version: 66.07.10.p01
glider: 574
mission: 8
dive: 49
start: 12 12 113 12 21 20
data:
$ID,574
$MISSION,8
$DIVE,49
$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,-14964.391
$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,68
$R_STBD_OVSHOOT,64
$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,28
$GPS1,121213,121352,-5459.143,0.338,45,0.9,45,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.1
$GPS2,121213,122059,-5459.142,0.397,17,1.0,17,-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,215.1,1644,-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,-19.90,0.000,2,0.000,0.000,68,1909,2100,0,0,0,0,0,0
$GC,48,-0.90,-130.5,3.1,-1.5,3,127,12.50,2.28,-58.50,0.000,4,0.277,0.062,2720,3288,3133,0,0,0,0,0,0
$GC,346,-0.90,-130.5,40.1,-18.2,53,352,0.05,2.10,0.00,0.000,6,0.243,0.034,2733,1940,3135,0,0,0,0,0,0
$GC,698,-0.90,-130.5,105.0,-19.2,113,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1940,3135,0,0,0,0,0,0
$GC,1016,-0.90,-130.5,160.8,-15.5,143,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1940,3136,0,0,0,0,0,0
$GC,1338,-0.90,-130.5,209.3,-15.4,173,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1940,3136,0,0,0,0,0,0
$GC,1663,-0.90,-130.5,260.2,-15.4,204,1667,0.00,1.15,0.00,0.000,4,0.000,0.051,2733,1214,3135,0,0,0,0,0,0
$GC,1803,-0.90,-130.5,282.9,-15.3,216,1811,0.00,1.05,0.00,0.000,6,0.000,0.027,2730,1907,3135,0,0,0,0,0,0
$GC,2130,-0.90,-130.5,330.1,-14.2,247,2134,0.00,0.82,0.00,0.000,4,0.000,0.041,2726,2469,3135,0,0,0,0,0,0
$GC,2291,-0.90,-130.5,352.2,-13.1,261,2295,0.00,0.85,0.00,0.000,6,0.000,0.037,2726,1907,3135,0,0,0,0,0,0
$GC,2621,-0.90,-130.5,398.6,-14.0,292,2625,0.00,0.38,0.00,0.000,4,0.000,0.055,2727,1639,3136,0,0,0,0,0,0
$GC,2791,-0.90,-130.5,422.1,-13.4,300,2794,0.00,0.38,0.00,0.000,6,0.000,0.037,2725,1934,3135,0,0,0,0,0,0
$GC,3111,-0.90,-130.5,465.5,-13.7,316,3113,0.05,0.00,0.00,0.000,6,0.267,0.000,2733,1934,3136,0,0,0,0,0,0
$GC,3421,-0.90,-130.5,507.6,-13.4,331,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1934,3137,0,0,0,0,0,0
$GC,3730,-0.90,-130.5,548.5,-12.8,346,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1934,3137,0,0,0,0,0,0
$GC,4039,-0.90,-130.5,586.8,-12.3,361,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1935,3137,0,0,0,0,0,0
$GC,4349,-0.90,-130.5,623.3,-11.9,376,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1935,3137,0,0,0,0,0,0
$GC,4658,-0.90,-130.5,660.6,-12.0,391,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1935,3138,0,0,0,0,0,0
$GC,4967,-0.90,-130.5,696.9,-11.1,406,4971,0.00,0.82,0.00,0.000,4,0.000,0.037,2730,2498,3138,0,0,0,0,0,0
$GC,5118,-0.90,-130.5,713.7,-11.1,412,5123,0.00,0.90,0.00,0.000,6,0.000,0.037,2730,1907,3138,0,0,0,0,0,0
$GC,5434,-0.90,-130.5,749.6,-11.6,428,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1907,3138,0,0,0,0,0,0
$GC,5743,-0.90,-130.5,783.7,-10.6,443,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1907,3138,0,0,0,0,0,0
$GC,6052,-0.90,-130.5,817.7,-11.2,458,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1907,3139,0,0,0,0,0,0
$GC,6362,-0.90,-130.5,852.5,-11.7,473,6365,0.00,0.65,0.00,0.000,4,0.000,0.034,2728,2363,3139,0,0,0,0,0,0
$GC,6506,-0.90,-130.5,868.5,-10.5,479,6510,0.00,0.70,0.00,0.000,6,0.000,0.038,2728,1898,3139,0,0,0,0,0,0
$GC,6827,-0.90,-130.5,902.4,-10.7,495,6831,0.00,0.52,0.00,0.000,4,0.000,0.034,2727,2284,3139,0,0,0,0,0,0
$GC,6986,-0.90,-130.5,919.1,-10.5,502,6989,0.00,0.55,0.00,0.000,6,0.000,0.041,2727,1905,3139,0,0,0,0,0,0
$GC,7319,-0.90,-130.5,953.6,-10.3,518,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1905,3140,0,0,0,0,0,0
$GC,7627,-0.90,-130.5,986.6,-10.9,533,7630,0.00,0.90,0.00,0.000,4,0.000,0.034,2724,2510,3140,0,0,0,0,0,0
$STATE,7657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7657,begin apogee
$GC,7663,-0.16,0.0,990.3,11.1,534,7781,0.90,0.00,114.75,1.659,6,0.173,0.000,2972,1817,2600,0,0,0,0,0,0
$STATE,7782,end apogee,CONTROL_FINISHED_OK
$STATE,7782,begin climb
$GC,7783,0.90,130.5,992.2,0.0,540,7915,1.12,0.68,125.93,1.575,4,0.103,0.048,3314,1416,2068,0,0,0,0,0,0
$GC,8004,0.90,130.5,962.3,16.4,550,8009,0.00,0.60,0.00,0.000,6,0.000,0.028,3314,1789,2063,0,0,0,0,0,0
$GC,8319,0.90,130.5,910.5,16.3,566,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1789,2058,0,0,0,0,0,0
$GC,8629,0.90,130.5,862.5,15.4,581,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1790,2058,0,0,0,0,0,0
$GC,8938,0.90,130.5,814.2,15.6,596,8942,0.00,0.47,0.00,0.000,4,0.000,0.041,3314,2140,2057,0,0,0,0,0,0
$GC,9021,0.90,130.5,800.7,15.8,599,9026,0.00,0.50,0.00,0.000,6,0.000,0.043,3315,1817,2057,0,0,0,0,0,0
$GC,9336,0.90,130.5,750.6,15.8,615,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1816,2057,0,0,0,0,0,0
$GC,9646,0.90,130.5,702.2,15.8,630,9649,0.00,0.77,0.00,0.000,4,0.000,0.057,3319,1329,2057,0,0,0,0,0,0
$GC,9751,0.90,130.5,685.0,17.2,634,9757,0.00,0.75,0.00,0.000,6,0.000,0.028,3319,1816,2057,0,0,0,0,0,0
$GC,10067,0.90,130.5,634.3,16.1,650,10070,0.00,0.40,0.00,0.000,4,0.000,0.042,3319,2123,2057,0,0,0,0,0,0
$GC,10257,0.90,130.5,603.8,15.9,658,10261,0.00,0.45,0.00,0.000,6,0.000,0.045,3320,1817,2057,0,0,0,0,0,0
$GC,10578,0.90,130.5,551.2,16.5,674,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1817,2057,0,0,0,0,0,0
$GC,10887,0.90,130.5,500.0,16.7,689,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1816,2057,0,0,0,0,0,0
$GC,11197,0.90,130.5,448.3,16.9,704,11200,0.00,0.52,0.00,0.000,4,0.000,0.057,3323,1470,2057,0,0,0,0,0,0
$GC,11313,0.90,130.5,428.3,16.8,709,11317,0.00,0.55,0.00,0.000,6,0.000,0.032,3323,1869,2056,0,0,0,0,0,0
$GC,11634,0.90,130.5,372.9,17.4,731,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1869,2057,0,0,0,0,0,0
$GC,11956,0.90,130.5,318.5,16.6,761,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1869,2057,0,0,0,0,0,0
$GC,12282,0.90,130.5,265.6,15.2,792,12285,0.00,0.57,0.00,0.000,4,0.000,0.041,3323,2282,2057,0,0,0,0,0,0
$GC,12478,0.90,130.5,235.3,13.7,809,12484,0.00,0.70,0.00,0.000,6,0.000,0.039,3325,1818,2057,0,0,0,0,0,0
$GC,12803,0.90,130.5,185.4,15.9,840,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1818,2057,0,0,0,0,0,0
$GC,13123,0.90,130.5,137.8,13.6,870,13126,0.00,1.17,0.00,0.000,4,0.000,0.057,3331,1087,2057,0,0,0,0,0,0
$GC,13240,0.90,130.5,120.9,14.1,880,13248,0.00,1.08,0.00,0.000,6,0.000,0.027,3330,1807,2057,0,0,0,0,0,0
$GC,13581,0.90,130.5,69.1,15.2,928,13586,0.00,0.38,0.00,0.000,4,0.000,0.045,3330,2104,2057,0,0,0,0,0,0
$GC,13843,0.90,130.5,32.5,11.7,974,13850,0.00,0.40,0.00,0.000,6,0.000,0.046,3331,1823,2057,0,0,0,0,0,0
$GC,13992,0.90,130.5,14.6,11.4,999,13999,0.00,0.60,0.00,0.000,4,0.000,0.034,3331,2254,2057,0,0,0,0,0,0
$STATE,14089,end climb,SURFACE_DEPTH_REACHED
$STATE,14089,begin surface coast
$FINISH,1.8,1.014227
$STATE,14115,end surface coast,CONTROL_FINISHED_OK
$STATE,14115,begin surface
$SM_CCo,14131,66.93,1.043,0,0,1743,210.22
$SM_GC,3.07,0.00,0.00,66.93,0.000,0.000,1.043,71,1895,1743,-9.23,-0.42,210.22
$IRIDIUM_FIX,-5438.56,-3.75,121213,080830
$TT8_MAMPS,0.027713
$HUMID,63.58
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.0,45.068
$10V_AH,10.1,33.586
$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,23.800,26.250,240.675,66.925,0.000,29.101,19.311,267.224,0.000,0.000,20.613,2491.005,9004.991,371.683,2626.303,135.516,0.000,1353.074,0.000,2278.158,0.000,1.007,0.000
$DEVICE_MAMPS,276.930,61.965,1659.285,1042.695,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.976,719.840,690.729,67.887,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,56829,1019
$CAP_FILE_SIZE,118642,0
$CFSIZE,2097086464,2088534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,161905,-5500.781,-0.932,32,1.3,32,-20.2