version: 66.07.10.p01
glider: 574
mission: 8
dive: 34
start: 12 10 113 1 11 34
data:
$ID,574
$MISSION,8
$DIVE,34
$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,-14918.31
$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,39
$R_STBD_OVSHOOT,87
$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,13
$GPS1,101213,010404,-5500.849,-0.411,36,0.9,36,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-72.2
$GPS2,101213,011112,-5500.849,-0.384,15,1.1,15,-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,34.7,1625,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.90,-57.8,0.0,0.0,0,39,0.00,0.00,-13.23,0.000,2,0.000,0.000,67,1951,1976,0,0,0,0,0,0
$GC,41,-0.90,-127.1,3.0,-1.9,2,126,12.50,0.00,-69.32,0.000,6,0.277,0.000,2730,1957,3119,0,0,0,0,0,0
$GC,176,-0.90,-127.1,8.0,-14.9,24,183,0.00,0.47,0.00,0.000,4,0.000,0.050,2729,1641,3121,0,0,0,0,0,0
$GC,197,-0.90,-127.1,12.0,-17.0,27,204,0.00,0.32,0.00,0.000,6,0.000,0.038,2730,1868,3121,0,0,0,0,0,0
$GC,251,-0.90,-127.1,22.9,-17.6,36,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1868,3121,0,0,0,0,0,0
$GC,398,-0.90,-127.1,49.0,-17.7,61,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1868,3121,0,0,0,0,0,0
$GC,743,-0.90,-127.1,109.6,-17.5,117,747,0.00,1.15,0.00,0.000,4,0.000,0.042,2724,2610,3122,0,0,0,0,0,0
$GC,951,-0.90,-127.1,145.2,-16.3,135,958,0.05,1.10,0.00,0.000,6,0.249,0.035,2733,1908,3121,0,0,0,0,0,0
$GC,1277,-0.90,-127.1,195.4,-14.6,166,1280,0.00,1.88,0.00,0.000,4,0.000,0.044,2727,3089,3122,0,0,0,0,0,0
$GC,1393,-0.90,-127.1,212.1,-14.2,176,1402,0.00,1.83,0.00,0.000,6,0.000,0.033,2727,1920,3122,0,0,0,0,0,0
$GC,1721,-0.90,-127.1,259.6,-15.1,207,1724,0.00,0.80,0.00,0.000,4,0.000,0.037,2725,2457,3121,0,0,0,0,0,0
$GC,1905,-0.90,-127.1,286.8,-14.3,223,1912,0.05,0.88,0.00,0.000,6,0.246,0.037,2734,1889,3121,0,0,0,0,0,0
$GC,2230,-0.90,-127.1,334.5,-14.9,254,2234,0.00,0.40,0.00,0.000,4,0.000,0.038,2734,2199,3121,0,0,0,0,0,0
$GC,2290,-0.90,-127.1,343.6,-14.4,259,2296,0.00,0.43,0.00,0.000,6,0.000,0.041,2733,1903,3121,0,0,0,0,0,0
$GC,2615,-0.90,-127.1,390.7,-14.5,290,2619,0.00,0.50,0.00,0.000,4,0.000,0.037,2733,2269,3121,0,0,0,0,0,0
$GC,2872,-0.90,-127.1,428.2,-14.6,304,2877,0.00,0.52,0.00,0.000,6,0.000,0.040,2733,1913,3122,0,0,0,0,0,0
$GC,3194,-0.90,-127.1,473.6,-14.1,320,3198,0.00,0.68,0.00,0.000,4,0.000,0.035,2730,2382,3122,0,0,0,0,0,0
$GC,3321,-0.90,-127.1,492.3,-14.2,325,3327,0.00,0.73,0.00,0.000,6,0.000,0.038,2730,1905,3123,0,0,0,0,0,0
$GC,3638,-0.90,-127.1,536.3,-13.9,341,3642,0.00,0.50,0.00,0.000,4,0.000,0.036,2729,2269,3123,0,0,0,0,0,0
$GC,3895,-0.90,-127.1,571.8,-13.9,352,3899,0.00,0.55,0.00,0.000,6,0.000,0.040,2729,1898,3124,0,0,0,0,0,0
$GC,4216,-0.90,-127.1,617.7,-14.4,368,4220,0.00,0.70,0.00,0.000,4,0.000,0.036,2727,2382,3124,0,0,0,0,0,0
$GC,4473,-0.90,-127.1,655.5,-14.6,379,4478,0.00,0.73,0.00,0.000,6,0.000,0.037,2727,1905,3125,0,0,0,0,0,0
$GC,4795,-0.90,-127.1,701.3,-13.9,395,4798,0.00,0.68,0.00,0.000,4,0.000,0.035,2725,2374,3126,0,0,0,0,0,0
$GC,4933,-0.90,-127.1,720.2,-13.1,401,4939,0.05,0.70,0.00,0.000,6,0.240,0.038,2734,1906,3126,0,0,0,0,0,0
$GC,5260,-0.90,-127.1,760.3,-11.9,417,5264,0.00,0.57,0.00,0.000,4,0.000,0.035,2734,2315,3126,0,0,0,0,0,0
$GC,5410,-0.90,-127.1,777.8,-10.9,423,5415,0.00,0.60,0.00,0.000,6,0.000,0.038,2733,1911,3126,0,0,0,0,0,0
$GC,5725,-0.90,-127.1,812.4,-10.9,439,5729,0.00,0.85,0.00,0.000,4,0.000,0.035,2732,2481,3126,0,0,0,0,0,0
$GC,5864,-0.90,-127.1,827.1,-10.6,445,5869,0.00,0.88,0.00,0.000,6,0.000,0.037,2732,1913,3127,0,0,0,0,0,0
$GC,6192,-0.90,-127.1,860.3,-10.0,461,6195,0.00,0.88,0.00,0.000,4,0.000,0.035,2729,2495,3127,0,0,0,0,0,0
$GC,6291,-0.90,-127.1,870.4,-10.3,465,6295,0.00,0.90,0.00,0.000,6,0.000,0.035,2729,1910,3127,0,0,0,0,0,0
$GC,6613,-0.90,-127.1,901.5,-9.5,481,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1909,3127,0,0,0,0,0,0
$GC,6922,-0.90,-127.1,932.2,-10.2,496,6925,0.00,0.43,0.00,0.000,4,0.000,0.039,2728,2230,3127,0,0,0,0,0,0
$GC,7179,-0.90,-127.1,958.1,-9.9,507,7183,0.00,0.47,0.00,0.000,6,0.000,0.040,2728,1905,3127,0,0,0,0,0,0
$STATE,7500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7500,begin apogee
$GC,7505,-0.16,0.0,990.0,10.1,523,7620,0.93,0.00,111.43,1.619,6,0.181,0.000,2974,1822,2600,0,0,0,0,0,0
$STATE,7621,end apogee,CONTROL_FINISHED_OK
$STATE,7621,begin climb
$GC,7622,0.90,127.1,990.7,0.0,529,7754,1.12,2.40,121.53,1.545,4,0.105,0.060,3325,542,2080,0,0,0,0,0,0
$GC,7904,0.90,127.1,942.7,20.5,542,7909,0.00,2.08,0.00,0.000,6,0.000,0.026,3324,1804,2073,0,0,0,0,0,0
$GC,8232,0.90,127.1,880.6,19.0,558,8235,0.00,0.68,0.00,0.000,4,0.000,0.047,3326,1394,2071,0,0,0,0,0,0
$GC,8488,0.90,127.1,830.8,19.0,569,8493,0.00,0.68,0.00,0.000,6,0.000,0.030,3326,1849,2070,0,0,0,0,0,0
$GC,8810,0.90,127.1,770.5,19.1,585,8813,0.00,1.73,0.00,0.000,4,0.000,0.054,3333,786,2069,0,0,0,0,0,0
$GC,8977,0.90,127.1,737.5,18.4,592,8981,0.00,1.55,0.00,0.000,6,0.000,0.027,3333,1800,2068,0,0,0,0,0,0
$GC,9298,0.90,127.1,674.9,19.5,608,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1800,2067,0,0,0,0,0,0
$GC,9608,0.90,127.1,613.4,20.2,623,9611,0.00,0.85,0.00,0.000,4,0.000,0.050,3335,1274,2067,0,0,0,0,0,0
$GC,9825,0.90,127.1,568.7,20.8,632,9831,0.00,0.82,0.00,0.000,6,0.000,0.028,3335,1824,2067,0,0,0,0,0,0
$GC,10141,0.90,127.1,506.0,19.9,648,10145,0.00,0.43,0.00,0.000,4,0.000,0.047,3336,1537,2067,0,0,0,0,0,0
$GC,10398,0.90,127.1,455.8,20.3,659,10402,0.00,0.43,0.00,0.000,6,0.000,0.034,3336,1838,2067,0,0,0,0,0,0
$GC,10720,0.90,127.1,394.0,19.0,676,10723,0.00,1.25,0.00,0.000,4,0.000,0.051,3341,1073,2067,0,0,0,0,0,0
$GC,10869,0.90,127.1,365.8,18.8,689,10874,0.05,1.10,0.00,0.000,6,0.181,0.028,3326,1814,2067,0,0,0,0,0,0
$GC,11199,0.90,127.1,307.0,16.6,720,11203,0.00,1.30,0.00,0.000,4,0.000,0.054,3330,1022,2067,0,0,0,0,0,0
$GC,11394,0.90,127.1,274.7,17.0,737,11398,0.00,1.17,0.00,0.000,6,0.000,0.028,3330,1808,2067,0,0,0,0,0,0
$GC,11724,0.90,127.1,221.5,16.4,768,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1808,2067,0,0,0,0,0,0
$GC,12043,0.90,127.1,171.1,15.5,798,12047,0.00,1.48,0.00,0.000,4,0.000,0.052,3337,905,2067,0,0,0,0,0,0
$GC,12195,0.90,127.1,147.2,15.4,811,12201,0.03,1.38,0.00,0.000,6,0.203,0.027,3329,1820,2067,0,0,0,0,0,0
$GC,12520,0.90,127.1,102.9,13.0,842,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1820,2067,0,0,0,0,0,0
$GC,12859,0.90,127.1,57.5,13.2,899,12864,0.00,0.73,0.00,0.000,4,0.000,0.048,3330,1364,2067,0,0,0,0,0,0
$GC,13123,0.90,127.1,21.9,14.2,945,13129,0.00,0.65,0.00,0.000,6,0.000,0.031,3331,1826,2067,0,0,0,0,0,0
$STATE,13253,end climb,SURFACE_DEPTH_REACHED
$STATE,13253,begin surface coast
$FINISH,1.8,1.009914
$STATE,13273,end surface coast,CONTROL_FINISHED_OK
$STATE,13273,begin surface
$SM_CCo,13289,69.45,1.043,0,0,1743,210.22
$SM_GC,2.75,0.00,0.00,69.45,0.000,0.000,1.043,73,1838,1743,-9.23,-2.04,210.22
$IRIDIUM_FIX,-5442.29,0.00,091213,212131
$TT8_MAMPS,0.027713
$HUMID,63.03
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,22.1,42.869
$10V_AH,10.1,32.185
$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,23.925,41.875,232.950,69.450,0.000,31.269,51.011,237.339,0.000,0.000,18.397,2464.237,7891.990,384.522,2924.276,126.839,0.000,1501.284,0.000,2549.817,0.000,1.008,0.000
$DEVICE_MAMPS,276.930,104.040,1618.740,1043.460,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.890,706.802,643.831,65.336,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,53673,970
$CAP_FILE_SIZE,128677,0
$CFSIZE,2097086464,2090500096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,045532,-5459.100,1.302,44,0.8,44,-20.3