version: 66.07.10.p01
glider: 574
mission: 8
dive: 96
start: 12 20 113 4 25 53
data:
$ID,574
$MISSION,8
$DIVE,96
$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,-15117.38
$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,67
$R_STBD_OVSHOOT,34
$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,75
$GPS1,201213,041725,-5500.101,-0.926,48,0.8,49,-20.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-71.8
$GPS2,201213,042532,-5500.104,-0.899,20,1.3,22,-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,98.7,974,-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,-57.8,0.0,0.0,0,69,0.00,0.00,-43.08,0.000,2,0.000,0.000,67,1880,2497,0,0,0,0,0,0
$GC,72,-0.90,-132.4,3.3,-1.3,7,116,12.65,2.20,-25.95,0.000,4,0.280,0.064,2729,531,3141,0,0,0,0,0,0
$GC,378,-0.90,-132.4,53.1,-15.3,59,384,0.08,2.15,0.00,0.000,6,0.245,0.028,2733,1923,3143,0,0,0,0,0,0
$GC,726,-0.90,-132.4,111.0,-16.4,115,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1923,3144,0,0,0,0,0,0
$GC,1049,-0.90,-132.4,163.4,-15.7,145,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1923,3143,0,0,0,0,0,0
$GC,1374,-0.90,-132.4,215.4,-15.4,176,1377,0.00,1.08,0.00,0.000,4,0.000,0.041,2728,2626,3143,0,0,0,0,0,0
$GC,1613,-0.90,-132.4,250.6,-13.6,197,1617,0.00,1.05,0.00,0.000,6,0.000,0.034,2729,1943,3143,0,0,0,0,0,0
$GC,1943,-0.90,-132.4,294.8,-13.3,228,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1943,3143,0,0,0,0,0,0
$GC,2263,-0.90,-132.4,337.9,-14.4,258,2266,0.00,0.45,0.00,0.000,4,0.000,0.050,2729,1629,3143,0,0,0,0,0,0
$GC,2331,-0.90,-132.4,347.9,-14.2,264,2334,0.00,0.43,0.00,0.000,6,0.000,0.037,2727,1953,3143,0,0,0,0,0,0
$GC,2661,-0.90,-132.4,397.7,-16.0,295,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1953,3143,0,0,0,0,0,0
$GC,2971,-0.90,-132.4,446.5,-15.5,311,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1953,3144,0,0,0,0,0,0
$GC,3280,-0.90,-132.4,491.9,-14.4,326,3284,0.00,0.35,0.00,0.000,4,0.000,0.046,2726,2235,3144,0,0,0,0,0,0
$GC,3537,-0.90,-132.4,527.1,-13.3,337,3541,0.00,0.50,0.00,0.000,6,0.000,0.039,2726,1890,3145,0,0,0,0,0,0
$GC,3858,-0.90,-132.4,569.1,-13.2,353,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1890,3146,0,0,0,0,0,0
$GC,4167,-0.90,-132.4,610.5,-12.9,368,4172,0.03,0.80,0.00,0.000,4,0.293,0.047,2734,1381,3146,0,0,0,0,0,0
$GC,4328,-0.90,-132.4,630.3,-11.4,375,4333,0.00,0.77,0.00,0.000,6,0.000,0.028,2732,1909,3146,0,0,0,0,0,0
$GC,4656,-0.90,-132.4,668.1,-11.8,391,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3146,0,0,0,0,0,0
$GC,4965,-0.90,-132.4,705.3,-12.4,406,4969,0.00,0.62,0.00,0.000,4,0.000,0.039,2729,2357,3146,0,0,0,0,0,0
$GC,5109,-0.90,-132.4,723.4,-12.4,412,5114,0.00,0.68,0.00,0.000,6,0.000,0.036,2730,1904,3147,0,0,0,0,0,0
$GC,5431,-0.90,-132.4,764.7,-13.6,428,5434,0.00,0.95,0.00,0.000,4,0.000,0.048,2729,1297,3147,0,0,0,0,0,0
$GC,5566,-0.90,-132.4,783.7,-13.8,434,5570,0.00,0.90,0.00,0.000,6,0.000,0.028,2725,1905,3147,0,0,0,0,0,0
$GC,5898,-0.90,-132.4,828.4,-13.5,450,5900,0.05,0.00,0.00,0.000,6,0.262,0.000,2734,1907,3148,0,0,0,0,0,0
$GC,6207,-0.90,-132.4,867.0,-12.1,465,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1907,3149,0,0,0,0,0,0
$GC,6516,-0.90,-132.4,905.6,-12.6,480,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1907,3149,0,0,0,0,0,0
$GC,6826,-0.90,-132.4,944.0,-12.3,495,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1907,3149,0,0,0,0,0,0
$GC,7135,-0.90,-132.4,979.9,-11.4,510,7139,0.00,0.55,0.00,0.000,4,0.000,0.040,2732,2307,3150,0,0,0,0,0,0
$STATE,7228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7228,begin apogee
$GC,7233,-0.16,0.0,990.1,10.5,514,7354,0.85,0.00,117.18,1.576,6,0.172,0.000,2968,1826,2600,0,0,0,0,0,0
$STATE,7355,end apogee,CONTROL_FINISHED_OK
$STATE,7355,begin climb
$GC,7356,0.90,132.4,990.8,0.0,520,7494,1.17,0.82,129.12,1.506,4,0.102,0.050,3320,1381,2060,0,0,0,0,0,0
$GC,7746,0.90,132.4,926.8,17.6,538,7750,0.00,0.70,0.00,0.000,6,0.000,0.028,3319,1821,2051,0,0,0,0,0,0
$GC,8067,0.90,132.4,871.2,17.3,554,8071,0.00,0.75,0.00,0.000,4,0.000,0.047,3322,1363,2048,0,0,0,0,0,0
$GC,8324,0.90,132.4,825.6,18.9,565,8328,0.00,0.70,0.00,0.000,6,0.000,0.030,3322,1838,2047,0,0,0,0,0,0
$GC,8647,0.90,132.4,767.0,19.0,581,8651,0.00,1.30,0.00,0.000,4,0.000,0.050,3327,1049,2046,0,0,0,0,0,0
$GC,8842,0.90,132.4,729.1,19.1,589,8849,0.00,1.17,0.00,0.000,6,0.000,0.025,3325,1821,2047,0,0,0,0,0,0
$GC,9158,0.90,132.4,671.2,17.7,605,9162,0.00,0.82,0.00,0.000,4,0.000,0.046,3327,1307,2047,0,0,0,0,0,0
$GC,9406,0.90,132.4,627.0,16.8,616,9409,0.00,0.75,0.00,0.000,6,0.000,0.026,3326,1805,2047,0,0,0,0,0,0
$GC,9738,0.90,132.4,569.4,17.1,632,9741,0.00,0.52,0.00,0.000,4,0.000,0.045,3326,1466,2046,0,0,0,0,0,0
$GC,9995,0.90,132.4,523.7,17.4,643,9999,0.00,0.55,0.00,0.000,6,0.000,0.031,3325,1869,2046,0,0,0,0,0,0
$GC,10316,0.90,132.4,468.0,17.3,659,10320,0.00,1.42,0.00,0.000,4,0.000,0.050,3330,994,2046,0,0,0,0,0,0
$GC,10488,0.90,132.4,437.6,17.6,666,10494,0.00,1.23,0.00,0.000,6,0.000,0.026,3330,1802,2046,0,0,0,0,0,0
$GC,10807,0.90,132.4,382.0,18.6,686,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1801,2046,0,0,0,0,0,0
$GC,11126,0.90,132.4,323.4,18.5,716,11130,0.00,0.38,0.00,0.000,4,0.000,0.046,3331,1545,2046,0,0,0,0,0,0
$GC,11386,0.90,132.4,276.4,17.7,739,11390,0.00,0.38,0.00,0.000,6,0.000,0.034,3331,1817,2046,0,0,0,0,0,0
$GC,11716,0.90,132.4,218.9,17.4,770,11720,0.00,0.73,0.00,0.000,4,0.000,0.046,3333,1360,2046,0,0,0,0,0,0
$GC,11852,0.90,132.4,195.9,15.9,782,11856,0.00,0.68,0.00,0.000,6,0.000,0.029,3333,1828,2045,0,0,0,0,0,0
$GC,12186,0.90,132.4,145.9,14.2,813,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1828,2046,0,0,0,0,0,0
$GC,12511,0.90,132.4,100.2,14.7,844,12514,0.00,0.95,0.00,0.000,4,0.000,0.047,3337,1238,2046,0,0,0,0,0,0
$GC,12751,0.90,132.4,67.0,12.0,885,12759,0.03,0.85,0.00,0.000,6,0.195,0.028,3328,1809,2045,0,0,0,0,0,0
$GC,13102,0.90,132.4,20.7,14.5,946,13109,0.00,1.40,0.00,0.000,4,0.000,0.052,3334,950,2046,0,0,0,0,0,0
$STATE,13234,end climb,SURFACE_DEPTH_REACHED
$STATE,13234,begin surface coast
$FINISH,1.7,1.027197
$STATE,13272,end surface coast,CONTROL_FINISHED_OK
$STATE,13272,begin surface
$SM_CCo,13290,63.58,0.995,0,0,1742,210.22
$SM_GC,2.95,0.00,0.00,63.58,0.000,0.000,0.995,68,1902,1742,-9.24,-0.23,210.22
$IRIDIUM_FIX,-5438.56,-3.74,201213,000058
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,21.8,52.109
$10V_AH,10.1,37.921
$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,24.100,31.825,246.300,63.575,0.000,29.492,45.422,295.141,0.000,0.000,24.748,2437.428,8089.998,365.873,2815.587,136.512,0.000,1387.585,0.000,2402.440,0.000,1.008,0.000
$DEVICE_MAMPS,292.995,64.260,1575.900,995.265,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.091,703.458,653.261,65.972,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,56970,974
$CAP_FILE_SIZE,119706,0
$CFSIZE,2097086464,2082373632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,081034,-5459.664,2.296,92,0.8,92,-20.3