version: 66.07.10.p01
glider: 574
mission: 8
dive: 81
start: 12 17 113 17 26 39
data:
$ID,574
$MISSION,8
$DIVE,81
$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,-15068.334
$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,33
$R_STBD_OVSHOOT,63
$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,60
$GPS1,171213,171858,-5459.444,0.055,41,0.9,41,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-74.4
$GPS2,171213,172618,-5459.495,0.167,14,1.5,14,-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,211.0,953,-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,-19.58,0.000,2,0.000,0.000,67,1923,2079,0,0,0,0,0,0
$GC,48,-0.90,-123.1,3.1,-2.3,3,133,12.38,2.22,-66.07,0.000,4,0.272,0.063,2720,3287,3101,0,0,0,0,0,0
$GC,396,-0.90,-123.1,45.6,-16.5,62,402,0.08,2.15,0.00,0.000,6,0.216,0.033,2735,1910,3103,0,0,0,0,0,0
$GC,745,-0.90,-123.1,107.9,-17.7,120,749,0.00,1.00,0.00,0.000,4,0.000,0.038,2733,2563,3104,0,0,0,0,0,0
$GC,897,-0.90,-123.1,133.7,-16.6,133,903,0.00,1.05,0.00,0.000,6,0.000,0.037,2732,1896,3104,0,0,0,0,0,0
$GC,1222,-0.90,-123.1,185.7,-15.2,164,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1896,3104,0,0,0,0,0,0
$GC,1542,-0.90,-123.1,231.9,-14.4,194,1545,0.00,0.50,0.00,0.000,4,0.000,0.053,2732,1550,3104,0,0,0,0,0,0
$GC,1669,-0.90,-123.1,249.6,-13.8,205,1672,0.00,0.50,0.00,0.000,6,0.000,0.034,2731,1915,3103,0,0,0,0,0,0
$GC,1999,-0.90,-123.1,296.3,-14.2,236,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1915,3103,0,0,0,0,0,0
$GC,2318,-0.90,-123.1,340.4,-13.9,266,2321,0.00,0.32,0.00,0.000,4,0.000,0.048,2729,2180,3103,0,0,0,0,0,0
$GC,2560,-0.90,-123.1,373.0,-13.1,287,2566,0.00,0.43,0.00,0.000,6,0.000,0.041,2729,1887,3103,0,0,0,0,0,0
$GC,2892,-0.90,-123.1,416.3,-12.6,313,2896,0.00,0.95,0.00,0.000,4,0.000,0.050,2729,1283,3103,0,0,0,0,0,0
$GC,3076,-0.90,-123.1,441.3,-13.0,321,3082,0.05,0.95,0.00,0.000,6,0.257,0.030,2734,1914,3104,0,0,0,0,0,0
$GC,3404,-0.90,-123.1,483.4,-13.2,337,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1914,3103,0,0,0,0,0,0
$GC,3713,-0.90,-123.1,522.1,-12.2,352,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1914,3104,0,0,0,0,0,0
$GC,4022,-0.90,-123.1,559.7,-12.1,367,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1914,3104,0,0,0,0,0,0
$GC,4332,-0.90,-123.1,595.8,-11.5,382,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1914,3104,0,0,0,0,0,0
$GC,4641,-0.90,-123.1,632.2,-11.9,397,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3105,0,0,0,0,0,0
$GC,4950,-0.90,-123.1,668.4,-11.5,412,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3104,0,0,0,0,0,0
$GC,5260,-0.90,-123.1,703.5,-11.4,427,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3104,0,0,0,0,0,0
$GC,5569,-0.90,-123.1,738.3,-11.4,442,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3105,0,0,0,0,0,0
$GC,5878,-0.90,-123.1,773.6,-11.3,457,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3105,0,0,0,0,0,0
$GC,6188,-0.90,-123.1,808.8,-11.5,472,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3105,0,0,0,0,0,0
$GC,6497,-0.90,-123.1,843.2,-11.3,487,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3105,0,0,0,0,0,0
$GC,6806,-0.90,-123.1,876.6,-10.6,502,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3105,0,0,0,0,0,0
$GC,7116,-0.90,-123.1,909.1,-10.3,517,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3106,0,0,0,0,0,0
$GC,7425,-0.90,-123.1,940.5,-10.1,532,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1916,3106,0,0,0,0,0,0
$GC,7734,-0.90,-123.1,971.8,-10.2,547,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1916,3106,0,0,0,0,0,0
$STATE,7918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7919,begin apogee
$GC,7923,-0.16,0.0,990.6,10.2,556,8034,0.88,0.00,107.47,1.628,6,0.177,0.000,2970,1797,2600,0,0,0,0,0,0
$STATE,8035,end apogee,CONTROL_FINISHED_OK
$STATE,8035,begin climb
$GC,8036,0.90,123.1,992.2,0.0,561,8163,1.12,0.38,120.03,1.551,4,0.104,0.049,3313,1547,2098,0,0,0,0,0,0
$GC,8414,0.90,123.1,931.8,17.6,579,8418,0.00,0.43,0.00,0.000,6,0.000,0.034,3313,1825,2090,0,0,0,0,0,0
$GC,8740,0.90,123.1,875.8,17.1,595,8744,0.00,1.58,0.00,0.000,4,0.000,0.054,3319,901,2088,0,0,0,0,0,0
$GC,8898,0.90,123.1,847.2,19.3,602,8902,0.00,1.42,0.00,0.000,6,0.000,0.028,3319,1819,2086,0,0,0,0,0,0
$GC,9230,0.90,123.1,788.7,17.2,618,9234,0.00,0.80,0.00,0.000,4,0.000,0.048,3321,1328,2086,0,0,0,0,0,0
$GC,9478,0.90,123.1,746.1,17.8,629,9481,0.00,0.73,0.00,0.000,6,0.000,0.031,3321,1822,2086,0,0,0,0,0,0
$GC,9810,0.90,123.1,690.4,16.8,645,9813,0.00,0.85,0.00,0.000,4,0.000,0.049,3324,1294,2085,0,0,0,0,0,0
$GC,10049,0.90,123.1,650.2,16.9,655,10055,0.00,0.80,0.00,0.000,6,0.000,0.029,3324,1822,2085,0,0,0,0,0,0
$GC,10365,0.90,123.1,599.8,16.1,671,10369,0.00,0.77,0.00,0.000,4,0.000,0.047,3326,1337,2085,0,0,0,0,0,0
$GC,10622,0.90,123.1,557.1,16.4,682,10626,0.00,0.73,0.00,0.000,6,0.000,0.029,3326,1822,2084,0,0,0,0,0,0
$GC,10943,0.90,123.1,505.1,16.4,698,10947,0.00,0.85,0.00,0.000,4,0.000,0.050,3329,1293,2084,0,0,0,0,0,0
$GC,11155,0.90,123.1,470.3,15.7,707,11160,0.00,0.80,0.00,0.000,6,0.000,0.029,3329,1824,2084,0,0,0,0,0,0
$GC,11477,0.90,123.1,418.8,16.7,723,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1824,2084,0,0,0,0,0,0
$GC,11792,0.90,123.1,365.0,17.4,747,11795,0.00,0.62,0.00,0.000,4,0.000,0.047,3331,1426,2084,0,0,0,0,0,0
$GC,12053,0.90,123.1,318.1,18.9,770,12056,0.00,0.55,0.00,0.000,6,0.000,0.033,3331,1824,2084,0,0,0,0,0,0
$GC,12386,0.90,123.1,261.9,16.6,801,12390,0.00,1.02,0.00,0.000,4,0.000,0.050,3335,1193,2084,0,0,0,0,0,0
$GC,12638,0.90,123.1,218.8,17.9,823,12644,0.00,0.93,0.00,0.000,6,0.000,0.028,3335,1804,2084,0,0,0,0,0,0
$GC,12963,0.90,123.1,162.5,16.5,854,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1804,2084,0,0,0,0,0,0
$GC,13282,0.90,123.1,110.3,15.5,884,13286,0.00,1.90,0.00,0.000,4,0.000,0.054,3343,632,2084,0,0,0,0,0,0
$GC,13483,0.90,123.1,78.8,15.3,913,13488,0.08,1.80,0.00,0.000,6,0.205,0.028,3327,1822,2084,0,0,0,0,0,0
$GC,13832,0.90,123.1,31.2,14.4,974,13839,0.00,0.38,0.00,0.000,4,0.000,0.042,3325,2113,2084,0,0,0,0,0,0
$GC,13957,0.90,123.1,14.5,13.8,995,13964,0.00,0.40,0.00,0.000,6,0.000,0.045,3325,1829,2084,0,0,0,0,0,0
$GC,14014,0.90,123.1,7.9,10.3,1004,14020,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1829,2084,0,0,0,0,0,0
$STATE,14056,end climb,SURFACE_DEPTH_REACHED
$STATE,14056,begin surface coast
$FINISH,1.5,1.027206
$STATE,14082,end surface coast,CONTROL_FINISHED_OK
$STATE,14082,begin surface
$SM_CCo,14098,73.22,1.029,0,0,1742,210.22
$SM_GC,2.78,0.00,0.00,73.22,0.000,0.000,1.029,68,1963,1742,-9.22,1.50,210.22
$IRIDIUM_FIX,-5438.56,0.00,171213,131352
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.9,49.882
$10V_AH,10.1,36.535
$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,23.725,28.025,227.500,73.225,0.000,25.424,50.347,250.384,0.000,0.000,17.357,2505.413,8855.541,382.978,2746.616,125.538,0.000,1385.767,0.000,2377.820,0.000,1.008,0.000
$DEVICE_MAMPS,271.575,77.265,1627.920,1028.925,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.332,720.004,679.157,68.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,57024,1015
$CAP_FILE_SIZE,119593,0
$CFSIZE,2097086464,2084339712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,212428,-5500.873,-0.627,62,0.9,62,-20.2