version: 66.07.10.p01
glider: 574
mission: 8
dive: 84
start: 12 18 113 5 16 11
data:
$ID,574
$MISSION,8
$DIVE,84
$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,-15078.409
$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,72
$R_STBD_OVSHOOT,78
$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,63
$GPS1,181213,050722,-5459.728,-1.024,79,0.9,79,-20.2
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-70.9
$GPS2,181213,051549,-5459.756,-0.955,20,1.8,20,-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,134.2,1111,-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,-57.8,0.0,0.0,0,62,0.00,0.00,-36.55,0.000,2,0.000,0.000,67,1947,2373,0,0,0,0,0,0
$GC,64,-0.90,-134.0,3.0,-1.1,6,127,13.15,2.35,-38.53,0.000,4,0.292,0.070,2728,554,3149,0,0,0,0,0,0
$GC,330,-0.90,-134.0,45.9,-19.4,51,338,0.05,2.08,0.00,0.000,6,0.223,0.030,2732,1876,3150,0,0,0,0,0,0
$GC,674,-0.90,-134.0,112.7,-19.4,106,678,0.00,0.40,0.00,0.000,4,0.000,0.045,2731,2184,3150,0,0,0,0,0,0
$GC,731,-0.90,-134.0,123.4,-17.0,111,735,0.00,0.35,0.00,0.000,6,0.000,0.044,2731,1934,3151,0,0,0,0,0,0
$GC,1061,-0.90,-134.0,177.1,-15.3,142,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1933,3151,0,0,0,0,0,0
$GC,1380,-0.90,-134.0,227.0,-15.0,172,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1934,3150,0,0,0,0,0,0
$GC,1701,-0.90,-134.0,275.1,-14.5,202,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1934,3150,0,0,0,0,0,0
$GC,2017,-0.90,-134.0,320.9,-14.2,232,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1934,3150,0,0,0,0,0,0
$GC,2336,-0.90,-134.0,364.5,-13.6,262,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1934,3150,0,0,0,0,0,0
$GC,2663,-0.90,-134.0,408.5,-13.7,290,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1934,3150,0,0,0,0,0,0
$GC,2972,-0.90,-134.0,450.2,-13.6,305,2976,0.00,0.75,0.00,0.000,4,0.000,0.052,2731,1448,3151,0,0,0,0,0,0
$GC,3123,-0.90,-134.0,471.7,-15.4,311,3128,0.00,0.70,0.00,0.000,6,0.000,0.032,2728,1932,3150,0,0,0,0,0,0
$GC,3438,-0.90,-134.0,515.0,-13.2,327,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1933,3151,0,0,0,0,0,0
$GC,3748,-0.90,-134.0,557.0,-13.8,342,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1933,3151,0,0,0,0,0,0
$GC,4057,-0.90,-134.0,600.0,-14.0,357,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1934,3151,0,0,0,0,0,0
$GC,4366,-0.90,-134.0,642.2,-13.4,372,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1934,3152,0,0,0,0,0,0
$GC,4676,-0.90,-134.0,683.1,-12.8,387,4679,0.00,0.50,0.00,0.000,4,0.000,0.044,2728,1598,3151,0,0,0,0,0,0
$GC,4900,-0.90,-134.0,711.5,-12.4,397,4904,0.00,0.43,0.00,0.000,6,0.000,0.037,2727,1919,3151,0,0,0,0,0,0
$GC,5232,-0.90,-134.0,751.7,-12.1,413,5236,0.00,0.38,0.00,0.000,4,0.000,0.045,2725,2212,3151,0,0,0,0,0,0
$GC,5405,-0.90,-134.0,772.6,-11.8,420,5411,0.05,0.45,0.00,0.000,6,0.240,0.041,2734,1898,3151,0,0,0,0,0,0
$GC,5720,-0.90,-134.0,809.5,-11.9,436,5724,0.00,0.80,0.00,0.000,4,0.000,0.050,2734,1384,3152,0,0,0,0,0,0
$GC,5859,-0.90,-134.0,826.3,-11.9,442,5863,0.00,0.77,0.00,0.000,6,0.000,0.031,2733,1908,3152,0,0,0,0,0,0
$GC,6186,-0.90,-134.0,865.7,-12.4,458,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1908,3152,0,0,0,0,0,0
$GC,6495,-0.90,-134.0,904.2,-12.8,473,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1908,3152,0,0,0,0,0,0
$GC,6805,-0.90,-134.0,943.0,-12.6,488,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1908,3152,0,0,0,0,0,0
$GC,7114,-0.90,-134.0,981.8,-12.5,503,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3153,0,0,0,0,0,0
$STATE,7195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7195,begin apogee
$GC,7200,-0.16,0.0,992.0,12.3,507,7321,0.90,0.00,117.40,1.576,6,0.178,0.000,2972,1802,2600,0,0,0,0,0,0
$STATE,7321,end apogee,CONTROL_FINISHED_OK
$STATE,7321,begin climb
$GC,7323,0.90,134.0,994.6,0.0,513,7458,1.15,0.00,130.85,1.507,6,0.104,0.000,3313,1802,2053,0,0,0,0,0,0
$GC,7766,0.90,134.0,925.0,17.7,535,7770,0.00,0.93,0.00,0.000,4,0.000,0.055,3318,1254,2044,0,0,0,0,0,0
$GC,8023,0.90,134.0,878.2,18.4,546,8027,0.00,0.88,0.00,0.000,6,0.000,0.028,3318,1819,2043,0,0,0,0,0,0
$GC,8345,0.90,134.0,820.4,18.1,562,8348,0.00,0.60,0.00,0.000,4,0.000,0.046,3319,1445,2043,0,0,0,0,0,0
$GC,8601,0.90,134.0,773.9,17.8,573,8606,0.00,0.57,0.00,0.000,6,0.000,0.032,3319,1846,2043,0,0,0,0,0,0
$GC,8923,0.90,134.0,717.4,18.0,589,8926,0.00,0.65,0.00,0.000,4,0.000,0.047,3321,1440,2043,0,0,0,0,0,0
$GC,9179,0.90,134.0,671.3,18.2,600,9183,0.00,0.55,0.00,0.000,6,0.000,0.032,3321,1831,2043,0,0,0,0,0,0
$GC,9501,0.90,134.0,614.8,17.2,616,9504,0.00,0.93,0.00,0.000,4,0.000,0.049,3324,1256,2042,0,0,0,0,0,0
$GC,9725,0.90,134.0,575.2,18.2,626,9729,0.00,0.80,0.00,0.000,6,0.000,0.028,3325,1790,2042,0,0,0,0,0,0
$GC,10059,0.90,134.0,519.3,16.1,642,10063,0.00,0.38,0.00,0.000,4,0.000,0.047,3325,1534,2042,0,0,0,0,0,0
$GC,10316,0.90,134.0,478.5,15.6,653,10320,0.00,0.43,0.00,0.000,6,0.000,0.036,3325,1853,2042,0,0,0,0,0,0
$GC,10637,0.90,134.0,428.6,15.9,669,10641,0.00,2.28,0.00,0.000,4,0.000,0.057,3334,460,2042,0,0,0,0,0,0
$GC,10833,0.90,134.0,394.2,17.7,679,10837,0.00,2.00,0.00,0.000,6,0.000,0.028,3334,1789,2042,0,0,0,0,0,0
$GC,11162,0.90,134.0,339.9,17.1,710,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1789,2042,0,0,0,0,0,0
$GC,11482,0.90,134.0,286.6,17.0,740,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1789,2042,0,0,0,0,0,0
$GC,11800,0.90,134.0,231.0,17.7,770,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1789,2042,0,0,0,0,0,0
$GC,12119,0.90,134.0,178.7,15.6,800,12123,0.00,0.85,0.00,0.000,4,0.000,0.050,3336,1257,2042,0,0,0,0,0,0
$GC,12349,0.90,134.0,144.0,15.1,820,12358,0.05,0.88,0.00,0.000,6,0.234,0.029,3327,1847,2042,0,0,0,0,0,0
$GC,12675,0.90,134.0,100.6,12.9,851,12678,0.00,0.45,0.00,0.000,4,0.000,0.047,3328,1545,2042,0,0,0,0,0,0
$GC,12936,0.90,134.0,66.8,12.4,896,12941,0.00,0.35,0.00,0.000,6,0.000,0.037,3328,1802,2043,0,0,0,0,0,0
$GC,13287,0.90,134.0,16.6,13.8,957,13294,0.00,0.77,0.00,0.000,4,0.000,0.050,3329,1317,2043,0,0,0,0,0,0
$STATE,13389,end climb,SURFACE_DEPTH_REACHED
$STATE,13389,begin surface coast
$FINISH,1.6,1.012378
$STATE,13409,end surface coast,CONTROL_FINISHED_OK
$STATE,13409,begin surface
$SM_CCo,13426,62.92,0.995,0,0,1743,210.22
$SM_GC,3.18,0.00,0.00,62.92,0.000,0.000,0.995,70,1910,1743,-9.23,0.00,210.22
$IRIDIUM_FIX,-5438.56,0.00,181213,010152
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.9,50.315
$10V_AH,10.1,36.809
$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,24.425,25.250,248.250,62.925,0.000,27.980,43.142,320.367,0.000,0.000,23.330,2423.373,8332.850,390.111,2729.155,125.434,0.000,1358.879,0.000,2296.983,0.000,1.008,0.000
$DEVICE_MAMPS,292.230,78.030,1575.900,995.265,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.094,683.610,660.976,61.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,57027,977
$CAP_FILE_SIZE,116553,0
$CFSIZE,2097086464,2083946496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,090304,-5500.699,2.321,89,0.8,89,-20.3