version: 66.07.10.p01
glider: 574
mission: 8
dive: 93
start: 12 19 113 16 35 40
data:
$ID,574
$MISSION,8
$DIVE,93
$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,-15107.164
$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,75
$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,72
$GPS1,191213,162804,-5459.617,-1.068,60,0.8,60,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.6
$GPS2,191213,163519,-5459.593,-0.984,21,0.9,21,-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,146.0,1289,-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,-57.8,0.0,0.0,0,51,0.00,0.00,-25.55,0.000,2,0.000,0.000,69,1848,2181,0,0,0,0,0,0
$GC,54,-0.90,-130.2,3.0,-1.5,4,134,12.50,2.22,-62.00,0.000,4,0.276,0.073,2730,505,3131,0,0,0,0,0,0
$GC,293,-0.90,-130.2,29.4,-18.8,44,301,0.03,2.15,0.00,0.000,6,0.235,0.031,2728,1870,3133,0,0,0,0,0,0
$GC,439,-0.90,-130.2,55.2,-17.8,69,446,0.00,0.50,0.00,0.000,4,0.000,0.042,2726,2232,3133,0,0,0,0,0,0
$GC,620,-0.90,-130.2,87.0,-17.1,100,625,0.03,0.50,0.00,0.000,6,0.237,0.040,2732,1881,3133,0,0,0,0,0,0
$GC,951,-0.90,-130.2,144.6,-16.9,137,955,0.00,1.10,0.00,0.000,4,0.000,0.037,2729,2590,3133,0,0,0,0,0,0
$GC,1103,-0.90,-130.2,171.5,-16.7,150,1109,0.00,1.02,0.00,0.000,6,0.000,0.037,2729,1927,3133,0,0,0,0,0,0
$GC,1430,-0.90,-130.2,223.6,-16.1,181,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1928,3133,0,0,0,0,0,0
$GC,1749,-0.90,-130.2,271.0,-14.6,211,1753,0.00,0.65,0.00,0.000,4,0.000,0.050,2729,1497,3132,0,0,0,0,0,0
$GC,1866,-0.90,-130.2,289.2,-15.7,221,1871,0.00,0.65,0.00,0.000,6,0.000,0.032,2727,1941,3131,0,0,0,0,0,0
$GC,2191,-0.90,-130.2,336.9,-14.8,252,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1942,3132,0,0,0,0,0,0
$GC,2510,-0.90,-130.2,382.7,-14.3,282,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1942,3131,0,0,0,0,0,0
$GC,2823,-0.90,-130.2,429.2,-15.2,303,2826,0.00,0.43,0.00,0.000,4,0.000,0.044,2725,2263,3132,0,0,0,0,0,0
$GC,2950,-0.90,-130.2,448.6,-14.5,308,2956,0.05,0.55,0.00,0.000,6,0.246,0.038,2733,1883,3132,0,0,0,0,0,0
$GC,3266,-0.90,-130.2,493.2,-14.0,324,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1883,3132,0,0,0,0,0,0
$GC,3575,-0.90,-130.2,534.1,-13.0,339,3579,0.00,0.93,0.00,0.000,4,0.000,0.050,2733,1296,3132,0,0,0,0,0,0
$GC,3766,-0.90,-130.2,559.8,-13.6,347,3770,0.00,0.90,0.00,0.000,6,0.000,0.029,2731,1903,3132,0,0,0,0,0,0
$GC,4087,-0.90,-130.2,600.8,-13.0,363,4091,0.00,0.47,0.00,0.000,4,0.000,0.042,2728,2259,3133,0,0,0,0,0,0
$GC,4209,-0.90,-130.2,616.6,-12.4,368,4213,0.00,0.50,0.00,0.000,6,0.000,0.039,2728,1912,3133,0,0,0,0,0,0
$GC,4530,-0.90,-130.2,657.0,-12.5,384,4533,0.00,0.68,0.00,0.000,4,0.000,0.049,2728,1467,3133,0,0,0,0,0,0
$GC,4681,-0.90,-130.2,676.4,-13.1,390,4686,0.00,0.65,0.00,0.000,6,0.000,0.032,2727,1923,3133,0,0,0,0,0,0
$GC,4996,-0.90,-130.2,716.0,-12.5,406,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1925,3134,0,0,0,0,0,0
$GC,5306,-0.90,-130.2,756.2,-13.4,421,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1924,3134,0,0,0,0,0,0
$GC,5615,-0.90,-130.2,796.5,-12.9,436,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1925,3134,0,0,0,0,0,0
$GC,5924,-0.90,-130.2,837.0,-13.0,451,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1925,3134,0,0,0,0,0,0
$GC,6234,-0.90,-130.2,876.9,-12.6,466,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1926,3135,0,0,0,0,0,0
$GC,6543,-0.90,-130.2,914.3,-12.2,481,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1926,3135,0,0,0,0,0,0
$GC,6852,-0.90,-130.2,951.4,-11.8,496,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1926,3135,0,0,0,0,0,0
$GC,7162,-0.90,-130.2,987.9,-11.8,511,7166,0.03,0.40,0.00,0.000,4,0.318,0.046,2734,1653,3135,0,0,0,0,0,0
$STATE,7184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7184,begin apogee
$GC,7188,-0.16,0.0,990.5,11.8,512,7306,0.90,0.00,114.03,1.584,6,0.181,0.000,2973,1817,2600,0,0,0,0,0,0
$STATE,7307,end apogee,CONTROL_FINISHED_OK
$STATE,7307,begin climb
$GC,7308,0.90,130.2,993.0,0.0,518,7443,1.15,0.00,127.68,1.511,6,0.103,0.000,3315,1817,2069,0,0,0,0,0,0
$GC,7753,0.90,130.2,923.0,17.7,540,7757,0.00,0.73,0.00,0.000,4,0.000,0.047,3317,1388,2059,0,0,0,0,0,0
$GC,8010,0.90,130.2,876.0,17.9,551,8014,0.00,0.65,0.00,0.000,6,0.000,0.030,3317,1825,2057,0,0,0,0,0,0
$GC,8332,0.90,130.2,818.7,18.2,567,8335,0.00,0.90,0.00,0.000,4,0.000,0.049,3320,1277,2056,0,0,0,0,0,0
$GC,8588,0.90,130.2,770.7,18.0,578,8593,0.00,0.82,0.00,0.000,6,0.000,0.028,3320,1818,2056,0,0,0,0,0,0
$GC,8910,0.90,130.2,711.6,18.3,594,8914,0.00,0.73,0.00,0.000,4,0.000,0.046,3322,1364,2055,0,0,0,0,0,0
$GC,9167,0.90,130.2,664.3,18.2,605,9171,0.00,0.70,0.00,0.000,6,0.000,0.029,3322,1829,2055,0,0,0,0,0,0
$GC,9488,0.90,130.2,606.2,18.2,621,9492,0.00,1.02,0.00,0.000,4,0.000,0.048,3326,1196,2054,0,0,0,0,0,0
$GC,9713,0.90,130.2,564.0,19.4,631,9717,0.00,0.93,0.00,0.000,6,0.000,0.028,3325,1823,2054,0,0,0,0,0,0
$GC,10045,0.90,130.2,501.9,18.7,647,10049,0.00,0.40,0.00,0.000,4,0.000,0.047,3325,1548,2054,0,0,0,0,0,0
$GC,10302,0.90,130.2,451.8,19.6,658,10306,0.00,0.40,0.00,0.000,6,0.000,0.034,3325,1826,2054,0,0,0,0,0,0
$GC,10624,0.90,130.2,390.5,18.1,676,10628,0.00,1.42,0.00,0.000,4,0.000,0.053,3330,957,2054,0,0,0,0,0,0
$GC,10818,0.90,130.2,355.5,17.8,693,10822,0.00,1.30,0.00,0.000,6,0.000,0.028,3330,1823,2054,0,0,0,0,0,0
$GC,11148,0.90,130.2,298.3,16.9,724,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1823,2054,0,0,0,0,0,0
$GC,11468,0.90,130.2,244.8,17.3,754,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1823,2054,0,0,0,0,0,0
$GC,11787,0.90,130.2,189.0,17.7,784,11790,0.00,0.52,0.00,0.000,4,0.000,0.048,3331,1486,2055,0,0,0,0,0,0
$GC,11994,0.90,130.2,153.9,16.2,802,12000,0.00,0.50,0.00,0.000,6,0.000,0.033,3331,1844,2054,0,0,0,0,0,0
$GC,12321,0.90,130.2,103.0,14.7,833,12325,0.00,0.55,0.00,0.000,4,0.000,0.047,3333,1490,2054,0,0,0,0,0,0
$GC,12585,0.90,130.2,67.3,13.3,877,12590,0.00,0.43,0.00,0.000,6,0.000,0.034,3333,1806,2055,0,0,0,0,0,0
$GC,12933,0.90,130.2,20.3,14.2,938,12941,0.00,0.80,0.00,0.000,4,0.000,0.050,3336,1308,2054,0,0,0,0,0,0
$STATE,13065,end climb,SURFACE_DEPTH_REACHED
$STATE,13065,begin surface coast
$FINISH,1.5,1.015211
$STATE,13091,end surface coast,CONTROL_FINISHED_OK
$STATE,13092,begin surface
$SM_CCo,13109,65.53,0.994,0,0,1742,210.22
$SM_GC,2.59,0.00,0.00,65.53,0.000,0.000,0.994,68,1950,1742,-9.23,1.13,210.22
$IRIDIUM_FIX,-5438.56,0.00,191213,121225
$TT8_MAMPS,0.026964
$HUMID,63.34
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.8,51.676
$10V_AH,10.1,37.641
$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,23.825,28.175,241.700,65.525,0.000,28.330,41.345,248.122,0.000,0.000,24.174,2390.047,8036.449,400.240,2649.190,137.362,0.000,1370.095,0.000,2295.701,0.000,1.009,0.000
$DEVICE_MAMPS,318.240,72.675,1584.315,993.735,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.166,710.096,651.534,69.477,0.000,0.000,0.000,0.000,0.000,0.000
$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,53655,964
$CAP_FILE_SIZE,116186,0
$CFSIZE,2097086464,2082766848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,191213,201628,-5500.786,0.909,38,0.8,38,-20.2