version: 66.07.10.p01
glider: 574
mission: 8
dive: 95
start: 12 20 113 0 38 34
data:
$ID,574
$MISSION,8
$DIVE,95
$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,-15114.208
$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,75
$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,74
$GPS1,201213,002734,-5459.365,0.268,54,0.8,54,-20.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.0
$GPS2,201213,003813,-5459.350,0.380,29,1.1,29,-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,218.7,1269,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.90,-57.8,0.0,0.0,0,76,0.00,0.00,-49.05,0.000,2,0.000,0.000,66,1923,2579,0,0,0,0,0,0
$GC,78,-0.90,-135.8,3.1,-0.9,8,123,12.60,2.22,-24.00,0.000,4,0.278,0.061,2722,3276,3154,0,0,0,0,0,0
$GC,311,-0.90,-135.8,37.8,-17.9,47,317,0.08,2.08,0.00,0.000,6,0.221,0.032,2736,1947,3157,0,0,0,0,0,0
$GC,454,-0.90,-135.8,63.5,-17.1,72,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1947,3157,0,0,0,0,0,0
$GC,798,-0.90,-135.8,121.3,-15.8,122,802,0.00,1.42,0.00,0.000,4,0.000,0.050,2736,1063,3157,0,0,0,0,0,0
$GC,924,-0.90,-135.8,140.7,-16.1,133,928,0.00,1.25,0.00,0.000,6,0.000,0.029,2732,1886,3157,0,0,0,0,0,0
$GC,1254,-0.90,-135.8,193.5,-16.9,164,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1887,3157,0,0,0,0,0,0
$GC,1574,-0.90,-135.8,243.5,-14.3,194,1578,0.00,2.12,0.00,0.000,4,0.000,0.049,2722,3227,3157,0,0,0,0,0,0
$GC,1741,-0.90,-135.8,268.3,-14.3,208,1750,0.03,2.05,0.00,0.000,6,0.205,0.032,2730,1915,3157,0,0,0,0,0,0
$GC,2068,-0.90,-135.8,315.4,-14.6,239,2072,0.00,0.68,0.00,0.000,4,0.000,0.047,2730,1464,3157,0,0,0,0,0,0
$GC,2253,-0.90,-135.8,342.3,-13.6,255,2259,0.00,0.68,0.00,0.000,6,0.000,0.031,2728,1926,3157,0,0,0,0,0,0
$GC,2578,-0.90,-135.8,388.5,-15.1,286,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1926,3156,0,0,0,0,0,0
$GC,2890,-0.90,-135.8,433.2,-14.4,305,2894,0.00,0.90,0.00,0.000,4,0.000,0.041,2724,2527,3156,0,0,0,0,0,0
$GC,3048,-0.90,-135.8,455.7,-15.1,312,3053,0.03,0.95,0.00,0.000,6,0.213,0.036,2731,1899,3157,0,0,0,0,0,0
$GC,3380,-0.90,-135.8,502.0,-13.6,328,3384,0.00,0.80,0.00,0.000,4,0.000,0.049,2731,1377,3158,0,0,0,0,0,0
$GC,3553,-0.90,-135.8,526.6,-13.6,335,3558,0.00,0.80,0.00,0.000,6,0.000,0.030,2729,1919,3158,0,0,0,0,0,0
$GC,3869,-0.90,-135.8,569.4,-13.5,351,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1919,3158,0,0,0,0,0,0
$GC,4178,-0.90,-135.8,611.9,-13.7,366,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1919,3158,0,0,0,0,0,0
$GC,4487,-0.90,-135.8,654.3,-13.3,381,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1919,3159,0,0,0,0,0,0
$GC,4797,-0.90,-135.8,695.6,-13.0,396,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1919,3159,0,0,0,0,0,0
$GC,5106,-0.90,-135.8,735.9,-13.0,411,5109,0.00,0.57,0.00,0.000,4,0.000,0.043,2729,1533,3160,0,0,0,0,0,0
$GC,5278,-0.90,-135.8,758.4,-12.4,418,5284,0.00,0.55,0.00,0.000,6,0.000,0.033,2727,1919,3160,0,0,0,0,0,0
$GC,5594,-0.90,-135.8,796.4,-11.9,434,5598,0.00,0.50,0.00,0.000,4,0.000,0.042,2727,1578,3160,0,0,0,0,0,0
$GC,5756,-0.90,-135.8,816.4,-11.6,441,5760,0.00,0.47,0.00,0.000,6,0.000,0.034,2726,1921,3160,0,0,0,0,0,0
$GC,6083,-0.90,-135.8,855.8,-12.4,457,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3161,0,0,0,0,0,0
$GC,6392,-0.90,-135.8,894.6,-12.5,472,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1922,3161,0,0,0,0,0,0
$GC,6701,-0.90,-135.8,933.3,-12.3,487,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1922,3161,0,0,0,0,0,0
$GC,7011,-0.90,-135.8,971.7,-12.1,502,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1922,3161,0,0,0,0,0,0
$STATE,7174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7174,begin apogee
$GC,7179,-0.16,0.0,991.8,12.1,510,7302,0.93,0.00,120.03,1.577,6,0.177,0.000,2974,1791,2600,0,0,0,0,0,0
$STATE,7303,end apogee,CONTROL_FINISHED_OK
$STATE,7303,begin climb
$GC,7305,0.90,135.8,994.2,0.0,516,7445,1.15,0.47,133.38,1.508,4,0.099,0.053,3319,1530,2046,0,0,0,0,0,0
$GC,7696,0.90,135.8,931.3,18.1,534,7702,0.00,0.43,0.00,0.000,6,0.000,0.032,3319,1814,2037,0,0,0,0,0,0
$GC,8012,0.90,135.8,875.9,17.7,550,8016,0.00,1.60,0.00,0.000,4,0.000,0.054,3325,872,2035,0,0,0,0,0,0
$GC,8184,0.90,135.8,843.6,18.9,557,8191,0.00,1.48,0.00,0.000,6,0.000,0.025,3325,1814,2034,0,0,0,0,0,0
$GC,8501,0.90,135.8,787.2,17.9,573,8504,0.00,0.75,0.00,0.000,4,0.000,0.046,3326,1350,2034,0,0,0,0,0,0
$GC,8757,0.90,135.8,740.9,18.0,584,8762,0.00,0.73,0.00,0.000,6,0.000,0.026,3325,1831,2034,0,0,0,0,0,0
$GC,9079,0.90,135.8,684.0,17.6,600,9082,0.00,1.52,0.00,0.000,4,0.000,0.052,3330,904,2033,0,0,0,0,0,0
$GC,9195,0.90,135.8,661.9,19.3,605,9200,0.00,1.40,0.00,0.000,6,0.000,0.025,3330,1821,2033,0,0,0,0,0,0
$GC,9523,0.90,135.8,601.7,18.2,621,9526,0.00,0.77,0.00,0.000,4,0.000,0.047,3333,1335,2033,0,0,0,0,0,0
$GC,9757,0.90,135.8,559.2,18.8,631,9761,0.00,0.73,0.00,0.000,6,0.000,0.027,3332,1825,2033,0,0,0,0,0,0
$GC,10078,0.90,135.8,501.7,18.0,647,10082,0.00,0.90,0.00,0.000,4,0.000,0.048,3335,1263,2033,0,0,0,0,0,0
$GC,10273,0.90,135.8,465.2,18.7,655,10279,0.00,0.82,0.00,0.000,6,0.000,0.027,3335,1817,2033,0,0,0,0,0,0
$GC,10589,0.90,135.8,405.2,19.3,671,10593,0.00,1.08,0.00,0.000,4,0.000,0.050,3339,1149,2033,0,0,0,0,0,0
$GC,10780,0.90,135.8,367.8,19.9,686,10784,0.03,1.00,0.00,0.000,6,0.202,0.028,3330,1829,2033,0,0,0,0,0,0
$GC,11114,0.90,135.8,304.5,18.3,717,11117,0.00,1.00,0.00,0.000,4,0.000,0.049,3332,1205,2033,0,0,0,0,0,0
$GC,11241,0.90,135.8,280.0,18.2,728,11250,0.00,0.93,0.00,0.000,6,0.000,0.025,3332,1820,2033,0,0,0,0,0,0
$GC,11567,0.90,135.8,224.3,16.9,759,11570,0.00,0.98,0.00,0.000,4,0.000,0.047,3335,1212,2033,0,0,0,0,0,0
$GC,11682,0.90,135.8,205.2,16.0,769,11686,0.00,0.90,0.00,0.000,6,0.000,0.028,3335,1819,2033,0,0,0,0,0,0
$GC,12012,0.90,135.8,152.8,15.1,800,12016,0.00,0.43,0.00,0.000,4,0.000,0.046,3336,1535,2033,0,0,0,0,0,0
$GC,12073,0.90,135.8,143.4,15.0,805,12079,0.00,0.43,0.00,0.000,6,0.000,0.034,3337,1849,2033,0,0,0,0,0,0
$GC,12400,0.90,135.8,92.8,17.3,839,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1849,2033,0,0,0,0,0,0
$GC,12747,0.90,135.8,38.8,12.9,900,12755,0.00,2.30,0.00,0.000,4,0.000,0.055,3346,449,2033,0,0,0,0,0,0
$STATE,12948,end climb,SURFACE_DEPTH_REACHED
$STATE,12949,begin surface coast
$FINISH,1.5,1.014492
$STATE,12968,end surface coast,CONTROL_FINISHED_OK
$STATE,12968,begin surface
$SM_CCo,12986,61.12,0.988,0,0,1742,210.22
$SM_GC,3.05,0.00,0.00,61.12,0.000,0.000,0.988,67,1884,1742,-9.24,-0.74,210.22
$IRIDIUM_FIX,-5438.56,0.00,201213,000004
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.8,51.963
$10V_AH,10.0,37.828
$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,23.950,41.050,253.400,61.125,0.000,55.174,126.005,267.818,0.000,0.000,31.939,2342.369,8034.646,411.379,2773.042,127.002,0.000,1389.495,0.000,2271.652,0.000,1.008,0.000
$DEVICE_MAMPS,278.460,61.200,1577.430,987.615,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.755,650.570,628.052,58.317,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,53481,937
$CAP_FILE_SIZE,118550,0
$CFSIZE,2097086464,2082504704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,041725,-5500.101,-0.926,48,0.8,49,-20.2