version: 66.07.10.p01
glider: 574
mission: 8
dive: 71
start: 12 16 113 2 14 56
data:
$ID,574
$MISSION,8
$DIVE,71
$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,-15035.284
$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,72
$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,50
$GPS1,161213,020659,-5500.070,-1.419,56,0.9,56,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-71.1
$GPS2,161213,021435,-5500.035,-1.373,29,0.9,29,-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,107.6,1460,-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,-57.8,0.0,0.0,0,34,0.00,0.00,-8.27,0.000,2,0.000,0.000,69,1845,1879,0,0,0,0,0,0
$GC,36,-0.90,-144.1,3.0,-0.0,1,134,12.82,2.15,-77.22,0.000,4,0.284,0.070,2731,543,3188,0,0,0,0,0,0
$GC,340,-0.90,-144.1,43.5,-20.5,52,346,0.08,2.10,0.00,0.000,6,0.239,0.029,2736,1897,3189,0,0,0,0,0,0
$GC,690,-0.90,-144.1,108.3,-17.7,110,694,0.00,1.40,0.00,0.000,4,0.000,0.041,2730,2790,3190,0,0,0,0,0,0
$GC,863,-0.90,-144.1,137.2,-16.3,125,867,0.00,1.33,0.00,0.000,6,0.000,0.034,2730,1940,3189,0,0,0,0,0,0
$GC,1193,-0.90,-144.1,194.9,-17.0,156,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1940,3190,0,0,0,0,0,0
$GC,1512,-0.90,-144.1,249.0,-16.5,186,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1940,3189,0,0,0,0,0,0
$GC,1831,-0.90,-144.1,298.1,-15.0,216,1835,0.00,0.62,0.00,0.000,4,0.000,0.049,2730,1521,3189,0,0,0,0,0,0
$GC,1922,-0.90,-144.1,311.7,-14.9,224,1925,0.00,0.57,0.00,0.000,6,0.000,0.031,2728,1940,3189,0,0,0,0,0,0
$GC,2252,-0.90,-144.1,361.3,-15.4,255,2255,0.00,0.47,0.00,0.000,4,0.000,0.043,2726,2295,3189,0,0,0,0,0,0
$GC,2511,-0.90,-144.1,400.0,-14.8,278,2515,0.00,0.57,0.00,0.000,6,0.000,0.038,2726,1896,3189,0,0,0,0,0,0
$GC,2832,-0.90,-144.1,447.5,-14.5,294,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1896,3189,0,0,0,0,0,0
$GC,3141,-0.90,-144.1,492.7,-14.5,309,3143,0.05,0.00,0.00,0.000,6,0.252,0.000,2734,1895,3189,0,0,0,0,0,0
$GC,3450,-0.90,-144.1,535.4,-13.4,324,3454,0.00,0.43,0.00,0.000,4,0.000,0.053,2734,1598,3190,0,0,0,0,0,0
$GC,3630,-0.90,-144.1,558.7,-12.7,332,3634,0.00,0.40,0.00,0.000,6,0.000,0.036,2734,1914,3190,0,0,0,0,0,0
$GC,3962,-0.90,-144.1,601.5,-13.1,348,3966,0.00,0.57,0.00,0.000,4,0.000,0.038,2731,2333,3190,0,0,0,0,0,0
$GC,4179,-0.90,-144.1,630.3,-12.7,357,4185,0.00,0.62,0.00,0.000,6,0.000,0.036,2731,1909,3191,0,0,0,0,0,0
$GC,4495,-0.90,-144.1,670.4,-12.5,373,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1909,3191,0,0,0,0,0,0
$GC,4804,-0.90,-144.1,708.1,-12.1,388,4808,0.00,0.65,0.00,0.000,4,0.000,0.048,2731,1475,3191,0,0,0,0,0,0
$GC,4904,-0.90,-144.1,720.3,-12.3,392,4908,0.00,0.60,0.00,0.000,6,0.000,0.031,2729,1901,3191,0,0,0,0,0,0
$GC,5225,-0.90,-144.1,760.4,-12.6,408,5229,0.00,0.32,0.00,0.000,4,0.000,0.046,2728,2171,3191,0,0,0,0,0,0
$GC,5398,-0.90,-144.1,782.5,-13.2,415,5403,0.00,0.38,0.00,0.000,6,0.000,0.040,2728,1912,3192,0,0,0,0,0,0
$GC,5713,-0.90,-144.1,823.3,-13.0,431,5717,0.00,0.38,0.00,0.000,4,0.000,0.054,2727,1645,3192,0,0,0,0,0,0
$GC,5916,-0.90,-144.1,849.6,-13.8,440,5919,0.00,0.35,0.00,0.000,6,0.000,0.037,2727,1913,3192,0,0,0,0,0,0
$GC,6248,-0.90,-144.1,892.3,-12.6,456,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1913,3192,0,0,0,0,0,0
$GC,6557,-0.90,-144.1,932.5,-13.1,471,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1913,3192,0,0,0,0,0,0
$GC,6866,-0.90,-144.1,972.1,-12.6,486,6870,0.00,0.60,0.00,0.000,4,0.000,0.039,2724,2346,3194,0,0,0,0,0,0
$STATE,7004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7004,begin apogee
$GC,7010,-0.16,0.0,990.1,12.8,492,7140,0.90,0.00,126.65,1.611,6,0.178,0.000,2969,1821,2601,0,0,0,0,0,0
$STATE,7141,end apogee,CONTROL_FINISHED_OK
$STATE,7141,begin climb
$GC,7143,0.90,144.1,993.2,0.0,498,7290,1.17,0.90,140.12,1.538,4,0.104,0.052,3320,1336,2011,0,0,0,0,0,0
$GC,7542,0.90,144.1,930.8,17.2,517,7546,0.00,0.75,0.00,0.000,6,0.000,0.024,3320,1819,2003,0,0,0,0,0,0
$GC,7869,0.90,144.1,875.7,16.6,533,7873,0.00,1.40,0.00,0.000,4,0.000,0.051,3325,986,2001,0,0,0,0,0,0
$GC,8086,0.90,144.1,838.6,17.4,542,8093,0.00,1.30,0.00,0.000,6,0.000,0.024,3324,1828,2001,0,0,0,0,0,0
$GC,8403,0.90,144.1,786.6,16.6,558,8406,0.00,0.73,0.00,0.000,4,0.000,0.046,3326,1375,2000,0,0,0,0,0,0
$GC,8659,0.90,144.1,743.1,17.3,569,8664,0.00,0.68,0.00,0.000,6,0.000,0.026,3325,1824,1999,0,0,0,0,0,0
$GC,8982,0.90,144.1,689.4,16.5,585,8986,0.00,1.48,0.00,0.000,4,0.000,0.051,3330,927,1999,0,0,0,0,0,0
$GC,9162,0.90,144.1,657.4,19.0,593,9166,0.00,1.35,0.00,0.000,6,0.000,0.025,3330,1825,1999,0,0,0,0,0,0
$GC,9494,0.90,144.1,597.9,17.6,609,9498,0.00,0.68,0.00,0.000,4,0.000,0.045,3332,1393,1999,0,0,0,0,0,0
$GC,9751,0.90,144.1,550.8,19.2,620,9755,0.00,0.62,0.00,0.000,6,0.000,0.028,3332,1825,1999,0,0,0,0,0,0
$GC,10072,0.90,144.1,491.5,18.1,636,10076,0.00,1.17,0.00,0.000,4,0.000,0.049,3337,1100,1999,0,0,0,0,0,0
$GC,10245,0.90,144.1,460.0,17.7,643,10251,0.00,1.08,0.00,0.000,6,0.000,0.026,3336,1821,1998,0,0,0,0,0,0
$GC,10561,0.90,144.1,403.3,17.9,659,10564,0.00,0.68,0.00,0.000,4,0.000,0.046,3338,1387,1998,0,0,0,0,0,0
$GC,10790,0.90,144.1,362.3,17.7,678,10797,0.05,0.65,0.00,0.000,6,0.235,0.028,3328,1855,1998,0,0,0,0,0,0
$GC,11119,0.90,144.1,305.9,17.7,709,11123,0.00,0.68,0.00,0.000,4,0.000,0.046,3329,1423,1998,0,0,0,0,0,0
$GC,11378,0.90,144.1,260.1,17.4,732,11382,0.00,0.52,0.00,0.000,6,0.000,0.031,3329,1823,1998,0,0,0,0,0,0
$GC,11708,0.90,144.1,203.7,17.2,763,11712,0.00,0.90,0.00,0.000,4,0.000,0.047,3332,1261,1998,0,0,0,0,0,0
$GC,11970,0.90,144.1,158.3,17.8,786,11973,0.00,0.77,0.00,0.000,6,0.000,0.027,3332,1792,1998,0,0,0,0,0,0
$GC,12303,0.90,144.1,104.6,15.6,817,12307,0.00,1.23,0.00,0.000,4,0.000,0.050,3337,1038,1998,0,0,0,0,0,0
$GC,12526,0.90,144.1,69.6,15.6,853,12532,0.03,1.17,0.00,0.000,6,0.203,0.026,3329,1835,1999,0,0,0,0,0,0
$GC,12879,0.90,144.1,16.9,14.1,914,12886,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1835,1998,0,0,0,0,0,0
$GC,12935,0.90,144.1,8.2,15.5,923,12943,0.00,0.57,0.00,0.000,4,0.000,0.047,3330,1464,1998,0,0,0,0,0,0
$STATE,12973,end climb,SURFACE_DEPTH_REACHED
$STATE,12973,begin surface coast
$FINISH,1.7,1.018098
$STATE,12998,end surface coast,CONTROL_FINISHED_OK
$STATE,12998,begin surface
$SM_CCo,13015,54.15,1.038,0,0,1742,210.22
$SM_GC,3.31,0.00,0.00,54.15,0.000,0.000,1.038,71,1931,1742,-9.21,0.59,210.22
$IRIDIUM_FIX,-5442.29,0.00,151213,222230
$TT8_MAMPS,0.026215
$HUMID,63.46
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.9,48.327
$10V_AH,10.1,35.609
$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,24.275,35.275,266.775,54.150,0.000,24.729,41.998,263.542,0.000,0.000,31.938,2365.968,7825.336,391.988,2810.110,135.298,0.000,1445.237,0.000,2421.255,0.000,1.008,0.000
$DEVICE_MAMPS,283.815,70.380,1611.090,1038.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.038,657.220,626.571,61.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,53595,933
$CAP_FILE_SIZE,122586,0
$CFSIZE,2097086464,2085650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,055404,-5500.273,1.577,43,0.8,43,-20.3