version: 66.07.10.p01
glider: 574
mission: 8
dive: 41
start: 12 11 113 5 9 49
data:
$ID,574
$MISSION,8
$DIVE,41
$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,-14939.659
$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,40
$R_STBD_OVSHOOT,50
$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,20
$GPS1,111213,045004,-5459.237,0.243,149,1.1,149,-20.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.2
$GPS2,111213,050928,-5459.262,0.524,75,1.1,75,-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,222.4,1477,-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,-57.8,0.0,0.0,0,62,0.00,0.00,-36.55,0.000,2,0.000,0.000,65,1920,2394,0,0,0,0,0,0
$GC,64,-0.90,-137.7,3.1,-0.7,6,126,13.07,2.28,-42.45,0.000,4,0.290,0.067,2721,3298,3158,0,0,0,0,0,0
$GC,275,-0.90,-137.7,27.0,-16.1,41,281,0.08,2.17,0.00,0.000,6,0.234,0.034,2737,1919,3160,0,0,0,0,0,0
$GC,421,-0.90,-137.7,52.3,-16.0,66,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1919,3161,0,0,0,0,0,0
$GC,768,-0.90,-137.7,115.5,-17.8,120,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1919,3161,0,0,0,0,0,0
$GC,1087,-0.90,-137.7,173.4,-16.2,150,1091,0.00,0.55,0.00,0.000,4,0.000,0.036,2737,2311,3161,0,0,0,0,0,0
$GC,1329,-0.90,-137.7,211.8,-15.8,171,1335,0.00,0.62,0.00,0.000,6,0.000,0.038,2737,1894,3161,0,0,0,0,0,0
$GC,1654,-0.90,-137.7,262.1,-15.2,202,1658,0.00,0.40,0.00,0.000,4,0.000,0.036,2736,2212,3160,0,0,0,0,0,0
$GC,1917,-0.90,-137.7,300.6,-14.3,225,1921,0.00,0.43,0.00,0.000,6,0.000,0.041,2736,1908,3160,0,0,0,0,0,0
$GC,2247,-0.90,-137.7,349.2,-14.8,256,2251,0.00,2.03,0.00,0.000,4,0.000,0.044,2727,3184,3160,0,0,0,0,0,0
$GC,2407,-0.90,-137.7,371.8,-13.7,270,2411,0.00,1.95,0.00,0.000,6,0.000,0.034,2727,1925,3160,0,0,0,0,0,0
$GC,2744,-0.90,-137.7,422.8,-15.1,295,2747,0.00,0.52,0.00,0.000,4,0.000,0.034,2726,2312,3161,0,0,0,0,0,0
$GC,3000,-0.90,-137.7,461.9,-14.9,306,3005,0.00,0.62,0.00,0.000,6,0.000,0.037,2726,1895,3162,0,0,0,0,0,0
$GC,3321,-0.90,-137.7,507.8,-14.1,322,3325,0.05,0.85,0.00,0.000,4,0.259,0.034,2732,2464,3162,0,0,0,0,0,0
$GC,3524,-0.90,-137.7,535.7,-14.1,331,3527,0.00,0.82,0.00,0.000,6,0.000,0.037,2733,1915,3162,0,0,0,0,0,0
$GC,3855,-0.90,-137.7,581.0,-13.5,347,3859,0.00,0.50,0.00,0.000,4,0.000,0.034,2733,2292,3163,0,0,0,0,0,0
$GC,4112,-0.90,-137.7,616.4,-13.5,358,4116,0.00,0.57,0.00,0.000,6,0.000,0.039,2733,1904,3164,0,0,0,0,0,0
$GC,4433,-0.90,-137.7,659.6,-13.3,374,4437,0.00,0.77,0.00,0.000,4,0.000,0.034,2731,2433,3164,0,0,0,0,0,0
$GC,4645,-0.90,-137.7,689.0,-14.5,383,4650,0.00,0.80,0.00,0.000,6,0.000,0.037,2732,1912,3164,0,0,0,0,0,0
$GC,4967,-0.90,-137.7,733.0,-13.4,399,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1912,3165,0,0,0,0,0,0
$GC,5276,-0.90,-137.7,772.7,-12.5,414,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1912,3166,0,0,0,0,0,0
$GC,5585,-0.90,-137.7,811.0,-12.5,429,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1912,3167,0,0,0,0,0,0
$GC,5895,-0.90,-137.7,849.2,-12.2,444,5898,0.00,0.45,0.00,0.000,4,0.000,0.055,2731,1600,3166,0,0,0,0,0,0
$GC,6053,-0.90,-137.7,868.9,-13.6,451,6056,0.00,0.45,0.00,0.000,6,0.000,0.035,2730,1942,3167,0,0,0,0,0,0
$GC,6385,-0.90,-137.7,910.6,-12.4,467,6388,0.00,0.28,0.00,0.000,4,0.000,0.048,2729,2179,3167,0,0,0,0,0,0
$GC,6642,-0.90,-137.7,941.4,-12.4,478,6646,0.00,0.40,0.00,0.000,6,0.000,0.041,2729,1905,3167,0,0,0,0,0,0
$GC,6963,-0.90,-137.7,977.9,-10.9,494,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1905,3168,0,0,0,0,0,0
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7085,begin apogee
$GC,7090,-0.16,0.0,991.6,11.0,500,7214,0.93,0.00,120.43,1.609,6,0.190,0.000,2969,1827,2600,0,0,0,0,0,0
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7214,begin climb
$GC,7216,0.90,137.7,992.6,0.0,506,7356,1.20,0.55,133.38,1.558,4,0.113,0.054,3319,1522,2038,0,0,0,0,0,0
$GC,7607,0.90,137.7,923.4,19.6,524,7613,0.00,0.43,0.00,0.000,6,0.000,0.030,3319,1803,2029,0,0,0,0,0,0
$GC,7923,0.90,137.7,862.7,19.6,540,7927,0.00,1.45,0.00,0.000,4,0.000,0.053,3325,947,2028,0,0,0,0,0,0
$GC,8058,0.90,137.7,835.4,19.2,546,8062,0.00,1.35,0.00,0.000,6,0.000,0.025,3324,1823,2027,0,0,0,0,0,0
$GC,8390,0.90,137.7,772.3,18.6,562,8393,0.00,0.77,0.00,0.000,4,0.000,0.047,3326,1345,2026,0,0,0,0,0,0
$GC,8579,0.90,137.7,736.7,18.2,570,8583,0.00,0.73,0.00,0.000,6,0.000,0.027,3326,1826,2025,0,0,0,0,0,0
$GC,8900,0.90,137.7,676.7,19.2,586,8904,0.00,1.40,0.00,0.000,4,0.000,0.051,3331,979,2025,0,0,0,0,0,0
$GC,9058,0.90,137.7,646.2,19.1,593,9062,0.00,1.27,0.00,0.000,6,0.000,0.026,3331,1827,2025,0,0,0,0,0,0
$GC,9390,0.90,137.7,583.4,18.8,609,9394,0.00,1.20,0.00,0.000,4,0.000,0.050,3335,1091,2025,0,0,0,0,0,0
$GC,9529,0.90,137.7,556.5,18.9,615,9534,0.00,1.10,0.00,0.000,6,0.000,0.026,3335,1821,2024,0,0,0,0,0,0
$GC,9857,0.90,137.7,495.7,18.7,631,9860,0.00,0.50,0.00,0.000,4,0.000,0.047,3336,1496,2024,0,0,0,0,0,0
$GC,10113,0.90,137.7,447.5,19.1,642,10118,0.03,0.47,0.00,0.000,6,0.286,0.033,3328,1840,2024,0,0,0,0,0,0
$GC,10435,0.90,137.7,389.7,17.6,660,10439,0.00,1.35,0.00,0.000,4,0.000,0.053,3332,1018,2024,0,0,0,0,0,0
$GC,10586,0.90,137.7,362.2,18.2,673,10589,0.00,1.17,0.00,0.000,6,0.000,0.028,3333,1808,2024,0,0,0,0,0,0
$GC,10916,0.90,137.7,298.9,19.1,704,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1808,2024,0,0,0,0,0,0
$GC,11235,0.90,137.7,240.5,17.5,734,11238,0.00,0.47,0.00,0.000,4,0.000,0.046,3334,1498,2024,0,0,0,0,0,0
$GC,11496,0.90,137.7,195.6,18.2,757,11500,0.00,0.45,0.00,0.000,6,0.000,0.033,3334,1824,2024,0,0,0,0,0,0
$GC,11826,0.90,137.7,143.1,13.8,788,11830,0.00,2.30,0.00,0.000,4,0.000,0.057,3344,416,2024,0,0,0,0,0,0
$GC,11984,0.90,137.7,119.2,13.7,801,11991,0.05,2.12,0.00,0.000,6,0.182,0.027,3329,1805,2024,0,0,0,0,0,0
$GC,12324,0.90,137.7,69.0,17.0,850,12329,0.00,0.57,0.00,0.000,4,0.000,0.050,3329,1436,2024,0,0,0,0,0,0
$GC,12381,0.90,137.7,60.6,12.1,860,12386,0.00,0.57,0.00,0.000,6,0.000,0.031,3329,1850,2024,0,0,0,0,0,0
$GC,12731,0.90,137.7,20.0,12.5,921,12738,0.00,0.55,0.00,0.000,4,0.000,0.053,3332,1501,2024,0,0,0,0,0,0
$GC,12817,0.90,137.7,3.6,20.6,935,12824,0.00,0.43,0.00,0.000,6,0.000,0.031,3332,1862,2024,0,0,0,0,0,0
$STATE,12830,end climb,SURFACE_DEPTH_REACHED
$STATE,12831,begin surface coast
$FINISH,1.8,1.016406
$STATE,12850,end surface coast,CONTROL_FINISHED_OK
$STATE,12850,begin surface
$SM_CCo,12866,59.47,1.040,0,0,1742,210.22
$SM_GC,3.04,0.00,0.00,59.47,0.000,0.000,1.040,75,1862,1742,-9.22,-1.36,210.22
$IRIDIUM_FIX,-5442.29,0.00,111213,040438
$TT8_MAMPS,0.026964
$HUMID,63.15
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,22.1,43.892
$10V_AH,10.0,32.839
$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,24.300,38.800,253.800,59.475,0.000,84.713,121.425,600.054,0.000,0.000,78.276,2391.850,7742.888,402.623,3406.891,141.319,0.000,1450.949,0.000,2454.040,0.000,1.008,0.000
$DEVICE_MAMPS,289.935,102.510,1608.795,1039.635,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.213,686.939,621.922,64.690,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,53589,940
$CAP_FILE_SIZE,132050,0
$CFSIZE,2097086464,2089549824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111213,084705,-5500.083,-1.185,75,0.8,75,-20.2