version: 66.07.10.p01
glider: 574
mission: 8
dive: 39
start: 12 10 113 21 3 47
data:
$ID,574
$MISSION,8
$DIVE,39
$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,-14933.8
$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,65
$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,18
$GPS1,101213,205634,-5500.335,-1.506,86,0.8,86,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-68.4
$GPS2,101213,210325,-5500.369,-1.424,15,1.3,15,-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,85.9,1660,-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,23,-0.90,-57.8,0.0,0.0,0,45,0.00,0.00,-19.30,0.000,2,0.000,0.000,68,1919,2083,0,0,0,0,0,0
$GC,47,-0.90,-118.1,3.1,-2.8,3,114,12.23,0.00,-51.53,0.000,6,0.269,0.000,2729,1925,3084,0,0,0,0,0,0
$GC,164,-0.90,-118.1,10.9,-14.6,22,171,0.00,0.90,0.00,0.000,4,0.000,0.047,2729,1356,3086,0,0,0,0,0,0
$GC,289,-0.90,-118.1,31.3,-16.2,43,294,0.00,0.82,0.00,0.000,6,0.000,0.029,2726,1911,3086,0,0,0,0,0,0
$GC,432,-0.90,-118.1,59.2,-19.7,68,437,0.03,0.00,0.00,0.000,6,0.310,0.000,2733,1911,3087,0,0,0,0,0,0
$GC,770,-0.90,-118.1,118.9,-16.8,119,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1911,3087,0,0,0,0,0,0
$GC,1092,-0.90,-118.1,173.7,-16.1,149,1096,0.00,0.32,0.00,0.000,4,0.000,0.045,2733,2177,3086,0,0,0,0,0,0
$GC,1297,-0.90,-118.1,203.8,-14.2,167,1301,0.00,0.40,0.00,0.000,6,0.000,0.043,2733,1884,3086,0,0,0,0,0,0
$GC,1627,-0.90,-118.1,247.8,-13.4,198,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1884,3086,0,0,0,0,0,0
$GC,1947,-0.90,-118.1,290.9,-13.3,228,1950,0.00,0.62,0.00,0.000,4,0.000,0.050,2733,1472,3085,0,0,0,0,0,0
$GC,2060,-0.90,-118.1,306.1,-13.6,238,2064,0.00,0.62,0.00,0.000,6,0.000,0.032,2730,1916,3085,0,0,0,0,0,0
$GC,2394,-0.90,-118.1,348.9,-13.2,269,2397,0.00,1.20,0.00,0.000,4,0.000,0.042,2725,2695,3085,0,0,0,0,0,0
$GC,2601,-0.90,-118.1,377.1,-13.3,287,2608,0.03,1.20,0.00,0.000,6,0.222,0.034,2732,1926,3085,0,0,0,0,0,0
$GC,2933,-0.90,-118.1,419.9,-12.7,312,2937,0.00,0.43,0.00,0.000,4,0.000,0.052,2732,1630,3085,0,0,0,0,0,0
$GC,3061,-0.90,-118.1,436.7,-12.9,317,3066,0.00,0.40,0.00,0.000,6,0.000,0.036,2732,1934,3085,0,0,0,0,0,0
$GC,3376,-0.90,-118.1,477.5,-13.5,333,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1934,3086,0,0,0,0,0,0
$GC,3686,-0.90,-118.1,520.7,-13.8,348,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1934,3086,0,0,0,0,0,0
$GC,3995,-0.90,-118.1,562.7,-13.7,363,3998,0.00,0.25,0.00,0.000,4,0.000,0.050,2730,2156,3087,0,0,0,0,0,0
$GC,4251,-0.90,-118.1,597.6,-14.0,374,4256,0.00,0.38,0.00,0.000,6,0.000,0.041,2730,1895,3086,0,0,0,0,0,0
$GC,4573,-0.90,-118.1,639.1,-12.5,390,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1896,3086,0,0,0,0,0,0
$GC,4882,-0.90,-118.1,676.2,-11.6,405,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1896,3087,0,0,0,0,0,0
$GC,5191,-0.90,-118.1,710.7,-11.0,420,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1895,3088,0,0,0,0,0,0
$GC,5501,-0.90,-118.1,743.7,-10.4,435,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1896,3088,0,0,0,0,0,0
$GC,5810,-0.90,-118.1,776.5,-10.6,450,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1895,3088,0,0,0,0,0,0
$GC,6119,-0.90,-118.1,811.1,-11.3,465,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1896,3089,0,0,0,0,0,0
$GC,6429,-0.90,-118.1,844.2,-10.4,480,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1895,3089,0,0,0,0,0,0
$GC,6738,-0.90,-118.1,875.5,-9.8,495,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1895,3090,0,0,0,0,0,0
$GC,7047,-0.90,-118.1,904.6,-9.4,510,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1896,3090,0,0,0,0,0,0
$GC,7357,-0.90,-118.1,933.8,-9.6,525,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1896,3090,0,0,0,0,0,0
$GC,7666,-0.90,-118.3,962.7,-9.4,540,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1895,3090,0,0,0,0,0,0
$STATE,7953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7953,begin apogee
$GC,7958,-0.16,0.0,990.1,9.5,554,8065,0.93,0.00,103.32,1.618,6,0.186,0.000,2973,1835,2600,0,0,0,0,0,0
$STATE,8065,end apogee,CONTROL_FINISHED_OK
$STATE,8065,begin climb
$GC,8067,0.90,118.3,990.8,0.0,559,8186,1.15,0.60,113.97,1.552,4,0.106,0.053,3319,1505,2116,0,0,0,0,0,0
$GC,8440,0.90,118.3,929.9,17.8,577,8443,0.00,0.43,0.00,0.000,6,0.000,0.032,3319,1801,2108,0,0,0,0,0,0
$GC,8771,0.90,118.3,870.0,18.0,593,8775,0.00,1.12,0.00,0.000,4,0.000,0.050,3323,1132,2105,0,0,0,0,0,0
$GC,8977,0.90,118.3,832.4,17.1,602,8982,0.00,1.08,0.00,0.000,6,0.000,0.027,3323,1825,2105,0,0,0,0,0,0
$GC,9305,0.90,118.3,776.7,16.6,618,9309,0.00,0.57,0.00,0.000,4,0.000,0.045,3325,1461,2103,0,0,0,0,0,0
$GC,9562,0.90,118.3,735.0,15.9,629,9566,0.00,0.52,0.00,0.000,6,0.000,0.031,3325,1828,2104,0,0,0,0,0,0
$GC,9883,0.90,118.3,685.4,15.5,645,9887,0.00,1.15,0.00,0.000,4,0.000,0.050,3329,1127,2103,0,0,0,0,0,0
$GC,10132,0.90,118.3,646.9,15.8,656,10136,0.00,1.02,0.00,0.000,6,0.000,0.028,3329,1815,2103,0,0,0,0,0,0
$GC,10464,0.90,118.3,593.0,16.7,672,10467,0.00,0.75,0.00,0.000,4,0.000,0.048,3331,1345,2103,0,0,0,0,0,0
$GC,10692,0.90,118.3,556.0,15.8,682,10697,0.00,0.73,0.00,0.000,6,0.000,0.028,3331,1842,2102,0,0,0,0,0,0
$GC,11019,0.90,118.3,503.7,15.9,698,11023,0.00,0.90,0.00,0.000,4,0.000,0.048,3334,1282,2102,0,0,0,0,0,0
$GC,11276,0.90,118.3,463.0,16.4,709,11281,0.00,0.80,0.00,0.000,6,0.000,0.027,3334,1805,2102,0,0,0,0,0,0
$GC,11598,0.90,118.3,410.4,17.0,725,11602,0.00,0.45,0.00,0.000,4,0.000,0.046,3335,1510,2102,0,0,0,0,0,0
$GC,11859,0.90,118.3,364.9,16.8,745,11863,0.00,0.45,0.00,0.000,6,0.000,0.035,3335,1849,2102,0,0,0,0,0,0
$GC,12189,0.90,118.3,307.9,16.7,776,12193,0.00,0.93,0.00,0.000,4,0.000,0.047,3338,1269,2102,0,0,0,0,0,0
$GC,12359,0.90,118.3,279.4,17.4,791,12363,0.03,0.77,0.00,0.000,6,0.210,0.028,3330,1805,2102,0,0,0,0,0,0
$GC,12688,0.90,118.3,228.3,14.8,822,12692,0.00,1.00,0.00,0.000,4,0.000,0.049,3333,1184,2102,0,0,0,0,0,0
$GC,12850,0.90,118.3,203.7,15.3,836,12858,0.00,0.95,0.00,0.000,6,0.000,0.026,3333,1822,2102,0,0,0,0,0,0
$GC,13177,0.90,118.3,154.2,14.5,867,13180,0.00,0.60,0.00,0.000,4,0.000,0.046,3334,1441,2102,0,0,0,0,0,0
$GC,13437,0.90,118.3,120.0,12.3,890,13441,0.00,0.52,0.00,0.000,6,0.000,0.032,3334,1832,2103,0,0,0,0,0,0
$GC,13777,0.90,118.3,70.7,15.0,937,13782,0.00,1.90,0.00,0.000,4,0.000,0.056,3342,661,2103,0,0,0,0,0,0
$GC,14017,0.90,118.3,32.7,16.3,979,14023,0.08,1.70,0.00,0.000,6,0.209,0.027,3327,1802,2103,0,0,0,0,0,0
$GC,14165,0.90,118.3,9.1,15.6,1004,14172,0.00,0.57,0.00,0.000,4,0.000,0.050,3328,1431,2103,0,0,0,0,0,0
$STATE,14215,end climb,SURFACE_DEPTH_REACHED
$STATE,14215,begin surface coast
$FINISH,1.6,1.015199
$STATE,14246,end surface coast,CONTROL_FINISHED_OK
$STATE,14246,begin surface
$SM_CCo,14263,75.93,1.034,0,0,1742,210.22
$SM_GC,2.72,0.00,0.00,75.93,0.000,0.000,1.034,76,1929,1742,-9.21,0.54,210.22
$IRIDIUM_FIX,-5438.56,-3.75,101213,171758
$TT8_MAMPS,0.027713
$HUMID,62.99
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,22.1,43.570
$10V_AH,10.1,32.651
$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,23.700,27.850,217.300,75.925,0.000,24.452,22.882,256.918,0.000,0.000,18.027,2550.856,8897.410,377.786,2805.836,124.177,0.000,1415.177,0.000,2457.665,0.000,1.008,0.000
$DEVICE_MAMPS,309.825,117.045,1617.975,1033.515,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.017,700.094,686.722,64.055,0.000,0.000,0.000,0.000,0.000,0.000
$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,56981,1017
$CAP_FILE_SIZE,123742,0
$CFSIZE,2097086464,2089844736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111213,010459,-5459.868,1.987,98,0.9,98,-20.3