version: 66.07.10.p01
glider: 574
mission: 8
dive: 50
start: 12 12 113 16 27 19
data:
$ID,574
$MISSION,8
$DIVE,50
$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,-14967.418
$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,43
$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,29
$GPS1,121213,161905,-5500.781,-0.932,32,1.3,32,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-71.0
$GPS2,121213,162658,-5500.803,-0.926,51,0.9,51,-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,53.7,1783,-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,-19.95,0.000,2,0.000,0.000,67,1899,2097,0,0,0,0,0,0
$GC,48,-0.90,-136.3,3.0,-0.9,3,134,12.82,1.10,-65.10,0.000,4,0.285,0.083,2729,1240,3153,0,0,0,0,0,0
$GC,207,-0.90,-136.3,16.3,-19.6,29,215,0.03,1.00,0.00,0.000,6,0.248,0.034,2732,1886,3155,0,0,0,0,0,0
$GC,262,-0.90,-136.3,27.4,-19.5,38,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1886,3155,0,0,0,0,0,0
$GC,406,-0.90,-136.3,53.6,-18.2,63,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1886,3156,0,0,0,0,0,0
$GC,757,-0.90,-136.3,116.5,-18.1,117,761,0.00,0.80,0.00,0.000,4,0.000,0.041,2729,2428,3156,0,0,0,0,0,0
$GC,995,-0.90,-136.3,159.9,-17.4,138,999,0.00,0.80,0.00,0.000,6,0.000,0.043,2729,1906,3156,0,0,0,0,0,0
$GC,1327,-0.90,-136.3,213.3,-15.5,169,1331,0.00,0.65,0.00,0.000,4,0.000,0.037,2727,2355,3156,0,0,0,0,0,0
$GC,1433,-0.90,-136.3,230.4,-15.1,178,1439,0.00,0.70,0.00,0.000,6,0.000,0.042,2727,1899,3156,0,0,0,0,0,0
$GC,1762,-0.90,-136.3,277.6,-14.1,209,1765,0.00,0.40,0.00,0.000,4,0.000,0.041,2726,2207,3156,0,0,0,0,0,0
$GC,1990,-0.90,-136.3,310.6,-15.0,229,1993,0.00,0.43,0.00,0.000,6,0.000,0.047,2726,1911,3156,0,0,0,0,0,0
$GC,2319,-0.90,-136.3,361.5,-16.0,260,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1911,3156,0,0,0,0,0,0
$GC,2646,-0.90,-136.3,413.0,-15.8,287,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1911,3156,0,0,0,0,0,0
$GC,2956,-0.90,-136.3,460.3,-15.2,302,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1911,3156,0,0,0,0,0,0
$GC,3265,-0.90,-136.3,506.5,-14.5,317,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1911,3156,0,0,0,0,0,0
$GC,3574,-0.90,-136.3,550.8,-14.3,332,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1911,3156,0,0,0,0,0,0
$GC,3884,-0.90,-136.3,595.1,-14.2,347,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1910,3158,0,0,0,0,0,0
$GC,4193,-0.90,-136.3,636.9,-12.8,362,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1910,3158,0,0,0,0,0,0
$GC,4502,-0.90,-136.3,676.0,-12.9,377,4506,0.00,0.43,0.00,0.000,4,0.000,0.040,2725,2234,3159,0,0,0,0,0,0
$GC,4731,-0.90,-136.3,704.4,-11.8,387,4736,0.05,0.50,0.00,0.000,6,0.241,0.044,2734,1898,3160,0,0,0,0,0,0
$GC,5058,-0.90,-136.3,741.7,-11.4,403,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1898,3161,0,0,0,0,0,0
$GC,5367,-0.90,-136.3,779.2,-11.9,418,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1898,3161,0,0,0,0,0,0
$GC,5676,-0.90,-136.3,817.4,-12.3,433,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1898,3162,0,0,0,0,0,0
$GC,5986,-0.90,-136.3,855.3,-12.3,448,5989,0.00,0.45,0.00,0.000,4,0.000,0.058,2734,1591,3162,0,0,0,0,0,0
$GC,6046,-0.90,-136.3,862.9,-12.7,450,6051,0.00,0.47,0.00,0.000,6,0.000,0.036,2733,1938,3162,0,0,0,0,0,0
$GC,6361,-0.90,-136.3,900.9,-12.2,466,6365,0.00,0.30,0.00,0.000,4,0.000,0.047,2732,2193,3163,0,0,0,0,0,0
$GC,6609,-0.90,-136.3,930.2,-12.1,477,6612,0.00,0.40,0.00,0.000,6,0.000,0.043,2732,1905,3163,0,0,0,0,0,0
$GC,6940,-0.90,-136.3,968.8,-11.1,493,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1904,3164,0,0,0,0,0,0
$STATE,7145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7145,begin apogee
$GC,7150,-0.16,0.0,992.0,11.3,503,7273,0.88,0.00,119.93,1.620,6,0.172,0.000,2970,1821,2600,0,0,0,0,0,0
$STATE,7274,end apogee,CONTROL_FINISHED_OK
$STATE,7274,begin climb
$GC,7276,0.90,136.3,994.0,0.0,509,7412,1.17,0.00,132.55,1.589,6,0.104,0.000,3316,1821,2043,0,0,0,0,0,0
$GC,7716,0.90,136.3,923.7,17.6,531,7720,0.00,1.77,0.00,0.000,4,0.000,0.058,3324,775,2036,0,0,0,0,0,0
$GC,7889,0.90,136.3,891.9,18.7,538,7895,0.00,1.60,0.00,0.000,6,0.000,0.026,3324,1795,2034,0,0,0,0,0,0
$GC,8205,0.90,136.3,833.9,18.5,554,8208,0.00,0.85,0.00,0.000,4,0.000,0.049,3326,1277,2033,0,0,0,0,0,0
$GC,8462,0.90,136.3,784.7,18.2,565,8466,0.00,0.85,0.00,0.000,6,0.000,0.028,3326,1839,2033,0,0,0,0,0,0
$GC,8783,0.90,136.3,724.3,18.7,581,8787,0.00,1.50,0.00,0.000,4,0.000,0.054,3332,934,2033,0,0,0,0,0,0
$GC,8956,0.90,136.3,691.0,19.4,588,8962,0.03,1.33,0.00,0.000,6,0.201,0.027,3325,1812,2033,0,0,0,0,0,0
$GC,9272,0.90,136.3,632.4,18.5,604,9276,0.00,0.77,0.00,0.000,4,0.000,0.047,3326,1327,2033,0,0,0,0,0,0
$GC,9497,0.90,136.3,590.8,18.0,614,9501,0.00,0.73,0.00,0.000,6,0.000,0.029,3325,1829,2033,0,0,0,0,0,0
$GC,9829,0.90,136.3,530.4,18.0,630,9832,0.00,1.38,0.00,0.000,4,0.000,0.054,3329,991,2033,0,0,0,0,0,0
$GC,9996,0.90,136.3,498.9,18.7,637,10001,0.00,1.23,0.00,0.000,6,0.000,0.028,3329,1804,2032,0,0,0,0,0,0
$GC,10318,0.90,136.3,440.0,18.5,653,10321,0.00,1.40,0.00,0.000,4,0.000,0.053,3335,947,2033,0,0,0,0,0,0
$GC,10479,0.90,136.3,409.5,18.7,660,10483,0.00,1.33,0.00,0.000,6,0.000,0.028,3335,1822,2033,0,0,0,0,0,0
$GC,10804,0.90,136.3,353.3,16.5,688,10807,0.00,0.82,0.00,0.000,4,0.000,0.048,3337,1308,2033,0,0,0,0,0,0
$GC,10939,0.90,136.3,331.2,16.7,700,10944,0.03,0.75,0.00,0.000,6,0.201,0.030,3329,1831,2032,0,0,0,0,0,0
$GC,11269,0.90,136.3,278.9,16.5,731,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1831,2033,0,0,0,0,0,0
$GC,11592,0.90,136.3,228.6,16.3,761,11596,0.00,1.60,0.00,0.000,4,0.000,0.054,3335,858,2033,0,0,0,0,0,0
$GC,11761,0.90,136.3,197.9,19.0,776,11765,0.00,1.42,0.00,0.000,6,0.000,0.028,3335,1800,2033,0,0,0,0,0,0
$GC,12091,0.90,136.3,142.8,16.1,807,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1800,2033,0,0,0,0,0,0
$GC,12412,0.90,136.3,95.9,13.6,839,12417,0.00,1.20,0.00,0.000,4,0.000,0.053,3339,1060,2033,0,0,0,0,0,0
$GC,12579,0.90,136.3,72.1,14.8,868,12585,0.03,1.12,0.00,0.000,6,0.196,0.030,3329,1818,2033,0,0,0,0,0,0
$GC,12930,0.90,136.3,23.6,13.4,929,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1818,2033,0,0,0,0,0,0
$STATE,13076,end climb,SURFACE_DEPTH_REACHED
$STATE,13076,begin surface coast
$FINISH,1.7,1.003979
$STATE,13096,end surface coast,CONTROL_FINISHED_OK
$STATE,13096,begin surface
$SM_CCo,13113,61.85,1.050,0,0,1742,210.22
$SM_GC,3.40,0.00,0.00,61.85,0.000,0.000,1.050,71,1948,1742,-9.22,1.07,210.22
$IRIDIUM_FIX,-5438.56,3.75,121213,121219
$TT8_MAMPS,0.027713
$HUMID,63.46
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,22.0,45.219
$10V_AH,10.1,33.675
$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,24.175,30.250,252.475,61.850,0.000,31.415,21.028,273.439,0.000,0.000,54.289,2368.597,8091.532,402.897,2658.279,130.977,0.000,1366.760,0.000,2265.206,0.000,1.007,0.000
$DEVICE_MAMPS,284.580,102.510,1620.270,1050.345,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.275,686.914,644.737,64.373,0.000,0.000,0.000,0.000,0.000,0.000
$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,53478,957
$CAP_FILE_SIZE,114723,0
$CFSIZE,2097086464,2088402944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,200922,-5459.366,1.332,113,1.2,113,-20.3