version: 66.07.10.p01
glider: 574
mission: 8
dive: 107
start: 12 21 113 22 53 42
data:
$ID,574
$MISSION,8
$DIVE,107
$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,-15154.327
$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,30
$R_STBD_OVSHOOT,44
$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,86
$GPS1,211213,224434,-5459.665,0.092,71,0.8,72,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-69.6
$GPS2,211213,225321,-5459.659,0.254,70,0.7,71,-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,223.3,686,-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,-57.8,0.0,0.0,0,63,0.00,0.00,-37.00,0.000,2,0.000,0.000,66,1967,2391,0,0,0,0,0,0
$GC,66,-0.90,-134.1,3.1,-1.1,6,134,12.68,2.22,-45.30,0.000,4,0.281,0.067,2716,3307,3148,0,0,0,0,0,0
$GC,335,-0.90,-134.1,39.1,-17.8,51,341,0.10,2.17,0.00,0.000,6,0.213,0.032,2737,1908,3150,0,0,0,0,0,0
$GC,481,-0.90,-134.1,63.4,-17.2,76,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1908,3150,0,0,0,0,0,0
$GC,826,-0.90,-134.1,123.2,-16.6,125,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1907,3150,0,0,0,0,0,0
$GC,1152,-0.90,-134.1,171.9,-15.1,156,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1908,3150,0,0,0,0,0,0
$GC,1470,-0.90,-134.1,220.8,-14.9,186,1474,0.00,0.75,0.00,0.000,4,0.000,0.034,2735,2417,3150,0,0,0,0,0,0
$GC,1701,-0.90,-134.1,256.5,-15.6,206,1707,0.00,0.80,0.00,0.000,6,0.000,0.036,2735,1893,3149,0,0,0,0,0,0
$GC,2030,-0.90,-134.1,306.1,-15.2,237,2034,0.00,0.60,0.00,0.000,4,0.000,0.050,2735,1485,3149,0,0,0,0,0,0
$GC,2122,-0.90,-134.1,320.2,-14.9,245,2126,0.00,0.62,0.00,0.000,6,0.000,0.031,2733,1938,3149,0,0,0,0,0,0
$GC,2452,-0.90,-134.1,371.7,-15.3,276,2456,0.00,0.55,0.00,0.000,4,0.000,0.042,2733,1562,3148,0,0,0,0,0,0
$GC,2612,-0.90,-134.1,396.3,-15.2,290,2615,0.00,0.47,0.00,0.000,6,0.000,0.034,2732,1921,3148,0,0,0,0,0,0
$GC,2933,-0.90,-134.1,444.4,-14.9,307,2937,0.00,0.47,0.00,0.000,4,0.000,0.041,2729,2277,3149,0,0,0,0,0,0
$GC,3072,-0.90,-134.1,464.9,-13.6,313,3076,0.00,0.55,0.00,0.000,6,0.000,0.038,2729,1905,3148,0,0,0,0,0,0
$GC,3399,-0.90,-134.1,510.9,-14.0,329,3403,0.00,0.73,0.00,0.000,4,0.000,0.049,2729,1429,3149,0,0,0,0,0,0
$GC,3533,-0.90,-134.1,530.0,-13.7,335,3537,0.00,0.68,0.00,0.000,6,0.000,0.031,2727,1900,3150,0,0,0,0,0,0
$GC,3865,-0.90,-134.1,575.7,-13.9,351,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1900,3150,0,0,0,0,0,0
$GC,4175,-0.90,-134.1,619.4,-14.4,366,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1899,3150,0,0,0,0,0,0
$GC,4484,-0.90,-134.1,663.9,-14.3,381,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1901,3150,0,0,0,0,0,0
$GC,4793,-0.90,-134.1,708.1,-14.2,396,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1901,3150,0,0,0,0,0,0
$GC,5103,-0.90,-134.1,751.3,-13.9,411,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1901,3150,0,0,0,0,0,0
$GC,5412,-0.90,-134.1,794.5,-14.0,426,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1901,3150,0,0,0,0,0,0
$GC,5721,-0.90,-134.1,836.7,-13.6,441,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1901,3150,0,0,0,0,0,0
$GC,6031,-0.90,-134.1,879.5,-14.0,456,6034,0.00,0.75,0.00,0.000,4,0.000,0.038,2723,2418,3151,0,0,0,0,0,0
$GC,6147,-0.90,-134.1,895.7,-14.1,461,6152,0.08,0.77,0.00,0.000,6,0.216,0.036,2737,1904,3151,0,0,0,0,0,0
$GC,6474,-0.90,-134.1,938.3,-12.8,477,6477,0.00,0.50,0.00,0.000,4,0.000,0.051,2738,1561,3151,0,0,0,0,0,0
$GC,6624,-0.90,-134.1,957.6,-12.1,483,6630,0.00,0.50,0.00,0.000,6,0.000,0.032,2737,1922,3151,0,0,0,0,0,0
$STATE,6897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6897,begin apogee
$GC,6902,-0.16,0.0,990.1,11.7,497,7023,0.88,0.00,117.97,1.579,6,0.180,0.000,2970,1793,2600,0,0,0,0,0,0
$STATE,7024,end apogee,CONTROL_FINISHED_OK
$STATE,7024,begin climb
$GC,7026,0.90,134.1,992.9,0.0,503,7163,1.15,0.85,130.85,1.507,4,0.106,0.050,3317,1336,2053,0,0,0,0,0,0
$GC,7358,0.90,134.1,940.3,18.1,517,7363,0.00,0.75,0.00,0.000,6,0.000,0.024,3317,1807,2045,0,0,0,0,0,0
$GC,7674,0.90,134.1,883.1,18.6,533,7677,0.00,0.93,0.00,0.000,4,0.000,0.047,3320,1254,2043,0,0,0,0,0,0
$GC,7864,0.90,134.1,847.3,18.3,541,7868,0.00,0.85,0.00,0.000,6,0.000,0.025,3321,1817,2043,0,0,0,0,0,0
$GC,8185,0.90,134.1,787.6,18.6,557,8189,0.00,0.98,0.00,0.000,4,0.000,0.047,3324,1216,2041,0,0,0,0,0,0
$GC,8402,0.90,134.1,746.5,19.0,566,8408,0.00,0.93,0.00,0.000,6,0.000,0.025,3324,1826,2041,0,0,0,0,0,0
$GC,8718,0.90,134.1,687.8,18.4,582,8722,0.00,1.12,0.00,0.000,4,0.000,0.047,3327,1130,2041,0,0,0,0,0,0
$GC,8869,0.90,134.1,659.0,19.5,588,8874,0.00,1.02,0.00,0.000,6,0.000,0.026,3328,1825,2041,0,0,0,0,0,0
$GC,9184,0.90,134.1,599.3,19.1,604,9188,0.00,0.75,0.00,0.000,4,0.000,0.045,3330,1353,2040,0,0,0,0,0,0
$GC,9387,0.90,134.1,560.1,19.2,613,9390,0.00,0.68,0.00,0.000,6,0.000,0.026,3330,1821,2040,0,0,0,0,0,0
$GC,9719,0.90,134.1,497.2,19.3,629,9722,0.00,1.05,0.00,0.000,4,0.000,0.047,3334,1168,2040,0,0,0,0,0,0
$GC,9841,0.90,134.1,473.4,18.6,634,9845,0.00,0.98,0.00,0.000,6,0.000,0.024,3334,1826,2040,0,0,0,0,0,0
$GC,10163,0.90,134.1,410.9,19.4,650,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1827,2040,0,0,0,0,0,0
$GC,10483,0.90,134.1,348.8,19.0,677,10487,0.00,0.80,0.00,0.000,4,0.000,0.044,3336,1321,2040,0,0,0,0,0,0
$GC,10588,0.90,134.1,327.9,18.8,686,10594,0.00,0.73,0.00,0.000,6,0.000,0.025,3336,1809,2040,0,0,0,0,0,0
$GC,10917,0.90,134.1,269.3,17.3,717,10921,0.00,0.52,0.00,0.000,4,0.000,0.044,3338,1468,2040,0,0,0,0,0,0
$GC,11177,0.90,134.1,222.5,17.2,740,11181,0.03,0.50,0.00,0.000,6,0.198,0.031,3328,1857,2040,0,0,0,0,0,0
$GC,11506,0.90,134.1,169.8,15.5,771,11510,0.00,0.90,0.00,0.000,4,0.000,0.047,3331,1294,2040,0,0,0,0,0,0
$GC,11767,0.90,134.1,130.4,15.4,794,11771,0.00,0.73,0.00,0.000,6,0.000,0.026,3331,1789,2040,0,0,0,0,0,0
$GC,12099,0.90,134.1,83.6,13.9,834,12107,0.00,1.33,0.00,0.000,4,0.000,0.052,3337,976,2040,0,0,0,0,0,0
$GC,12307,0.90,134.1,52.7,15.8,870,12314,0.03,1.27,0.00,0.000,6,0.194,0.027,3329,1826,2040,0,0,0,0,0,0
$STATE,12662,end climb,SURFACE_DEPTH_REACHED
$STATE,12662,begin surface coast
$FINISH,1.9,1.027196
$STATE,12681,end surface coast,CONTROL_FINISHED_OK
$STATE,12681,begin surface
$SM_CCo,12698,62.80,0.993,0,0,1743,210.22
$SM_GC,3.24,0.00,0.00,62.80,0.000,0.000,0.993,74,1908,1743,-9.21,-0.06,210.22
$IRIDIUM_FIX,-5442.29,0.00,211213,181856
$TT8_MAMPS,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.7,53.716
$10V_AH,10.0,38.910
$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,24.000,31.000,248.825,62.800,0.000,27.852,56.849,276.333,0.000,0.000,72.871,2327.555,7724.479,373.043,2729.884,136.600,0.000,1360.784,0.000,2278.353,0.000,1.008,0.000
$DEVICE_MAMPS,280.755,110.160,1578.960,992.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.180,680.345,623.702,64.380,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354656
$DATA_FILE_SIZE,53489,934
$CAP_FILE_SIZE,116437,0
$CFSIZE,2097086464,2080931840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221213,022804,-5500.314,-0.723,66,0.8,66,-20.2