version: 66.07.10.p01
glider: 574
mission: 8
dive: 26
start: 12 8 113 18 57 2
data:
$ID,574
$MISSION,8
$DIVE,26
$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,-14892.183
$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,58
$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,5
$GPS1,081213,184928,-5500.128,-1.007,36,0.8,36,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-72.7
$GPS2,081213,185641,-5500.130,-0.918,18,1.2,18,-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,96.3,1004,-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,-63.1,0.0,0.0,0,58,0.00,0.00,-31.38,0.000,2,0.000,0.000,68,1945,2206,0,0,0,0,0,0
$GC,60,-0.91,-145.9,3.1,-0.8,5,133,12.65,2.28,-52.62,0.000,4,0.281,0.067,2728,586,3195,0,0,0,0,0,0
$GC,245,-0.91,-145.9,26.3,-20.4,36,253,0.05,2.10,0.00,0.000,6,0.215,0.029,2732,1919,3198,0,0,0,0,0,0
$GC,393,-0.91,-145.9,53.5,-19.1,61,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1919,3198,0,0,0,0,0,0
$GC,740,-0.91,-145.9,121.2,-19.3,113,743,0.00,1.20,0.00,0.000,4,0.000,0.042,2727,2690,3198,0,0,0,0,0,0
$GC,970,-0.91,-145.9,164.1,-18.7,133,976,0.00,1.17,0.00,0.000,6,0.000,0.036,2727,1954,3198,0,0,0,0,0,0
$GC,1295,-0.91,-145.9,222.5,-17.3,164,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1954,3198,0,0,0,0,0,0
$GC,1615,-0.91,-145.9,275.6,-15.7,194,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1954,3197,0,0,0,0,0,0
$GC,1933,-0.91,-145.9,325.0,-15.4,224,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1954,3197,0,0,0,0,0,0
$GC,2252,-0.91,-145.9,375.1,-15.7,254,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1953,3198,0,0,0,0,0,0
$GC,2566,-0.91,-145.9,421.3,-14.5,277,2569,0.00,0.52,0.00,0.000,4,0.000,0.036,2726,2331,3197,0,0,0,0,0,0
$GC,2822,-0.91,-145.9,457.1,-12.9,288,2827,0.00,0.62,0.00,0.000,6,0.000,0.038,2725,1916,3197,0,0,0,0,0,0
$GC,3143,-0.91,-145.9,501.7,-14.2,304,3147,0.03,0.77,0.00,0.000,4,0.286,0.035,2731,2428,3198,0,0,0,0,0,0
$GC,3370,-0.91,-145.9,531.7,-12.5,314,3373,0.00,0.73,0.00,0.000,6,0.000,0.038,2731,1941,3198,0,0,0,0,0,0
$GC,3701,-0.91,-145.9,574.0,-12.3,330,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1942,3199,0,0,0,0,0,0
$GC,4011,-0.91,-145.9,610.2,-11.6,345,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1942,3200,0,0,0,0,0,0
$GC,4320,-0.91,-145.9,645.3,-11.4,360,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1942,3200,0,0,0,0,0,0
$GC,4629,-0.91,-145.9,681.2,-11.6,375,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1942,3200,0,0,0,0,0,0
$GC,4939,-0.91,-145.9,717.7,-11.9,390,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1942,3202,0,0,0,0,0,0
$GC,5248,-0.91,-145.9,757.5,-12.9,405,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1941,3204,0,0,0,0,0,0
$GC,5557,-0.91,-145.9,798.1,-13.0,420,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1941,3203,0,0,0,0,0,0
$GC,5867,-0.91,-145.9,839.3,-13.5,435,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1941,3204,0,0,0,0,0,0
$GC,6176,-0.91,-145.9,880.6,-13.3,450,6180,0.00,0.45,0.00,0.000,4,0.000,0.056,2731,1634,3204,0,0,0,0,0,0
$GC,6303,-0.91,-145.9,898.4,-13.6,455,6309,0.00,0.47,0.00,0.000,6,0.000,0.035,2730,1984,3204,0,0,0,0,0,0
$GC,6619,-0.91,-145.9,942.9,-13.9,471,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1984,3204,0,0,0,0,0,0
$GC,6928,-0.91,-145.9,987.3,-14.3,486,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1985,3205,0,0,0,0,0,0
$STATE,6968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6968,begin apogee
$GC,6973,-0.16,0.0,993.0,14.2,488,7104,0.90,0.00,127.75,1.620,6,0.180,0.000,2971,1828,2600,0,0,0,0,0,0
$STATE,7105,end apogee,CONTROL_FINISHED_OK
$STATE,7105,begin climb
$GC,7106,0.91,145.9,997.5,0.0,494,7252,1.15,0.85,139.23,1.548,4,0.106,0.050,3317,1335,2005,0,0,0,0,0,0
$GC,7504,0.91,145.9,940.9,16.6,512,7508,0.00,0.75,0.00,0.000,6,0.000,0.028,3317,1804,1998,0,0,0,0,0,0
$GC,7825,0.91,145.9,889.9,15.9,528,7829,0.00,1.02,0.00,0.000,4,0.000,0.051,3321,1195,1997,0,0,0,0,0,0
$GC,8037,0.91,145.9,855.8,15.7,537,8042,0.00,1.00,0.00,0.000,6,0.000,0.028,3321,1844,1995,0,0,0,0,0,0
$GC,8359,0.91,145.9,804.4,16.4,553,8362,0.00,1.23,0.00,0.000,4,0.000,0.052,3325,1105,1995,0,0,0,0,0,0
$GC,8610,0.91,145.9,761.9,17.3,564,8615,0.00,1.10,0.00,0.000,6,0.000,0.028,3325,1826,1995,0,0,0,0,0,0
$GC,8938,0.91,145.9,703.9,18.2,580,8941,0.00,1.00,0.00,0.000,4,0.000,0.050,3327,1211,1995,0,0,0,0,0,0
$GC,9177,0.91,145.9,659.0,18.3,590,9183,0.00,0.95,0.00,0.000,6,0.000,0.029,3327,1839,1995,0,0,0,0,0,0
$GC,9493,0.91,145.9,600.4,18.6,606,9497,0.00,0.90,0.00,0.000,4,0.000,0.050,3331,1284,1995,0,0,0,0,0,0
$GC,9750,0.91,145.9,550.3,19.2,617,9755,0.00,0.82,0.00,0.000,6,0.000,0.028,3330,1828,1995,0,0,0,0,0,0
$GC,10072,0.91,145.9,490.9,18.2,633,10076,0.00,0.45,0.00,0.000,4,0.000,0.047,3332,1534,1995,0,0,0,0,0,0
$GC,10328,0.91,145.9,444.9,16.3,644,10333,0.00,0.45,0.00,0.000,6,0.000,0.037,3331,1862,1995,0,0,0,0,0,0
$GC,10651,0.91,145.9,388.3,17.6,663,10655,0.00,1.73,0.00,0.000,4,0.000,0.055,3339,797,1995,0,0,0,0,0,0
$GC,10867,0.91,145.9,348.6,18.3,682,10872,0.03,1.52,0.00,0.000,6,0.207,0.028,3331,1809,1995,0,0,0,0,0,0
$GC,11199,0.91,145.9,292.6,16.6,713,11203,0.00,0.60,0.00,0.000,4,0.000,0.048,3331,1428,1995,0,0,0,0,0,0
$GC,11459,0.91,145.9,248.0,17.0,736,11463,0.00,0.57,0.00,0.000,6,0.000,0.033,3331,1842,1995,0,0,0,0,0,0
$GC,11789,0.91,145.9,191.2,16.4,767,11793,0.00,0.62,0.00,0.000,4,0.000,0.047,3333,1444,1995,0,0,0,0,0,0
$GC,12050,0.91,145.9,147.6,15.8,790,12054,0.00,0.52,0.00,0.000,6,0.000,0.033,3333,1825,1995,0,0,0,0,0,0
$GC,12383,0.91,145.9,98.7,14.4,821,12388,0.00,1.38,0.00,0.000,4,0.000,0.053,3339,985,1995,0,0,0,0,0,0
$GC,12566,0.91,145.9,70.5,14.8,853,12571,0.03,1.27,0.00,0.000,6,0.200,0.028,3331,1832,1995,0,0,0,0,0,0
$GC,12917,0.91,145.9,18.1,15.9,914,12924,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1832,1995,0,0,0,0,0,0
$GC,12973,0.91,145.9,10.0,14.2,923,12980,0.00,0.55,0.00,0.000,4,0.000,0.052,3331,1481,1995,0,0,0,0,0,0
$STATE,13028,end climb,SURFACE_DEPTH_REACHED
$STATE,13029,begin surface coast
$FINISH,1.7,1.013945
$STATE,13048,end surface coast,CONTROL_FINISHED_OK
$STATE,13048,begin surface
$SM_CCo,13065,82.88,1.036,0,0,1621,240.14
$SM_GC,2.95,0.00,0.00,82.88,0.000,0.000,1.036,77,1967,1621,-9.21,0.76,240.14
$IRIDIUM_FIX,-5438.56,0.00,081213,141447
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.1,41.618
$10V_AH,10.1,31.462
$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,23.900,30.525,266.975,82.875,0.000,30.120,22.722,263.935,0.000,0.000,20.859,2337.634,8029.001,419.458,2679.350,119.762,0.000,1421.063,0.000,2313.613,0.000,1.008,0.000
$DEVICE_MAMPS,286.110,66.555,1619.505,1035.810,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.109,653.873,625.384,59.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,53686,935
$CAP_FILE_SIZE,116563,0
$CFSIZE,2097086464,2091548672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,223723,-5459.979,2.325,39,1.3,39,-20.3