version: 66.07.10.p01
glider: 574
mission: 8
dive: 105
start: 12 21 113 15 3 44
data:
$ID,574
$MISSION,8
$DIVE,105
$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,-15147.912
$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,65
$R_STBD_OVSHOOT,104
$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,84
$GPS1,211213,144928,-5500.157,-1.080,68,0.9,68,-20.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-73.9
$GPS2,211213,150323,-5500.121,-0.900,32,0.9,33,-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,97.0,982,-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,-57.8,0.0,0.0,0,53,0.00,0.00,-25.58,0.000,2,0.000,0.000,67,1839,2177,0,0,0,0,0,0
$GC,55,-0.90,-131.7,3.1,-1.4,4,128,13.05,1.98,-53.17,0.000,4,0.289,0.067,2726,646,3135,0,0,0,0,0,0
$GC,281,-0.90,-131.7,32.7,-19.2,42,289,0.05,1.88,0.00,0.000,6,0.228,0.027,2731,1853,3138,0,0,0,0,0,0
$GC,428,-0.90,-131.7,60.0,-19.4,67,433,0.00,0.55,0.00,0.000,4,0.000,0.039,2729,2251,3138,0,0,0,0,0,0
$GC,689,-0.90,-131.7,110.5,-18.1,108,693,0.00,0.47,0.00,0.000,6,0.000,0.040,2729,1917,3138,0,0,0,0,0,0
$GC,1019,-0.90,-131.7,169.3,-17.1,139,1022,0.00,0.90,0.00,0.000,4,0.000,0.048,2729,1341,3138,0,0,0,0,0,0
$GC,1113,-0.90,-131.7,185.0,-17.4,147,1119,0.00,0.80,0.00,0.000,6,0.000,0.031,2726,1871,3138,0,0,0,0,0,0
$GC,1438,-0.90,-131.7,239.7,-16.4,178,1442,0.00,0.80,0.00,0.000,4,0.000,0.039,2722,2417,3137,0,0,0,0,0,0
$GC,1620,-0.90,-131.7,268.8,-14.9,194,1624,0.05,0.75,0.00,0.000,6,0.198,0.037,2736,1911,3137,0,0,0,0,0,0
$GC,1951,-0.90,-131.7,314.4,-12.7,225,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1911,3137,0,0,0,0,0,0
$GC,2270,-0.90,-131.7,357.9,-13.5,255,2274,0.00,0.65,0.00,0.000,4,0.000,0.049,2736,1474,3138,0,0,0,0,0,0
$GC,2342,-0.90,-131.7,368.6,-13.5,261,2348,0.00,0.65,0.00,0.000,6,0.000,0.031,2735,1925,3137,0,0,0,0,0,0
$GC,2675,-0.90,-131.7,416.3,-14.5,288,2679,0.00,0.35,0.00,0.000,4,0.000,0.044,2733,2210,3137,0,0,0,0,0,0
$GC,2932,-0.90,-131.7,453.7,-14.2,299,2937,0.00,0.45,0.00,0.000,6,0.000,0.040,2733,1896,3138,0,0,0,0,0,0
$GC,3253,-0.90,-131.7,499.8,-14.6,315,3257,0.00,0.75,0.00,0.000,4,0.000,0.033,2731,2411,3138,0,0,0,0,0,0
$GC,3448,-0.90,-131.7,528.2,-14.1,323,3454,0.00,0.75,0.00,0.000,6,0.000,0.036,2731,1915,3138,0,0,0,0,0,0
$GC,3764,-0.90,-131.7,572.8,-13.9,339,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1915,3138,0,0,0,0,0,0
$GC,4074,-0.90,-131.7,617.5,-14.5,354,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1915,3138,0,0,0,0,0,0
$GC,4383,-0.90,-131.7,661.2,-14.0,369,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1915,3139,0,0,0,0,0,0
$GC,4692,-0.90,-131.7,703.6,-13.3,384,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1914,3139,0,0,0,0,0,0
$GC,5002,-0.90,-131.7,743.5,-12.7,399,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1914,3139,0,0,0,0,0,0
$GC,5311,-0.90,-131.7,780.7,-12.0,414,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1915,3139,0,0,0,0,0,0
$GC,5620,-0.90,-131.7,815.8,-11.0,429,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1914,3139,0,0,0,0,0,0
$GC,5930,-0.90,-131.7,848.9,-9.9,444,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1914,3140,0,0,0,0,0,0
$GC,6239,-0.90,-131.7,880.0,-9.7,459,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1914,3140,0,0,0,0,0,0
$GC,6548,-0.90,-131.7,911.2,-10.8,474,6552,0.00,0.32,0.00,0.000,4,0.000,0.037,2730,2175,3140,0,0,0,0,0,0
$GC,6805,-0.90,-131.7,939.2,-11.6,485,6809,0.00,0.40,0.00,0.000,6,0.000,0.041,2730,1892,3140,0,0,0,0,0,0
$GC,7126,-0.90,-131.7,975.0,-11.2,501,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1892,3140,0,0,0,0,0,0
$STATE,7269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7269,begin apogee
$GC,7274,-0.16,0.0,991.5,11.5,508,7393,0.90,0.00,115.80,1.583,6,0.177,0.000,2971,1844,2600,0,0,0,0,0,0
$STATE,7394,end apogee,CONTROL_FINISHED_OK
$STATE,7394,begin climb
$GC,7396,0.90,131.7,993.7,0.0,514,7531,1.12,1.25,128.93,1.511,4,0.102,0.050,3317,1148,2061,0,0,0,0,0,0
$GC,7709,0.90,131.7,945.2,17.5,528,7716,0.00,1.05,0.00,0.000,6,0.000,0.024,3317,1808,2053,0,0,0,0,0,0
$GC,8026,0.90,131.7,890.5,17.2,544,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1808,2050,0,0,0,0,0,0
$GC,8335,0.90,131.7,836.2,17.3,559,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1808,2049,0,0,0,0,0,0
$GC,8644,0.90,131.7,784.7,16.5,574,8648,0.00,0.62,0.00,0.000,4,0.000,0.046,3319,1413,2048,0,0,0,0,0,0
$GC,8884,0.90,131.7,743.3,16.7,584,8890,0.00,0.60,0.00,0.000,6,0.000,0.030,3319,1841,2048,0,0,0,0,0,0
$GC,9200,0.90,131.7,687.9,18.1,600,9203,0.00,0.57,0.00,0.000,4,0.000,0.044,3320,1472,2047,0,0,0,0,0,0
$GC,9457,0.90,131.7,641.1,18.1,611,9461,0.00,0.47,0.00,0.000,6,0.000,0.032,3320,1816,2047,0,0,0,0,0,0
$GC,9778,0.90,131.7,583.4,18.0,627,9781,0.00,0.70,0.00,0.000,4,0.000,0.045,3322,1374,2047,0,0,0,0,0,0
$GC,10035,0.90,131.7,535.7,18.4,638,10039,0.00,0.65,0.00,0.000,6,0.000,0.028,3323,1833,2047,0,0,0,0,0,0
$GC,10356,0.90,131.7,475.6,18.9,654,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1833,2047,0,0,0,0,0,0
$GC,10665,0.90,131.7,419.1,17.8,669,10669,0.00,0.80,0.00,0.000,4,0.000,0.045,3325,1326,2047,0,0,0,0,0,0
$GC,10814,0.90,131.7,393.1,17.7,677,10818,0.00,0.68,0.00,0.000,6,0.000,0.029,3325,1806,2047,0,0,0,0,0,0
$GC,11144,0.90,131.7,335.4,17.1,708,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1806,2047,0,0,0,0,0,0
$GC,11463,0.90,131.7,277.6,18.7,738,11467,0.00,0.38,0.00,0.000,4,0.000,0.044,3325,2101,2047,0,0,0,0,0,0
$GC,11524,0.90,131.7,265.8,18.4,743,11529,0.00,0.45,0.00,0.000,6,0.000,0.042,3325,1795,2047,0,0,0,0,0,0
$GC,11849,0.90,131.7,206.4,17.6,774,11852,0.00,0.52,0.00,0.000,4,0.000,0.054,3327,1447,2048,0,0,0,0,0,0
$GC,12000,0.90,131.7,179.4,16.5,787,12006,0.00,0.52,0.00,0.000,6,0.000,0.031,3328,1831,2047,0,0,0,0,0,0
$GC,12325,0.90,131.7,126.0,15.3,818,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1831,2047,0,0,0,0,0,0
$GC,12653,0.90,131.7,76.6,15.5,861,12661,0.00,1.10,0.00,0.000,4,0.000,0.049,3332,1149,2047,0,0,0,0,0,0
$GC,12804,0.90,131.7,55.7,12.9,887,12809,0.00,0.95,0.00,0.000,6,0.000,0.027,3332,1804,2048,0,0,0,0,0,0
$GC,13158,0.90,131.7,5.6,14.2,948,13165,0.00,0.73,0.00,0.000,4,0.000,0.050,3335,1353,2047,0,0,0,0,0,0
$STATE,13178,end climb,SURFACE_DEPTH_REACHED
$STATE,13178,begin surface coast
$FINISH,1.9,1.027212
$STATE,13198,end surface coast,CONTROL_FINISHED_OK
$STATE,13198,begin surface
$SM_CCo,13215,64.30,0.998,0,0,1744,210.22
$SM_GC,3.06,0.00,0.00,64.30,0.000,0.000,0.998,68,1943,1744,-9.23,0.96,210.22
$IRIDIUM_FIX,-5438.56,0.00,211213,141455
$TT8_MAMPS,0.026964
$HUMID,63.07
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,21.7,53.427
$10V_AH,10.0,38.728
$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,24.450,25.375,244.725,64.300,0.000,90.725,161.596,312.944,0.000,0.000,35.547,2358.214,8365.424,370.133,2896.955,129.190,0.000,1348.371,0.000,2255.478,0.000,1.008,0.000
$DEVICE_MAMPS,289.170,151.470,1582.785,997.560,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.804,673.666,642.417,63.740,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354728
$DATA_FILE_SIZE,53577,954
$CAP_FILE_SIZE,118572,0
$CFSIZE,2097086464,2081193984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,184628,-5459.573,2.222,49,0.9,49,-20.3