version: 66.07.10.p01
glider: 574
mission: 8
dive: 72
start: 12 16 113 6 1 22
data:
$ID,574
$MISSION,8
$DIVE,72
$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,-15039.079
$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,42
$R_STBD_OVSHOOT,48
$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,51
$GPS1,161213,055404,-5500.273,1.577,43,0.8,43,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-73.9
$GPS2,161213,060100,-5500.292,1.575,14,2.0,14,-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,308.2,1758,-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,-20.02,0.000,2,0.000,0.000,67,1930,2097,0,0,0,0,0,0
$GC,48,-0.90,-136.2,3.1,-0.9,3,133,12.30,1.30,-65.43,0.000,4,0.272,0.062,2723,2737,3152,0,0,0,0,0,0
$GC,253,-0.90,-136.2,20.9,-18.4,37,259,0.03,1.27,0.00,0.000,6,0.216,0.032,2730,1926,3153,0,0,0,0,0,0
$GC,399,-0.90,-136.2,47.7,-19.1,62,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1926,3154,0,0,0,0,0,0
$GC,746,-0.90,-136.2,113.1,-18.6,118,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1926,3154,0,0,0,0,0,0
$GC,1066,-0.90,-136.2,171.5,-18.7,148,1069,0.00,1.35,0.00,0.000,4,0.000,0.050,2729,1080,3153,0,0,0,0,0,0
$GC,1127,-0.90,-136.2,182.7,-17.6,153,1133,0.00,1.30,0.00,0.000,6,0.000,0.028,2725,1923,3154,0,0,0,0,0,0
$GC,1452,-0.90,-136.2,240.3,-17.6,184,1456,0.05,1.33,0.00,0.000,4,0.265,0.041,2728,2766,3154,0,0,0,0,0,0
$GC,1547,-0.90,-136.2,256.0,-15.8,192,1555,0.00,1.38,0.00,0.000,6,0.000,0.034,2728,1889,3154,0,0,0,0,0,0
$GC,1874,-0.90,-136.2,305.5,-15.0,223,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1889,3153,0,0,0,0,0,0
$GC,2194,-0.90,-136.2,353.1,-14.9,253,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1889,3153,0,0,0,0,0,0
$GC,2510,-0.90,-136.2,399.5,-14.5,283,2514,0.00,1.00,0.00,0.000,4,0.000,0.049,2728,1252,3154,0,0,0,0,0,0
$GC,2587,-0.90,-136.2,411.4,-14.5,287,2593,0.05,1.00,0.00,0.000,6,0.253,0.027,2733,1923,3153,0,0,0,0,0,0
$GC,2908,-0.90,-136.2,456.2,-14.1,303,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1923,3153,0,0,0,0,0,0
$GC,3218,-0.90,-136.2,497.9,-13.1,318,3221,0.00,0.47,0.00,0.000,4,0.000,0.041,2734,1598,3153,0,0,0,0,0,0
$GC,3285,-0.90,-136.2,506.8,-13.8,321,3289,0.00,0.43,0.00,0.000,6,0.000,0.035,2733,1924,3154,0,0,0,0,0,0
$GC,3617,-0.90,-136.2,551.3,-13.4,337,3621,0.00,0.68,0.00,0.000,4,0.000,0.038,2730,2400,3154,0,0,0,0,0,0
$GC,3739,-0.90,-136.2,567.9,-13.0,342,3744,0.00,0.75,0.00,0.000,6,0.000,0.035,2730,1903,3154,0,0,0,0,0,0
$GC,4060,-0.90,-136.2,610.0,-13.1,358,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1903,3154,0,0,0,0,0,0
$GC,4370,-0.90,-136.2,650.2,-12.6,373,4373,0.00,0.43,0.00,0.000,4,0.000,0.052,2730,1603,3155,0,0,0,0,0,0
$GC,4430,-0.90,-136.2,657.8,-11.9,375,4435,0.00,0.43,0.00,0.000,6,0.000,0.034,2728,1922,3155,0,0,0,0,0,0
$GC,4745,-0.90,-136.2,695.1,-11.9,391,4749,0.00,0.73,0.00,0.000,4,0.000,0.039,2725,2427,3155,0,0,0,0,0,0
$GC,4873,-0.90,-136.2,710.6,-12.0,396,4879,0.05,0.80,0.00,0.000,6,0.244,0.035,2734,1896,3155,0,0,0,0,0,0
$GC,5189,-0.90,-136.2,746.5,-11.4,412,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1896,3155,0,0,0,0,0,0
$GC,5498,-0.90,-136.2,782.5,-12.1,427,5502,0.00,0.35,0.00,0.000,4,0.000,0.037,2733,2174,3155,0,0,0,0,0,0
$GC,5603,-0.90,-136.2,795.0,-11.8,431,5608,0.00,0.38,0.00,0.000,6,0.000,0.041,2734,1911,3155,0,0,0,0,0,0
$GC,5919,-0.90,-136.2,832.1,-11.9,447,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1911,3155,0,0,0,0,0,0
$GC,6229,-0.90,-136.2,868.6,-11.4,462,6233,0.00,0.45,0.00,0.000,4,0.000,0.052,2733,1598,3156,0,0,0,0,0,0
$GC,6297,-0.90,-136.2,876.4,-11.3,465,6300,0.00,0.40,0.00,0.000,6,0.000,0.034,2733,1912,3156,0,0,0,0,0,0
$GC,6629,-0.90,-136.2,914.0,-11.3,481,6632,0.00,0.50,0.00,0.000,4,0.000,0.039,2730,2288,3156,0,0,0,0,0,0
$GC,6711,-0.90,-136.2,924.0,-12.6,484,6717,0.00,0.55,0.00,0.000,6,0.000,0.037,2731,1909,3156,0,0,0,0,0,0
$GC,7027,-0.90,-136.2,960.6,-11.6,500,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1909,3156,0,0,0,0,0,0
$STATE,7294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7294,begin apogee
$GC,7298,-0.16,0.0,991.9,11.6,513,7420,0.90,0.00,118.62,1.615,6,0.176,0.000,2972,1827,2600,0,0,0,0,0,0
$STATE,7421,end apogee,CONTROL_FINISHED_OK
$STATE,7421,begin climb
$GC,7423,0.90,136.2,994.0,0.0,519,7561,1.17,0.57,133.18,1.542,4,0.102,0.053,3322,1513,2043,0,0,0,0,0,0
$GC,7813,0.90,136.2,929.0,18.7,537,7818,0.00,0.43,0.00,0.000,6,0.000,0.030,3321,1797,2036,0,0,0,0,0,0
$GC,8128,0.90,136.2,871.6,18.4,553,8132,0.00,2.30,0.00,0.000,4,0.000,0.057,3330,424,2032,0,0,0,0,0,0
$GC,8267,0.90,136.2,845.3,19.5,559,8272,0.00,2.15,0.00,0.000,6,0.000,0.025,3331,1800,2031,0,0,0,0,0,0
$GC,8589,0.90,136.2,787.8,18.1,575,8593,0.00,0.55,0.00,0.000,4,0.000,0.047,3333,1455,2031,0,0,0,0,0,0
$GC,8846,0.90,136.2,740.7,18.3,586,8850,0.00,0.57,0.00,0.000,6,0.000,0.030,3332,1862,2031,0,0,0,0,0,0
$GC,9167,0.90,136.2,683.5,17.8,602,9171,0.00,1.55,0.00,0.000,4,0.000,0.052,3339,920,2031,0,0,0,0,0,0
$GC,9302,0.90,136.2,658.7,19.3,608,9306,0.03,1.33,0.00,0.000,6,0.201,0.024,3330,1803,2031,0,0,0,0,0,0
$GC,9633,0.90,136.2,599.4,18.1,624,9637,0.00,0.82,0.00,0.000,4,0.000,0.046,3333,1285,2031,0,0,0,0,0,0
$GC,9761,0.90,136.2,575.5,18.4,629,9767,0.00,0.80,0.00,0.000,6,0.000,0.025,3332,1813,2031,0,0,0,0,0,0
$GC,10077,0.90,136.2,516.3,18.9,645,10081,0.00,0.55,0.00,0.000,4,0.000,0.047,3334,1459,2031,0,0,0,0,0,0
$GC,10334,0.90,136.2,465.7,20.2,656,10338,0.00,0.55,0.00,0.000,6,0.000,0.029,3334,1857,2031,0,0,0,0,0,0
$GC,10655,0.90,136.2,402.2,19.4,672,10659,0.00,1.65,0.00,0.000,4,0.000,0.051,3340,818,2031,0,0,0,0,0,0
$GC,10794,0.90,136.2,374.3,19.6,683,10801,0.03,1.48,0.00,0.000,6,0.200,0.024,3330,1801,2031,0,0,0,0,0,0
$GC,11120,0.90,136.2,315.2,18.1,714,11124,0.00,0.70,0.00,0.000,4,0.000,0.047,3331,1357,2031,0,0,0,0,0,0
$GC,11191,0.90,136.2,301.8,18.7,720,11200,0.00,0.70,0.00,0.000,6,0.000,0.027,3331,1839,2030,0,0,0,0,0,0
$GC,11517,0.90,136.2,243.4,18.8,751,11520,0.00,1.33,0.00,0.000,4,0.000,0.050,3336,1021,2031,0,0,0,0,0,0
$GC,11678,0.90,136.2,213.1,18.5,765,11682,0.00,1.17,0.00,0.000,6,0.000,0.026,3336,1813,2031,0,0,0,0,0,0
$GC,12008,0.90,136.2,154.7,16.5,796,12012,0.00,0.62,0.00,0.000,4,0.000,0.039,3336,2259,2031,0,0,0,0,0,0
$GC,12053,0.90,136.2,147.2,15.8,800,12058,0.03,0.65,0.00,0.000,6,0.219,0.039,3331,1822,2031,0,0,0,0,0,0
$GC,12383,0.90,136.2,100.5,13.6,831,12387,0.00,2.10,0.00,0.000,4,0.000,0.058,3340,513,2031,0,0,0,0,0,0
$GC,12516,0.90,136.2,80.2,16.0,853,12522,0.05,1.95,0.00,0.000,6,0.233,0.025,3328,1811,2031,0,0,0,0,0,0
$GC,12865,0.90,136.2,30.3,13.8,914,12872,0.00,0.45,0.00,0.000,4,0.000,0.047,3328,1510,2030,0,0,0,0,0,0
$STATE,13043,end climb,SURFACE_DEPTH_REACHED
$STATE,13043,begin surface coast
$FINISH,1.8,1.003390
$STATE,13056,end surface coast,CONTROL_FINISHED_OK
$STATE,13056,begin surface
$SM_CCo,13073,61.12,1.034,0,0,1743,210.22
$SM_GC,3.03,0.00,0.00,61.12,0.000,0.000,1.034,72,1941,1743,-9.22,0.88,210.22
$IRIDIUM_FIX,-5438.56,-3.75,161213,020223
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.9,48.474
$10V_AH,10.1,35.697
$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,23.775,42.925,251.800,61.125,0.000,25.215,48.803,232.415,0.000,0.000,18.014,2361.425,8059.206,420.374,2593.919,120.724,0.000,1399.319,0.000,2246.786,0.000,1.008,0.000
$DEVICE_MAMPS,271.575,102.510,1614.915,1033.515,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.131,667.177,631.135,63.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354652
$DATA_FILE_SIZE,53628,946
$CAP_FILE_SIZE,121554,0
$CFSIZE,2097086464,2085519360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,094132,-5459.432,0.094,41,0.8,41,-20.2