version: 66.07.10.p01
glider: 574
mission: 8
dive: 98
start: 12 20 113 12 8 28
data:
$ID,574
$MISSION,8
$DIVE,98
$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,-15124.352
$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,41
$R_STBD_OVSHOOT,49
$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,77
$GPS1,201213,120104,-5459.238,0.546,60,1.0,60,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.5
$GPS2,201213,120806,-5459.228,0.664,21,1.4,21,-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,226.5,1595,-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,-57.8,0.0,0.0,0,62,0.00,0.00,-36.65,0.000,2,0.000,0.000,66,1972,2381,0,0,0,0,0,0
$GC,65,-0.90,-132.4,3.0,-1.3,6,126,12.52,2.17,-39.00,0.000,4,0.277,0.056,2723,3304,3141,0,0,0,0,0,0
$GC,298,-0.90,-132.4,33.9,-17.0,45,304,0.08,2.17,0.00,0.000,6,0.222,0.032,2737,1909,3143,0,0,0,0,0,0
$GC,444,-0.90,-132.4,58.3,-16.3,70,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1910,3144,0,0,0,0,0,0
$GC,784,-0.90,-132.4,117.4,-17.1,122,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1909,3144,0,0,0,0,0,0
$GC,1104,-0.90,-132.4,169.4,-15.7,152,1107,0.00,0.93,0.00,0.000,4,0.000,0.048,2737,1318,3144,0,0,0,0,0,0
$GC,1194,-0.90,-132.4,183.6,-15.5,160,1198,0.00,0.90,0.00,0.000,6,0.000,0.029,2735,1927,3144,0,0,0,0,0,0
$GC,1524,-0.90,-132.4,233.2,-15.7,191,1528,0.00,1.48,0.00,0.000,4,0.000,0.041,2728,2863,3143,0,0,0,0,0,0
$GC,1731,-0.90,-132.4,265.4,-15.0,209,1738,0.00,1.50,0.00,0.000,6,0.000,0.032,2728,1901,3143,0,0,0,0,0,0
$GC,2057,-0.90,-132.4,314.7,-15.4,240,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1901,3143,0,0,0,0,0,0
$GC,2376,-0.90,-132.4,361.9,-14.9,270,2380,0.00,0.70,0.00,0.000,4,0.000,0.047,2728,1440,3143,0,0,0,0,0,0
$GC,2528,-0.90,-132.4,384.8,-14.4,283,2533,0.00,0.70,0.00,0.000,6,0.000,0.030,2725,1923,3143,0,0,0,0,0,0
$GC,2846,-0.90,-132.4,431.9,-14.6,304,2848,0.05,0.00,0.00,0.000,6,0.265,0.000,2733,1923,3143,0,0,0,0,0,0
$GC,3156,-0.90,-132.4,476.8,-14.5,319,3159,0.00,0.62,0.00,0.000,4,0.000,0.038,2731,2373,3144,0,0,0,0,0,0
$GC,3261,-0.90,-132.4,492.2,-14.5,323,3266,0.00,0.70,0.00,0.000,6,0.000,0.036,2732,1903,3144,0,0,0,0,0,0
$GC,3577,-0.90,-132.4,536.1,-13.5,339,3580,0.00,0.62,0.00,0.000,4,0.000,0.048,2732,1485,3144,0,0,0,0,0,0
$GC,3756,-0.90,-132.4,561.5,-13.7,347,3760,0.00,0.60,0.00,0.000,6,0.000,0.031,2729,1922,3144,0,0,0,0,0,0
$GC,4088,-0.90,-132.4,605.1,-13.1,363,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1923,3145,0,0,0,0,0,0
$GC,4398,-0.90,-132.4,644.5,-12.6,378,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1923,3145,0,0,0,0,0,0
$GC,4707,-0.90,-132.4,685.7,-13.7,393,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1923,3145,0,0,0,0,0,0
$GC,5016,-0.90,-132.4,725.8,-12.4,408,5020,0.00,0.57,0.00,0.000,4,0.000,0.041,2730,1533,3146,0,0,0,0,0,0
$GC,5211,-0.90,-132.4,750.0,-12.9,416,5217,0.00,0.52,0.00,0.000,6,0.000,0.032,2728,1911,3146,0,0,0,0,0,0
$GC,5527,-0.90,-132.4,791.1,-13.3,432,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1911,3146,0,0,0,0,0,0
$GC,5836,-0.90,-132.4,832.9,-13.7,447,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1911,3147,0,0,0,0,0,0
$GC,6145,-0.90,-132.4,875.7,-13.9,462,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1911,3147,0,0,0,0,0,0
$GC,6455,-0.90,-132.4,919.5,-14.3,477,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1912,3147,0,0,0,0,0,0
$GC,6764,-0.90,-132.4,962.8,-13.9,492,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1912,3147,0,0,0,0,0,0
$STATE,6969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6969,begin apogee
$GC,6973,-0.16,0.0,991.5,13.9,502,7094,0.90,0.00,116.88,1.578,6,0.179,0.000,2970,1792,2600,0,0,0,0,0,0
$STATE,7095,end apogee,CONTROL_FINISHED_OK
$STATE,7095,begin climb
$GC,7096,0.90,132.4,996.1,0.0,508,7231,1.17,0.50,129.73,1.510,4,0.101,0.052,3321,1513,2060,0,0,0,0,0,0
$GC,7482,0.90,132.4,940.9,15.9,526,7487,0.00,0.45,0.00,0.000,6,0.000,0.030,3321,1810,2052,0,0,0,0,0,0
$GC,7809,0.90,132.4,887.4,16.6,542,7813,0.00,1.40,0.00,0.000,4,0.000,0.052,3326,980,2051,0,0,0,0,0,0
$GC,7971,0.90,132.4,859.5,17.3,549,7975,0.00,1.27,0.00,0.000,6,0.000,0.024,3326,1818,2051,0,0,0,0,0,0
$GC,8298,0.90,132.4,802.2,18.1,565,8302,0.00,0.98,0.00,0.000,4,0.000,0.048,3329,1218,2050,0,0,0,0,0,0
$GC,8555,0.90,132.4,755.5,18.2,576,8559,0.00,0.90,0.00,0.000,6,0.000,0.025,3329,1818,2051,0,0,0,0,0,0
$GC,8876,0.90,132.4,699.4,17.4,592,8880,0.00,0.85,0.00,0.000,4,0.000,0.047,3332,1289,2051,0,0,0,0,0,0
$GC,9083,0.90,132.4,662.4,17.4,601,9087,0.00,0.80,0.00,0.000,6,0.000,0.026,3332,1821,2051,0,0,0,0,0,0
$GC,9410,0.90,132.4,603.1,18.5,617,9413,0.00,0.52,0.00,0.000,4,0.000,0.045,3334,1479,2051,0,0,0,0,0,0
$GC,9667,0.90,132.4,556.9,18.5,628,9671,0.00,0.50,0.00,0.000,6,0.000,0.031,3333,1839,2051,0,0,0,0,0,0
$GC,9988,0.90,132.4,499.7,17.9,644,9992,0.00,1.60,0.00,0.000,4,0.000,0.052,3340,863,2051,0,0,0,0,0,0
$GC,10101,0.90,132.4,479.4,18.3,649,10105,0.03,1.42,0.00,0.000,6,0.203,0.025,3330,1813,2051,0,0,0,0,0,0
$GC,10432,0.90,132.4,421.2,17.6,665,10436,0.00,0.88,0.00,0.000,4,0.000,0.047,3332,1266,2051,0,0,0,0,0,0
$GC,10571,0.90,132.4,396.1,17.9,671,10576,0.00,0.82,0.00,0.000,6,0.000,0.026,3332,1821,2051,0,0,0,0,0,0
$GC,10898,0.90,132.4,338.7,18.3,702,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1821,2051,0,0,0,0,0,0
$GC,11215,0.90,132.4,281.8,17.3,732,11219,0.00,1.15,0.00,0.000,4,0.000,0.048,3337,1111,2052,0,0,0,0,0,0
$GC,11344,0.90,132.4,258.6,18.7,743,11350,0.00,1.08,0.00,0.000,6,0.000,0.025,3336,1832,2052,0,0,0,0,0,0
$GC,11669,0.90,132.4,210.2,16.8,774,11673,0.00,2.12,0.00,0.000,4,0.000,0.048,3336,3189,2052,0,0,0,0,0,0
$GC,11923,0.90,132.4,169.1,16.8,796,11928,0.10,2.08,0.00,0.000,6,0.215,0.034,3324,1848,2052,0,0,0,0,0,0
$GC,12248,0.90,132.4,120.2,14.6,826,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1847,2053,0,0,0,0,0,0
$GC,12578,0.90,132.4,73.9,13.8,872,12583,0.00,2.33,0.00,0.000,4,0.000,0.059,3334,417,2053,0,0,0,0,0,0
$GC,12720,0.90,132.4,52.2,14.9,897,12727,0.00,2.10,0.00,0.000,6,0.000,0.028,3334,1789,2053,0,0,0,0,0,0
$STATE,13034,end climb,SURFACE_DEPTH_REACHED
$STATE,13035,begin surface coast
$FINISH,1.6,1.025567
$STATE,13054,end surface coast,CONTROL_FINISHED_OK
$STATE,13054,begin surface
$SM_CCo,13070,65.80,0.993,0,0,1742,210.22
$SM_GC,3.06,0.00,0.00,65.80,0.000,0.000,0.993,68,1905,1742,-9.24,-0.14,210.22
$IRIDIUM_FIX,-5438.56,0.00,201213,080810
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.8,52.395
$10V_AH,10.1,38.100
$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,23.850,38.225,246.600,65.800,0.000,29.105,19.411,257.519,0.000,0.000,24.369,2372.444,8029.667,393.673,2646.485,121.712,0.000,1368.212,0.000,2292.880,0.000,1.008,0.000
$DEVICE_MAMPS,276.930,68.085,1578.195,992.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.075,676.910,639.440,62.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354708
$DATA_FILE_SIZE,53498,954
$CAP_FILE_SIZE,116440,0
$CFSIZE,2097086464,2082111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,154835,-5459.836,-0.687,36,0.9,36,-20.2