version: 66.07.10.p01
glider: 574
mission: 8
dive: 106
start: 12 21 113 18 54 3
data:
$ID,574
$MISSION,8
$DIVE,106
$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,-15151.07
$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,50
$R_STBD_OVSHOOT,88
$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,85
$GPS1,211213,184628,-5459.573,2.222,49,0.9,49,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-71.0
$GPS2,211213,185341,-5459.588,2.293,19,1.2,19,-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,272.9,2553,-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,-57.8,0.0,0.0,0,51,0.00,0.00,-24.95,0.000,2,0.000,0.000,67,1939,2176,0,0,0,0,0,0
$GC,53,-0.90,-133.1,3.1,-1.2,4,133,12.50,1.40,-61.28,0.000,4,0.277,0.060,2718,2831,3141,0,0,0,0,0,0
$GC,212,-0.90,-133.1,18.6,-23.0,30,220,0.05,1.42,0.00,0.000,6,0.197,0.032,2732,1914,3144,0,0,0,0,0,0
$GC,269,-0.90,-133.1,31.5,-22.6,39,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1914,3144,0,0,0,0,0,0
$GC,413,-0.90,-133.1,61.7,-21.0,64,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1914,3145,0,0,0,0,0,0
$GC,754,-0.90,-133.1,123.3,-16.4,113,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1914,3145,0,0,0,0,0,0
$GC,1071,-0.90,-133.1,174.0,-14.4,143,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1914,3145,0,0,0,0,0,0
$GC,1393,-0.90,-133.1,219.6,-13.4,173,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1915,3144,0,0,0,0,0,0
$GC,1718,-0.90,-133.1,264.9,-13.1,204,1721,0.00,0.50,0.00,0.000,4,0.000,0.049,2732,1568,3144,0,0,0,0,0,0
$GC,1801,-0.90,-133.1,276.5,-14.2,211,1807,0.00,0.45,0.00,0.000,6,0.000,0.033,2731,1915,3144,0,0,0,0,0,0
$GC,2126,-0.90,-133.1,319.9,-13.8,242,2130,0.00,1.05,0.00,0.000,4,0.000,0.044,2732,1250,3144,0,0,0,0,0,0
$GC,2278,-0.90,-133.1,341.6,-14.0,255,2283,0.00,0.93,0.00,0.000,6,0.000,0.027,2728,1873,3144,0,0,0,0,0,0
$GC,2603,-0.90,-133.1,385.4,-13.5,286,2606,0.00,0.60,0.00,0.000,4,0.000,0.038,2725,2311,3144,0,0,0,0,0,0
$GC,2704,-0.90,-133.1,399.5,-14.3,295,2708,0.00,0.57,0.00,0.000,6,0.000,0.038,2725,1908,3144,0,0,0,0,0,0
$GC,3025,-0.90,-133.1,442.9,-13.4,311,3029,0.05,0.45,0.00,0.000,4,0.249,0.051,2735,1600,3144,0,0,0,0,0,0
$GC,3129,-0.90,-133.1,456.7,-13.3,315,3135,0.00,0.45,0.00,0.000,6,0.000,0.034,2735,1937,3144,0,0,0,0,0,0
$GC,3445,-0.90,-133.1,497.7,-13.1,331,3449,0.00,0.32,0.00,0.000,4,0.000,0.047,2733,2207,3144,0,0,0,0,0,0
$GC,3539,-0.90,-133.1,510.2,-13.0,335,3543,0.00,0.43,0.00,0.000,6,0.000,0.040,2733,1906,3144,0,0,0,0,0,0
$GC,3866,-0.90,-133.1,552.7,-13.6,351,3870,0.00,0.57,0.00,0.000,4,0.000,0.048,2733,1514,3144,0,0,0,0,0,0
$GC,3959,-0.90,-133.1,565.9,-13.7,355,3963,0.00,0.55,0.00,0.000,6,0.000,0.031,2731,1908,3144,0,0,0,0,0,0
$GC,4286,-0.90,-133.1,609.5,-13.4,371,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1908,3145,0,0,0,0,0,0
$GC,4596,-0.90,-133.1,650.5,-12.8,386,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1908,3145,0,0,0,0,0,0
$GC,4905,-0.90,-133.1,689.9,-12.5,401,4908,0.00,0.80,0.00,0.000,4,0.000,0.040,2727,2451,3144,0,0,0,0,0,0
$GC,5027,-0.90,-133.1,705.1,-11.6,406,5031,0.00,0.82,0.00,0.000,6,0.000,0.034,2727,1908,3145,0,0,0,0,0,0
$GC,5348,-0.90,-133.1,743.6,-11.9,422,5352,0.00,0.60,0.00,0.000,4,0.000,0.047,2727,1502,3145,0,0,0,0,0,0
$GC,5448,-0.90,-133.1,755.9,-12.2,426,5452,0.00,0.57,0.00,0.000,6,0.000,0.031,2725,1910,3145,0,0,0,0,0,0
$GC,5769,-0.90,-133.1,794.2,-12.0,442,5773,0.05,0.85,0.00,0.000,4,0.257,0.039,2731,2478,3145,0,0,0,0,0,0
$GC,5897,-0.90,-133.1,808.9,-11.5,447,5902,0.00,0.88,0.00,0.000,6,0.000,0.035,2731,1900,3145,0,0,0,0,0,0
$GC,6212,-0.90,-133.1,845.0,-11.7,463,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1900,3145,0,0,0,0,0,0
$GC,6522,-0.90,-133.1,881.2,-11.7,478,6525,0.00,0.43,0.00,0.000,4,0.000,0.036,2730,2226,3145,0,0,0,0,0,0
$GC,6724,-0.90,-133.1,904.4,-11.4,487,6728,0.00,0.45,0.00,0.000,6,0.000,0.040,2730,1900,3145,0,0,0,0,0,0
$GC,7056,-0.90,-133.1,941.7,-11.0,503,7060,0.00,0.35,0.00,0.000,4,0.000,0.054,2730,1647,3145,0,0,0,0,0,0
$GC,7178,-0.90,-133.1,955.2,-10.9,508,7182,0.00,0.35,0.00,0.000,6,0.000,0.037,2730,1902,3146,0,0,0,0,0,0
$STATE,7498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7498,begin apogee
$GC,7503,-0.16,0.0,991.4,11.5,524,7623,0.93,0.00,116.72,1.579,6,0.184,0.000,2974,1790,2600,0,0,0,0,0,0
$STATE,7624,end apogee,CONTROL_FINISHED_OK
$STATE,7624,begin climb
$GC,7625,0.90,133.1,993.5,0.0,530,7762,1.12,1.45,129.95,1.507,4,0.106,0.052,3317,1014,2057,0,0,0,0,0,0
$GC,7863,0.90,133.1,958.9,19.1,540,7867,0.00,1.27,0.00,0.000,6,0.000,0.024,3317,1801,2049,0,0,0,0,0,0
$GC,8184,0.90,133.1,901.5,17.8,556,8188,0.00,0.32,0.00,0.000,4,0.000,0.044,3317,1590,2046,0,0,0,0,0,0
$GC,8386,0.90,133.1,866.3,17.0,565,8390,0.00,0.32,0.00,0.000,6,0.000,0.037,3317,1825,2046,0,0,0,0,0,0
$GC,8718,0.90,133.1,810.7,16.6,581,8722,0.00,0.50,0.00,0.000,4,0.000,0.045,3319,1506,2046,0,0,0,0,0,0
$GC,8975,0.90,133.1,767.2,17.1,592,8979,0.00,0.47,0.00,0.000,6,0.000,0.031,3318,1835,2046,0,0,0,0,0,0
$GC,9296,0.90,133.1,711.2,17.9,608,9300,0.00,2.22,0.00,0.000,4,0.000,0.057,3328,467,2045,0,0,0,0,0,0
$GC,9441,0.90,133.1,683.8,18.6,614,9446,0.00,2.05,0.00,0.000,6,0.000,0.025,3328,1799,2045,0,0,0,0,0,0
$GC,9763,0.90,133.1,627.4,17.2,630,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1800,2045,0,0,0,0,0,0
$GC,10072,0.90,133.1,574.1,17.3,645,10076,0.00,1.60,0.00,0.000,4,0.000,0.051,3334,821,2045,0,0,0,0,0,0
$GC,10217,0.90,133.1,548.7,17.1,651,10221,0.00,1.52,0.00,0.000,6,0.000,0.025,3334,1832,2045,0,0,0,0,0,0
$GC,10538,0.90,133.1,495.9,15.8,667,10542,0.00,1.05,0.00,0.000,4,0.000,0.048,3338,1180,2045,0,0,0,0,0,0
$GC,10651,0.90,133.1,477.5,16.8,672,10655,0.03,0.95,0.00,0.000,6,0.206,0.027,3330,1833,2045,0,0,0,0,0,0
$GC,10982,0.90,133.1,426.5,15.2,688,10986,0.00,0.77,0.00,0.000,4,0.000,0.047,3331,1347,2045,0,0,0,0,0,0
$GC,11196,0.90,133.1,392.4,16.6,699,11200,0.00,0.68,0.00,0.000,6,0.000,0.028,3331,1816,2045,0,0,0,0,0,0
$GC,11526,0.90,133.1,338.2,16.9,730,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1816,2045,0,0,0,0,0,0
$GC,11846,0.90,133.1,283.5,17.4,760,11849,0.00,0.93,0.00,0.000,4,0.000,0.047,3335,1244,2045,0,0,0,0,0,0
$GC,12040,0.90,133.1,250.4,16.0,777,12043,0.00,0.85,0.00,0.000,6,0.000,0.026,3335,1820,2045,0,0,0,0,0,0
$GC,12370,0.90,133.1,195.5,16.2,808,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1819,2045,0,0,0,0,0,0
$GC,12689,0.90,133.1,143.0,16.8,838,12693,0.00,1.23,0.00,0.000,4,0.000,0.040,3335,2618,2046,0,0,0,0,0,0
$GC,12780,0.90,133.1,129.0,15.8,846,12784,0.03,1.17,0.00,0.000,6,0.205,0.036,3332,1866,2045,0,0,0,0,0,0
$GC,13112,0.90,133.1,80.2,14.6,888,13119,0.00,2.38,0.00,0.000,4,0.000,0.059,3342,420,2046,0,0,0,0,0,0
$GC,13370,0.90,133.1,40.6,14.8,933,13378,0.05,2.12,0.00,0.000,6,0.173,0.026,3326,1816,2046,0,0,0,0,0,0
$STATE,13624,end climb,SURFACE_DEPTH_REACHED
$STATE,13624,begin surface coast
$FINISH,1.7,1.014760
$STATE,13644,end surface coast,CONTROL_FINISHED_OK
$STATE,13644,begin surface
$SM_CCo,13660,64.00,0.991,0,0,1744,210.22
$SM_GC,3.23,0.00,0.00,64.00,0.000,0.000,0.991,71,1974,1744,-9.22,1.81,210.22
$IRIDIUM_FIX,-5438.56,0.00,211213,141455
$TT8_MAMPS,0.027713
$HUMID,63.58
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,21.8,53.570
$10V_AH,10.1,38.819
$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,23.850,39.875,246.675,64.000,0.000,29.428,21.004,270.119,0.000,0.000,21.796,2458.386,8441.041,377.762,2743.262,142.256,0.000,1435.887,0.000,2384.235,0.000,1.009,0.000
$DEVICE_MAMPS,276.930,77.265,1578.960,990.675,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.693,670.354,667.502,58.642,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354712
$DATA_FILE_SIZE,57019,979
$CAP_FILE_SIZE,126866,0
$CFSIZE,2097086464,2081062912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,224434,-5459.665,0.092,71,0.8,72,-20.2