version: 66.07.10.p01
glider: 574
mission: 8
dive: 78
start: 12 17 113 5 8 44
data:
$ID,574
$MISSION,8
$DIVE,78
$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,-15058.426
$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,74
$R_STBD_OVSHOOT,97
$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,57
$GPS1,171213,045551,-5459.651,0.378,29,1.5,44,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-72.5
$GPS2,171213,050823,-5459.657,0.609,33,0.8,33,-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,245.7,906,-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,-57.8,0.0,0.0,0,47,0.00,0.00,-20.10,0.000,2,0.000,0.000,67,1954,2087,0,0,0,0,0,0
$GC,49,-0.90,-122.3,3.0,-2.4,3,135,12.62,2.12,-64.47,0.000,4,0.279,0.063,2721,3244,3098,0,0,0,0,0,0
$GC,362,-0.90,-122.3,42.5,-19.5,56,368,0.08,2.03,0.00,0.000,6,0.220,0.034,2735,1949,3099,0,0,0,0,0,0
$GC,709,-0.90,-122.3,102.7,-17.7,116,712,0.00,0.43,0.00,0.000,4,0.000,0.037,2735,2270,3100,0,0,0,0,0,0
$GC,815,-0.90,-122.3,121.1,-17.1,125,820,0.00,0.57,0.00,0.000,6,0.000,0.037,2735,1887,3100,0,0,0,0,0,0
$GC,1140,-0.90,-122.3,179.7,-16.8,156,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1886,3100,0,0,0,0,0,0
$GC,1459,-0.90,-122.3,228.6,-14.6,186,1463,0.00,0.85,0.00,0.000,4,0.000,0.050,2735,1341,3100,0,0,0,0,0,0
$GC,1572,-0.90,-122.3,244.7,-13.6,196,1576,0.00,0.77,0.00,0.000,6,0.000,0.030,2732,1879,3100,0,0,0,0,0,0
$GC,1902,-0.90,-122.3,291.3,-13.8,227,1906,0.00,0.75,0.00,0.000,4,0.000,0.038,2728,2397,3100,0,0,0,0,0,0
$GC,2004,-0.90,-122.3,305.5,-14.0,236,2007,0.00,0.73,0.00,0.000,6,0.000,0.037,2729,1910,3100,0,0,0,0,0,0
$GC,2333,-0.90,-122.3,351.1,-14.0,267,2337,0.00,0.95,0.00,0.000,4,0.000,0.050,2729,1304,3100,0,0,0,0,0,0
$GC,2449,-0.90,-122.3,366.7,-13.5,277,2452,0.00,0.88,0.00,0.000,6,0.000,0.030,2725,1896,3100,0,0,0,0,0,0
$GC,2777,-0.90,-122.3,412.7,-13.9,304,2781,0.05,0.47,0.00,0.000,4,0.268,0.041,2732,2242,3100,0,0,0,0,0,0
$GC,2921,-0.90,-122.3,431.9,-12.9,310,2925,0.00,0.50,0.00,0.000,6,0.000,0.040,2732,1906,3100,0,0,0,0,0,0
$GC,3242,-0.90,-122.3,473.2,-12.8,326,3246,0.00,0.75,0.00,0.000,4,0.000,0.050,2732,1418,3101,0,0,0,0,0,0
$GC,3342,-0.90,-122.3,486.4,-13.1,330,3346,0.00,0.75,0.00,0.000,6,0.000,0.030,2730,1928,3101,0,0,0,0,0,0
$GC,3663,-0.90,-122.3,525.9,-12.1,346,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1929,3102,0,0,0,0,0,0
$GC,3973,-0.90,-122.3,562.4,-11.5,361,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1929,3102,0,0,0,0,0,0
$GC,4282,-0.90,-122.3,597.6,-11.6,376,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1929,3102,0,0,0,0,0,0
$GC,4591,-0.90,-122.3,633.4,-11.6,391,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1929,3103,0,0,0,0,0,0
$GC,4901,-0.90,-122.3,669.0,-11.6,406,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1929,3103,0,0,0,0,0,0
$GC,5210,-0.90,-122.3,705.1,-12.0,421,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1929,3103,0,0,0,0,0,0
$GC,5519,-0.90,-122.3,741.5,-11.6,436,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1929,3104,0,0,0,0,0,0
$GC,5829,-0.90,-122.3,777.5,-12.0,451,5832,0.00,0.55,0.00,0.000,4,0.000,0.044,2729,1562,3104,0,0,0,0,0,0
$GC,5973,-0.90,-122.3,795.0,-11.7,457,5977,0.00,0.50,0.00,0.000,6,0.000,0.034,2728,1919,3104,0,0,0,0,0,0
$GC,6294,-0.90,-122.3,831.2,-10.9,473,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1919,3104,0,0,0,0,0,0
$GC,6603,-0.90,-122.3,863.9,-10.3,488,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1919,3104,0,0,0,0,0,0
$GC,6913,-0.90,-122.3,896.8,-10.6,503,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1919,3105,0,0,0,0,0,0
$GC,7222,-0.90,-122.3,929.7,-10.9,518,7226,0.00,0.38,0.00,0.000,4,0.000,0.044,2726,2213,3105,0,0,0,0,0,0
$GC,7384,-0.90,-122.3,947.3,-10.6,525,7388,0.00,0.45,0.00,0.000,6,0.000,0.041,2725,1900,3105,0,0,0,0,0,0
$GC,7711,-0.90,-122.3,981.9,-10.8,541,7715,0.03,0.88,0.00,0.000,4,0.295,0.050,2734,1349,3106,0,0,0,0,0,0
$STATE,7786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7786,begin apogee
$GC,7791,-0.16,0.0,990.5,11.5,544,7903,0.88,0.00,108.35,1.671,6,0.180,0.000,2970,1820,2600,0,0,0,0,0,0
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7904,begin climb
$GC,7906,0.90,122.3,991.8,0.0,550,8029,1.17,0.00,119.97,1.607,6,0.106,0.000,3318,1820,2101,0,0,0,0,0,0
$GC,8332,0.90,122.3,924.3,17.2,571,8336,0.00,1.52,0.00,0.000,4,0.000,0.053,3324,938,2093,0,0,0,0,0,0
$GC,8476,0.90,122.3,898.2,17.7,577,8481,0.00,1.38,0.00,0.000,6,0.000,0.026,3323,1803,2093,0,0,0,0,0,0
$GC,8798,0.90,122.3,843.7,17.3,593,8802,0.00,0.75,0.00,0.000,4,0.000,0.046,3326,1340,2092,0,0,0,0,0,0
$GC,9027,0.90,122.3,802.5,18.4,603,9031,0.00,0.75,0.00,0.000,6,0.000,0.029,3326,1836,2092,0,0,0,0,0,0
$GC,9354,0.90,122.3,745.1,17.4,619,9358,0.00,1.12,0.00,0.000,4,0.000,0.050,3330,1149,2091,0,0,0,0,0,0
$GC,9605,0.90,122.3,701.1,17.8,630,9610,0.00,1.02,0.00,0.000,6,0.000,0.028,3330,1825,2091,0,0,0,0,0,0
$GC,9932,0.90,122.3,647.2,16.3,646,9936,0.00,0.68,0.00,0.000,4,0.000,0.047,3331,1397,2091,0,0,0,0,0,0
$GC,10189,0.90,122.3,603.7,17.5,657,10194,0.00,0.62,0.00,0.000,6,0.000,0.030,3332,1827,2091,0,0,0,0,0,0
$GC,10511,0.90,122.3,551.0,16.4,673,10515,0.00,1.67,0.00,0.000,4,0.000,0.053,3338,807,2091,0,0,0,0,0,0
$GC,10661,0.90,122.3,524.7,17.0,679,10667,0.03,1.52,0.00,0.000,6,0.207,0.028,3330,1813,2091,0,0,0,0,0,0
$GC,10977,0.90,122.3,475.4,15.4,695,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1813,2091,0,0,0,0,0,0
$GC,11286,0.90,122.3,429.5,14.7,710,11290,0.00,0.52,0.00,0.000,4,0.000,0.047,3330,1475,2091,0,0,0,0,0,0
$GC,11545,0.90,122.3,391.2,14.2,724,11549,0.00,0.50,0.00,0.000,6,0.000,0.035,3331,1846,2091,0,0,0,0,0,0
$GC,11875,0.90,122.3,342.5,14.7,755,11879,0.00,0.95,0.00,0.000,4,0.000,0.048,3334,1254,2091,0,0,0,0,0,0
$GC,12072,0.90,122.3,310.9,16.6,772,12080,0.00,0.82,0.00,0.000,6,0.000,0.028,3334,1794,2091,0,0,0,0,0,0
$GC,12399,0.90,122.3,259.4,15.5,803,12402,0.00,0.88,0.00,0.000,4,0.000,0.049,3337,1252,2091,0,0,0,0,0,0
$GC,12527,0.90,122.3,237.9,16.7,814,12534,0.03,0.88,0.00,0.000,6,0.283,0.028,3327,1828,2091,0,0,0,0,0,0
$GC,12854,0.90,122.3,187.6,14.8,845,12858,0.00,1.38,0.00,0.000,4,0.000,0.051,3332,984,2091,0,0,0,0,0,0
$GC,12992,0.90,122.3,167.6,14.9,857,12996,0.00,1.27,0.00,0.000,6,0.000,0.029,3332,1824,2091,0,0,0,0,0,0
$GC,13322,0.90,122.3,122.8,13.3,888,13326,0.00,1.20,0.00,0.000,4,0.000,0.051,3337,1088,2091,0,0,0,0,0,0
$GC,13586,0.90,122.3,86.2,14.9,919,13591,0.03,1.10,0.00,0.000,6,0.206,0.028,3329,1825,2092,0,0,0,0,0,0
$GC,13934,0.90,122.3,37.3,12.7,980,13941,0.00,2.28,0.00,0.000,4,0.000,0.057,3338,447,2091,0,0,0,0,0,0
$GC,14152,0.90,122.3,3.1,15.1,1017,14160,0.03,2.10,0.00,0.000,6,0.160,0.031,3326,1801,2092,0,0,0,0,0,0
$STATE,14167,end climb,SURFACE_DEPTH_REACHED
$STATE,14167,begin surface coast
$FINISH,1.7,1.027211
$STATE,14193,end surface coast,CONTROL_FINISHED_OK
$STATE,14193,begin surface
$SM_CCo,14209,78.82,1.059,1,0,1742,210.22
$SM_GC,3.09,0.00,0.00,78.82,0.000,0.000,1.059,68,1958,1742,-9.23,1.36,210.22
$IRIDIUM_FIX,-5438.56,0.00,161213,212109
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.8,49.435
$10V_AH,10.1,36.253
$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,24.100,41.050,228.325,78.825,0.000,26.271,41.561,518.875,0.000,0.000,35.977,2558.047,8824.097,407.848,3091.761,150.339,0.000,1454.220,0.000,2448.677,0.000,1.008,0.000
$DEVICE_MAMPS,294.525,63.495,1670.760,1058.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.127,716.722,687.397,65.649,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,56848,1023
$CAP_FILE_SIZE,132724,1
$CFSIZE,2097086464,2084700160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,171213,090805,-5500.226,-1.277,32,1.0,32,-20.2