version: 66.07.10.p01
glider: 574
mission: 8
dive: 79
start: 12 17 113 9 21 53
data:
$ID,574
$MISSION,8
$DIVE,79
$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,-15061.517
$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,56
$R_STBD_OVSHOOT,71
$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,58
$GPS1,171213,090805,-5500.226,-1.277,32,1.0,32,-20.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-71.3
$GPS2,171213,092131,-5500.229,-1.145,14,0.8,15,-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,91.0,1288,-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,23,-0.90,-57.8,0.0,0.0,0,45,0.00,0.00,-19.45,0.000,2,0.000,0.000,66,1958,2074,0,0,0,0,0,0
$GC,47,-0.90,-128.0,3.1,-1.8,3,133,12.27,2.40,-65.72,0.000,4,0.269,0.065,2735,523,3123,0,0,0,0,0,0
$GC,264,-0.90,-128.0,25.6,-19.8,39,269,0.00,2.10,0.00,0.000,6,0.000,0.028,2725,1882,3124,0,0,0,0,0,0
$GC,409,-0.90,-128.0,53.3,-18.9,64,414,0.05,0.00,0.00,0.000,6,0.275,0.000,2733,1882,3125,0,0,0,0,0,0
$GC,751,-0.90,-128.0,115.2,-17.2,117,755,0.00,1.55,0.00,0.000,4,0.000,0.044,2727,2858,3125,0,0,0,0,0,0
$GC,979,-0.90,-128.0,152.9,-16.3,137,983,0.00,1.45,0.00,0.000,6,0.000,0.035,2727,1930,3125,0,0,0,0,0,0
$GC,1309,-0.90,-128.0,207.1,-16.4,168,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1931,3126,0,0,0,0,0,0
$GC,1629,-0.90,-128.0,256.8,-15.7,198,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1930,3125,0,0,0,0,0,0
$GC,1947,-0.90,-128.0,302.7,-14.4,228,1951,0.00,0.38,0.00,0.000,4,0.000,0.037,2726,2221,3124,0,0,0,0,0,0
$GC,2207,-0.90,-128.0,340.3,-13.8,251,2211,0.00,0.45,0.00,0.000,6,0.000,0.040,2726,1899,3124,0,0,0,0,0,0
$GC,2537,-0.90,-128.0,385.5,-13.2,282,2540,0.00,0.55,0.00,0.000,4,0.000,0.035,2724,2298,3125,0,0,0,0,0,0
$GC,2794,-0.90,-128.0,419.6,-13.8,298,2799,0.05,0.57,0.00,0.000,6,0.252,0.039,2733,1901,3125,0,0,0,0,0,0
$GC,3115,-0.90,-128.0,459.4,-12.2,314,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1901,3125,0,0,0,0,0,0
$GC,3424,-0.90,-128.0,495.8,-11.4,329,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1901,3126,0,0,0,0,0,0
$GC,3734,-0.90,-128.0,530.4,-11.2,344,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1901,3127,0,0,0,0,0,0
$GC,4043,-0.90,-128.0,565.9,-12.0,359,4047,0.00,0.40,0.00,0.000,4,0.000,0.038,2733,2213,3127,0,0,0,0,0,0
$GC,4159,-0.90,-128.0,579.7,-11.6,364,4163,0.00,0.43,0.00,0.000,6,0.000,0.041,2733,1910,3128,0,0,0,0,0,0
$GC,4486,-0.90,-128.0,618.7,-11.8,380,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1910,3129,0,0,0,0,0,0
$GC,4795,-0.90,-128.0,655.4,-12.1,395,4799,0.00,0.75,0.00,0.000,4,0.000,0.035,2731,2429,3129,0,0,0,0,0,0
$GC,4967,-0.90,-128.0,676.9,-12.1,402,4973,0.00,0.77,0.00,0.000,6,0.000,0.037,2731,1919,3129,0,0,0,0,0,0
$GC,5283,-0.90,-128.0,715.3,-12.3,418,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1919,3130,0,0,0,0,0,0
$GC,5593,-0.90,-128.0,752.2,-11.9,433,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1919,3130,0,0,0,0,0,0
$GC,5902,-0.90,-128.0,789.7,-12.3,448,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1919,3130,0,0,0,0,0,0
$GC,6211,-0.90,-128.0,826.5,-12.1,463,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1918,3131,0,0,0,0,0,0
$GC,6521,-0.90,-128.0,862.7,-11.5,478,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1919,3131,0,0,0,0,0,0
$GC,6830,-0.90,-128.0,897.7,-11.2,493,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1918,3132,0,0,0,0,0,0
$GC,7139,-0.90,-128.0,933.7,-12.0,508,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1918,3132,0,0,0,0,0,0
$GC,7449,-0.90,-128.0,971.3,-12.3,523,7452,0.00,0.43,0.00,0.000,4,0.000,0.037,2730,2241,3133,0,0,0,0,0,0
$STATE,7606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7606,begin apogee
$GC,7610,-0.16,0.0,990.2,13.0,530,7727,0.90,0.00,113.40,1.626,6,0.172,0.000,2974,1824,2600,0,0,0,0,0,0
$STATE,7728,end apogee,CONTROL_FINISHED_OK
$STATE,7728,begin climb
$GC,7729,0.90,128.0,993.6,0.0,536,7862,1.15,0.95,124.90,1.567,4,0.102,0.054,3319,1312,2077,0,0,0,0,0,0
$GC,8115,0.90,128.0,937.2,17.5,554,8119,0.00,0.80,0.00,0.000,6,0.000,0.028,3319,1825,2070,0,0,0,0,0,0
$GC,8447,0.90,128.0,877.3,18.3,570,8451,0.00,0.68,0.00,0.000,4,0.000,0.046,3321,1411,2068,0,0,0,0,0,0
$GC,8704,0.90,128.0,830.3,18.3,581,8708,0.00,0.62,0.00,0.000,6,0.000,0.031,3321,1833,2067,0,0,0,0,0,0
$GC,9025,0.90,128.0,771.7,18.5,597,9029,0.00,0.82,0.00,0.000,4,0.000,0.049,3324,1327,2067,0,0,0,0,0,0
$GC,9259,0.90,128.0,729.3,17.5,607,9264,0.00,0.75,0.00,0.000,6,0.000,0.029,3324,1829,2066,0,0,0,0,0,0
$GC,9581,0.90,128.0,673.7,17.2,623,9584,0.00,0.70,0.00,0.000,4,0.000,0.048,3326,1389,2066,0,0,0,0,0,0
$GC,9837,0.90,128.0,628.1,17.7,634,9842,0.00,0.65,0.00,0.000,6,0.000,0.029,3326,1823,2066,0,0,0,0,0,0
$GC,10159,0.90,128.0,571.2,17.9,650,10162,0.00,0.70,0.00,0.000,4,0.000,0.047,3327,1380,2066,0,0,0,0,0,0
$GC,10416,0.90,128.0,524.9,17.7,661,10420,0.00,0.68,0.00,0.000,6,0.000,0.030,3328,1835,2066,0,0,0,0,0,0
$GC,10737,0.90,128.0,467.5,17.8,677,10741,0.00,0.93,0.00,0.000,4,0.000,0.050,3331,1261,2066,0,0,0,0,0,0
$GC,10954,0.90,128.0,428.1,17.7,686,10960,0.00,0.85,0.00,0.000,6,0.000,0.028,3331,1818,2066,0,0,0,0,0,0
$GC,11278,0.90,128.0,373.1,16.7,709,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1818,2066,0,0,0,0,0,0
$GC,11603,0.90,128.0,319.4,16.0,740,11606,0.00,1.00,0.00,0.000,4,0.000,0.050,3335,1197,2066,0,0,0,0,0,0
$GC,11851,0.90,128.0,278.1,16.6,762,11855,0.00,0.93,0.00,0.000,6,0.000,0.028,3334,1823,2066,0,0,0,0,0,0
$GC,12184,0.90,128.0,225.1,15.7,793,12188,0.00,0.50,0.00,0.000,4,0.000,0.047,3336,1496,2066,0,0,0,0,0,0
$GC,12443,0.90,128.0,184.0,15.5,816,12447,0.00,0.45,0.00,0.000,6,0.000,0.035,3335,1831,2066,0,0,0,0,0,0
$GC,12773,0.90,128.0,133.0,15.8,847,12777,0.00,0.90,0.00,0.000,4,0.000,0.048,3338,1273,2066,0,0,0,0,0,0
$GC,12879,0.90,128.0,116.0,15.4,856,12888,0.08,0.80,0.00,0.000,6,0.205,0.028,3323,1808,2067,0,0,0,0,0,0
$GC,13219,0.90,128.0,68.9,14.6,906,13226,0.00,0.68,0.00,0.000,4,0.000,0.047,3325,1379,2067,0,0,0,0,0,0
$GC,13483,0.90,128.0,31.2,15.3,952,13490,0.00,0.65,0.00,0.000,6,0.000,0.032,3325,1839,2067,0,0,0,0,0,0
$GC,13633,0.90,128.0,8.7,16.2,977,13640,0.00,0.70,0.00,0.000,4,0.000,0.047,3326,1393,2067,0,0,0,0,0,0
$STATE,13676,end climb,SURFACE_DEPTH_REACHED
$STATE,13676,begin surface coast
$FINISH,1.5,1.014753
$STATE,13707,end surface coast,CONTROL_FINISHED_OK
$STATE,13707,begin surface
$SM_CCo,13725,69.70,1.043,0,0,1743,210.22
$SM_GC,2.82,0.00,0.00,69.70,0.000,0.000,1.043,71,1930,1743,-9.21,0.57,210.22
$IRIDIUM_FIX,-5442.29,26.27,171213,040452
$TT8_MAMPS,0.026964
$HUMID,63.46
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.9,49.601
$10V_AH,10.1,36.350
$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,23.725,29.325,238.300,69.700,0.000,28.370,45.311,582.149,0.000,0.000,17.604,2472.569,8443.186,378.407,3144.989,147.749,0.000,1433.900,0.000,2446.504,0.000,1.009,0.000
$DEVICE_MAMPS,274.635,65.025,1626.390,1043.460,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.477,690.218,661.905,65.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,56733,989
$CAP_FILE_SIZE,127485,0
$CFSIZE,2097086464,2084601856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,131323,-5459.281,2.704,60,0.8,60,-20.3