version: 66.07.10.p01
glider: 574
mission: 8
dive: 83
start: 12 18 113 1 27 34
data:
$ID,574
$MISSION,8
$DIVE,83
$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,-15075.243
$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,34
$R_STBD_OVSHOOT,50
$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,62
$GPS1,181213,012028,-5458.852,1.014,62,0.9,62,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-73.1
$GPS2,181213,012712,-5458.837,1.053,17,1.3,17,-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,227.7,2426,-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,-57.8,0.0,0.0,0,58,0.00,0.00,-31.98,0.000,2,0.000,0.000,66,1853,2297,0,0,0,0,0,0
$GC,60,-0.90,-130.4,3.0,-1.5,5,128,13.05,2.35,-48.35,0.000,4,0.290,0.055,2721,3311,3132,0,0,0,0,0,0
$GC,374,-0.90,-130.4,48.0,-18.3,58,380,0.08,2.20,0.00,0.000,6,0.230,0.035,2736,1913,3134,0,0,0,0,0,0
$GC,718,-0.90,-130.4,110.2,-18.4,114,722,0.00,1.05,0.00,0.000,4,0.000,0.051,2736,1257,3134,0,0,0,0,0,0
$GC,914,-0.90,-130.4,143.2,-14.6,131,921,0.00,1.02,0.00,0.000,6,0.000,0.031,2734,1927,3134,0,0,0,0,0,0
$GC,1240,-0.90,-130.4,193.5,-15.1,162,1243,0.00,0.70,0.00,0.000,4,0.000,0.041,2730,2410,3134,0,0,0,0,0,0
$GC,1403,-0.90,-130.4,218.0,-14.5,176,1411,0.00,0.77,0.00,0.000,6,0.000,0.037,2730,1895,3133,0,0,0,0,0,0
$GC,1729,-0.90,-130.4,267.7,-14.9,207,1733,0.00,0.38,0.00,0.000,4,0.000,0.057,2730,1629,3133,0,0,0,0,0,0
$GC,1824,-0.90,-130.4,282.5,-15.1,215,1829,0.00,0.43,0.00,0.000,6,0.000,0.037,2729,1940,3133,0,0,0,0,0,0
$GC,2149,-0.90,-130.4,328.9,-14.0,246,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1941,3133,0,0,0,0,0,0
$GC,2468,-0.90,-130.4,373.7,-13.7,276,2472,0.00,0.62,0.00,0.000,4,0.000,0.044,2729,1528,3133,0,0,0,0,0,0
$GC,2664,-0.90,-130.4,401.2,-14.2,293,2670,0.00,0.55,0.00,0.000,6,0.000,0.033,2727,1911,3133,0,0,0,0,0,0
$GC,2980,-0.90,-130.4,443.9,-13.8,309,2984,0.00,0.50,0.00,0.000,4,0.000,0.042,2724,2278,3133,0,0,0,0,0,0
$GC,3125,-0.90,-130.4,463.8,-14.1,315,3130,0.05,0.57,0.00,0.000,6,0.252,0.039,2733,1889,3133,0,0,0,0,0,0
$GC,3446,-0.90,-130.4,506.7,-13.3,331,3450,0.00,0.57,0.00,0.000,4,0.000,0.052,2734,1507,3134,0,0,0,0,0,0
$GC,3584,-0.90,-130.4,525.8,-13.8,337,3588,0.00,0.57,0.00,0.000,6,0.000,0.032,2733,1916,3133,0,0,0,0,0,0
$GC,3911,-0.90,-130.4,569.4,-13.4,353,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1916,3134,0,0,0,0,0,0
$GC,4220,-0.90,-130.4,613.2,-14.7,368,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1917,3134,0,0,0,0,0,0
$GC,4530,-0.90,-130.4,658.6,-14.4,383,4534,0.00,0.57,0.00,0.000,4,0.000,0.041,2730,2331,3134,0,0,0,0,0,0
$GC,4680,-0.90,-130.4,680.0,-13.8,389,4686,0.00,0.62,0.00,0.000,6,0.000,0.038,2730,1911,3134,0,0,0,0,0,0
$GC,4996,-0.90,-130.4,724.5,-13.7,405,5000,0.00,0.65,0.00,0.000,4,0.000,0.051,2730,1479,3135,0,0,0,0,0,0
$GC,5213,-0.90,-130.4,754.8,-14.1,414,5219,0.00,0.62,0.00,0.000,6,0.000,0.032,2728,1914,3135,0,0,0,0,0,0
$GC,5529,-0.90,-130.4,797.8,-13.6,430,5533,0.00,0.40,0.00,0.000,4,0.000,0.044,2726,2222,3136,0,0,0,0,0,0
$GC,5668,-0.90,-130.4,817.1,-13.1,436,5672,0.00,0.47,0.00,0.000,6,0.000,0.040,2726,1895,3136,0,0,0,0,0,0
$GC,5995,-0.90,-130.4,860.8,-13.1,452,5998,0.00,0.65,0.00,0.000,4,0.000,0.051,2726,1468,3136,0,0,0,0,0,0
$GC,6145,-0.90,-130.4,881.2,-13.6,458,6152,0.08,0.65,0.00,0.000,6,0.231,0.032,2738,1917,3136,0,0,0,0,0,0
$GC,6461,-0.90,-130.4,920.0,-12.5,474,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1918,3136,0,0,0,0,0,0
$GC,6770,-0.90,-130.4,958.8,-12.5,489,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1918,3136,0,0,0,0,0,0
$STATE,7037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7037,begin apogee
$GC,7042,-0.16,0.0,991.5,12.1,502,7159,0.88,0.00,113.62,1.577,6,0.185,0.000,2970,1797,2600,0,0,0,0,0,0
$STATE,7159,end apogee,CONTROL_FINISHED_OK
$STATE,7160,begin climb
$GC,7161,0.90,130.4,994.6,0.0,508,7296,1.15,1.00,126.40,1.510,4,0.107,0.054,3318,1259,2068,0,0,0,0,0,0
$GC,7482,0.90,130.4,948.0,17.2,523,7485,0.00,0.85,0.00,0.000,6,0.000,0.028,3318,1797,2060,0,0,0,0,0,0
$GC,7814,0.90,130.4,891.5,17.1,539,7817,0.00,0.52,0.00,0.000,4,0.000,0.047,3319,1472,2057,0,0,0,0,0,0
$GC,8070,0.90,130.4,846.4,18.1,550,8075,0.00,0.55,0.00,0.000,6,0.000,0.032,3319,1839,2057,0,0,0,0,0,0
$GC,8392,0.90,130.4,791.3,16.6,566,8395,0.00,2.05,0.00,0.000,4,0.000,0.057,3327,601,2056,0,0,0,0,0,0
$GC,8528,0.90,130.4,766.5,19.2,572,8532,0.00,1.85,0.00,0.000,6,0.000,0.028,3327,1810,2055,0,0,0,0,0,0
$GC,8860,0.90,130.4,707.5,17.7,588,8864,0.00,0.60,0.00,0.000,4,0.000,0.047,3329,1431,2055,0,0,0,0,0,0
$GC,9117,0.90,130.4,661.5,17.8,599,9122,0.00,0.60,0.00,0.000,6,0.000,0.032,3329,1848,2055,0,0,0,0,0,0
$GC,9439,0.90,130.4,604.7,18.1,615,9443,0.00,1.15,0.00,0.000,4,0.000,0.050,3332,1140,2055,0,0,0,0,0,0
$GC,9589,0.90,130.4,576.8,17.3,621,9595,0.00,1.00,0.00,0.000,6,0.000,0.029,3333,1813,2055,0,0,0,0,0,0
$GC,9905,0.90,130.4,519.2,18.4,637,9909,0.00,0.68,0.00,0.000,4,0.000,0.048,3335,1386,2055,0,0,0,0,0,0
$GC,10162,0.90,130.4,469.8,19.1,648,10166,0.00,0.65,0.00,0.000,6,0.000,0.031,3335,1836,2055,0,0,0,0,0,0
$GC,10483,0.90,130.4,408.8,18.9,664,10487,0.00,1.92,0.00,0.000,4,0.000,0.055,3343,667,2055,0,0,0,0,0,0
$GC,10641,0.90,130.4,376.9,21.2,676,10646,0.08,1.70,0.00,0.000,6,0.213,0.028,3327,1801,2055,0,0,0,0,0,0
$GC,10971,0.90,130.4,315.7,18.3,707,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1801,2055,0,0,0,0,0,0
$GC,11293,0.90,130.4,259.6,17.0,737,11296,0.00,0.50,0.00,0.000,4,0.000,0.049,3327,1471,2055,0,0,0,0,0,0
$GC,11489,0.90,130.4,225.1,16.9,754,11494,0.00,0.52,0.00,0.000,6,0.000,0.034,3328,1847,2055,0,0,0,0,0,0
$GC,11817,0.90,130.4,171.5,15.7,785,11821,0.00,1.08,0.00,0.000,4,0.000,0.050,3332,1183,2055,0,0,0,0,0,0
$GC,11945,0.90,130.4,149.8,16.0,796,11953,0.00,0.93,0.00,0.000,6,0.000,0.028,3331,1797,2055,0,0,0,0,0,0
$GC,12270,0.90,130.4,102.3,14.6,827,12274,0.00,0.35,0.00,0.000,4,0.000,0.047,3332,1564,2055,0,0,0,0,0,0
$GC,12312,0.90,130.4,96.8,13.8,832,12317,0.00,0.35,0.00,0.000,6,0.000,0.039,3332,1824,2055,0,0,0,0,0,0
$GC,12658,0.90,130.4,49.0,14.2,893,12663,0.00,0.90,0.00,0.000,4,0.000,0.050,3335,1262,2056,0,0,0,0,0,0
$GC,12872,0.90,130.4,17.1,13.9,930,12880,0.00,0.82,0.00,0.000,6,0.000,0.031,3335,1817,2056,0,0,0,0,0,0
$GC,12929,0.90,130.4,9.0,13.1,939,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1817,2055,0,0,0,0,0,0
$STATE,12972,end climb,SURFACE_DEPTH_REACHED
$STATE,12972,begin surface coast
$FINISH,1.6,1.013994
$STATE,12992,end surface coast,CONTROL_FINISHED_OK
$STATE,12992,begin surface
$SM_CCo,13008,65.55,0.994,0,0,1742,210.22
$SM_GC,2.73,0.00,0.00,65.55,0.000,0.000,0.994,73,1948,1742,-9.21,1.19,210.22
$IRIDIUM_FIX,-5442.29,0.00,171213,212152
$TT8_MAMPS,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,21.9,50.168
$10V_AH,10.1,36.718
$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,24.375,37.750,240.025,65.550,0.000,28.432,20.039,245.840,0.000,0.000,19.964,2394.787,7813.076,379.758,2757.599,138.187,0.000,1442.901,0.000,2422.338,0.000,1.009,0.000
$DEVICE_MAMPS,289.935,75.735,1576.665,993.735,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.580,686.907,640.484,63.426,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,53664,949
$CAP_FILE_SIZE,124592,0
$CFSIZE,2097086464,2084077568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,050722,-5459.728,-1.024,79,0.9,79,-20.2