version: 66.07.10.p01
glider: 574
mission: 8
dive: 80
start: 12 17 113 13 21 21
data:
$ID,574
$MISSION,8
$DIVE,80
$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,-15065.335
$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,38
$R_STBD_OVSHOOT,77
$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,59
$GPS1,171213,131323,-5459.281,2.704,60,0.8,60,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-71.3
$GPS2,171213,132059,-5459.303,2.695,38,0.8,38,-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,266.0,3140,-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,-57.8,0.0,0.0,0,45,0.00,0.00,-19.17,0.000,2,0.000,0.000,67,1924,2073,0,0,0,0,0,0
$GC,47,-0.90,-121.3,3.0,-2.5,3,132,11.98,0.68,-66.53,0.000,4,0.262,0.090,2729,2356,3095,0,0,0,0,0,0
$GC,396,-0.90,-121.3,43.0,-17.8,62,401,0.00,0.68,0.00,0.000,6,0.000,0.038,2730,1902,3097,0,0,0,0,0,0
$GC,745,-0.90,-121.3,108.9,-19.3,120,749,0.00,2.17,0.00,0.000,4,0.000,0.047,2720,3272,3097,0,0,0,0,0,0
$GC,932,-0.90,-121.3,141.6,-15.3,136,936,0.08,2.10,0.00,0.000,6,0.214,0.034,2735,1922,3097,0,0,0,0,0,0
$GC,1256,-0.90,-121.3,192.2,-14.1,166,1260,0.00,0.62,0.00,0.000,4,0.000,0.049,2735,1509,3097,0,0,0,0,0,0
$GC,1361,-0.90,-121.3,207.3,-14.2,175,1367,0.00,0.57,0.00,0.000,6,0.000,0.033,2734,1914,3097,0,0,0,0,0,0
$GC,1686,-0.90,-121.3,252.7,-14.0,206,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1914,3096,0,0,0,0,0,0
$GC,2006,-0.90,-121.3,293.1,-12.7,236,2009,0.00,0.52,0.00,0.000,4,0.000,0.042,2734,1562,3096,0,0,0,0,0,0
$GC,2089,-0.90,-121.3,304.1,-12.3,243,2094,0.00,0.50,0.00,0.000,6,0.000,0.034,2733,1922,3096,0,0,0,0,0,0
$GC,2413,-0.90,-121.3,344.6,-12.2,274,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1922,3096,0,0,0,0,0,0
$GC,2733,-0.90,-121.3,381.7,-11.3,304,2736,0.00,0.82,0.00,0.000,4,0.000,0.040,2729,2478,3096,0,0,0,0,0,0
$GC,2804,-0.90,-121.3,390.0,-11.0,310,2810,0.00,0.90,0.00,0.000,6,0.000,0.037,2728,1895,3096,0,0,0,0,0,0
$GC,3123,-0.90,-121.3,427.3,-11.7,330,3127,0.00,0.77,0.00,0.000,4,0.000,0.050,2729,1393,3096,0,0,0,0,0,0
$GC,3285,-0.90,-121.3,446.9,-11.9,337,3289,0.00,0.75,0.00,0.000,6,0.000,0.031,2726,1901,3096,0,0,0,0,0,0
$GC,3612,-0.90,-121.3,487.0,-12.5,353,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1901,3097,0,0,0,0,0,0
$GC,3921,-0.90,-121.3,527.5,-13.1,368,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1901,3097,0,0,0,0,0,0
$GC,4230,-0.90,-121.3,567.1,-12.7,383,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1901,3097,0,0,0,0,0,0
$GC,4540,-0.90,-121.3,605.9,-12.1,398,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1901,3097,0,0,0,0,0,0
$GC,4849,-0.90,-121.3,643.2,-11.8,413,4851,0.03,0.00,0.00,0.000,6,0.311,0.000,2734,1901,3098,0,0,0,0,0,0
$GC,5158,-0.90,-121.3,678.4,-11.5,428,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1901,3098,0,0,0,0,0,0
$GC,5468,-0.90,-121.3,712.8,-11.3,443,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1901,3098,0,0,0,0,0,0
$GC,5777,-0.90,-121.3,748.5,-11.8,458,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1901,3099,0,0,0,0,0,0
$GC,6086,-0.90,-121.3,785.8,-12.2,473,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3099,0,0,0,0,0,0
$GC,6396,-0.90,-121.3,823.4,-11.9,488,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3100,0,0,0,0,0,0
$GC,6705,-0.90,-121.3,859.7,-11.6,503,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3100,0,0,0,0,0,0
$GC,7014,-0.90,-121.3,894.2,-11.0,518,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3100,0,0,0,0,0,0
$GC,7324,-0.90,-121.3,927.0,-10.8,533,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3100,0,0,0,0,0,0
$GC,7633,-0.90,-121.3,958.2,-9.8,548,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1902,3101,0,0,0,0,0,0
$GC,7942,-0.90,-121.3,988.7,-10.2,563,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3101,0,0,0,0,0,0
$STATE,7962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7962,begin apogee
$GC,7966,-0.16,0.0,990.6,10.0,564,8076,0.88,0.00,106.78,1.620,6,0.177,0.000,2970,1790,2600,0,0,0,0,0,0
$STATE,8077,end apogee,CONTROL_FINISHED_OK
$STATE,8077,begin climb
$GC,8079,0.90,121.3,992.0,0.0,569,8204,1.12,0.00,118.75,1.554,6,0.105,0.000,3310,1790,2104,0,0,0,0,0,0
$GC,8515,0.90,121.3,924.2,17.2,591,8518,0.00,1.60,0.00,0.000,4,0.000,0.058,3318,858,2096,0,0,0,0,0,0
$GC,8649,0.90,121.3,900.2,18.3,597,8653,0.00,1.50,0.00,0.000,6,0.000,0.028,3317,1806,2093,0,0,0,0,0,0
$GC,8981,0.90,121.3,843.6,17.1,613,8985,0.00,0.68,0.00,0.000,4,0.000,0.047,3319,1388,2093,0,0,0,0,0,0
$GC,9238,0.90,121.3,797.7,18.2,624,9242,0.00,0.68,0.00,0.000,6,0.000,0.031,3319,1844,2093,0,0,0,0,0,0
$GC,9560,0.90,121.3,741.4,17.3,640,9563,0.00,1.27,0.00,0.000,4,0.000,0.051,3324,1067,2092,0,0,0,0,0,0
$GC,9722,0.90,121.3,711.4,18.9,647,9726,0.00,1.12,0.00,0.000,6,0.000,0.028,3324,1815,2092,0,0,0,0,0,0
$GC,10048,0.90,121.3,653.1,17.8,663,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1815,2092,0,0,0,0,0,0
$GC,10358,0.90,121.3,599.5,17.4,678,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1815,2092,0,0,0,0,0,0
$GC,10667,0.90,121.3,545.1,17.7,693,10670,0.00,0.68,0.00,0.000,4,0.000,0.041,3324,2283,2092,0,0,0,0,0,0
$GC,10794,0.90,121.3,522.5,17.2,698,10800,0.00,0.68,0.00,0.000,6,0.000,0.039,3326,1838,2092,0,0,0,0,0,0
$GC,11110,0.90,121.3,467.4,17.3,714,11114,0.00,0.62,0.00,0.000,4,0.000,0.056,3329,1431,2091,0,0,0,0,0,0
$GC,11322,0.90,121.3,430.3,17.7,723,11326,0.00,0.57,0.00,0.000,6,0.000,0.033,3329,1839,2091,0,0,0,0,0,0
$GC,11649,0.90,121.3,375.0,17.3,745,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1839,2091,0,0,0,0,0,0
$GC,11966,0.90,121.3,321.1,16.6,775,11970,0.00,0.98,0.00,0.000,4,0.000,0.049,3333,1236,2091,0,0,0,0,0,0
$GC,12095,0.90,121.3,299.0,16.0,786,12101,0.00,0.85,0.00,0.000,6,0.000,0.028,3332,1796,2091,0,0,0,0,0,0
$GC,12424,0.90,121.3,246.4,15.8,817,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1796,2091,0,0,0,0,0,0
$GC,12749,0.90,121.3,196.0,15.3,848,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1796,2091,0,0,0,0,0,0
$GC,13068,0.90,121.3,146.0,15.6,878,13071,0.00,1.12,0.00,0.000,4,0.000,0.042,3332,2532,2091,0,0,0,0,0,0
$GC,13149,0.90,121.3,133.1,15.5,885,13153,0.03,1.08,0.00,0.000,6,0.193,0.039,3329,1837,2091,0,0,0,0,0,0
$GC,13479,0.90,121.3,85.4,13.7,924,13486,0.00,1.08,0.00,0.000,4,0.000,0.056,3333,1165,2091,0,0,0,0,0,0
$GC,13566,0.90,121.3,73.3,13.6,939,13573,0.00,0.98,0.00,0.000,6,0.000,0.029,3333,1821,2091,0,0,0,0,0,0
$GC,13915,0.90,121.3,24.3,14.1,1000,13922,0.00,0.55,0.00,0.000,4,0.000,0.042,3333,2217,2091,0,0,0,0,0,0
$GC,14000,0.90,121.3,12.6,14.2,1014,14007,0.00,0.60,0.00,0.000,6,0.000,0.044,3335,1819,2091,0,0,0,0,0,0
$GC,14056,0.90,121.3,3.9,15.5,1023,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1819,2091,0,0,0,0,0,0
$STATE,14069,end climb,SURFACE_DEPTH_REACHED
$STATE,14070,begin surface coast
$FINISH,1.8,1.020058
$STATE,14089,end surface coast,CONTROL_FINISHED_OK
$STATE,14089,begin surface
$SM_CCo,14106,74.45,1.037,0,0,1742,210.22
$SM_GC,2.68,0.00,0.00,74.45,0.000,0.000,1.037,78,1927,1742,-9.19,0.48,210.22
$IRIDIUM_FIX,-5438.56,7.50,171213,090911
$TT8_MAMPS,0.026964
$HUMID,63.15
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,21.9,49.741
$10V_AH,10.1,36.442
$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,23.225,27.950,225.525,74.450,0.000,27.569,45.499,249.634,0.000,0.000,41.613,2499.559,9000.534,398.806,2619.707,122.792,0.000,1346.512,0.000,2239.364,0.000,1.008,0.000
$DEVICE_MAMPS,311.355,89.505,1620.270,1037.340,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.387,729.833,693.513,67.877,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,60157,1028
$CAP_FILE_SIZE,116922,0
$CFSIZE,2097086464,2084470784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,171858,-5459.444,0.055,41,0.9,41,-20.2