version: 66.07.10.p01
glider: 574
mission: 8
dive: 27
start: 12 8 113 22 44 45
data:
$ID,574
$MISSION,8
$DIVE,27
$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,-14894.993
$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,42
$R_STBD_OVSHOOT,75
$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,6
$GPS1,081213,223723,-5459.979,2.325,39,1.3,39,-20.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-69.8
$GPS2,081213,224424,-5500.000,2.323,16,1.7,16,-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,290.3,2468,-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,-25.80,0.000,2,0.000,0.000,67,1960,2092,0,0,0,0,0,0
$GC,54,-0.91,-142.8,3.0,-1.5,4,139,12.27,2.20,-64.45,0.000,4,0.271,0.060,2730,3296,3183,0,0,0,0,0,0
$GC,291,-0.91,-142.8,33.2,-19.6,44,298,0.00,2.15,0.00,0.000,6,0.000,0.037,2730,1953,3184,0,0,0,0,0,0
$GC,435,-0.91,-142.8,61.0,-19.4,69,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1953,3184,0,0,0,0,0,0
$GC,778,-0.91,-142.8,127.2,-19.2,118,782,0.00,0.75,0.00,0.000,4,0.000,0.050,2730,1472,3184,0,0,0,0,0,0
$GC,827,-0.91,-142.8,136.9,-18.7,122,833,0.00,0.68,0.00,0.000,6,0.000,0.034,2728,1926,3184,0,0,0,0,0,0
$GC,1156,-0.91,-142.8,196.3,-16.9,153,1159,0.00,1.62,0.00,0.000,4,0.000,0.046,2719,2946,3184,0,0,0,0,0,0
$GC,1293,-0.91,-142.8,219.7,-16.8,165,1298,0.03,1.60,0.00,0.000,6,0.206,0.036,2731,1929,3184,0,0,0,0,0,0
$GC,1623,-0.91,-142.8,272.3,-15.7,196,1627,0.00,0.52,0.00,0.000,4,0.000,0.035,2730,2312,3184,0,0,0,0,0,0
$GC,1691,-0.91,-142.8,282.7,-15.1,202,1695,0.00,0.55,0.00,0.000,6,0.000,0.040,2730,1933,3184,0,0,0,0,0,0
$GC,2025,-0.91,-142.8,336.7,-17.2,233,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1933,3184,0,0,0,0,0,0
$GC,2350,-0.91,-142.8,391.6,-16.5,264,2354,0.00,0.52,0.00,0.000,4,0.000,0.054,2730,1577,3184,0,0,0,0,0,0
$GC,2428,-0.91,-142.8,404.9,-16.3,270,2432,0.00,0.52,0.00,0.000,6,0.000,0.034,2729,1954,3184,0,0,0,0,0,0
$GC,2749,-0.91,-142.8,455.6,-15.9,286,2752,0.00,0.60,0.00,0.000,4,0.000,0.043,2726,2380,3184,0,0,0,0,0,0
$GC,2888,-0.91,-142.8,478.0,-16.2,292,2892,0.00,0.68,0.00,0.000,6,0.000,0.038,2726,1936,3184,0,0,0,0,0,0
$GC,3215,-0.91,-142.8,532.8,-17.1,308,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1935,3184,0,0,0,0,0,0
$GC,3524,-0.91,-142.8,583.1,-15.6,323,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1935,3184,0,0,0,0,0,0
$GC,3834,-0.91,-142.8,630.5,-15.0,338,3837,0.00,0.45,0.00,0.000,4,0.000,0.056,2726,1627,3184,0,0,0,0,0,0
$GC,3950,-0.91,-142.8,648.2,-14.6,343,3954,0.00,0.43,0.00,0.000,6,0.000,0.037,2724,1946,3184,0,0,0,0,0,0
$GC,4277,-0.91,-142.8,695.1,-14.1,359,4278,0.05,0.00,0.00,0.000,6,0.263,0.000,2733,1946,3185,0,0,0,0,0,0
$GC,4586,-0.91,-142.8,737.0,-13.3,374,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1946,3185,0,0,0,0,0,0
$GC,4895,-0.91,-142.8,777.3,-12.8,389,4899,0.00,0.62,0.00,0.000,4,0.000,0.040,2731,2391,3187,0,0,0,0,0,0
$GC,5000,-0.91,-142.8,791.0,-13.3,393,5006,0.00,0.70,0.00,0.000,6,0.000,0.039,2731,1931,3187,0,0,0,0,0,0
$GC,5316,-0.91,-142.8,830.1,-12.3,409,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1931,3187,0,0,0,0,0,0
$GC,5625,-0.91,-142.8,869.1,-12.7,424,5629,0.00,0.40,0.00,0.000,4,0.000,0.056,2731,1651,3188,0,0,0,0,0,0
$GC,5760,-0.91,-142.8,886.3,-12.9,430,5764,0.00,0.38,0.00,0.000,6,0.000,0.038,2730,1934,3188,0,0,0,0,0,0
$GC,6092,-0.91,-142.8,928.3,-12.6,446,6096,0.00,0.40,0.00,0.000,4,0.000,0.045,2728,2238,3188,0,0,0,0,0,0
$GC,6182,-0.91,-142.8,939.7,-13.2,450,6186,0.00,0.43,0.00,0.000,6,0.000,0.043,2728,1932,3188,0,0,0,0,0,0
$GC,6514,-0.91,-142.8,982.1,-12.8,466,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1932,3188,0,0,0,0,0,0
$STATE,6574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6574,begin apogee
$GC,6579,-0.16,0.0,990.3,13.0,469,6706,0.90,0.00,124.20,1.611,6,0.182,0.000,2970,1827,2600,0,0,0,0,0,0
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6707,begin climb
$GC,6709,0.91,142.8,993.5,0.0,475,6850,1.17,0.00,137.00,1.544,6,0.106,0.000,3315,1827,2017,0,0,0,0,0,0
$GC,7145,0.91,142.8,925.8,17.7,497,7148,0.00,1.95,0.00,0.000,4,0.000,0.059,3324,676,2008,0,0,0,0,0,0
$GC,7295,0.91,142.8,897.8,18.2,503,7301,0.00,1.80,0.00,0.000,6,0.000,0.027,3324,1809,2007,0,0,0,0,0,0
$GC,7611,0.91,142.8,841.9,17.3,519,7615,0.00,1.00,0.00,0.000,4,0.000,0.050,3327,1203,2006,0,0,0,0,0,0
$GC,7860,0.91,142.8,799.2,17.2,530,7863,0.00,0.98,0.00,0.000,6,0.000,0.029,3327,1853,2005,0,0,0,0,0,0
$GC,8192,0.91,142.8,739.2,17.9,546,8195,0.00,1.67,0.00,0.000,4,0.000,0.054,3333,814,2005,0,0,0,0,0,0
$GC,8330,0.91,142.8,713.2,18.8,552,8336,0.00,1.55,0.00,0.000,6,0.000,0.028,3333,1821,2005,0,0,0,0,0,0
$GC,8658,0.91,142.8,653.8,18.2,568,8662,0.00,1.05,0.00,0.000,4,0.000,0.051,3336,1173,2005,0,0,0,0,0,0
$GC,8830,0.91,142.8,622.6,18.9,575,8836,0.00,1.00,0.00,0.000,6,0.000,0.028,3336,1842,2005,0,0,0,0,0,0
$GC,9146,0.91,142.8,566.8,17.7,591,9150,0.00,1.00,0.00,0.000,4,0.000,0.050,3340,1223,2005,0,0,0,0,0,0
$GC,9403,0.91,142.8,519.9,18.2,602,9408,0.05,0.90,0.00,0.000,6,0.243,0.027,3329,1819,2005,0,0,0,0,0,0
$GC,9725,0.91,142.8,465.2,17.2,618,9729,0.00,0.77,0.00,0.000,4,0.000,0.049,3331,1336,2005,0,0,0,0,0,0
$GC,9908,0.91,142.8,433.4,17.7,626,9912,0.00,0.75,0.00,0.000,6,0.000,0.029,3331,1844,2005,0,0,0,0,0,0
$GC,10228,0.91,142.8,378.0,17.3,647,10232,0.00,1.23,0.00,0.000,4,0.000,0.051,3335,1091,2005,0,0,0,0,0,0
$GC,10444,0.91,142.8,339.7,17.6,666,10448,0.00,1.10,0.00,0.000,6,0.000,0.028,3335,1828,2005,0,0,0,0,0,0
$GC,10776,0.91,142.8,283.1,16.7,697,10780,0.00,0.45,0.00,0.000,4,0.000,0.047,3337,1532,2005,0,0,0,0,0,0
$GC,11035,0.91,142.8,238.6,16.9,720,11040,0.03,0.40,0.00,0.000,6,0.207,0.037,3329,1838,2005,0,0,0,0,0,0
$GC,11365,0.91,142.8,182.8,17.4,751,11369,0.00,1.60,0.00,0.000,4,0.000,0.055,3335,867,2005,0,0,0,0,0,0
$GC,11548,0.91,142.8,150.1,16.5,767,11551,0.00,1.42,0.00,0.000,6,0.000,0.028,3334,1810,2005,0,0,0,0,0,0
$GC,11873,0.91,142.8,98.2,15.1,798,11880,0.00,0.35,0.00,0.000,4,0.000,0.047,3335,1584,2005,0,0,0,0,0,0
$GC,12138,0.91,142.8,57.0,15.1,844,12144,0.00,0.32,0.00,0.000,6,0.000,0.037,3335,1824,2005,0,0,0,0,0,0
$STATE,12484,end climb,SURFACE_DEPTH_REACHED
$STATE,12484,begin surface coast
$FINISH,1.8,1.013234
$STATE,12504,end surface coast,CONTROL_FINISHED_OK
$STATE,12504,begin surface
$SM_CCo,12521,83.88,1.031,0,0,1620,240.14
$SM_GC,2.94,0.00,0.00,83.88,0.000,0.000,1.031,71,1974,1620,-9.21,0.96,240.14
$IRIDIUM_FIX,-5438.56,0.00,081213,181853
$TT8_MAMPS,0.026964
$HUMID,63.03
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.1,41.776
$10V_AH,10.1,31.548
$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,23.625,37.750,261.200,83.875,0.000,25.423,22.582,265.796,0.000,0.000,19.038,2271.790,7641.658,440.094,2560.527,116.711,0.000,1399.740,0.000,2210.263,0.000,1.008,0.000
$DEVICE_MAMPS,270.810,94.095,1611.090,1031.220,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.484,650.593,605.927,60.561,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,50260,907
$CAP_FILE_SIZE,115846,0
$CFSIZE,2097086464,2091417600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,021624,-5459.459,0.075,58,0.7,59,-20.2