version: 66.07.10.p01
glider: 574
mission: 8
dive: 51
start: 12 12 113 20 17 3
data:
$ID,574
$MISSION,8
$DIVE,51
$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,-14971.052
$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,87
$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,30
$GPS1,121213,200922,-5459.366,1.332,113,1.2,113,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.2
$GPS2,121213,201641,-5459.404,1.450,17,1.4,17,-20.3
$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,254.7,1895,-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,21,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,-19.40,0.000,2,0.000,0.000,66,1945,2085,0,0,0,0,0,0
$GC,47,-0.90,-137.7,3.0,-0.7,3,126,12.93,2.12,-57.97,0.000,4,0.286,0.057,2719,3251,3165,0,0,0,0,0,0
$GC,286,-0.90,-137.7,36.1,-20.6,43,292,0.08,2.10,0.00,0.000,6,0.225,0.036,2737,1916,3167,0,0,0,0,0,0
$GC,431,-0.90,-137.7,64.0,-18.1,68,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1916,3168,0,0,0,0,0,0
$GC,766,-0.90,-137.7,128.0,-17.8,115,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1916,3168,0,0,0,0,0,0
$GC,1089,-0.90,-137.7,182.9,-17.3,145,1093,0.00,0.57,0.00,0.000,4,0.000,0.035,2736,2326,3168,0,0,0,0,0,0
$GC,1158,-0.90,-137.7,194.8,-16.8,151,1162,0.00,0.62,0.00,0.000,6,0.000,0.041,2737,1903,3168,0,0,0,0,0,0
$GC,1488,-0.90,-137.7,246.0,-16.1,182,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1903,3167,0,0,0,0,0,0
$GC,1808,-0.90,-137.7,295.3,-15.5,212,1811,0.00,0.50,0.00,0.000,4,0.000,0.036,2735,2271,3167,0,0,0,0,0,0
$GC,2068,-0.90,-137.7,334.7,-14.3,235,2072,0.00,0.52,0.00,0.000,6,0.000,0.042,2735,1909,3167,0,0,0,0,0,0
$GC,2398,-0.90,-137.7,380.4,-13.8,266,2401,0.00,0.38,0.00,0.000,4,0.000,0.057,2735,1646,3167,0,0,0,0,0,0
$GC,2511,-0.90,-137.7,395.7,-13.2,276,2515,0.00,0.32,0.00,0.000,6,0.000,0.040,2735,1887,3167,0,0,0,0,0,0
$GC,2843,-0.90,-137.7,439.9,-13.5,294,2847,0.00,0.68,0.00,0.000,4,0.000,0.038,2731,2364,3167,0,0,0,0,0,0
$GC,3094,-0.90,-137.7,473.1,-12.9,305,3098,0.00,0.70,0.00,0.000,6,0.000,0.039,2731,1904,3167,0,0,0,0,0,0
$GC,3421,-0.90,-137.7,515.9,-13.3,321,3425,0.00,0.43,0.00,0.000,4,0.000,0.056,2730,1607,3167,0,0,0,0,0,0
$GC,3537,-0.90,-137.7,531.3,-12.6,326,3542,0.00,0.45,0.00,0.000,6,0.000,0.036,2729,1940,3167,0,0,0,0,0,0
$GC,3864,-0.90,-137.7,573.6,-13.1,342,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1941,3168,0,0,0,0,0,0
$GC,4173,-0.90,-137.7,615.2,-13.6,357,4177,0.00,0.65,0.00,0.000,4,0.000,0.041,2727,2397,3168,0,0,0,0,0,0
$GC,4272,-0.90,-137.7,628.6,-13.3,361,4277,0.00,0.75,0.00,0.000,6,0.000,0.038,2727,1906,3168,0,0,0,0,0,0
$GC,4594,-0.90,-137.7,671.6,-13.6,377,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1906,3168,0,0,0,0,0,0
$GC,4903,-0.90,-137.7,713.4,-13.6,392,4907,0.00,0.98,0.00,0.000,4,0.000,0.052,2727,1287,3169,0,0,0,0,0,0
$GC,5024,-0.90,-137.7,729.8,-13.4,397,5030,0.08,0.90,0.00,0.000,6,0.235,0.030,2736,1891,3168,0,0,0,0,0,0
$GC,5346,-0.90,-137.7,769.2,-12.2,413,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1891,3169,0,0,0,0,0,0
$GC,5655,-0.90,-137.7,807.8,-12.6,428,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1891,3169,0,0,0,0,0,0
$GC,5965,-0.90,-137.7,846.7,-12.5,443,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1891,3169,0,0,0,0,0,0
$GC,6274,-0.90,-137.7,884.5,-12.4,458,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1893,3169,0,0,0,0,0,0
$GC,6583,-0.90,-137.7,922.2,-11.9,473,6587,0.00,0.65,0.00,0.000,4,0.000,0.039,2735,2351,3171,0,0,0,0,0,0
$GC,6718,-0.90,-137.7,938.1,-11.2,479,6722,0.00,0.65,0.00,0.000,6,0.000,0.040,2735,1911,3171,0,0,0,0,0,0
$GC,7050,-0.90,-137.7,978.7,-12.5,495,7054,0.00,0.82,0.00,0.000,4,0.000,0.051,2735,1381,3171,0,0,0,0,0,0
$STATE,7143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7143,begin apogee
$GC,7147,-0.16,0.0,990.7,12.3,499,7272,0.88,0.00,121.45,1.627,6,0.181,0.000,2969,1839,2600,0,0,0,0,0,0
$STATE,7273,end apogee,CONTROL_FINISHED_OK
$STATE,7273,begin climb
$GC,7274,0.90,137.7,994.2,0.0,505,7412,1.17,0.00,133.70,1.547,6,0.106,0.000,3313,1839,2037,0,0,0,0,0,0
$GC,7712,0.90,137.7,929.0,16.8,527,7716,0.00,1.85,0.00,0.000,4,0.000,0.057,3320,764,2029,0,0,0,0,0,0
$GC,7840,0.90,137.7,906.2,17.2,532,7846,0.00,1.67,0.00,0.000,6,0.000,0.027,3320,1819,2028,0,0,0,0,0,0
$GC,8156,0.90,137.7,851.8,17.4,548,8160,0.00,1.10,0.00,0.000,4,0.000,0.050,3324,1154,2027,0,0,0,0,0,0
$GC,8395,0.90,137.7,808.8,18.1,558,8401,0.00,1.05,0.00,0.000,6,0.000,0.028,3324,1838,2026,0,0,0,0,0,0
$GC,8711,0.90,137.7,753.3,17.4,574,8715,0.00,1.40,0.00,0.000,4,0.000,0.053,3329,992,2026,0,0,0,0,0,0
$GC,8850,0.90,137.7,728.0,17.9,580,8855,0.00,1.25,0.00,0.000,6,0.000,0.028,3329,1821,2025,0,0,0,0,0,0
$GC,9178,0.90,137.7,669.6,17.6,596,9181,0.00,0.95,0.00,0.000,4,0.000,0.050,3332,1235,2025,0,0,0,0,0,0
$GC,9361,0.90,137.7,636.1,17.1,604,9366,0.00,0.88,0.00,0.000,6,0.000,0.028,3332,1815,2025,0,0,0,0,0,0
$GC,9688,0.90,137.7,578.9,17.1,620,9692,0.00,0.40,0.00,0.000,4,0.000,0.050,3332,1547,2025,0,0,0,0,0,0
$GC,9945,0.90,137.7,534.1,17.9,631,9949,0.00,0.40,0.00,0.000,6,0.000,0.034,3332,1820,2025,0,0,0,0,0,0
$GC,10266,0.90,137.7,478.2,17.6,647,10270,0.00,2.28,0.00,0.000,4,0.000,0.059,3342,422,2025,0,0,0,0,0,0
$GC,10441,0.90,137.7,447.3,17.9,655,10445,0.08,2.12,0.00,0.000,6,0.221,0.028,3328,1821,2025,0,0,0,0,0,0
$GC,10756,0.90,137.7,394.6,16.9,671,10760,0.00,0.43,0.00,0.000,4,0.000,0.047,3328,1546,2025,0,0,0,0,0,0
$GC,11017,0.90,137.7,351.5,16.0,694,11021,0.00,0.40,0.00,0.000,6,0.000,0.037,3328,1849,2025,0,0,0,0,0,0
$GC,11350,0.90,137.7,295.2,18.4,725,11354,0.00,1.17,0.00,0.000,4,0.000,0.052,3333,1126,2025,0,0,0,0,0,0
$GC,11609,0.90,137.7,246.6,17.7,748,11613,0.00,1.00,0.00,0.000,6,0.000,0.029,3333,1810,2025,0,0,0,0,0,0
$GC,11939,0.90,137.7,188.5,17.9,779,11943,0.00,1.00,0.00,0.000,4,0.000,0.050,3336,1189,2025,0,0,0,0,0,0
$GC,12056,0.90,137.7,168.0,16.5,789,12063,0.03,0.95,0.00,0.000,6,0.265,0.028,3328,1821,2025,0,0,0,0,0,0
$GC,12382,0.90,137.7,117.1,16.0,820,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1821,2025,0,0,0,0,0,0
$GC,12716,0.90,137.7,74.6,12.4,868,12721,0.00,2.08,0.00,0.000,4,0.000,0.058,3336,546,2025,0,0,0,0,0,0
$GC,12872,0.90,137.7,53.1,14.9,895,12877,0.00,1.90,0.00,0.000,6,0.000,0.028,3336,1804,2025,0,0,0,0,0,0
$STATE,13219,end climb,SURFACE_DEPTH_REACHED
$STATE,13219,begin surface coast
$FINISH,1.7,1.021023
$STATE,13239,end surface coast,CONTROL_FINISHED_OK
$STATE,13239,begin surface
$SM_CCo,13256,60.08,1.039,0,0,1742,210.22
$SM_GC,3.05,0.00,0.00,60.08,0.000,0.000,1.039,68,1929,1742,-9.23,0.54,210.22
$IRIDIUM_FIX,-5438.56,-3.75,121213,161634
$TT8_MAMPS,0.027713
$HUMID,63.46
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,22.0,45.369
$10V_AH,10.1,33.766
$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,24.400,39.875,255.150,60.075,0.000,24.200,46.338,257.796,0.000,0.000,21.137,2410.035,8122.245,401.551,2708.680,119.191,0.000,1400.640,0.000,2332.198,0.000,1.009,0.000
$DEVICE_MAMPS,286.110,87.975,1627.155,1038.870,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.379,657.176,637.330,61.184,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354716
$DATA_FILE_SIZE,53553,958
$CAP_FILE_SIZE,120382,0
$CFSIZE,2097086464,2088271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,000034,-5459.495,-0.930,60,0.8,60,-20.2