
$KALMAN_Y,531733.2,-779.8,-574.1,-747287.1,6800.6
$MHEAD_RNG_PITCHd_Wd,95.1,7200,-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,-19.52,0.000,2,0.000,0.000,65,1937,2259,0,0,0,0,0,0
$GC,47,-0.93,-137.1,3.0,-1.7,3,109,11.98,2.25,-42.60,0.000,4,0.269,0.057,2719,3346,3158,0,0,0,0,0,0
$GC,372,-0.93,-137.1,50.8,-19.9,58,377,0.00,2.12,0.00,0.000,6,0.000,0.033,2724,1964,3164,0,0,0,0,0,0
$GC,712,-0.93,-137.1,117.4,-19.2,111,715,0.00,1.92,0.00,0.000,4,0.000,0.040,2717,3196,3165,0,0,0,0,0,0
$GC,949,-0.93,-137.1,161.7,-18.2,132,953,0.05,1.92,0.00,0.000,6,0.234,0.033,2732,1950,3166,0,0,0,0,0,0
$GC,1278,-0.93,-137.1,220.8,-18.5,163,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1949,3166,0,0,0,0,0,0
$GC,1601,-0.93,-137.1,274.8,-17.5,193,1605,0.00,0.43,0.00,0.000,4,0.000,0.050,2733,1646,3166,0,0,0,0,0,0
$GC,1650,-0.93,-137.1,284.3,-16.8,197,1655,0.00,0.45,0.00,0.000,6,0.000,0.034,2733,1988,3166,0,0,0,0,0,0
$GC,1974,-0.93,-137.1,338.1,-16.0,228,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1988,3167,0,0,0,0,0,0
$GC,2294,-0.93,-137.1,390.5,-17.0,258,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1988,3167,0,0,0,0,0,0
$GC,2605,-0.93,-137.1,443.4,-16.7,276,2608,0.00,0.62,0.00,0.000,4,0.000,0.037,2729,2434,3167,0,0,0,0,0,0
$GC,2839,-0.93,-137.1,483.6,-17.2,286,2843,0.00,0.75,0.00,0.000,6,0.000,0.037,2729,1936,3167,0,0,0,0,0,0
$GC,3160,-0.93,-137.1,536.2,-16.2,302,3164,0.00,1.38,0.00,0.000,4,0.000,0.050,2729,1063,3167,0,0,0,0,0,0
$GC,3237,-0.93,-137.1,548.9,-16.6,305,3242,0.00,1.30,0.00,0.000,6,0.000,0.027,2724,1921,3167,0,0,0,0,0,0
$GC,3559,-0.93,-137.1,600.6,-16.0,321,3562,0.00,0.68,0.00,0.000,4,0.000,0.041,2720,2396,3167,0,0,0,0,0,0
$GC,3799,-0.93,-137.1,638.6,-15.1,331,3805,0.08,0.68,0.00,0.000,6,0.220,0.037,2735,1934,3165,0,0,0,0,0,0
$GC,4114,-0.93,-137.1,687.8,-15.5,347,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1933,3165,0,0,0,0,0,0
$GC,4424,-0.93,-137.1,736.9,-15.6,362,4427,0.00,0.45,0.00,0.000,4,0.000,0.051,2735,1617,3164,0,0,0,0,0,0
$GC,4613,-0.93,-137.1,766.8,-15.6,370,4617,0.00,0.50,0.00,0.000,6,0.000,0.033,2735,1981,3164,0,0,0,0,0,0
$GC,4934,-0.93,-137.1,814.3,-14.8,386,4938,0.00,0.62,0.00,0.000,4,0.000,0.041,2735,1561,3164,0,0,0,0,0,0
$GC,5164,-0.93,-137.1,848.2,-15.0,396,5168,0.00,0.52,0.00,0.000,6,0.000,0.034,2735,1947,3164,0,0,0,0,0,0
$GC,5490,-0.93,-137.1,895.8,-14.5,412,5494,0.00,0.35,0.00,0.000,4,0.000,0.045,2733,2235,3163,0,0,0,0,0,0
$GC,5595,-0.93,-137.1,911.7,-15.4,416,5601,0.00,0.40,0.00,0.000,6,0.000,0.042,2733,1953,3163,0,0,0,0,0,0
$GC,5911,-0.93,-137.1,956.6,-14.2,432,5914,0.00,0.38,0.00,0.000,4,0.000,0.055,2733,1684,3163,0,0,0,0,0,0
$GC,6023,-0.93,-137.1,972.5,-14.0,437,6027,0.00,0.35,0.00,0.000,6,0.000,0.038,2733,1955,3163,0,0,0,0,0,0
$STATE,6234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6234,begin apogee
$GC,6238,-0.17,0.0,1001.1,13.7,447,6359,0.93,0.00,116.90,1.657,6,0.192,0.000,2980,1810,2600,0,0,0,0,0,0
$STATE,6359,end apogee,CONTROL_FINISHED_OK
$STATE,6360,begin climb
$GC,6361,0.93,137.1,1004.6,0.0,453,6493,1.17,0.00,127.70,1.602,6,0.109,0.000,3333,1810,2040,0,0,0,0,0,0
$GC,6801,0.93,137.1,929.4,18.9,475,6804,0.00,1.58,0.00,0.000,4,0.000,0.057,3341,884,2031,0,0,0,0,0,0
$GC,7026,0.93,137.1,885.1,20.6,485,7030,0.00,1.40,0.00,0.000,6,0.000,0.027,3339,1787,2029,0,0,0,0,0,0
$GC,7357,0.93,137.1,822.0,18.6,501,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1787,2029,0,0,0,0,0,0
$GC,7667,0.93,137.1,764.8,18.0,516,7670,0.00,0.70,0.00,0.000,4,0.000,0.047,3341,1350,2028,0,0,0,0,0,0
$GC,7923,0.93,137.1,718.5,16.8,527,7928,0.00,0.70,0.00,0.000,6,0.000,0.030,3340,1830,2027,0,0,0,0,0,0
$GC,8245,0.93,137.1,665.1,16.1,543,8249,0.00,1.50,0.00,0.000,4,0.000,0.054,3345,917,2027,0,0,0,0,0,0
$GC,8473,0.93,137.1,626.0,17.6,553,8478,0.00,1.35,0.00,0.000,6,0.000,0.027,3345,1801,2026,0,0,0,0,0,0
$GC,8800,0.93,137.1,569.5,17.4,569,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1801,2026,0,0,0,0,0,0
$GC,9110,0.93,137.1,513.3,18.5,584,9114,0.00,0.77,0.00,0.000,4,0.000,0.049,3348,1318,2025,0,0,0,0,0,0
$GC,9327,0.93,137.1,472.7,18.5,593,9333,0.00,0.75,0.00,0.000,6,0.000,0.028,3348,1833,2025,0,0,0,0,0,0
$GC,9643,0.93,137.1,415.3,17.7,609,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1833,2025,0,0,0,0,0,0
$GC,9959,0.93,137.1,359.4,17.8,634,9962,0.00,0.45,0.00,0.000,4,0.000,0.046,3349,1529,2025,0,0,0,0,0,0
$GC,10221,0.93,137.1,312.8,17.7,657,10224,0.00,0.35,0.00,0.000,6,0.000,0.036,3349,1796,2025,0,0,0,0,0,0
$GC,10550,0.93,137.1,254.6,16.6,688,10554,0.00,0.90,0.00,0.000,4,0.000,0.050,3352,1236,2025,0,0,0,0,0,0
$GC,10721,0.93,137.1,226.3,16.9,703,10724,0.00,0.82,0.00,0.000,6,0.000,0.028,3352,1810,2025,0,0,0,0,0,0
$GC,11050,0.93,137.1,169.5,17.5,734,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1810,2025,0,0,0,0,0,0
$GC,11370,0.93,137.1,112.6,18.3,764,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1810,2025,0,0,0,0,0,0
$GC,11707,0.93,137.1,51.4,16.8,817,11712,0.00,0.82,0.00,0.000,4,0.000,0.050,3355,1291,2025,0,0,0,0,0,0
$GC,11974,0.93,137.1,5.3,15.2,863,11982,0.03,0.75,0.00,0.000,6,0.186,0.027,3346,1808,2025,0,0,0,0,0,0
$STATE,11988,end climb,SURFACE_DEPTH_REACHED
$STATE,11989,begin surface coast
$FINISH,1.7,1.025948
$STATE,12008,end surface coast,CONTROL_FINISHED_OK
$STATE,12008,begin surface
$SM_CCo,12024,22.25,0.961,0,0,1844,185.20
$SM_GC,3.18,0.00,0.00,22.25,0.000,0.000,0.961,80,1976,1844,-9.24,0.74,185.20
$IRIDIUM_FIX,-4247.91,822.81,201113,121249
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.25288
$TCM_TEMP,9.50
$XPDR_PINGS,0
$24V_AH,22.6,27.245
$10V_AH,10.1,22.468
$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,23.225,31.275,244.600,22.250,0.000,58.678,78.295,372.456,0.500,0.000,18.498,2182.310,7382.046,341.559,2715.292,133.556,33.359,1255.511,0.000,2156.423,0.000,5.876,0.000
$DEVICE_MAMPS,269.280,57.375,1656.990,960.840,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.453,613.598,582.985,57.256,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,50310,868
$CAP_FILE_SIZE,113071,0
$CFSIZE,2097086464,2073231360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201113,162751,-4302.364,831.769,46,1.4,46,-25.1