version: 66.07.10.p01
glider: 574
mission: 8
dive: 94
start: 12 19 113 20 23 52
data:
$ID,574
$MISSION,8
$DIVE,94
$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,-15110.956
$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,56
$R_STBD_OVSHOOT,98
$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,73
$GPS1,191213,201628,-5500.786,0.909,38,0.8,38,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-76.0
$GPS2,191213,202330,-5500.811,0.919,19,1.4,19,-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,347.2,1792,-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,-25.77,0.000,2,0.000,0.000,66,1950,2181,0,0,0,0,0,0
$GC,54,-0.90,-121.9,3.0,-2.4,4,139,12.68,2.00,-62.08,0.000,4,0.281,0.064,2725,3148,3097,0,0,0,0,0,0
$GC,300,-0.90,-121.9,24.5,-16.2,45,306,0.05,1.88,0.00,0.000,6,0.249,0.032,2733,1930,3099,0,0,0,0,0,0
$GC,446,-0.90,-121.9,49.0,-16.8,70,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1929,3099,0,0,0,0,0,0
$GC,795,-0.90,-121.9,109.8,-17.4,127,798,0.00,0.85,0.00,0.000,4,0.000,0.049,2734,1388,3100,0,0,0,0,0,0
$GC,934,-0.90,-121.9,136.6,-19.5,139,940,0.00,0.73,0.00,0.000,6,0.000,0.032,2732,1878,3099,0,0,0,0,0,0
$GC,1259,-0.90,-121.9,190.7,-16.5,170,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1878,3099,0,0,0,0,0,0
$GC,1579,-0.90,-121.9,241.0,-15.7,200,1582,0.00,0.57,0.00,0.000,4,0.000,0.041,2729,2293,3099,0,0,0,0,0,0
$GC,1637,-0.90,-121.9,249.4,-14.6,205,1641,0.00,0.57,0.00,0.000,6,0.000,0.038,2729,1892,3099,0,0,0,0,0,0
$GC,1967,-0.90,-121.9,293.6,-12.5,236,1971,0.00,1.48,0.00,0.000,4,0.000,0.051,2729,975,3098,0,0,0,0,0,0
$GC,2081,-0.90,-121.9,308.0,-12.9,246,2085,0.03,1.40,0.00,0.000,6,0.230,0.028,2731,1893,3098,0,0,0,0,0,0
$GC,2414,-0.90,-121.9,347.7,-12.2,277,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1893,3099,0,0,0,0,0,0
$GC,2739,-0.90,-121.9,388.6,-13.0,308,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1893,3098,0,0,0,0,0,0
$GC,3061,-0.90,-121.9,428.1,-11.9,328,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1893,3099,0,0,0,0,0,0
$GC,3370,-0.90,-121.9,464.1,-11.7,343,3374,0.00,0.40,0.00,0.000,4,0.000,0.043,2729,2206,3099,0,0,0,0,0,0
$GC,3461,-0.90,-121.9,474.5,-11.6,347,3465,0.00,0.43,0.00,0.000,6,0.000,0.042,2728,1901,3099,0,0,0,0,0,0
$GC,3793,-0.90,-121.9,512.8,-11.7,363,3797,0.00,1.42,0.00,0.000,4,0.000,0.050,2729,1012,3100,0,0,0,0,0,0
$GC,3870,-0.90,-121.9,522.8,-12.8,366,3876,0.08,1.40,0.00,0.000,6,0.226,0.028,2742,1923,3100,0,0,0,0,0,0
$GC,4192,-0.90,-121.9,558.5,-10.9,382,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1924,3100,0,0,0,0,0,0
$GC,4501,-0.90,-121.9,592.6,-10.9,397,4505,0.00,1.12,0.00,0.000,4,0.000,0.041,2738,2666,3101,0,0,0,0,0,0
$GC,4591,-0.90,-121.9,602.3,-10.6,401,4595,0.00,1.15,0.00,0.000,6,0.000,0.035,2738,1926,3101,0,0,0,0,0,0
$GC,4923,-0.90,-121.9,637.9,-10.5,417,4927,0.00,0.88,0.00,0.000,4,0.000,0.049,2738,1363,3101,0,0,0,0,0,0
$GC,4983,-0.90,-121.9,644.7,-10.9,419,4989,0.00,0.85,0.00,0.000,6,0.000,0.029,2735,1933,3102,0,0,0,0,0,0
$GC,5299,-0.90,-121.9,678.7,-10.8,435,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1933,3102,0,0,0,0,0,0
$GC,5609,-0.90,-121.9,712.7,-11.2,450,5612,0.00,0.75,0.00,0.000,4,0.000,0.043,2735,1449,3102,0,0,0,0,0,0
$GC,5685,-0.90,-121.9,721.8,-11.7,453,5690,0.00,0.68,0.00,0.000,6,0.000,0.031,2733,1919,3102,0,0,0,0,0,0
$GC,6007,-0.90,-121.9,758.3,-11.3,469,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1919,3102,0,0,0,0,0,0
$GC,6316,-0.90,-121.9,792.8,-11.4,484,6320,0.00,0.30,0.00,0.000,4,0.000,0.047,2731,2173,3103,0,0,0,0,0,0
$GC,6410,-0.90,-121.9,803.7,-10.9,488,6414,0.00,0.43,0.00,0.000,6,0.000,0.041,2731,1874,3102,0,0,0,0,0,0
$GC,6737,-0.90,-121.9,840.3,-11.0,504,6740,0.00,0.62,0.00,0.000,4,0.000,0.050,2731,1458,3104,0,0,0,0,0,0
$GC,6814,-0.90,-121.9,849.1,-11.3,507,6818,0.00,0.65,0.00,0.000,6,0.000,0.031,2729,1912,3103,0,0,0,0,0,0
$GC,7135,-0.90,-121.9,883.5,-11.0,523,7139,0.00,0.38,0.00,0.000,4,0.000,0.045,2727,2210,3104,0,0,0,0,0,0
$GC,7248,-0.90,-121.9,895.7,-11.0,528,7252,0.00,0.40,0.00,0.000,6,0.000,0.041,2727,1916,3104,0,0,0,0,0,0
$GC,7580,-0.90,-121.9,933.4,-11.2,544,7584,0.00,0.55,0.00,0.000,4,0.000,0.051,2727,1540,3104,0,0,0,0,0,0
$GC,7648,-0.90,-121.9,940.9,-10.8,547,7651,0.00,0.50,0.00,0.000,6,0.000,0.034,2725,1908,3104,0,0,0,0,0,0
$GC,7980,-0.90,-121.9,978.3,-10.9,563,7981,0.05,0.00,0.00,0.000,6,0.265,0.000,2734,1908,3105,0,0,0,0,0,0
$STATE,8102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8102,begin apogee
$GC,8106,-0.16,0.0,991.7,10.7,569,8217,0.90,0.00,107.47,1.584,6,0.177,0.000,2975,1799,2600,0,0,0,0,0,0
$STATE,8218,end apogee,CONTROL_FINISHED_OK
$STATE,8218,begin climb
$GC,8220,0.90,121.9,993.3,0.0,574,8346,1.10,0.60,119.10,1.513,4,0.100,0.050,3314,1461,2101,0,0,0,0,0,0
$GC,8599,0.90,121.9,935.2,17.6,592,8603,0.00,0.55,0.00,0.000,6,0.000,0.030,3314,1836,2092,0,0,0,0,0,0
$GC,8926,0.90,121.9,879.2,16.9,608,8929,0.00,1.73,0.00,0.000,4,0.000,0.054,3321,789,2091,0,0,0,0,0,0
$GC,9084,0.90,121.9,850.6,18.9,615,9087,0.00,1.55,0.00,0.000,6,0.000,0.025,3321,1795,2090,0,0,0,0,0,0
$GC,9415,0.90,121.9,792.8,16.9,631,9419,0.00,0.95,0.00,0.000,4,0.000,0.049,3325,1208,2088,0,0,0,0,0,0
$GC,9610,0.90,121.9,758.4,18.5,639,9616,0.00,0.95,0.00,0.000,6,0.000,0.026,3325,1842,2088,0,0,0,0,0,0
$GC,9926,0.90,121.9,704.3,17.1,655,9930,0.00,1.17,0.00,0.000,4,0.000,0.050,3329,1119,2087,0,0,0,0,0,0
$GC,10117,0.90,121.9,670.1,18.5,663,10121,0.00,1.05,0.00,0.000,6,0.000,0.028,3329,1825,2087,0,0,0,0,0,0
$GC,10438,0.90,121.9,612.7,18.0,679,10442,0.00,1.40,0.00,0.000,4,0.000,0.050,3334,968,2087,0,0,0,0,0,0
$GC,10610,0.90,121.9,581.1,17.9,686,10617,0.00,1.30,0.00,0.000,6,0.000,0.026,3334,1824,2087,0,0,0,0,0,0
$GC,10927,0.90,121.9,526.0,17.0,702,10930,0.00,0.65,0.00,0.000,4,0.000,0.045,3336,1410,2087,0,0,0,0,0,0
$GC,11183,0.90,121.9,482.7,16.5,713,11188,0.00,0.60,0.00,0.000,6,0.000,0.030,3336,1832,2087,0,0,0,0,0,0
$GC,11505,0.90,121.9,431.3,15.7,729,11508,0.00,1.40,0.00,0.000,4,0.000,0.051,3341,972,2087,0,0,0,0,0,0
$GC,11679,0.90,121.9,402.6,16.7,736,11684,0.05,1.25,0.00,0.000,6,0.180,0.027,3326,1808,2087,0,0,0,0,0,0
$GC,12002,0.90,121.9,355.1,14.1,766,12006,0.00,0.60,0.00,0.000,4,0.000,0.045,3327,1420,2087,0,0,0,0,0,0
$GC,12265,0.90,121.9,315.9,14.8,789,12268,0.00,0.57,0.00,0.000,6,0.000,0.031,3327,1844,2087,0,0,0,0,0,0
$GC,12595,0.90,121.9,261.3,16.4,820,12598,0.00,1.60,0.00,0.000,4,0.000,0.052,3333,864,2087,0,0,0,0,0,0
$GC,12776,0.90,121.9,231.4,15.4,836,12780,0.00,1.40,0.00,0.000,6,0.000,0.026,3333,1799,2087,0,0,0,0,0,0
$GC,13106,0.90,121.9,181.1,14.4,867,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1799,2087,0,0,0,0,0,0
$GC,13427,0.90,121.9,135.8,13.0,897,13431,0.00,1.65,0.00,0.000,4,0.000,0.052,3340,755,2087,0,0,0,0,0,0
$GC,13544,0.90,121.9,119.2,13.1,907,13551,0.05,1.60,0.00,0.000,6,0.175,0.027,3325,1811,2087,0,0,0,0,0,0
$GC,13882,0.90,121.9,74.7,13.4,954,13889,0.00,0.80,0.00,0.000,4,0.000,0.047,3326,1307,2087,0,0,0,0,0,0
$GC,14146,0.90,121.9,39.9,13.4,1000,14154,0.00,0.75,0.00,0.000,6,0.000,0.029,3326,1834,2087,0,0,0,0,0,0
$GC,14294,0.90,121.9,20.1,13.1,1025,14299,0.00,0.77,0.00,0.000,4,0.000,0.047,3329,1345,2087,0,0,0,0,0,0
$STATE,14418,end climb,SURFACE_DEPTH_REACHED
$STATE,14418,begin surface coast
$FINISH,1.5,1.021194
$STATE,14444,end surface coast,CONTROL_FINISHED_OK
$STATE,14444,begin surface
$SM_CCo,14461,72.07,0.991,0,0,1743,210.22
$SM_GC,2.36,0.00,0.00,72.07,0.000,0.000,0.991,69,1924,1743,-9.24,0.40,210.22
$IRIDIUM_FIX,-5438.56,-3.75,191213,161632
$TT8_MAMPS,0.026215
$HUMID,63.46
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.8,51.812
$10V_AH,10.1,37.739
$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,24.025,48.200,226.575,72.075,0.000,27.884,47.735,234.126,0.000,0.000,22.635,2633.358,8878.629,401.694,2911.787,135.022,0.000,1505.546,0.000,2556.994,0.000,1.009,0.000
$DEVICE_MAMPS,280.755,78.795,1583.550,990.675,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.013,756.313,702.973,71.707,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,60199,1050
$CAP_FILE_SIZE,133669,0
$CFSIZE,2097086464,2082603008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,002734,-5459.365,0.268,54,0.8,54,-20.2