version: 66.07.10.p01
glider: 574
mission: 8
dive: 31
start: 12 9 113 13 30 17
data:
$ID,574
$MISSION,8
$DIVE,31
$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,350
$T_MISSION,390
$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,210
$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,-14908.202
$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,1910
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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,10
$GPS1,091213,132006,-5459.605,-0.706,32,1.0,32,-20.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-71.5
$GPS2,091213,132956,-5459.608,-0.613,19,1.2,19,-20.2
$SPEED_LIMITS,0.163,0.255
$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,158.3,975,-27.8,-9.429
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.90,-57.8,0.0,0.0,0,51,0.00,0.00,-24.77,0.000,2,0.000,0.000,65,1992,2071,0,0,0,0,0,0
$GC,54,-0.90,-128.0,3.1,-1.8,4,139,12.85,2.47,-63.70,0.000,4,0.285,0.071,2731,520,3124,0,0,0,0,0,0
$GC,402,-0.90,-128.0,45.3,-22.1,63,409,0.00,2.10,0.00,0.000,6,0.000,0.032,2721,1848,3125,0,0,0,0,0,0
$GC,745,-0.90,-128.0,112.7,-19.4,118,750,0.08,0.80,0.00,0.000,4,0.237,0.041,2732,2381,3125,0,0,0,0,0,0
$GC,1007,-0.90,-128.0,161.1,-16.9,141,1011,0.00,0.70,0.00,0.000,6,0.000,0.039,2733,1914,3125,0,0,0,0,0,0
$GC,1337,-0.90,-128.0,216.7,-16.4,172,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1914,3125,0,0,0,0,0,0
$GC,1657,-0.90,-128.0,264.3,-13.6,202,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1914,3125,0,0,0,0,0,0
$GC,1975,-0.90,-128.0,307.8,-13.6,232,1979,0.00,0.45,0.00,0.000,4,0.000,0.037,2732,2247,3125,0,0,0,0,0,0
$GC,2235,-0.90,-128.0,343.9,-13.9,255,2239,0.00,0.50,0.00,0.000,6,0.000,0.041,2733,1900,3124,0,0,0,0,0,0
$GC,2565,-0.90,-128.0,390.1,-14.0,286,2569,0.00,0.40,0.00,0.000,4,0.000,0.038,2733,2212,3124,0,0,0,0,0,0
$GC,2747,-0.90,-128.0,415.7,-14.2,298,2751,0.00,0.43,0.00,0.000,6,0.000,0.042,2733,1907,3124,0,0,0,0,0,0
$GC,3079,-0.90,-128.0,462.0,-13.8,314,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1907,3125,0,0,0,0,0,0
$GC,3388,-0.90,-128.0,505.9,-14.4,329,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1906,3126,0,0,0,0,0,0
$GC,3698,-0.90,-128.0,549.7,-14.2,344,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1906,3126,0,0,0,0,0,0
$GC,4007,-0.90,-128.0,594.0,-14.3,359,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1906,3126,0,0,0,0,0,0
$GC,4316,-0.90,-128.0,637.5,-13.6,374,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1906,3126,0,0,0,0,0,0
$GC,4626,-0.90,-128.0,680.5,-14.0,389,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1906,3126,0,0,0,0,0,0
$GC,4935,-0.90,-128.0,722.2,-13.1,404,4939,0.00,0.43,0.00,0.000,4,0.000,0.057,2733,1611,3127,0,0,0,0,0,0
$GC,5086,-0.90,-128.0,741.6,-12.8,410,5091,0.00,0.38,0.00,0.000,6,0.000,0.037,2734,1881,3127,0,0,0,0,0,0
$GC,5401,-0.90,-128.0,778.7,-11.2,426,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1882,3127,0,0,0,0,0,0
$GC,5710,-0.90,-128.0,812.3,-10.4,441,5714,0.00,0.52,0.00,0.000,4,0.000,0.040,2732,2266,3127,0,0,0,0,0,0
$GC,5945,-0.90,-128.0,835.6,-10.4,451,5949,0.00,0.52,0.00,0.000,6,0.000,0.041,2732,1910,3127,0,0,0,0,0,0
$GC,6266,-0.90,-130.2,865.3,-9.2,467,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1910,3128,0,0,0,0,0,0
$GC,6575,-0.90,-130.2,895.2,-9.5,482,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1910,3127,0,0,0,0,0,0
$GC,6885,-0.90,-130.2,925.4,-9.8,497,6888,0.00,0.45,0.00,0.000,4,0.000,0.056,2734,1601,3127,0,0,0,0,0,0
$GC,7132,-0.90,-130.2,951.5,-12.1,508,7135,0.00,0.43,0.00,0.000,6,0.000,0.037,2733,1926,3127,0,0,0,0,0,0
$GC,7464,-0.90,-130.2,988.9,-11.5,524,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1925,3128,0,0,0,0,0,0
$STATE,7483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7483,begin apogee
$GC,7487,-0.16,0.0,991.2,11.4,525,7604,0.90,0.00,112.10,1.630,6,0.182,0.000,2973,1801,2600,0,0,0,0,0,0
$STATE,7605,end apogee,CONTROL_FINISHED_OK
$STATE,7605,begin climb
$GC,7607,0.90,130.2,993.8,0.0,531,7736,1.15,0.00,125.45,1.589,6,0.106,0.000,3314,1800,2069,0,0,0,0,0,0
$GC,8035,0.90,130.2,931.9,15.9,552,8038,0.00,1.55,0.00,0.000,4,0.000,0.058,3321,906,2059,0,0,0,0,0,0
$GC,8237,0.90,130.2,896.5,17.8,561,8241,0.00,1.40,0.00,0.000,6,0.000,0.028,3321,1794,2057,0,0,0,0,0,0
$GC,8569,0.90,130.2,839.1,17.6,577,8572,0.00,0.50,0.00,0.000,4,0.000,0.047,3322,1480,2057,0,0,0,0,0,0
$GC,8826,0.90,130.2,791.4,19.1,588,8830,0.00,0.52,0.00,0.000,6,0.000,0.032,3322,1837,2056,0,0,0,0,0,0
$GC,9147,0.90,130.2,733.4,18.1,604,9151,0.00,1.15,0.00,0.000,4,0.000,0.052,3326,1138,2056,0,0,0,0,0,0
$GC,9403,0.90,130.2,686.2,18.7,615,9408,0.00,1.05,0.00,0.000,6,0.000,0.028,3325,1827,2055,0,0,0,0,0,0
$GC,9725,0.90,130.2,629.1,17.8,631,9729,0.00,1.02,0.00,0.000,4,0.000,0.051,3328,1195,2055,0,0,0,0,0,0
$GC,9847,0.90,130.2,606.8,17.7,636,9852,0.00,0.95,0.00,0.000,6,0.000,0.028,3328,1830,2055,0,0,0,0,0,0
$GC,10169,0.90,130.2,548.4,18.3,652,10172,0.00,0.55,0.00,0.000,4,0.000,0.042,3328,2224,2054,0,0,0,0,0,0
$GC,10349,0.90,130.2,515.8,18.1,660,10352,0.00,0.57,0.00,0.000,6,0.000,0.044,3329,1837,2054,0,0,0,0,0,0
$GC,10681,0.90,130.2,458.3,17.1,676,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1836,2054,0,0,0,0,0,0
$GC,10990,0.90,130.2,405.6,16.7,691,10993,0.00,0.95,0.00,0.000,4,0.000,0.057,3333,1243,2054,0,0,0,0,0,0
$GC,11141,0.90,130.2,379.2,17.2,702,11146,0.00,0.85,0.00,0.000,6,0.000,0.028,3334,1810,2054,0,0,0,0,0,0
$GC,11468,0.90,130.2,324.3,16.6,733,11471,0.00,0.43,0.00,0.000,4,0.000,0.046,3335,1533,2054,0,0,0,0,0,0
$GC,11727,0.90,130.2,277.1,19.3,756,11731,0.00,0.43,0.00,0.000,6,0.000,0.037,3335,1854,2054,0,0,0,0,0,0
$GC,12057,0.90,130.2,215.8,19.0,787,12062,0.00,2.33,0.00,0.000,4,0.000,0.057,3345,429,2054,0,0,0,0,0,0
$GC,12267,0.90,130.2,176.8,18.7,805,12272,0.10,2.08,0.00,0.000,6,0.201,0.028,3322,1804,2054,0,0,0,0,0,0
$GC,12592,0.90,130.2,129.4,12.4,835,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1803,2054,0,0,0,0,0,0
$GC,12917,0.90,130.2,88.0,12.5,873,12924,0.00,1.08,0.00,0.000,4,0.000,0.052,3325,1137,2054,0,0,0,0,0,0
$GC,13182,0.90,130.2,54.9,13.3,919,13187,0.00,1.02,0.00,0.000,6,0.000,0.029,3324,1826,2053,0,0,0,0,0,0
$GC,13536,0.90,130.2,7.0,15.4,980,13543,0.00,1.50,0.00,0.000,4,0.000,0.053,3330,906,2054,0,0,0,0,0,0
$STATE,13567,end climb,SURFACE_DEPTH_REACHED
$STATE,13567,begin surface coast
$FINISH,1.7,1.025950
$STATE,13593,end surface coast,CONTROL_FINISHED_OK
$STATE,13593,begin surface
$SM_CCo,13610,66.88,1.053,0,0,1743,210.22
$SM_GC,3.16,0.00,0.00,66.88,0.000,0.000,1.053,78,1900,1743,-9.20,-0.28,210.22
$IRIDIUM_FIX,-5442.29,18.76,091213,090932
$TT8_MAMPS,0.026964
$HUMID,63.19
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,22.1,42.415
$10V_AH,10.1,31.907
$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,24.200,32.200,237.550,66.875,0.000,26.141,24.180,429.671,0.000,0.000,21.989,2462.777,8375.142,392.584,2900.805,141.175,0.000,1400.574,0.000,2396.962,0.000,1.009,0.000
$DEVICE_MAMPS,285.345,71.145,1630.215,1053.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.047,726.462,658.760,71.062,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,56901,989
$CAP_FILE_SIZE,121134,0
$CFSIZE,2097086464,2090893312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,171958,-5500.745,1.181,69,0.8,69,-20.3