version: 66.07.10.p01
glider: 574
mission: 8
dive: 73
start: 12 16 113 9 49 2
data:
$ID,574
$MISSION,8
$DIVE,73
$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,-15042.166
$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,39
$R_STBD_OVSHOOT,56
$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,52
$GPS1,161213,094132,-5459.432,0.094,41,0.8,41,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-74.5
$GPS2,161213,094841,-5459.476,0.162,18,1.0,18,-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,210.3,986,-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,-19.65,0.000,2,0.000,0.000,68,1934,2087,0,0,0,0,0,0
$GC,48,-0.90,-120.7,3.1,-2.6,3,134,12.50,2.22,-62.08,0.000,4,0.276,0.057,2722,3297,3094,0,0,0,0,0,0
$GC,396,-0.90,-120.7,46.6,-16.2,62,402,0.08,2.17,0.00,0.000,6,0.220,0.033,2737,1907,3096,0,0,0,0,0,0
$GC,749,-0.90,-120.7,105.7,-16.7,121,753,0.00,0.35,0.00,0.000,4,0.000,0.037,2737,2182,3096,0,0,0,0,0,0
$GC,828,-0.90,-120.7,118.7,-15.8,128,832,0.00,0.40,0.00,0.000,6,0.000,0.041,2736,1889,3097,0,0,0,0,0,0
$GC,1158,-0.90,-120.7,168.1,-14.3,159,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1889,3097,0,0,0,0,0,0
$GC,1480,-0.90,-120.7,214.8,-14.6,189,1483,0.00,1.40,0.00,0.000,4,0.000,0.035,2732,2787,3096,0,0,0,0,0,0
$GC,1739,-0.90,-120.7,250.6,-13.8,212,1743,0.00,1.33,0.00,0.000,6,0.000,0.033,2732,1933,3096,0,0,0,0,0,0
$GC,2069,-0.90,-120.7,295.1,-13.5,243,2073,0.00,0.60,0.00,0.000,4,0.000,0.048,2732,1528,3096,0,0,0,0,0,0
$GC,2205,-0.90,-120.7,313.5,-13.9,255,2208,0.00,0.55,0.00,0.000,6,0.000,0.031,2730,1932,3096,0,0,0,0,0,0
$GC,2535,-0.90,-120.7,360.6,-14.3,286,2538,0.00,0.50,0.00,0.000,4,0.000,0.040,2727,2309,3096,0,0,0,0,0,0
$GC,2797,-0.90,-120.7,398.1,-14.8,309,2801,0.00,0.60,0.00,0.000,6,0.000,0.037,2727,1894,3096,0,0,0,0,0,0
$GC,3129,-0.90,-120.7,444.8,-13.7,326,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1893,3097,0,0,0,0,0,0
$GC,3438,-0.90,-120.7,484.4,-12.5,341,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1894,3096,0,0,0,0,0,0
$GC,3747,-0.90,-120.7,522.8,-12.3,356,3751,0.00,0.62,0.00,0.000,4,0.000,0.031,2725,2339,3097,0,0,0,0,0,0
$GC,3898,-0.90,-120.7,542.4,-12.4,362,3904,0.05,0.65,0.00,0.000,6,0.243,0.036,2733,1900,3097,0,0,0,0,0,0
$GC,4214,-0.90,-120.7,581.9,-12.7,378,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1900,3097,0,0,0,0,0,0
$GC,4523,-0.90,-120.7,619.6,-12.4,393,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1900,3098,0,0,0,0,0,0
$GC,4832,-0.90,-120.7,656.1,-11.6,408,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1900,3098,0,0,0,0,0,0
$GC,5142,-0.90,-120.7,691.8,-11.4,423,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1900,3098,0,0,0,0,0,0
$GC,5451,-0.90,-120.7,726.0,-10.9,438,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1900,3099,0,0,0,0,0,0
$GC,5760,-0.90,-120.7,759.1,-10.6,453,5764,0.00,0.52,0.00,0.000,4,0.000,0.052,2734,1545,3099,0,0,0,0,0,0
$GC,5930,-0.90,-120.7,777.6,-11.3,460,5933,0.00,0.50,0.00,0.000,6,0.000,0.032,2734,1922,3099,0,0,0,0,0,0
$GC,6250,-0.90,-120.7,812.1,-11.0,476,6254,0.00,0.45,0.00,0.000,4,0.000,0.040,2731,2267,3099,0,0,0,0,0,0
$GC,6445,-0.90,-120.7,833.1,-11.3,484,6450,0.00,0.52,0.00,0.000,6,0.000,0.037,2731,1909,3099,0,0,0,0,0,0
$GC,6761,-0.90,-120.7,866.0,-10.6,500,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1909,3100,0,0,0,0,0,0
$GC,7070,-0.90,-120.7,899.7,-10.8,515,7074,0.00,0.38,0.00,0.000,4,0.000,0.054,2731,1642,3100,0,0,0,0,0,0
$GC,7198,-0.90,-120.7,913.6,-10.6,520,7203,0.00,0.35,0.00,0.000,6,0.000,0.035,2730,1900,3100,0,0,0,0,0,0
$GC,7513,-0.90,-120.7,949.0,-11.3,536,7517,0.00,0.90,0.00,0.000,4,0.000,0.037,2726,2511,3100,0,0,0,0,0,0
$GC,7671,-0.90,-120.7,966.6,-11.3,543,7675,0.00,0.90,0.00,0.000,6,0.000,0.035,2726,1913,3100,0,0,0,0,0,0
$STATE,7878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7878,begin apogee
$GC,7883,-0.16,0.0,991.3,11.9,553,7993,0.93,0.00,106.53,1.619,6,0.178,0.000,2973,1801,2600,0,0,0,0,0,0
$STATE,7993,end apogee,CONTROL_FINISHED_OK
$STATE,7993,begin climb
$GC,7995,0.90,120.7,994.4,0.0,558,8117,1.12,0.00,117.70,1.549,6,0.104,0.000,3314,1800,2107,0,0,0,0,0,0
$GC,8425,0.90,120.7,931.1,16.7,579,8429,0.00,1.48,0.00,0.000,4,0.000,0.055,3321,942,2097,0,0,0,0,0,0
$GC,8593,0.90,120.7,901.7,18.0,586,8597,0.00,1.35,0.00,0.000,6,0.000,0.024,3321,1810,2096,0,0,0,0,0,0
$GC,8914,0.90,120.7,845.5,17.1,602,8918,0.00,1.02,0.00,0.000,4,0.000,0.048,3324,1188,2094,0,0,0,0,0,0
$GC,9171,0.90,120.7,799.8,18.6,613,9176,0.00,0.98,0.00,0.000,6,0.000,0.026,3324,1835,2094,0,0,0,0,0,0
$GC,9493,0.90,120.7,745.2,16.9,629,9496,0.00,1.38,0.00,0.000,4,0.000,0.050,3329,1001,2094,0,0,0,0,0,0
$GC,9732,0.90,120.7,703.3,17.6,639,9739,0.00,1.25,0.00,0.000,6,0.000,0.024,3329,1824,2094,0,0,0,0,0,0
$GC,10049,0.90,120.7,646.6,18.2,655,10052,0.00,1.40,0.00,0.000,4,0.000,0.050,3334,968,2094,0,0,0,0,0,0
$GC,10217,0.90,120.7,615.2,19.4,662,10221,0.00,1.27,0.00,0.000,6,0.000,0.026,3335,1818,2093,0,0,0,0,0,0
$GC,10538,0.90,120.7,556.6,18.2,678,10542,0.00,1.27,0.00,0.000,4,0.000,0.049,3339,1031,2093,0,0,0,0,0,0
$GC,10772,0.90,120.7,513.8,18.5,688,10777,0.05,1.20,0.00,0.000,6,0.244,0.026,3329,1826,2093,0,0,0,0,0,0
$GC,11094,0.90,120.7,460.2,16.7,704,11097,0.00,0.75,0.00,0.000,4,0.000,0.046,3330,1353,2093,0,0,0,0,0,0
$GC,11351,0.90,120.7,417.5,17.7,715,11355,0.00,0.70,0.00,0.000,6,0.000,0.028,3330,1837,2093,0,0,0,0,0,0
$GC,11683,0.90,120.7,364.2,16.4,741,11686,0.00,1.95,0.00,0.000,4,0.000,0.053,3338,622,2093,0,0,0,0,0,0
$GC,11865,0.90,120.7,332.8,18.2,757,11870,0.05,1.77,0.00,0.000,6,0.236,0.026,3328,1811,2093,0,0,0,0,0,0
$GC,12195,0.90,120.7,280.7,15.1,788,12198,0.00,0.47,0.00,0.000,4,0.000,0.046,3328,1495,2093,0,0,0,0,0,0
$GC,12454,0.90,120.7,242.2,14.4,811,12458,0.00,0.45,0.00,0.000,6,0.000,0.032,3328,1840,2093,0,0,0,0,0,0
$GC,12784,0.90,120.7,192.2,15.8,842,12788,0.00,1.27,0.00,0.000,4,0.000,0.049,3333,1052,2094,0,0,0,0,0,0
$GC,13001,0.90,120.7,155.6,16.9,861,13005,0.00,1.10,0.00,0.000,6,0.000,0.028,3333,1796,2093,0,0,0,0,0,0
$GC,13331,0.90,120.7,101.7,15.9,892,13335,0.00,0.47,0.00,0.000,4,0.000,0.047,3335,1485,2093,0,0,0,0,0,0
$GC,13578,0.90,120.7,63.3,15.1,934,13584,0.00,0.47,0.00,0.000,6,0.000,0.034,3335,1846,2093,0,0,0,0,0,0
$GC,13929,0.90,120.7,14.2,12.2,995,13936,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1846,2093,0,0,0,0,0,0
$GC,13985,0.90,120.7,6.2,15.2,1004,13992,0.00,0.68,0.00,0.000,4,0.000,0.046,3337,1416,2093,0,0,0,0,0,0
$GC,14006,0.90,120.7,3.1,15.3,1007,14014,0.03,0.55,0.00,0.000,6,0.174,0.029,3327,1847,2093,0,0,0,0,0,0
$STATE,14021,end climb,SURFACE_DEPTH_REACHED
$STATE,14021,begin surface coast
$FINISH,1.8,1.009150
$STATE,14046,end surface coast,CONTROL_FINISHED_OK
$STATE,14047,begin surface
$SM_CCo,14062,74.15,1.033,0,0,1742,210.22
$SM_GC,2.79,0.00,0.00,74.15,0.000,0.000,1.033,77,1859,1742,-9.21,-1.44,210.22
$IRIDIUM_FIX,-5438.56,0.00,161213,050533
$TT8_MAMPS,0.027713
$HUMID,62.52
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.9,48.613
$10V_AH,10.1,35.792
$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,23.850,39.300,224.225,74.150,0.000,30.675,43.231,242.330,0.000,0.000,21.661,2554.613,8608.726,385.064,2884.942,136.533,0.000,1468.908,0.000,2524.324,0.000,1.008,0.000
$DEVICE_MAMPS,276.165,91.800,1618.740,1032.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.141,716.569,680.899,66.930,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,56983,1013
$CAP_FILE_SIZE,128963,0
$CFSIZE,2097086464,2085388288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,134606,-5500.331,-1.028,53,0.8,53,-20.2