version: 66.07.10.p01
glider: 574
mission: 8
dive: 19
start: 12 7 113 16 48 27
data:
$ID,574
$MISSION,8
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,330
$T_MISSION,370
$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,150
$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,2
$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,240
$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,-14869.927
$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,3032
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$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,1940
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,44
$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,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-1
$GPS1,071213,164122,-5458.357,-0.310,36,0.8,36,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-72.9
$GPS2,071213,164806,-5458.369,-0.236,17,1.6,17,-20.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SBY
$TGT_LATLONG,-5500.000,0.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,195.4,3031,-27.8,-10.000
$D_GRID,990
$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,-0.90,-63.1,0.0,0.0,0,51,0.00,0.00,-25.58,0.000,2,0.000,0.000,68,1942,2095,0,0,0,0,0,0
$GC,54,-0.91,-143.9,3.0,-1.4,4,133,12.55,2.30,-56.78,0.000,4,0.279,0.068,2732,574,3188,0,0,0,0,0,0
$GC,393,-0.91,-143.9,55.4,-19.5,62,399,0.08,2.15,0.00,0.000,6,0.245,0.033,2736,1944,3191,0,0,0,0,0,0
$GC,734,-0.91,-143.9,117.4,-17.8,114,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1944,3191,0,0,0,0,0,0
$GC,1053,-0.91,-143.9,172.1,-17.2,144,1057,0.00,2.25,0.00,0.000,4,0.000,0.053,2726,3345,3191,0,0,0,0,0,0
$GC,1210,-0.91,-143.9,199.6,-16.3,157,1216,0.00,2.15,0.00,0.000,6,0.000,0.036,2726,1977,3191,0,0,0,0,0,0
$GC,1535,-0.91,-143.9,254.8,-17.3,188,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1977,3190,0,0,0,0,0,0
$GC,1854,-0.91,-143.9,308.3,-16.5,218,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1977,3190,0,0,0,0,0,0
$GC,2173,-0.91,-143.9,360.1,-15.9,248,2176,0.00,0.45,0.00,0.000,4,0.000,0.055,2726,1664,3190,0,0,0,0,0,0
$GC,2245,-0.91,-143.9,372.3,-15.8,254,2250,0.00,0.45,0.00,0.000,6,0.000,0.037,2726,1988,3189,0,0,0,0,0,0
$GC,2566,-0.91,-143.9,423.4,-15.9,278,2569,0.00,0.30,0.00,0.000,4,0.000,0.050,2724,2235,3190,0,0,0,0,0,0
$GC,2822,-0.91,-143.9,464.0,-15.0,289,2827,0.05,0.47,0.00,0.000,6,0.249,0.041,2733,1908,3189,0,0,0,0,0,0
$GC,3143,-0.91,-143.9,511.8,-14.8,305,3147,0.00,0.60,0.00,0.000,4,0.000,0.037,2732,2330,3190,0,0,0,0,0,0
$GC,3399,-0.91,-143.9,550.9,-15.2,316,3403,0.00,0.57,0.00,0.000,6,0.000,0.041,2732,1942,3190,0,0,0,0,0,0
$GC,3720,-0.91,-143.9,599.4,-14.6,332,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3190,0,0,0,0,0,0
$GC,4030,-0.91,-143.9,644.3,-14.5,347,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3191,0,0,0,0,0,0
$GC,4339,-0.91,-143.9,687.8,-14.1,362,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3191,0,0,0,0,0,0
$GC,4648,-0.91,-143.9,730.1,-13.5,377,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3192,0,0,0,0,0,0
$GC,4958,-0.91,-143.9,772.8,-14.3,392,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3194,0,0,0,0,0,0
$GC,5267,-0.91,-143.9,818.6,-14.6,407,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3195,0,0,0,0,0,0
$GC,5576,-0.91,-143.9,863.8,-14.2,422,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3195,0,0,0,0,0,0
$GC,5886,-0.91,-143.9,907.1,-13.6,437,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1941,3196,0,0,0,0,0,0
$GC,6195,-0.91,-143.9,947.5,-13.2,452,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3196,0,0,0,0,0,0
$GC,6504,-0.91,-143.9,988.1,-13.0,467,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3197,0,0,0,0,0,0
$STATE,6524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6524,begin apogee
$GC,6528,-0.16,0.0,990.6,12.9,468,6657,0.90,0.00,125.22,1.664,6,0.184,0.000,2971,1833,2600,0,0,0,0,0,0
$STATE,6658,end apogee,CONTROL_FINISHED_OK
$STATE,6658,begin climb
$GC,6659,0.91,143.9,994.1,0.0,474,6800,1.15,0.00,137.27,1.584,6,0.105,0.000,3315,1833,2012,0,0,0,0,0,0
$GC,7095,0.91,143.9,928.0,17.5,496,7099,0.00,1.80,0.00,0.000,4,0.000,0.060,3323,783,2006,0,0,0,0,0,0
$GC,7253,0.91,143.9,898.3,19.7,503,7257,0.00,1.62,0.00,0.000,6,0.000,0.029,3323,1802,2005,0,0,0,0,0,0
$GC,7584,0.91,143.9,835.7,19.2,519,7588,0.00,0.62,0.00,0.000,4,0.000,0.049,3325,1418,2004,0,0,0,0,0,0
$GC,7841,0.91,143.9,786.4,19.4,530,7845,0.00,0.65,0.00,0.000,6,0.000,0.033,3325,1857,2004,0,0,0,0,0,0
$GC,8162,0.91,143.9,727.5,18.3,546,8166,0.00,1.33,0.00,0.000,4,0.000,0.055,3329,1059,2004,0,0,0,0,0,0
$GC,8357,0.91,143.9,690.6,18.3,554,8364,0.00,1.17,0.00,0.000,6,0.000,0.029,3329,1822,2004,0,0,0,0,0,0
$GC,8674,0.91,143.9,632.8,18.1,570,8677,0.00,0.85,0.00,0.000,4,0.000,0.050,3332,1299,2003,0,0,0,0,0,0
$GC,8931,0.91,143.9,585.5,17.6,581,8935,0.00,0.82,0.00,0.000,6,0.000,0.031,3332,1848,2004,0,0,0,0,0,0
$GC,9252,0.91,143.9,527.5,17.9,597,9256,0.00,1.27,0.00,0.000,4,0.000,0.054,3337,1067,2004,0,0,0,0,0,0
$GC,9402,0.91,143.9,499.6,18.4,603,9408,0.00,1.15,0.00,0.000,6,0.000,0.030,3337,1826,2004,0,0,0,0,0,0
$GC,9718,0.91,143.9,442.0,18.1,619,9721,0.00,0.60,0.00,0.000,4,0.000,0.048,3338,1444,2004,0,0,0,0,0,0
$GC,9976,0.91,143.9,396.3,17.3,631,9981,0.03,0.55,0.00,0.000,6,0.213,0.034,3331,1849,2004,0,0,0,0,0,0
$GC,10306,0.91,143.9,339.0,16.9,662,10310,0.00,1.05,0.00,0.000,4,0.000,0.050,3334,1197,2004,0,0,0,0,0,0
$GC,10468,0.91,143.9,311.1,16.8,676,10476,0.00,0.93,0.00,0.000,6,0.000,0.028,3334,1804,2004,0,0,0,0,0,0
$GC,10795,0.91,143.9,257.0,17.3,707,10798,0.00,0.43,0.00,0.000,4,0.000,0.047,3334,1523,2004,0,0,0,0,0,0
$GC,11055,0.91,143.9,214.3,16.5,730,11059,0.00,0.43,0.00,0.000,6,0.000,0.036,3334,1837,2004,0,0,0,0,0,0
$GC,11389,0.91,143.9,158.6,17.3,761,11393,0.00,1.58,0.00,0.000,4,0.000,0.056,3341,885,2003,0,0,0,0,0,0
$GC,11517,0.91,143.9,135.3,16.7,772,11526,0.05,1.45,0.00,0.000,6,0.185,0.028,3326,1840,2003,0,0,0,0,0,0
$GC,11850,0.91,143.9,85.2,14.8,811,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1840,2004,0,0,0,0,0,0
$GC,12195,0.91,143.9,35.6,13.9,872,12202,0.00,0.68,0.00,0.000,4,0.000,0.049,3327,1411,2004,0,0,0,0,0,0
$GC,12285,0.91,143.9,22.8,14.0,887,12290,0.00,0.60,0.00,0.000,6,0.000,0.034,3327,1830,2004,0,0,0,0,0,0
$STATE,12432,end climb,SURFACE_DEPTH_REACHED
$STATE,12432,begin surface coast
$FINISH,1.6,1.017242
$STATE,12457,end surface coast,CONTROL_FINISHED_OK
$STATE,12457,begin surface
$SM_CCo,12474,83.68,1.048,0,0,1620,240.14
$SM_GC,2.93,0.00,0.00,83.68,0.000,0.000,1.048,77,1980,1620,-9.20,1.13,240.14
$IRIDIUM_FIX,-5438.56,-3.75,071213,131303
$TT8_MAMPS,0.027713
$HUMID,63.30
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.2,40.483
$10V_AH,10.1,30.844
$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,23.950,31.500,262.500,83.675,0.000,28.051,23.691,243.592,0.000,0.000,20.904,2270.096,7617.829,435.886,2528.052,115.482,0.000,1366.533,0.000,2193.413,0.000,1.007,0.000
$DEVICE_MAMPS,279.225,91.035,1663.875,1048.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.092,663.666,607.572,63.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354492
$DATA_FILE_SIZE,50352,916
$CAP_FILE_SIZE,110678,0
$CFSIZE,2097086464,2092466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071213,201933,-5459.777,-1.130,69,1.1,73,-20.2