version: 66.07.10.p01
glider: 574
mission: 8
dive: 97
start: 12 20 113 8 18 34
data:
$ID,574
$MISSION,8
$DIVE,97
$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,-15121.113
$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,45
$R_STBD_OVSHOOT,21
$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,76
$GPS1,201213,081034,-5459.664,2.296,92,0.8,92,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-70.4
$GPS2,201213,081812,-5459.645,2.408,19,1.3,19,-20.3
$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,275.9,2641,-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,23,-0.90,-57.8,0.0,0.0,0,57,0.00,0.00,-31.20,0.000,2,0.000,0.000,67,1901,2281,0,0,0,0,0,0
$GC,59,-0.90,-132.0,3.0,-1.3,5,127,12.40,1.33,-49.33,0.000,4,0.274,0.067,2729,1068,3137,0,0,0,0,0,0
$GC,218,-0.90,-132.0,21.5,-22.7,31,224,0.03,1.35,0.00,0.000,6,0.240,0.031,2730,1927,3141,0,0,0,0,0,0
$GC,362,-0.90,-132.0,50.8,-18.9,56,367,0.00,0.50,0.00,0.000,4,0.000,0.044,2728,2283,3141,0,0,0,0,0,0
$GC,443,-0.90,-132.0,65.8,-18.9,70,448,0.00,0.55,0.00,0.000,6,0.000,0.037,2728,1901,3141,0,0,0,0,0,0
$GC,782,-0.90,-132.0,127.1,-17.8,117,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1900,3141,0,0,0,0,0,0
$GC,1108,-0.90,-132.0,183.6,-16.5,148,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1900,3141,0,0,0,0,0,0
$GC,1426,-0.90,-132.0,234.9,-16.1,178,1430,0.00,0.52,0.00,0.000,4,0.000,0.050,2728,1543,3141,0,0,0,0,0,0
$GC,1608,-0.90,-132.0,264.1,-15.3,194,1612,0.00,0.55,0.00,0.000,6,0.000,0.033,2726,1939,3140,0,0,0,0,0,0
$GC,1942,-0.90,-132.0,313.5,-14.7,225,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1940,3140,0,0,0,0,0,0
$GC,2267,-0.90,-132.0,361.9,-14.6,256,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1940,3140,0,0,0,0,0,0
$GC,2584,-0.90,-132.0,406.4,-13.4,284,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1940,3140,0,0,0,0,0,0
$GC,2893,-0.90,-132.0,448.0,-13.3,299,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1940,3140,0,0,0,0,0,0
$GC,3202,-0.90,-132.0,489.4,-13.2,314,3206,0.00,0.68,0.00,0.000,4,0.000,0.041,2723,2408,3140,0,0,0,0,0,0
$GC,3296,-0.90,-132.0,501.9,-13.3,318,3301,0.08,0.75,0.00,0.000,6,0.227,0.035,2737,1902,3140,0,0,0,0,0,0
$GC,3623,-0.90,-132.0,541.2,-12.1,334,3626,0.00,0.75,0.00,0.000,4,0.000,0.047,2737,1409,3140,0,0,0,0,0,0
$GC,3728,-0.90,-132.0,555.2,-12.9,338,3734,0.00,0.73,0.00,0.000,6,0.000,0.029,2735,1906,3141,0,0,0,0,0,0
$GC,4044,-0.90,-132.0,594.8,-12.8,354,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1907,3141,0,0,0,0,0,0
$GC,4353,-0.90,-132.0,635.0,-13.1,369,4357,0.00,0.55,0.00,0.000,4,0.000,0.041,2733,2308,3141,0,0,0,0,0,0
$GC,4491,-0.90,-132.0,652.6,-12.5,375,4495,0.00,0.57,0.00,0.000,6,0.000,0.037,2732,1911,3141,0,0,0,0,0,0
$GC,4818,-0.90,-132.0,693.4,-12.6,391,4822,0.00,0.85,0.00,0.000,4,0.000,0.047,2733,1359,3142,0,0,0,0,0,0
$GC,4908,-0.90,-132.0,705.4,-14.2,395,4912,0.00,0.80,0.00,0.000,6,0.000,0.029,2729,1911,3142,0,0,0,0,0,0
$GC,5240,-0.90,-132.0,748.7,-13.2,411,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1911,3142,0,0,0,0,0,0
$GC,5550,-0.90,-132.0,789.1,-13.1,426,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1911,3142,0,0,0,0,0,0
$GC,5859,-0.90,-132.0,828.5,-12.5,441,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1911,3143,0,0,0,0,0,0
$GC,6168,-0.90,-132.0,867.1,-12.4,456,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1911,3143,0,0,0,0,0,0
$GC,6478,-0.90,-132.0,905.4,-12.2,471,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1911,3143,0,0,0,0,0,0
$GC,6787,-0.90,-132.0,943.7,-12.5,486,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1911,3143,0,0,0,0,0,0
$GC,7096,-0.90,-132.0,980.8,-11.8,501,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1911,3144,0,0,0,0,0,0
$STATE,7177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7177,begin apogee
$GC,7182,-0.16,0.0,990.4,11.6,505,7301,0.90,0.00,115.85,1.577,6,0.176,0.000,2972,1802,2600,0,0,0,0,0,0
$STATE,7302,end apogee,CONTROL_FINISHED_OK
$STATE,7302,begin climb
$GC,7304,0.90,132.0,992.2,0.0,511,7439,1.15,0.43,129.35,1.507,4,0.100,0.047,3316,1548,2061,0,0,0,0,0,0
$GC,7691,0.90,132.0,929.1,18.8,529,7695,0.00,0.40,0.00,0.000,6,0.000,0.031,3316,1817,2051,0,0,0,0,0,0
$GC,8018,0.90,132.0,869.7,18.5,545,8022,0.00,2.25,0.00,0.000,4,0.000,0.057,3325,464,2050,0,0,0,0,0,0
$GC,8179,0.90,132.0,838.9,18.1,552,8183,0.00,2.08,0.00,0.000,6,0.000,0.025,3325,1808,2049,0,0,0,0,0,0
$GC,8500,0.90,132.0,778.9,18.4,568,8504,0.00,0.82,0.00,0.000,4,0.000,0.045,3326,1297,2048,0,0,0,0,0,0
$GC,8757,0.90,132.0,729.6,19.6,579,8762,0.00,0.82,0.00,0.000,6,0.000,0.026,3325,1841,2048,0,0,0,0,0,0
$GC,9079,0.90,132.0,669.4,18.4,595,9083,0.00,1.50,0.00,0.000,4,0.000,0.050,3330,927,2048,0,0,0,0,0,0
$GC,9206,0.90,132.0,645.2,18.9,600,9212,0.00,1.38,0.00,0.000,6,0.000,0.024,3330,1826,2048,0,0,0,0,0,0
$GC,9523,0.90,132.0,587.0,18.0,616,9526,0.00,1.08,0.00,0.000,4,0.000,0.047,3334,1159,2048,0,0,0,0,0,0
$GC,9644,0.90,132.0,564.2,18.3,621,9649,0.00,1.00,0.00,0.000,6,0.000,0.025,3334,1835,2048,0,0,0,0,0,0
$GC,9967,0.90,132.0,508.2,17.4,637,9970,0.00,0.70,0.00,0.000,4,0.000,0.045,3336,1386,2048,0,0,0,0,0,0
$GC,10139,0.90,132.0,477.8,17.5,644,10145,0.00,0.62,0.00,0.000,6,0.000,0.028,3336,1822,2048,0,0,0,0,0,0
$GC,10455,0.90,132.0,423.6,17.0,660,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1821,2048,0,0,0,0,0,0
$GC,10769,0.90,132.0,371.5,16.5,683,10773,0.00,0.47,0.00,0.000,4,0.000,0.045,3338,1505,2048,0,0,0,0,0,0
$GC,11030,0.90,132.0,330.0,16.4,706,11034,0.03,0.43,0.00,0.000,6,0.197,0.034,3329,1835,2048,0,0,0,0,0,0
$GC,11363,0.90,132.0,280.0,15.6,737,11366,0.00,1.75,0.00,0.000,4,0.000,0.053,3335,750,2048,0,0,0,0,0,0
$GC,11475,0.90,132.0,261.1,16.3,747,11479,0.00,1.58,0.00,0.000,6,0.000,0.026,3335,1794,2048,0,0,0,0,0,0
$GC,11805,0.90,132.0,207.6,17.0,778,11809,0.00,0.60,0.00,0.000,4,0.000,0.038,3336,2227,2048,0,0,0,0,0,0
$GC,11999,0.90,132.0,173.2,17.5,795,12004,0.03,0.55,0.00,0.000,6,0.221,0.041,3330,1854,2048,0,0,0,0,0,0
$GC,12329,0.90,132.0,121.2,15.0,826,12334,0.00,2.33,0.00,0.000,4,0.000,0.059,3340,422,2048,0,0,0,0,0,0
$GC,12483,0.90,132.0,97.2,16.1,840,12491,0.05,2.12,0.00,0.000,6,0.175,0.027,3325,1817,2048,0,0,0,0,0,0
$GC,12834,0.90,132.0,47.4,13.0,901,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1817,2048,0,0,0,0,0,0
$STATE,13154,end climb,SURFACE_DEPTH_REACHED
$STATE,13154,begin surface coast
$FINISH,1.6,1.027173
$STATE,13174,end surface coast,CONTROL_FINISHED_OK
$STATE,13174,begin surface
$SM_CCo,13190,64.35,0.990,0,0,1742,210.22
$SM_GC,2.74,0.00,0.00,64.35,0.000,0.000,0.990,78,1969,1742,-9.21,1.70,210.22
$IRIDIUM_FIX,-5438.56,0.00,201213,040453
$TT8_MAMPS,0.026964
$HUMID,63.66
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.8,52.252
$10V_AH,10.1,38.011
$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,23.750,33.575,245.200,64.350,0.000,25.788,54.755,264.680,0.000,0.000,22.739,2378.438,8183.543,397.002,2624.376,134.687,0.000,1350.311,0.000,2244.327,0.000,1.008,0.000
$DEVICE_MAMPS,273.870,77.265,1576.665,989.910,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.002,683.558,648.322,63.096,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354724
$DATA_FILE_SIZE,53756,959
$CAP_FILE_SIZE,115981,0
$CFSIZE,2097086464,2082242560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,120104,-5459.238,0.546,60,1.0,60,-20.2