version: 66.07.10.p01
glider: 574
mission: 8
dive: 20
start: 12 7 113 20 31 31
data:
$ID,574
$MISSION,8
$DIVE,20
$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,-14872.753
$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,48
$R_STBD_OVSHOOT,100
$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
$GPS1,071213,201933,-5459.777,-1.130,69,1.1,73,-20.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-71.3
$GPS2,071213,203110,-5459.837,-0.983,21,1.1,21,-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,126.3,1086,-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,-63.1,0.0,0.0,0,69,0.00,0.00,-43.20,0.000,2,0.000,0.000,67,1974,2424,0,0,0,0,0,0
$GC,71,-0.91,-145.9,3.2,-1.2,7,127,12.43,2.15,-34.95,0.000,4,0.276,0.066,2719,3266,3197,0,0,0,0,0,0
$GC,389,-0.91,-145.9,55.9,-19.2,61,394,0.00,2.05,0.00,0.000,6,0.000,0.036,2726,1950,3198,0,0,0,0,0,0
$GC,733,-0.91,-145.9,123.5,-19.5,112,737,0.00,0.85,0.00,0.000,4,0.000,0.037,2725,2513,3199,0,0,0,0,0,0
$GC,993,-0.91,-145.9,173.5,-18.3,135,997,0.00,0.90,0.00,0.000,6,0.000,0.040,2727,1931,3199,0,0,0,0,0,0
$GC,1323,-0.91,-145.9,231.6,-16.9,166,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1930,3199,0,0,0,0,0,0
$GC,1642,-0.91,-145.9,285.3,-16.0,196,1646,0.00,0.40,0.00,0.000,4,0.000,0.057,2726,1657,3198,0,0,0,0,0,0
$GC,1756,-0.91,-145.9,303.0,-15.1,206,1760,0.00,0.32,0.00,0.000,6,0.000,0.040,2727,1896,3199,0,0,0,0,0,0
$GC,2089,-0.91,-145.9,353.2,-14.8,237,2093,0.00,0.75,0.00,0.000,4,0.000,0.041,2723,2412,3198,0,0,0,0,0,0
$GC,2349,-0.91,-145.9,394.2,-15.8,260,2353,0.03,0.73,0.00,0.000,6,0.216,0.041,2730,1925,3199,0,0,0,0,0,0
$GC,2680,-0.91,-145.9,446.1,-15.9,278,2684,0.00,0.43,0.00,0.000,4,0.000,0.038,2730,2243,3201,0,0,0,0,0,0
$GC,2936,-0.91,-145.9,487.7,-16.5,289,2940,0.00,0.45,0.00,0.000,6,0.000,0.043,2730,1935,3201,0,0,0,0,0,0
$GC,3257,-0.91,-145.9,538.6,-15.7,305,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1935,3202,0,0,0,0,0,0
$GC,3567,-0.91,-145.9,586.9,-15.4,320,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1935,3202,0,0,0,0,0,0
$GC,3876,-0.91,-145.9,634.8,-15.5,335,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1935,3202,0,0,0,0,0,0
$GC,4185,-0.91,-145.9,680.7,-14.7,350,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1935,3203,0,0,0,0,0,0
$GC,4495,-0.91,-145.9,723.6,-13.7,365,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1935,3203,0,0,0,0,0,0
$GC,4804,-0.91,-145.9,766.0,-13.7,380,4808,0.00,0.43,0.00,0.000,4,0.000,0.057,2730,1643,3203,0,0,0,0,0,0
$GC,4966,-0.91,-145.9,787.9,-13.6,387,4970,0.00,0.45,0.00,0.000,6,0.000,0.037,2729,1970,3204,0,0,0,0,0,0
$GC,5293,-0.91,-145.9,832.2,-13.8,403,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1970,3204,0,0,0,0,0,0
$GC,5602,-0.91,-145.9,873.0,-12.9,418,5606,0.00,0.28,0.00,0.000,4,0.000,0.051,2728,2200,3204,0,0,0,0,0,0
$GC,5859,-0.91,-145.9,906.5,-12.7,429,5863,0.00,0.38,0.00,0.000,6,0.000,0.044,2728,1944,3204,0,0,0,0,0,0
$GC,6180,-0.91,-145.9,948.3,-13.0,445,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1944,3205,0,0,0,0,0,0
$GC,6489,-0.91,-145.9,988.5,-13.0,460,6493,0.00,0.43,0.00,0.000,4,0.000,0.056,2727,1653,3205,0,0,0,0,0,0
$STATE,6497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6497,begin apogee
$GC,6502,-0.16,0.0,990.0,13.1,460,6633,0.88,0.00,126.97,1.655,6,0.184,0.000,2966,1826,2600,0,0,0,0,0,0
$STATE,6633,end apogee,CONTROL_FINISHED_OK
$STATE,6633,begin climb
$GC,6635,0.91,145.9,993.1,0.0,467,6778,1.20,0.00,139.12,1.572,6,0.108,0.000,3316,1827,2005,0,0,0,0,0,0
$GC,7082,0.91,145.9,922.5,17.7,489,7086,0.00,1.17,0.00,0.000,4,0.000,0.054,3320,1147,1998,0,0,0,0,0,0
$GC,7339,0.91,145.9,876.0,17.4,500,7343,0.00,1.08,0.00,0.000,6,0.000,0.028,3321,1832,1996,0,0,0,0,0,0
$GC,7661,0.91,145.9,818.0,18.2,516,7664,0.00,1.02,0.00,0.000,4,0.000,0.052,3324,1213,1995,0,0,0,0,0,0
$GC,7885,0.91,145.9,777.5,18.6,526,7889,0.00,0.93,0.00,0.000,6,0.000,0.029,3324,1833,1994,0,0,0,0,0,0
$GC,8217,0.91,145.9,719.1,17.3,542,8221,0.00,0.98,0.00,0.000,4,0.000,0.051,3327,1239,1994,0,0,0,0,0,0
$GC,8420,0.91,145.9,683.5,16.9,551,8423,0.00,0.88,0.00,0.000,6,0.000,0.028,3327,1821,1994,0,0,0,0,0,0
$GC,8751,0.91,145.9,625.4,17.4,567,8755,0.00,0.62,0.00,0.000,4,0.000,0.050,3329,1429,1994,0,0,0,0,0,0
$GC,9008,0.91,145.9,579.8,18.4,578,9012,0.00,0.62,0.00,0.000,6,0.000,0.031,3329,1856,1994,0,0,0,0,0,0
$GC,9329,0.91,145.9,523.5,17.9,594,9333,0.00,1.70,0.00,0.000,4,0.000,0.057,3336,828,1994,0,0,0,0,0,0
$GC,9535,0.91,145.9,485.3,19.2,603,9541,0.00,1.52,0.00,0.000,6,0.000,0.027,3336,1821,1994,0,0,0,0,0,0
$GC,9863,0.91,145.9,427.8,17.2,619,9867,0.00,0.47,0.00,0.000,4,0.000,0.050,3336,1505,1993,0,0,0,0,0,0
$GC,10122,0.91,145.9,382.3,17.8,634,10126,0.00,0.45,0.00,0.000,6,0.000,0.036,3336,1834,1993,0,0,0,0,0,0
$GC,10456,0.91,145.9,322.9,18.2,665,10459,0.00,1.35,0.00,0.000,4,0.000,0.054,3342,1009,1994,0,0,0,0,0,0
$GC,10647,0.91,145.9,286.7,18.5,682,10651,0.05,1.23,0.00,0.000,6,0.184,0.030,3327,1823,1994,0,0,0,0,0,0
$GC,10978,0.91,145.9,229.5,17.7,713,10982,0.00,0.55,0.00,0.000,4,0.000,0.050,3328,1474,1994,0,0,0,0,0,0
$GC,11238,0.91,145.9,186.4,15.9,736,11242,0.00,0.50,0.00,0.000,6,0.000,0.033,3328,1823,1994,0,0,0,0,0,0
$GC,11568,0.91,145.9,134.8,15.7,767,11572,0.00,0.80,0.00,0.000,4,0.000,0.052,3331,1324,1993,0,0,0,0,0,0
$GC,11830,0.91,145.9,91.8,16.6,794,11835,0.00,0.75,0.00,0.000,6,0.000,0.031,3331,1843,1994,0,0,0,0,0,0
$GC,12177,0.91,145.9,37.9,13.0,855,12182,0.00,0.43,0.00,0.000,4,0.000,0.050,3332,1561,1994,0,0,0,0,0,0
$GC,12329,0.91,145.9,18.3,12.0,881,12337,0.00,0.35,0.00,0.000,6,0.000,0.038,3332,1818,1993,0,0,0,0,0,0
$GC,12386,0.91,145.9,10.1,13.5,890,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1819,1993,0,0,0,0,0,0
$STATE,12440,end climb,SURFACE_DEPTH_REACHED
$STATE,12440,begin surface coast
$FINISH,1.7,1.027209
$STATE,12466,end surface coast,CONTROL_FINISHED_OK
$STATE,12466,begin surface
$SM_CCo,12482,82.43,1.051,0,0,1620,240.14
$SM_GC,2.96,0.00,0.00,82.43,0.000,0.000,1.051,71,1965,1620,-9.21,0.68,240.14
$IRIDIUM_FIX,-5438.56,-3.75,071213,202057
$TT8_MAMPS,0.026964
$HUMID,63.03
$INTERNAL_PRESSURE,9.01849
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.2,40.657
$10V_AH,10.0,30.934
$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,23.775,28.725,266.100,82.425,0.000,57.548,44.989,402.551,0.000,0.000,24.159,2282.080,7576.582,423.469,2861.346,124.584,0.000,1402.981,0.000,2294.947,0.000,1.009,0.000
$DEVICE_MAMPS,276.165,67.320,1654.695,1051.110,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.039,647.328,599.799,61.832,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354472
$DATA_FILE_SIZE,50328,903
$CAP_FILE_SIZE,118356,0
$CFSIZE,2097086464,2092335104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,000204,-5500.735,2.016,33,0.8,33,-20.3