version: 66.07.10.p01
glider: 574
mission: 8
dive: 111
start: 12 22 113 14 23 6
data:
$ID,574
$MISSION,8
$DIVE,111
$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,-15168.095
$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,44
$R_STBD_OVSHOOT,60
$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,90
$GPS1,221213,140804,-5500.823,0.154,68,1.0,68,-20.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.0
$GPS2,221213,142245,-5500.765,0.321,51,1.3,51,-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,6.7,1458,-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,-57.8,0.0,0.0,0,46,0.00,0.00,-19.70,0.000,2,0.000,0.000,67,1919,2075,0,0,0,0,0,0
$GC,48,-0.90,-134.0,3.1,-1.1,3,134,12.62,1.98,-64.60,0.000,4,0.278,0.063,2730,723,3148,0,0,0,0,0,0
$GC,172,-0.90,-134.0,10.6,-17.7,23,180,0.03,1.83,0.00,0.000,6,0.225,0.027,2729,1891,3150,0,0,0,0,0,0
$GC,229,-0.90,-134.0,20.4,-16.8,32,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1891,3150,0,0,0,0,0,0
$GC,374,-0.90,-134.0,47.0,-18.6,57,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1891,3150,0,0,0,0,0,0
$GC,717,-0.90,-134.0,115.2,-19.4,111,721,0.00,2.25,0.00,0.000,4,0.000,0.049,2719,3313,3150,0,0,0,0,0,0
$GC,851,-0.90,-134.0,141.4,-19.5,122,858,0.03,2.17,0.00,0.000,6,0.208,0.031,2731,1920,3150,0,0,0,0,0,0
$GC,1178,-0.90,-134.0,198.0,-17.2,153,1182,0.00,0.43,0.00,0.000,4,0.000,0.050,2731,1620,3150,0,0,0,0,0,0
$GC,1246,-0.90,-134.0,210.0,-16.8,159,1250,0.00,0.43,0.00,0.000,6,0.000,0.035,2731,1946,3150,0,0,0,0,0,0
$GC,1576,-0.90,-134.0,263.4,-15.7,190,1579,0.00,0.25,0.00,0.000,4,0.000,0.050,2729,2173,3150,0,0,0,0,0,0
$GC,1633,-0.90,-134.0,272.3,-15.8,195,1636,0.00,0.40,0.00,0.000,6,0.000,0.041,2730,1880,3150,0,0,0,0,0,0
$GC,1962,-0.90,-134.0,323.9,-15.4,226,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1879,3150,0,0,0,0,0,0
$GC,2282,-0.90,-134.0,370.7,-14.2,256,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1879,3150,0,0,0,0,0,0
$GC,2597,-0.90,-134.0,415.8,-14.2,281,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1879,3150,0,0,0,0,0,0
$GC,2906,-0.90,-134.0,459.0,-13.8,296,2910,0.00,0.68,0.00,0.000,4,0.000,0.048,2729,1432,3150,0,0,0,0,0,0
$GC,3000,-0.90,-134.0,472.8,-14.5,300,3004,0.00,0.68,0.00,0.000,6,0.000,0.030,2727,1899,3150,0,0,0,0,0,0
$GC,3327,-0.90,-134.0,519.5,-14.6,316,3330,0.00,0.43,0.00,0.000,4,0.000,0.042,2725,2228,3151,0,0,0,0,0,0
$GC,3489,-0.90,-134.0,543.1,-14.4,323,3494,0.05,0.47,0.00,0.000,6,0.243,0.038,2733,1888,3151,0,0,0,0,0,0
$GC,3816,-0.90,-134.0,589.9,-14.5,339,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1889,3151,0,0,0,0,0,0
$GC,4125,-0.90,-134.0,632.8,-13.8,354,4128,0.00,0.85,0.00,0.000,4,0.000,0.046,2734,1339,3151,0,0,0,0,0,0
$GC,4192,-0.90,-134.0,642.2,-13.9,357,4196,0.00,0.82,0.00,0.000,6,0.000,0.028,2732,1908,3151,0,0,0,0,0,0
$GC,4524,-0.90,-134.0,685.5,-12.1,373,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1908,3152,0,0,0,0,0,0
$GC,4833,-0.90,-134.0,721.3,-11.0,388,4837,0.00,0.52,0.00,0.000,4,0.000,0.041,2732,1551,3152,0,0,0,0,0,0
$GC,4925,-0.90,-134.0,731.1,-11.2,392,4929,0.00,0.50,0.00,0.000,6,0.000,0.033,2730,1921,3152,0,0,0,0,0,0
$GC,5257,-0.90,-134.0,765.1,-10.2,408,5260,0.00,0.73,0.00,0.000,4,0.000,0.039,2727,2421,3152,0,0,0,0,0,0
$GC,5369,-0.90,-134.0,776.3,-9.9,413,5373,0.00,0.73,0.00,0.000,6,0.000,0.035,2727,1927,3152,0,0,0,0,0,0
$GC,5701,-0.90,-134.0,810.3,-10.4,429,5705,0.00,0.50,0.00,0.000,4,0.000,0.049,2727,1577,3152,0,0,0,0,0,0
$GC,5869,-0.90,-134.0,829.2,-11.5,436,5873,0.00,0.47,0.00,0.000,6,0.000,0.033,2725,1921,3152,0,0,0,0,0,0
$GC,6190,-0.90,-134.0,866.4,-11.7,452,6192,0.05,0.00,0.00,0.000,6,0.256,0.000,2734,1921,3153,0,0,0,0,0,0
$GC,6499,-0.90,-134.0,902.3,-11.7,467,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1922,3153,0,0,0,0,0,0
$GC,6809,-0.90,-134.0,939.6,-12.4,482,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1922,3153,0,0,0,0,0,0
$GC,7118,-0.90,-134.0,978.4,-12.8,497,7121,0.00,0.57,0.00,0.000,4,0.000,0.041,2734,1532,3153,0,0,0,0,0,0
$STATE,7210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7210,begin apogee
$GC,7215,-0.16,0.0,990.5,13.2,501,7337,0.85,0.00,118.65,1.618,6,0.178,0.000,2966,1833,2600,0,0,0,0,0,0
$STATE,7338,end apogee,CONTROL_FINISHED_OK
$STATE,7338,begin climb
$GC,7340,0.90,134.0,992.9,0.0,507,7479,1.20,0.77,132.52,1.545,4,0.104,0.044,3321,1418,2053,0,0,0,0,0,0
$GC,7732,0.90,134.0,930.1,18.2,525,7737,0.00,0.60,0.00,0.000,6,0.000,0.025,3321,1804,2044,0,0,0,0,0,0
$GC,8047,0.90,134.0,873.5,17.9,541,8051,0.00,1.50,0.00,0.000,4,0.000,0.050,3326,912,2043,0,0,0,0,0,0
$GC,8169,0.90,134.0,850.3,18.7,546,8174,0.00,1.42,0.00,0.000,6,0.000,0.024,3327,1826,2041,0,0,0,0,0,0
$GC,8491,0.90,134.0,791.2,18.0,562,8495,0.00,1.08,0.00,0.000,4,0.000,0.047,3331,1167,2041,0,0,0,0,0,0
$GC,8653,0.90,134.0,761.1,17.9,569,8658,0.00,0.98,0.00,0.000,6,0.000,0.026,3330,1828,2040,0,0,0,0,0,0
$GC,8980,0.90,134.0,701.7,18.3,585,8983,0.00,0.57,0.00,0.000,4,0.000,0.044,3332,1461,2040,0,0,0,0,0,0
$GC,9237,0.90,134.0,656.5,17.6,596,9241,0.00,0.52,0.00,0.000,6,0.000,0.029,3332,1831,2040,0,0,0,0,0,0
$GC,9558,0.90,134.0,601.2,17.2,612,9562,0.00,1.85,0.00,0.000,4,0.000,0.052,3340,674,2040,0,0,0,0,0,0
$GC,9702,0.90,134.0,574.1,18.9,618,9708,0.03,1.70,0.00,0.000,6,0.203,0.024,3330,1801,2039,0,0,0,0,0,0
$GC,10024,0.90,134.0,517.7,17.3,634,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1801,2039,0,0,0,0,0,0
$GC,10333,0.90,134.0,463.4,17.6,649,10337,0.00,1.75,0.00,0.000,4,0.000,0.053,3336,729,2039,0,0,0,0,0,0
$GC,10492,0.90,134.0,434.2,18.1,656,10496,0.03,1.65,0.00,0.000,6,0.195,0.026,3328,1822,2038,0,0,0,0,0,0
$GC,10819,0.90,134.0,376.4,17.5,677,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1822,2038,0,0,0,0,0,0
$GC,11135,0.90,134.0,320.5,17.5,707,11139,0.00,1.52,0.00,0.000,4,0.000,0.051,3334,889,2038,0,0,0,0,0,0
$GC,11284,0.90,134.0,294.7,17.4,720,11287,0.00,1.40,0.00,0.000,6,0.000,0.025,3333,1820,2038,0,0,0,0,0,0
$GC,11614,0.90,134.0,239.1,16.9,751,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1820,2038,0,0,0,0,0,0
$GC,11935,0.90,134.0,185.3,16.9,781,11939,0.00,0.90,0.00,0.000,4,0.000,0.047,3337,1250,2038,0,0,0,0,0,0
$GC,12165,0.90,134.0,147.4,15.8,801,12172,0.03,0.85,0.00,0.000,6,0.280,0.027,3327,1825,2038,0,0,0,0,0,0
$GC,12490,0.90,134.0,101.2,12.8,832,12494,0.00,0.68,0.00,0.000,4,0.000,0.038,3325,2296,2038,0,0,0,0,0,0
$GC,12576,0.90,134.0,89.8,13.9,846,12583,0.00,0.70,0.00,0.000,6,0.000,0.039,3326,1825,2038,0,0,0,0,0,0
$GC,12927,0.90,134.0,41.6,15.9,907,12932,0.00,1.23,0.00,0.000,4,0.000,0.054,3332,1059,2038,0,0,0,0,0,0
$GC,13125,0.90,134.0,12.3,13.4,941,13132,0.00,1.12,0.00,0.000,6,0.000,0.027,3332,1821,2038,0,0,0,0,0,0
$GC,13182,0.90,134.0,3.7,14.4,950,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1821,2039,0,0,0,0,0,0
$STATE,13195,end climb,SURFACE_DEPTH_REACHED
$STATE,13195,begin surface coast
$FINISH,1.7,1.013760
$STATE,13220,end surface coast,CONTROL_FINISHED_OK
$STATE,13221,begin surface
$SM_CCo,13237,84.93,1.108,4,0,1740,210.71
$SM_GC,2.88,0.00,0.00,84.93,0.000,0.000,1.108,72,1967,1740,-9.20,1.61,210.71
$IRIDIUM_FIX,-5438.56,-3.75,221213,101006
$TT8_MAMPS,0.027713
$HUMID,62.64
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.7,54.322
$10V_AH,10.0,39.277
$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,23.975,40.950,251.175,84.925,0.000,28.395,51.429,616.901,0.000,0.000,54.395,2387.816,8169.670,445.958,3049.712,156.898,0.000,1454.145,0.000,2292.396,0.000,1.007,0.000
$DEVICE_MAMPS,279.990,95.625,1617.975,1108.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.301,676.994,651.362,62.772,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,53544,956
$CAP_FILE_SIZE,128059,4
$CFSIZE,2097086464,2080407552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,221213,180634,-5458.776,0.046,31,0.9,31,-20.2