version: 66.07.10.p01
glider: 574
mission: 8
dive: 21
start: 12 8 113 0 9 28
data:
$ID,574
$MISSION,8
$DIVE,21
$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,-14876.231
$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,72
$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,0
$GPS1,081213,000204,-5500.735,2.016,33,0.8,33,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-72.3
$GPS2,081213,000906,-5500.831,2.138,18,1.4,18,-20.3
$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,324.4,2743,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.90,-63.1,0.0,0.0,0,62,0.00,0.00,-36.78,0.000,2,0.000,0.000,66,1971,2300,0,0,0,0,0,0
$GC,65,-0.91,-145.9,3.1,-0.8,6,138,12.30,1.02,-54.53,0.000,4,0.273,0.066,2726,2613,3193,0,0,0,0,0,0
$GC,188,-0.91,-145.9,9.3,-16.4,26,195,0.00,1.05,0.00,0.000,6,0.000,0.038,2726,1949,3195,0,0,0,0,0,0
$GC,244,-0.91,-145.9,20.3,-21.4,35,249,0.00,0.30,0.00,0.000,4,0.000,0.042,2726,2176,3195,0,0,0,0,0,0
$GC,369,-0.91,-145.9,45.9,-18.3,57,377,0.00,0.35,0.00,0.000,6,0.000,0.045,2726,1929,3196,0,0,0,0,0,0
$GC,716,-0.91,-145.9,110.0,-18.1,113,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1929,3196,0,0,0,0,0,0
$GC,1034,-0.91,-145.9,168.3,-18.0,143,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1929,3196,0,0,0,0,0,0
$GC,1356,-0.91,-145.9,223.7,-17.6,173,1360,0.00,0.52,0.00,0.000,4,0.000,0.038,2724,2304,3195,0,0,0,0,0,0
$GC,1472,-0.91,-145.9,244.5,-16.7,183,1479,0.05,0.55,0.00,0.000,6,0.247,0.042,2732,1932,3195,0,0,0,0,0,0
$GC,1797,-0.91,-145.9,295.8,-15.9,214,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1932,3195,0,0,0,0,0,0
$GC,2117,-0.91,-145.9,342.4,-14.0,244,2120,0.00,0.35,0.00,0.000,4,0.000,0.042,2732,2199,3194,0,0,0,0,0,0
$GC,2377,-0.91,-145.9,379.2,-14.9,267,2381,0.00,0.35,0.00,0.000,6,0.000,0.046,2733,1949,3195,0,0,0,0,0,0
$GC,2712,-0.91,-145.9,427.2,-14.3,290,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1948,3195,0,0,0,0,0,0
$GC,3021,-0.91,-145.9,470.1,-13.7,305,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1947,3195,0,0,0,0,0,0
$GC,3331,-0.91,-145.9,511.8,-13.7,320,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1947,3196,0,0,0,0,0,0
$GC,3640,-0.91,-145.9,555.0,-14.2,335,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1947,3196,0,0,0,0,0,0
$GC,3949,-0.91,-145.9,598.9,-14.0,350,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1947,3196,0,0,0,0,0,0
$GC,4259,-0.91,-145.9,641.0,-13.3,365,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1947,3197,0,0,0,0,0,0
$GC,4568,-0.91,-145.9,680.9,-12.7,380,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1947,3197,0,0,0,0,0,0
$GC,4877,-0.91,-145.9,719.0,-12.1,395,4881,0.00,0.43,0.00,0.000,4,0.000,0.056,2732,1657,3197,0,0,0,0,0,0
$GC,4967,-0.91,-145.9,729.9,-12.0,399,4971,0.00,0.38,0.00,0.000,6,0.000,0.041,2732,1939,3198,0,0,0,0,0,0
$GC,5299,-0.91,-145.9,769.0,-11.9,415,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1939,3199,0,0,0,0,0,0
$GC,5609,-0.91,-145.9,806.1,-12.3,430,5612,0.00,0.93,0.00,0.000,4,0.000,0.042,2728,2551,3199,0,0,0,0,0,0
$GC,5721,-0.91,-145.9,819.9,-12.6,435,5725,0.00,0.95,0.00,0.000,6,0.000,0.039,2729,1935,3200,0,0,0,0,0,0
$GC,6053,-0.91,-145.9,862.2,-12.8,451,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1934,3200,0,0,0,0,0,0
$GC,6362,-0.91,-145.9,901.1,-12.6,466,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1934,3200,0,0,0,0,0,0
$GC,6672,-0.91,-145.9,940.8,-12.6,481,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1934,3200,0,0,0,0,0,0
$GC,6981,-0.91,-145.9,980.6,-12.9,496,6984,0.00,0.70,0.00,0.000,4,0.000,0.053,2728,1475,3201,0,0,0,0,0,0
$STATE,7051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7051,begin apogee
$GC,7055,-0.16,0.0,990.1,12.9,499,7186,0.88,0.00,126.57,1.617,6,0.181,0.000,2966,1836,2600,0,0,0,0,0,0
$STATE,7186,end apogee,CONTROL_FINISHED_OK
$STATE,7186,begin climb
$GC,7188,0.91,145.9,992.7,0.0,505,7334,1.17,0.65,139.38,1.540,4,0.109,0.044,3315,1458,2004,0,0,0,0,0,0
$GC,7587,0.91,145.9,928.7,18.7,524,7591,0.00,0.57,0.00,0.000,6,0.000,0.030,3315,1821,1997,0,0,0,0,0,0
$GC,7914,0.91,145.9,867.0,19.2,540,7918,0.00,2.35,0.00,0.000,4,0.000,0.062,3325,442,1995,0,0,0,0,0,0
$GC,8059,0.91,145.9,838.4,19.9,546,8064,0.00,2.17,0.00,0.000,6,0.000,0.029,3325,1816,1994,0,0,0,0,0,0
$GC,8374,0.91,145.9,779.7,18.5,562,8378,0.00,1.02,0.00,0.000,4,0.000,0.052,3327,1191,1993,0,0,0,0,0,0
$GC,8487,0.91,145.9,758.4,19.2,567,8490,0.00,1.00,0.00,0.000,6,0.000,0.029,3327,1850,1993,0,0,0,0,0,0
$GC,8819,0.91,145.9,695.0,19.1,583,8822,0.00,1.33,0.00,0.000,4,0.000,0.054,3332,1049,1993,0,0,0,0,0,0
$GC,8963,0.91,145.9,666.1,19.6,589,8968,0.00,1.20,0.00,0.000,6,0.000,0.028,3332,1832,1993,0,0,0,0,0,0
$GC,9285,0.91,145.9,603.0,19.7,605,9288,0.00,1.23,0.00,0.000,4,0.000,0.054,3337,1087,1993,0,0,0,0,0,0
$GC,9429,0.91,145.9,573.9,19.6,611,9434,0.00,1.15,0.00,0.000,6,0.000,0.028,3337,1837,1993,0,0,0,0,0,0
$GC,9751,0.91,145.9,510.0,19.6,627,9755,0.00,1.98,0.00,0.000,4,0.000,0.058,3345,616,1993,0,0,0,0,0,0
$GC,9895,0.91,145.9,480.3,19.6,633,9901,0.05,1.85,0.00,0.000,6,0.197,0.028,3331,1824,1992,0,0,0,0,0,0
$GC,10217,0.91,145.9,419.7,18.7,649,10220,0.00,0.57,0.00,0.000,4,0.000,0.049,3331,1456,1992,0,0,0,0,0,0
$GC,10355,0.91,145.9,393.2,18.2,656,10363,0.00,0.57,0.00,0.000,6,0.000,0.033,3331,1856,1992,0,0,0,0,0,0
$GC,10680,0.91,145.9,334.3,18.5,687,10684,0.00,0.95,0.00,0.000,4,0.000,0.050,3335,1269,1992,0,0,0,0,0,0
$GC,10850,0.91,145.9,304.0,18.6,702,10854,0.00,0.80,0.00,0.000,6,0.000,0.029,3335,1803,1992,0,0,0,0,0,0
$GC,11184,0.91,145.9,244.6,17.4,733,11187,0.00,0.95,0.00,0.000,4,0.000,0.051,3338,1215,1992,0,0,0,0,0,0
$GC,11356,0.91,145.9,213.1,18.0,748,11365,0.05,0.95,0.00,0.000,6,0.242,0.030,3329,1846,1992,0,0,0,0,0,0
$GC,11683,0.91,145.9,161.4,15.0,779,11687,0.00,1.90,0.00,0.000,4,0.000,0.057,3336,674,1992,0,0,0,0,0,0
$GC,11762,0.91,145.9,148.5,16.5,786,11766,0.00,1.73,0.00,0.000,6,0.000,0.030,3336,1814,1992,0,0,0,0,0,0
$GC,12096,0.91,145.9,99.3,14.0,817,12101,0.00,0.70,0.00,0.000,4,0.000,0.041,3336,2300,1992,0,0,0,0,0,0
$GC,12166,0.91,145.9,89.4,14.1,829,12171,0.03,0.70,0.00,0.000,6,0.236,0.044,3331,1838,1992,0,0,0,0,0,0
$GC,12513,0.91,145.9,41.3,14.5,890,12518,0.00,1.77,0.00,0.000,4,0.000,0.063,3339,728,1992,0,0,0,0,0,0
$GC,12724,0.91,145.9,8.2,15.3,926,12732,0.03,1.70,0.00,0.000,6,0.212,0.030,3331,1843,1992,0,0,0,0,0,0
$STATE,12750,end climb,SURFACE_DEPTH_REACHED
$STATE,12750,begin surface coast
$FINISH,1.7,1.003560
$STATE,12770,end surface coast,CONTROL_FINISHED_OK
$STATE,12770,begin surface
$SM_CCo,12786,82.18,1.039,0,0,1620,240.14
$SM_GC,3.05,0.00,0.00,82.18,0.000,0.000,1.039,70,1975,1620,-9.20,0.99,240.14
$IRIDIUM_FIX,-5438.56,7.49,071213,202010
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,22.2,40.816
$10V_AH,10.1,31.019
$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,23.700,38.275,265.950,82.175,0.000,23.781,41.605,247.799,0.000,0.000,21.262,2303.843,7939.447,432.948,2503.262,117.799,0.000,1375.548,0.000,2154.285,0.000,1.009,0.000
$DEVICE_MAMPS,273.105,79.560,1617.210,1038.870,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.799,663.808,619.196,60.551,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,53558,933
$CAP_FILE_SIZE,114948,0
$CFSIZE,2097086464,2092204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,034604,-5459.289,0.666,92,0.8,92,-20.3