version: 66.07.10.p01
glider: 574
mission: 8
dive: 47
start: 12 12 113 4 24 7
data:
$ID,574
$MISSION,8
$DIVE,47
$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,-14958.315
$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,44
$R_STBD_OVSHOOT,91
$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,26
$GPS1,121213,041630,-5459.376,-0.361,63,0.8,63,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-72.0
$GPS2,121213,042346,-5459.384,-0.358,25,1.1,25,-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,181.8,1202,-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,-57.8,0.0,0.0,0,46,0.00,0.00,-20.10,0.000,2,0.000,0.000,67,1959,2104,0,0,0,0,0,0
$GC,48,-0.90,-114.3,3.2,-3.3,3,127,12.43,2.08,-58.50,0.000,4,0.275,0.054,2722,3257,3066,0,0,0,0,0,0
$GC,385,-0.90,-114.3,35.8,-15.9,60,392,0.05,2.12,0.00,0.000,6,0.188,0.035,2736,1919,3068,0,0,0,0,0,0
$GC,532,-0.90,-114.3,58.3,-16.3,85,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1919,3068,0,0,0,0,0,0
$GC,873,-0.90,-114.3,114.3,-16.4,138,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1919,3068,0,0,0,0,0,0
$GC,1193,-0.90,-114.3,169.6,-16.6,168,1196,0.00,1.30,0.00,0.000,4,0.000,0.053,2737,1111,3068,0,0,0,0,0,0
$GC,1297,-0.90,-114.3,185.4,-15.5,177,1301,0.00,1.15,0.00,0.000,6,0.000,0.028,2733,1880,3068,0,0,0,0,0,0
$GC,1627,-0.90,-114.3,235.3,-14.0,208,1630,0.00,0.85,0.00,0.000,4,0.000,0.037,2729,2461,3068,0,0,0,0,0,0
$GC,1887,-0.90,-114.3,272.4,-14.1,231,1890,0.00,0.85,0.00,0.000,6,0.000,0.037,2729,1899,3067,0,0,0,0,0,0
$GC,2216,-0.90,-114.3,318.9,-14.5,262,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1898,3067,0,0,0,0,0,0
$GC,2536,-0.90,-114.3,363.6,-14.0,292,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1898,3067,0,0,0,0,0,0
$GC,2863,-0.90,-114.3,410.5,-14.9,320,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1898,3067,0,0,0,0,0,0
$GC,3172,-0.90,-114.3,454.3,-13.5,335,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1898,3067,0,0,0,0,0,0
$GC,3481,-0.90,-114.3,494.0,-12.4,350,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1898,3067,0,0,0,0,0,0
$GC,3791,-0.90,-114.3,530.7,-11.4,365,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1899,3068,0,0,0,0,0,0
$GC,4100,-0.90,-114.3,566.2,-11.4,380,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1899,3068,0,0,0,0,0,0
$GC,4409,-0.90,-114.3,601.3,-11.2,395,4413,0.00,0.55,0.00,0.000,4,0.000,0.052,2729,1527,3068,0,0,0,0,0,0
$GC,4577,-0.90,-114.3,620.6,-11.7,402,4581,0.00,0.57,0.00,0.000,6,0.000,0.032,2727,1931,3069,0,0,0,0,0,0
$GC,4898,-0.90,-114.3,656.1,-11.1,418,4902,0.00,0.85,0.00,0.000,4,0.000,0.040,2723,2509,3069,0,0,0,0,0,0
$GC,5155,-0.90,-114.3,684.6,-11.3,429,5160,0.08,0.93,0.00,0.000,6,0.213,0.036,2737,1905,3069,0,0,0,0,0,0
$GC,5476,-0.90,-114.3,718.5,-10.1,445,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1905,3070,0,0,0,0,0,0
$GC,5785,-0.90,-114.3,749.6,-10.0,460,5789,0.00,0.68,0.00,0.000,4,0.000,0.035,2736,2376,3070,0,0,0,0,0,0
$GC,6042,-0.90,-114.3,775.8,-10.9,471,6046,0.00,0.70,0.00,0.000,6,0.000,0.037,2736,1907,3070,0,0,0,0,0,0
$GC,6363,-0.90,-114.3,811.1,-11.3,487,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1906,3071,0,0,0,0,0,0
$GC,6673,-0.90,-114.3,847.2,-11.7,502,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1907,3071,0,0,0,0,0,0
$GC,6982,-0.90,-114.3,883.6,-11.8,517,6986,0.00,0.55,0.00,0.000,4,0.000,0.052,2736,1533,3071,0,0,0,0,0,0
$GC,7162,-0.90,-114.3,904.5,-11.0,525,7165,0.00,0.52,0.00,0.000,6,0.000,0.034,2734,1918,3071,0,0,0,0,0,0
$GC,7494,-0.90,-114.3,941.0,-10.6,541,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1919,3071,0,0,0,0,0,0
$GC,7803,-0.90,-114.3,972.8,-10.1,556,7807,0.00,0.45,0.00,0.000,4,0.000,0.041,2732,2263,3072,0,0,0,0,0,0
$GC,7965,-0.90,-114.3,989.3,-10.1,563,7968,0.00,0.52,0.00,0.000,6,0.000,0.040,2732,1896,3072,0,0,0,0,0,0
$STATE,7973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7973,begin apogee
$GC,7977,-0.16,0.0,990.6,10.3,563,8083,0.88,0.00,100.03,1.621,6,0.178,0.000,2970,1837,2599,0,0,0,0,0,0
$STATE,8084,end apogee,CONTROL_FINISHED_OK
$STATE,8084,begin climb
$GC,8085,0.90,114.3,992.4,0.0,569,8202,1.15,0.00,110.00,1.550,6,0.106,0.000,3314,1836,2133,0,0,0,0,0,0
$GC,8512,0.90,114.3,926.1,17.6,590,8516,0.00,1.15,0.00,0.000,4,0.000,0.054,3319,1156,2124,0,0,0,0,0,0
$GC,8693,0.90,114.3,893.3,18.4,598,8696,0.00,1.00,0.00,0.000,6,0.000,0.028,3319,1806,2123,0,0,0,0,0,0
$GC,9024,0.90,114.3,833.9,18.0,614,9028,0.00,0.57,0.00,0.000,4,0.000,0.044,3320,1445,2122,0,0,0,0,0,0
$GC,9281,0.90,114.3,786.5,17.5,625,9286,0.00,0.57,0.00,0.000,6,0.000,0.032,3320,1838,2122,0,0,0,0,0,0
$GC,9604,0.90,114.3,729.8,17.6,641,9608,0.00,0.77,0.00,0.000,4,0.000,0.047,3322,1356,2121,0,0,0,0,0,0
$GC,9861,0.90,114.3,683.2,18.0,652,9865,0.00,0.70,0.00,0.000,6,0.000,0.030,3323,1839,2120,0,0,0,0,0,0
$GC,10182,0.90,114.3,626.0,18.0,668,10186,0.00,1.23,0.00,0.000,4,0.000,0.050,3327,1085,2120,0,0,0,0,0,0
$GC,10377,0.90,114.3,590.6,17.7,676,10383,0.00,1.10,0.00,0.000,6,0.000,0.027,3324,1814,2120,0,0,0,0,0,0
$GC,10693,0.90,114.3,536.9,16.8,692,10697,0.00,0.50,0.00,0.000,4,0.000,0.046,3325,1486,2120,0,0,0,0,0,0
$GC,10950,0.90,114.3,491.6,17.2,703,10955,0.00,0.47,0.00,0.000,6,0.000,0.034,3325,1846,2120,0,0,0,0,0,0
$GC,11272,0.90,114.3,435.8,17.7,719,11276,0.00,0.93,0.00,0.000,4,0.000,0.047,3327,1264,2120,0,0,0,0,0,0
$GC,11530,0.90,114.3,390.4,17.1,732,11534,0.00,0.77,0.00,0.000,6,0.000,0.029,3327,1804,2120,0,0,0,0,0,0
$GC,11860,0.90,114.3,334.6,17.0,763,11864,0.00,0.57,0.00,0.000,4,0.000,0.045,3329,1434,2119,0,0,0,0,0,0
$GC,12121,0.90,114.3,291.8,14.9,786,12124,0.00,0.52,0.00,0.000,6,0.000,0.033,3329,1828,2119,0,0,0,0,0,0
$GC,12454,0.90,114.3,239.3,15.1,817,12458,0.00,1.12,0.00,0.000,4,0.000,0.050,3334,1128,2119,0,0,0,0,0,0
$GC,12559,0.90,114.3,221.7,15.7,826,12565,0.00,1.00,0.00,0.000,6,0.000,0.026,3333,1805,2120,0,0,0,0,0,0
$GC,12888,0.90,114.3,170.2,15.5,857,12892,0.00,1.25,0.00,0.000,4,0.000,0.050,3338,1029,2120,0,0,0,0,0,0
$GC,13001,0.90,114.3,152.8,13.6,867,13005,0.03,1.17,0.00,0.000,6,0.205,0.028,3331,1818,2120,0,0,0,0,0,0
$GC,13330,0.90,114.3,106.5,13.6,898,13334,0.00,1.17,0.00,0.000,4,0.000,0.050,3334,1093,2119,0,0,0,0,0,0
$GC,13497,0.90,114.3,83.7,14.0,922,13502,0.00,1.08,0.00,0.000,6,0.000,0.028,3334,1824,2119,0,0,0,0,0,0
$GC,13845,0.90,114.3,36.2,13.2,983,13850,0.00,1.08,0.00,0.000,4,0.000,0.051,3338,1157,2120,0,0,0,0,0,0
$GC,14062,0.90,114.3,6.6,14.5,1020,14069,0.03,0.98,0.00,0.000,6,0.213,0.028,3330,1844,2119,0,0,0,0,0,0
$STATE,14094,end climb,SURFACE_DEPTH_REACHED
$STATE,14094,begin surface coast
$FINISH,1.9,1.013937
$STATE,14119,end surface coast,CONTROL_FINISHED_OK
$STATE,14119,begin surface
$SM_CCo,14135,79.60,1.029,0,0,1742,210.22
$SM_GC,2.88,0.00,0.00,79.60,0.000,0.000,1.029,68,1854,1742,-9.22,-1.58,210.22
$IRIDIUM_FIX,-5438.56,3.75,111213,202038
$TT8_MAMPS,0.026964
$HUMID,62.48
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.1,44.771
$10V_AH,10.1,33.402
$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,23.750,34.475,210.025,79.600,0.000,25.537,42.683,245.649,0.000,0.000,28.385,2589.880,8626.854,383.429,2925.823,129.400,0.000,1454.432,0.000,2555.955,0.000,1.009,0.000
$DEVICE_MAMPS,274.635,121.635,1621.035,1028.925,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.918,756.336,688.547,75.206,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,60326,1029
$CAP_FILE_SIZE,127425,0
$CFSIZE,2097086464,2088796160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,082206,-5500.862,0.145,28,0.8,29,-20.2