version: 66.07.10.p01
glider: 574
mission: 8
dive: 28
start: 12 9 113 2 23 58
data:
$ID,574
$MISSION,8
$DIVE,28
$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,-14898.619
$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,45
$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,7
$GPS1,091213,021624,-5459.459,0.075,58,0.7,59,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-70.9
$GPS2,091213,022336,-5459.479,0.165,32,0.9,32,-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,210.5,980,-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,-63.1,0.0,0.0,0,63,0.00,0.00,-37.38,0.000,2,0.000,0.000,67,1967,2311,0,0,0,0,0,0
$GC,65,-0.91,-145.9,3.1,-0.6,6,139,12.60,2.17,-53.60,0.000,4,0.280,0.060,2720,3301,3195,0,0,0,0,0,0
$GC,400,-0.91,-145.9,48.3,-18.6,63,408,0.03,2.15,0.00,0.000,6,0.216,0.037,2730,1955,3196,0,0,0,0,0,0
$GC,749,-0.91,-145.9,114.9,-18.9,118,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1955,3197,0,0,0,0,0,0
$GC,1069,-0.91,-145.9,173.1,-19.2,148,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1954,3196,0,0,0,0,0,0
$GC,1387,-0.91,-145.9,229.0,-17.2,178,1391,0.00,0.88,0.00,0.000,4,0.000,0.037,2728,2530,3197,0,0,0,0,0,0
$GC,1560,-0.91,-145.9,257.7,-16.3,193,1564,0.00,0.93,0.00,0.000,6,0.000,0.039,2728,1932,3196,0,0,0,0,0,0
$GC,1890,-0.91,-145.9,312.9,-16.1,224,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1932,3196,0,0,0,0,0,0
$GC,2209,-0.91,-145.9,360.9,-14.5,254,2213,0.00,0.60,0.00,0.000,4,0.000,0.035,2727,2358,3196,0,0,0,0,0,0
$GC,2382,-0.91,-145.9,383.8,-13.4,269,2386,0.00,0.62,0.00,0.000,6,0.000,0.040,2727,1932,3195,0,0,0,0,0,0
$GC,2716,-0.91,-145.9,429.0,-13.2,291,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1932,3196,0,0,0,0,0,0
$GC,3026,-0.91,-145.9,468.8,-12.6,306,3029,0.00,0.47,0.00,0.000,4,0.000,0.037,2725,2283,3197,0,0,0,0,0,0
$GC,3282,-0.91,-145.9,501.4,-12.1,317,3287,0.00,0.52,0.00,0.000,6,0.000,0.040,2725,1929,3197,0,0,0,0,0,0
$GC,3603,-0.91,-145.9,542.2,-12.9,333,3607,0.00,0.70,0.00,0.000,4,0.000,0.035,2723,2411,3198,0,0,0,0,0,0
$GC,3809,-0.91,-145.9,569.4,-13.0,342,3814,0.05,0.73,0.00,0.000,6,0.243,0.038,2733,1935,3198,0,0,0,0,0,0
$GC,4136,-0.91,-145.9,611.6,-12.8,358,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1935,3198,0,0,0,0,0,0
$GC,4445,-0.91,-145.9,651.8,-13.2,373,4449,0.00,0.70,0.00,0.000,4,0.000,0.035,2731,2418,3198,0,0,0,0,0,0
$GC,4607,-0.91,-145.9,673.3,-13.4,380,4611,0.00,0.73,0.00,0.000,6,0.000,0.037,2732,1942,3198,0,0,0,0,0,0
$GC,4934,-0.91,-145.9,717.1,-13.4,396,4937,0.00,0.55,0.00,0.000,4,0.000,0.035,2730,2339,3199,0,0,0,0,0,0
$GC,5159,-0.91,-145.9,747.2,-13.7,406,5162,0.00,0.57,0.00,0.000,6,0.000,0.041,2730,1942,3202,0,0,0,0,0,0
$GC,5490,-0.91,-145.9,793.9,-14.0,422,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1942,3202,0,0,0,0,0,0
$GC,5800,-0.91,-145.9,836.0,-13.3,437,5803,0.00,0.38,0.00,0.000,4,0.000,0.038,2729,2232,3203,0,0,0,0,0,0
$GC,6057,-0.91,-145.9,871.7,-14.6,448,6061,0.00,0.45,0.00,0.000,6,0.000,0.041,2729,1928,3203,0,0,0,0,0,0
$GC,6380,-0.91,-145.9,915.0,-13.3,464,6383,0.00,0.43,0.00,0.000,4,0.000,0.037,2728,2246,3203,0,0,0,0,0,0
$GC,6636,-0.91,-145.9,949.1,-13.3,475,6640,0.00,0.45,0.00,0.000,6,0.000,0.041,2728,1938,3203,0,0,0,0,0,0
$GC,6957,-0.91,-145.9,989.5,-12.6,491,6961,0.00,0.52,0.00,0.000,4,0.000,0.037,2727,2317,3203,0,0,0,0,0,0
$STATE,6965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6966,begin apogee
$GC,6971,-0.16,0.0,990.8,12.5,491,7101,0.88,0.00,127.45,1.613,6,0.179,0.000,2967,1838,2600,0,0,0,0,0,0
$STATE,7102,end apogee,CONTROL_FINISHED_OK
$STATE,7102,begin climb
$GC,7104,0.91,145.9,993.3,0.0,498,7250,1.17,1.52,138.93,1.543,4,0.107,0.056,3322,1003,2004,0,0,0,0,0,0
$GC,7396,0.91,145.9,948.4,18.1,512,7400,0.00,1.30,0.00,0.000,6,0.000,0.026,3322,1808,1999,0,0,0,0,0,0
$GC,7728,0.91,145.9,889.5,17.6,528,7732,0.00,1.10,0.00,0.000,4,0.000,0.050,3326,1156,1996,0,0,0,0,0,0
$GC,7963,0.91,145.9,845.1,19.3,538,7968,0.00,1.05,0.00,0.000,6,0.000,0.028,3326,1835,1995,0,0,0,0,0,0
$GC,8285,0.91,145.9,785.5,18.3,554,8288,0.00,1.45,0.00,0.000,4,0.000,0.054,3331,968,1994,0,0,0,0,0,0
$GC,8452,0.91,145.9,753.6,18.6,561,8456,0.00,1.33,0.00,0.000,6,0.000,0.028,3331,1830,1995,0,0,0,0,0,0
$GC,8774,0.91,145.9,693.7,18.3,577,8777,0.00,0.98,0.00,0.000,4,0.000,0.052,3334,1236,1994,0,0,0,0,0,0
$GC,8957,0.91,145.9,659.4,18.9,585,8962,0.00,0.93,0.00,0.000,6,0.000,0.028,3335,1844,1994,0,0,0,0,0,0
$GC,9284,0.91,145.9,600.6,18.4,601,9288,0.00,1.08,0.00,0.000,4,0.000,0.051,3338,1182,1994,0,0,0,0,0,0
$GC,9541,0.91,145.9,554.4,17.6,612,9546,0.05,1.00,0.00,0.000,6,0.247,0.028,3329,1854,1994,0,0,0,0,0,0
$GC,9863,0.91,145.9,499.3,17.2,628,9867,0.00,2.33,0.00,0.000,4,0.000,0.058,3338,439,1994,0,0,0,0,0,0
$GC,10059,0.91,145.9,463.1,18.7,637,10064,0.05,2.08,0.00,0.000,6,0.249,0.028,3330,1808,1994,0,0,0,0,0,0
$GC,10385,0.91,145.9,404.9,18.1,653,10389,0.00,1.35,0.00,0.000,4,0.000,0.054,3334,981,1994,0,0,0,0,0,0
$GC,10593,0.91,145.9,366.4,17.5,669,10599,0.00,1.33,0.00,0.000,6,0.000,0.028,3335,1847,1994,0,0,0,0,0,0
$GC,10918,0.91,145.9,307.8,18.1,700,10922,0.00,2.30,0.00,0.000,4,0.000,0.058,3344,438,1994,0,0,0,0,0,0
$GC,11098,0.91,145.9,271.8,20.1,715,11105,0.05,2.12,0.00,0.000,6,0.187,0.028,3329,1826,1994,0,0,0,0,0,0
$GC,11424,0.91,145.9,214.3,17.1,746,11428,0.00,0.40,0.00,0.000,4,0.000,0.050,3329,1563,1994,0,0,0,0,0,0
$GC,11686,0.91,145.9,171.8,15.4,769,11690,0.00,0.38,0.00,0.000,6,0.000,0.035,3329,1840,1994,0,0,0,0,0,0
$GC,12016,0.91,145.9,123.1,14.1,800,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1840,1994,0,0,0,0,0,0
$GC,12347,0.91,145.9,75.3,14.9,844,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1840,1994,0,0,0,0,0,0
$GC,12695,0.91,145.9,25.0,11.5,905,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1840,1994,0,0,0,0,0,0
$GC,12843,0.91,145.9,5.8,16.4,930,12850,0.00,0.70,0.00,0.000,4,0.000,0.049,3331,1396,1994,0,0,0,0,0,0
$GC,12858,0.91,145.9,3.6,13.3,932,12865,0.00,0.62,0.00,0.000,6,0.000,0.037,3331,1822,1994,0,0,0,0,0,0
$STATE,12872,end climb,SURFACE_DEPTH_REACHED
$STATE,12872,begin surface coast
$FINISH,1.7,1.010779
$STATE,12897,end surface coast,CONTROL_FINISHED_OK
$STATE,12897,begin surface
$SM_CCo,12914,81.90,1.033,0,0,1620,240.14
$SM_GC,3.04,0.00,0.00,81.90,0.000,0.000,1.033,67,1968,1620,-9.24,0.79,240.14
$IRIDIUM_FIX,-5442.29,3.75,081213,222243
$TT8_MAMPS,0.026964
$HUMID,62.71
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,22.1,41.936
$10V_AH,10.1,31.640
$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,24.025,40.725,266.375,81.900,0.000,28.304,21.988,257.161,0.000,0.000,35.298,2378.040,7680.732,406.951,2844.883,123.899,0.000,1485.591,0.000,2469.923,0.000,1.008,0.000
$DEVICE_MAMPS,279.990,67.320,1613.385,1032.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.675,693.609,620.035,67.888,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,53617,938
$CAP_FILE_SIZE,124006,0
$CFSIZE,2097086464,2091286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,060134,-5500.535,-1.142,25,1.2,25,-20.2