version: 66.07.10.p01
glider: 574
mission: 8
dive: 53
start: 12 13 113 3 56 33
data:
$ID,574
$MISSION,8
$DIVE,53
$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,-14978.355
$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,31
$R_STBD_OVSHOOT,76
$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,32
$GPS1,131213,034857,-5500.863,0.626,66,1.2,66,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-73.0
$GPS2,131213,035611,-5500.862,0.641,19,1.0,19,-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,357.1,1736,-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,-57.8,0.0,0.0,0,51,0.00,0.00,-25.17,0.000,2,0.000,0.000,65,1955,2195,0,0,0,0,0,0
$GC,53,-0.90,-129.8,3.1,-1.6,4,126,12.98,0.80,-51.15,0.000,4,0.288,0.083,2731,1452,3131,0,0,0,0,0,0
$GC,257,-0.90,-129.8,26.7,-18.0,38,264,0.00,0.65,0.00,0.000,6,0.000,0.034,2729,1898,3134,0,0,0,0,0,0
$GC,401,-0.90,-129.8,52.9,-18.3,63,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1899,3134,0,0,0,0,0,0
$GC,749,-0.90,-129.8,117.7,-18.3,116,752,0.00,0.93,0.00,0.000,4,0.000,0.041,2724,2514,3134,0,0,0,0,0,0
$GC,878,-0.90,-129.8,141.6,-17.3,127,884,0.05,0.98,0.00,0.000,6,0.255,0.037,2734,1890,3134,0,0,0,0,0,0
$GC,1203,-0.90,-129.8,193.5,-15.1,158,1207,0.00,0.52,0.00,0.000,4,0.000,0.037,2734,2272,3134,0,0,0,0,0,0
$GC,1466,-0.90,-129.8,232.4,-15.1,181,1470,0.00,0.52,0.00,0.000,6,0.000,0.041,2734,1909,3134,0,0,0,0,0,0
$GC,1796,-0.90,-129.8,281.8,-14.7,212,1799,0.00,0.85,0.00,0.000,4,0.000,0.037,2731,2474,3133,0,0,0,0,0,0
$GC,1902,-0.90,-129.8,297.4,-14.4,221,1908,0.00,0.88,0.00,0.000,6,0.000,0.037,2731,1908,3133,0,0,0,0,0,0
$GC,2227,-0.90,-129.8,344.6,-14.5,252,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1908,3133,0,0,0,0,0,0
$GC,2547,-0.90,-129.8,389.4,-13.8,282,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1908,3133,0,0,0,0,0,0
$GC,2858,-0.90,-129.8,433.3,-14.3,301,2862,0.00,0.47,0.00,0.000,4,0.000,0.054,2731,1579,3134,0,0,0,0,0,0
$GC,2914,-0.90,-129.8,441.4,-14.5,303,2917,0.00,0.45,0.00,0.000,6,0.000,0.037,2730,1918,3134,0,0,0,0,0,0
$GC,3234,-0.90,-129.8,485.8,-13.6,319,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1918,3134,0,0,0,0,0,0
$GC,3544,-0.90,-129.8,529.3,-13.8,334,3547,0.00,1.05,0.00,0.000,4,0.000,0.042,2725,2607,3135,0,0,0,0,0,0
$GC,3683,-0.90,-129.8,549.1,-14.8,340,3688,0.03,1.05,0.00,0.000,6,0.217,0.036,2732,1918,3136,0,0,0,0,0,0
$GC,4009,-0.90,-129.8,595.1,-14.1,356,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1917,3136,0,0,0,0,0,0
$GC,4319,-0.90,-129.8,638.2,-13.7,371,4322,0.00,0.60,0.00,0.000,4,0.000,0.036,2731,2339,3136,0,0,0,0,0,0
$GC,4469,-0.90,-129.8,658.9,-13.6,377,4474,0.00,0.68,0.00,0.000,6,0.000,0.039,2731,1893,3137,0,0,0,0,0,0
$GC,4784,-0.90,-129.8,700.6,-13.2,393,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1893,3137,0,0,0,0,0,0
$GC,5094,-0.90,-129.8,739.8,-12.6,408,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1893,3137,0,0,0,0,0,0
$GC,5403,-0.90,-129.8,778.5,-12.9,423,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1893,3138,0,0,0,0,0,0
$GC,5712,-0.90,-129.8,817.4,-12.5,438,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1893,3138,0,0,0,0,0,0
$GC,6022,-0.90,-129.8,855.7,-12.3,453,6025,0.00,0.43,0.00,0.000,4,0.000,0.038,2730,2214,3139,0,0,0,0,0,0
$GC,6160,-0.90,-129.8,872.4,-11.8,459,6165,0.00,0.45,0.00,0.000,6,0.000,0.042,2730,1906,3139,0,0,0,0,0,0
$GC,6487,-0.90,-129.8,912.5,-12.7,475,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1906,3140,0,0,0,0,0,0
$GC,6796,-0.90,-129.8,951.1,-12.1,490,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1906,3140,0,0,0,0,0,0
$GC,7106,-0.90,-129.8,988.5,-12.0,505,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1906,3141,0,0,0,0,0,0
$STATE,7125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7125,begin apogee
$GC,7129,-0.16,0.0,991.0,12.0,506,7247,0.90,0.00,114.47,1.615,6,0.181,0.000,2970,1824,2600,0,0,0,0,0,0
$STATE,7248,end apogee,CONTROL_FINISHED_OK
$STATE,7248,begin climb
$GC,7250,0.90,129.8,993.6,0.0,512,7381,1.17,0.52,125.70,1.567,4,0.106,0.050,3319,1495,2070,0,0,0,0,0,0
$GC,7634,0.90,129.8,932.5,18.1,530,7638,0.00,0.45,0.00,0.000,6,0.000,0.032,3319,1802,2063,0,0,0,0,0,0
$GC,7966,0.90,129.8,871.0,19.0,546,7970,0.00,1.92,0.00,0.000,4,0.000,0.057,3327,655,2063,0,0,0,0,0,0
$GC,8135,0.90,129.8,838.3,19.2,553,8139,0.00,1.80,0.00,0.000,6,0.000,0.028,3327,1817,2062,0,0,0,0,0,0
$GC,8456,0.90,129.8,779.0,18.2,569,8460,0.00,0.93,0.00,0.000,4,0.000,0.050,3329,1251,2062,0,0,0,0,0,0
$GC,8650,0.90,129.8,742.1,18.5,577,8656,0.00,0.90,0.00,0.000,6,0.000,0.028,3330,1840,2062,0,0,0,0,0,0
$GC,8967,0.90,129.8,684.2,18.3,593,8970,0.00,1.58,0.00,0.000,4,0.000,0.054,3336,886,2063,0,0,0,0,0,0
$GC,9134,0.90,129.8,652.5,19.4,600,9139,0.03,1.42,0.00,0.000,6,0.212,0.028,3329,1826,2063,0,0,0,0,0,0
$GC,9455,0.90,129.8,595.9,17.9,616,9459,0.00,0.95,0.00,0.000,4,0.000,0.049,3331,1236,2063,0,0,0,0,0,0
$GC,9613,0.90,129.8,567.9,16.7,623,9617,0.00,0.88,0.00,0.000,6,0.000,0.028,3331,1824,2064,0,0,0,0,0,0
$GC,9945,0.90,129.8,508.5,18.0,639,9949,0.00,0.60,0.00,0.000,4,0.000,0.047,3333,1442,2065,0,0,0,0,0,0
$GC,10202,0.90,129.8,462.6,17.8,650,10206,0.00,0.57,0.00,0.000,6,0.000,0.032,3333,1851,2066,0,0,0,0,0,0
$GC,10523,0.90,129.8,409.4,16.5,666,10527,0.00,1.38,0.00,0.000,4,0.000,0.052,3338,1008,2066,0,0,0,0,0,0
$GC,10670,0.90,129.8,385.2,15.4,676,10675,0.03,1.20,0.00,0.000,6,0.205,0.029,3330,1807,2066,0,0,0,0,0,0
$GC,11000,0.90,129.8,336.1,15.0,707,11004,0.00,0.77,0.00,0.000,4,0.000,0.048,3332,1321,2067,0,0,0,0,0,0
$GC,11251,0.90,129.8,298.1,16.3,729,11254,0.00,0.73,0.00,0.000,6,0.000,0.030,3332,1815,2067,0,0,0,0,0,0
$GC,11580,0.90,129.8,247.3,15.1,760,11584,0.00,1.12,0.00,0.000,4,0.000,0.052,3336,1119,2068,0,0,0,0,0,0
$GC,11841,0.90,129.8,207.1,16.6,783,11845,0.03,1.05,0.00,0.000,6,0.205,0.029,3329,1828,2068,0,0,0,0,0,0
$GC,12170,0.90,129.8,159.4,13.9,814,12174,0.00,1.10,0.00,0.000,4,0.000,0.042,3329,2551,2068,0,0,0,0,0,0
$GC,12318,0.90,129.8,138.1,15.0,827,12322,0.00,1.12,0.00,0.000,6,0.000,0.039,3332,1828,2069,0,0,0,0,0,0
$GC,12647,0.90,129.8,89.9,14.0,863,12652,0.00,1.67,0.00,0.000,4,0.000,0.058,3340,783,2069,0,0,0,0,0,0
$GC,12883,0.90,129.8,55.3,15.6,904,12888,0.03,1.55,0.00,0.000,6,0.199,0.028,3330,1807,2069,0,0,0,0,0,0
$STATE,13213,end climb,SURFACE_DEPTH_REACHED
$STATE,13213,begin surface coast
$FINISH,1.7,1.005002
$STATE,13233,end surface coast,CONTROL_FINISHED_OK
$STATE,13234,begin surface
$SM_CCo,13250,69.88,1.038,0,0,1743,210.22
$SM_GC,2.92,0.00,0.00,69.88,0.000,0.000,1.038,85,1924,1743,-9.19,0.40,210.22
$IRIDIUM_FIX,-5438.56,0.00,131213,000053
$TT8_MAMPS,0.026964
$HUMID,63.15
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,22.0,45.660
$10V_AH,10.1,33.948
$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,24.325,35.725,240.175,69.875,0.000,30.492,43.774,247.003,0.000,0.000,22.559,2412.353,8123.519,393.118,2700.748,130.500,0.000,1390.939,0.000,2336.458,0.000,1.008,0.000
$DEVICE_MAMPS,288.405,104.040,1614.915,1038.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.997,680.303,649.627,61.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,53641,964
$CAP_FILE_SIZE,119000,0
$CFSIZE,2097086464,2088009728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,074015,-5459.200,0.625,47,4.1,66,-20.3