version: 66.07.10.p01
glider: 574
mission: 8
dive: 77
start: 12 17 113 1 20 51
data:
$ID,574
$MISSION,8
$DIVE,77
$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,-15055.288
$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,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,56
$GPS1,171213,010822,-5500.792,1.585,47,0.8,47,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-75.0
$GPS2,171213,012030,-5500.911,1.707,17,1.2,17,-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,333.2,2477,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.90,-57.8,0.0,0.0,0,51,0.00,0.00,-24.92,0.000,2,0.000,0.000,67,1911,2184,0,0,0,0,0,0
$GC,54,-0.90,-132.6,3.1,-1.3,4,127,12.70,1.42,-54.08,0.000,4,0.281,0.064,2724,2790,3141,0,0,0,0,0,0
$GC,288,-0.90,-132.6,32.0,-17.4,43,293,0.03,1.33,0.00,0.000,6,0.236,0.034,2731,1943,3144,0,0,0,0,0,0
$GC,431,-0.90,-132.6,58.7,-18.5,68,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1943,3144,0,0,0,0,0,0
$GC,769,-0.90,-132.6,121.9,-19.6,118,772,0.00,0.40,0.00,0.000,4,0.000,0.037,2731,2245,3144,0,0,0,0,0,0
$GC,859,-0.90,-132.6,138.8,-18.6,126,863,0.00,0.50,0.00,0.000,6,0.000,0.039,2731,1900,3144,0,0,0,0,0,0
$GC,1193,-0.90,-132.6,194.1,-16.5,157,1197,0.00,0.57,0.00,0.000,4,0.000,0.050,2731,1513,3144,0,0,0,0,0,0
$GC,1285,-0.90,-132.6,210.0,-16.9,165,1289,0.00,0.57,0.00,0.000,6,0.000,0.033,2729,1931,3144,0,0,0,0,0,0
$GC,1615,-0.90,-132.6,265.5,-15.9,196,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1931,3143,0,0,0,0,0,0
$GC,1935,-0.90,-132.6,313.7,-14.0,226,1938,0.00,1.00,0.00,0.000,4,0.000,0.041,2724,2592,3143,0,0,0,0,0,0
$GC,2048,-0.90,-132.6,329.7,-13.9,236,2052,0.03,1.02,0.00,0.000,6,0.220,0.037,2730,1922,3143,0,0,0,0,0,0
$GC,2377,-0.90,-132.6,374.4,-13.3,267,2381,0.00,0.77,0.00,0.000,4,0.000,0.049,2730,1417,3143,0,0,0,0,0,0
$GC,2479,-0.90,-132.6,388.5,-14.0,276,2482,0.00,0.70,0.00,0.000,6,0.000,0.031,2729,1909,3143,0,0,0,0,0,0
$GC,2802,-0.90,-132.6,432.2,-13.7,296,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1910,3143,0,0,0,0,0,0
$GC,3111,-0.90,-132.6,476.2,-14.7,311,3115,0.00,0.52,0.00,0.000,4,0.000,0.041,2727,2304,3143,0,0,0,0,0,0
$GC,3178,-0.90,-132.6,485.9,-14.7,314,3182,0.00,0.57,0.00,0.000,6,0.000,0.039,2726,1907,3143,0,0,0,0,0,0
$GC,3510,-0.90,-132.6,535.7,-15.1,330,3514,0.00,0.88,0.00,0.000,4,0.000,0.049,2726,1345,3144,0,0,0,0,0,0
$GC,3615,-0.90,-132.6,552.9,-15.7,334,3622,0.08,0.85,0.00,0.000,6,0.228,0.029,2737,1919,3144,0,0,0,0,0,0
$GC,3931,-0.90,-132.6,601.3,-15.4,350,3935,0.00,0.55,0.00,0.000,4,0.000,0.041,2737,1549,3144,0,0,0,0,0,0
$GC,3991,-0.90,-132.6,611.1,-16.2,352,3997,0.00,0.52,0.00,0.000,6,0.000,0.033,2737,1924,3144,0,0,0,0,0,0
$GC,4307,-0.90,-132.6,659.5,-15.2,368,4310,0.00,0.57,0.00,0.000,4,0.000,0.041,2735,2336,3144,0,0,0,0,0,0
$GC,4397,-0.90,-132.6,673.0,-14.3,372,4401,0.00,0.62,0.00,0.000,6,0.000,0.038,2734,1906,3144,0,0,0,0,0,0
$GC,4729,-0.90,-132.6,721.9,-14.5,388,4732,0.00,0.60,0.00,0.000,4,0.000,0.050,2734,1502,3145,0,0,0,0,0,0
$GC,4891,-0.90,-132.6,745.1,-14.2,395,4895,0.00,0.57,0.00,0.000,6,0.000,0.031,2732,1912,3145,0,0,0,0,0,0
$GC,5217,-0.90,-132.6,790.1,-13.7,411,5221,0.00,0.43,0.00,0.000,4,0.000,0.044,2732,1621,3145,0,0,0,0,0,0
$GC,5356,-0.90,-132.6,808.8,-12.8,417,5361,0.00,0.40,0.00,0.000,6,0.000,0.036,2731,1912,3145,0,0,0,0,0,0
$GC,5683,-0.90,-132.6,851.4,-13.2,433,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1912,3145,0,0,0,0,0,0
$GC,5993,-0.90,-132.6,891.5,-13.1,448,5996,0.00,0.55,0.00,0.000,4,0.000,0.043,2731,1544,3145,0,0,0,0,0,0
$GC,6109,-0.90,-132.6,907.1,-13.6,453,6113,0.00,0.52,0.00,0.000,6,0.000,0.033,2729,1921,3145,0,0,0,0,0,0
$GC,6436,-0.90,-132.6,950.2,-13.2,469,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1921,3146,0,0,0,0,0,0
$STATE,6744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6744,begin apogee
$GC,6748,-0.16,0.0,991.1,13.2,484,6868,0.90,0.00,115.82,1.626,6,0.177,0.000,2970,1795,2600,0,0,0,0,0,0
$STATE,6868,end apogee,CONTROL_FINISHED_OK
$STATE,6869,begin climb
$GC,6870,0.90,132.6,995.0,0.0,490,7006,1.17,0.77,129.48,1.554,4,0.104,0.051,3320,1377,2059,0,0,0,0,0,0
$GC,7258,0.90,132.6,939.1,16.7,508,7262,0.00,0.68,0.00,0.000,6,0.000,0.027,3320,1800,2049,0,0,0,0,0,0
$GC,7585,0.90,132.6,885.9,16.4,524,7588,0.00,1.45,0.00,0.000,4,0.000,0.053,3325,942,2049,0,0,0,0,0,0
$GC,7769,0.90,132.6,854.2,16.6,532,7773,0.00,1.35,0.00,0.000,6,0.000,0.026,3324,1819,2047,0,0,0,0,0,0
$GC,8096,0.90,132.6,795.4,18.5,548,8099,0.00,1.45,0.00,0.000,4,0.000,0.052,3329,944,2047,0,0,0,0,0,0
$GC,8258,0.90,132.6,763.3,19.5,555,8262,0.00,1.35,0.00,0.000,6,0.000,0.027,3329,1824,2046,0,0,0,0,0,0
$GC,8585,0.90,132.6,697.1,19.9,571,8588,0.00,1.25,0.00,0.000,4,0.000,0.051,3334,1059,2046,0,0,0,0,0,0
$GC,8775,0.90,132.6,658.6,21.4,579,8779,0.00,1.15,0.00,0.000,6,0.000,0.028,3333,1821,2046,0,0,0,0,0,0
$GC,9096,0.90,132.6,597.2,18.6,595,9100,0.00,0.52,0.00,0.000,4,0.000,0.047,3335,1483,2046,0,0,0,0,0,0
$GC,9352,0.90,132.6,549.8,18.1,606,9356,0.00,0.50,0.00,0.000,6,0.000,0.033,3335,1843,2046,0,0,0,0,0,0
$GC,9673,0.90,132.6,491.3,18.8,622,9677,0.00,2.17,0.00,0.000,4,0.000,0.056,3344,509,2046,0,0,0,0,0,0
$GC,9835,0.90,132.6,458.7,20.4,629,9840,0.05,1.95,0.00,0.000,6,0.193,0.028,3330,1785,2046,0,0,0,0,0,0
$GC,10156,0.90,132.6,400.1,18.1,645,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1785,2045,0,0,0,0,0,0
$GC,10474,0.90,132.6,342.7,17.6,674,10478,0.00,0.65,0.00,0.000,4,0.000,0.048,3330,1370,2046,0,0,0,0,0,0
$GC,10736,0.90,132.6,296.3,17.6,697,10739,0.00,0.68,0.00,0.000,6,0.000,0.031,3331,1842,2046,0,0,0,0,0,0
$GC,11066,0.90,132.6,239.9,16.7,728,11069,0.00,1.55,0.00,0.000,4,0.000,0.052,3337,892,2046,0,0,0,0,0,0
$GC,11225,0.90,132.6,213.5,16.9,742,11229,0.03,1.38,0.00,0.000,6,0.201,0.028,3329,1801,2046,0,0,0,0,0,0
$GC,11557,0.90,132.6,166.0,13.1,773,11561,0.00,0.90,0.00,0.000,4,0.000,0.049,3331,1239,2046,0,0,0,0,0,0
$GC,11775,0.90,132.6,135.2,14.3,792,11783,0.00,0.90,0.00,0.000,6,0.000,0.028,3331,1842,2046,0,0,0,0,0,0
$GC,12106,0.90,132.6,88.6,13.7,830,12111,0.00,1.23,0.00,0.000,4,0.000,0.051,3336,1083,2046,0,0,0,0,0,0
$GC,12368,0.90,132.6,51.9,14.8,876,12375,0.00,1.10,0.00,0.000,6,0.000,0.029,3336,1822,2046,0,0,0,0,0,0
$STATE,12699,end climb,SURFACE_DEPTH_REACHED
$STATE,12699,begin surface coast
$FINISH,1.8,1.016442
$STATE,12719,end surface coast,CONTROL_FINISHED_OK
$STATE,12719,begin surface
$SM_CCo,12735,75.62,1.078,2,0,1742,210.22
$SM_GC,3.05,0.00,0.00,75.62,0.000,0.000,1.078,74,1961,1742,-9.20,1.44,210.22
$IRIDIUM_FIX,-5438.56,0.00,161213,212109
$TT8_MAMPS,0.027713
$HUMID,62.87
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.9,49.271
$10V_AH,10.1,36.155
$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,24.100,39.650,245.300,75.625,0.000,32.357,40.354,508.770,0.000,0.000,20.177,2360.372,7669.421,411.039,2951.816,143.390,0.000,1412.427,0.000,2327.493,0.000,1.009,0.000
$DEVICE_MAMPS,280.755,96.390,1625.625,1077.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.811,683.620,627.007,63.733,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,53552,936
$CAP_FILE_SIZE,125623,2
$CFSIZE,2097086464,2084864000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171213,045551,-5459.651,0.378,29,1.5,44,-20.2