version: 66.07.10.p01
glider: 574
mission: 8
dive: 114
start: 12 23 113 2 19 45
data:
$ID,574
$MISSION,8
$DIVE,114
$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,-15177.857
$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,43
$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,93
$GPS1,231213,021134,-5459.274,2.829,47,0.8,47,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-71.2
$GPS2,231213,021924,-5459.256,2.955,19,1.2,19,-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,266.6,3429,-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,-57.8,0.0,0.0,0,40,0.00,0.00,-13.68,0.000,2,0.000,0.000,66,1885,1973,0,0,0,0,0,0
$GC,42,-0.90,-112.8,3.0,-3.4,2,127,12.40,0.00,-67.38,0.000,6,0.273,0.000,2728,1891,3060,0,0,0,0,0,0
$GC,177,-0.90,-112.8,9.6,-15.3,24,183,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1892,3062,0,0,0,0,0,0
$GC,233,-0.90,-112.8,20.0,-19.3,33,238,0.00,0.38,0.00,0.000,4,0.000,0.047,2728,1620,3062,0,0,0,0,0,0
$GC,303,-0.90,-112.8,31.4,-15.9,45,308,0.00,0.43,0.00,0.000,6,0.000,0.036,2727,1933,3062,0,0,0,0,0,0
$GC,448,-0.90,-112.8,55.3,-15.4,70,453,0.00,0.45,0.00,0.000,4,0.000,0.041,2724,2274,3062,0,0,0,0,0,0
$GC,552,-0.90,-112.8,71.2,-14.8,88,557,0.03,0.55,0.00,0.000,6,0.242,0.037,2730,1881,3063,0,0,0,0,0,0
$GC,895,-0.90,-112.8,130.7,-19.1,134,898,0.00,0.88,0.00,0.000,4,0.000,0.047,2730,1321,3062,0,0,0,0,0,0
$GC,997,-0.90,-112.8,148.4,-17.7,143,1000,0.00,0.85,0.00,0.000,6,0.000,0.027,2728,1900,3062,0,0,0,0,0,0
$GC,1327,-0.90,-112.8,201.1,-14.7,174,1330,0.00,0.77,0.00,0.000,4,0.000,0.037,2724,2430,3062,0,0,0,0,0,0
$GC,1398,-0.90,-112.8,212.4,-15.7,180,1407,0.05,0.77,0.00,0.000,6,0.257,0.034,2733,1915,3062,0,0,0,0,0,0
$GC,1723,-0.90,-112.8,258.0,-14.5,211,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1915,3062,0,0,0,0,0,0
$GC,2046,-0.90,-112.8,302.5,-14.1,241,2050,0.00,0.57,0.00,0.000,4,0.000,0.048,2733,1526,3061,0,0,0,0,0,0
$GC,2219,-0.90,-112.8,326.9,-13.2,256,2227,0.00,0.55,0.00,0.000,6,0.000,0.030,2733,1924,3062,0,0,0,0,0,0
$GC,2546,-0.90,-112.8,368.1,-12.3,287,2549,0.00,0.98,0.00,0.000,4,0.000,0.037,2728,2577,3062,0,0,0,0,0,0
$GC,2651,-0.90,-112.8,381.7,-12.7,296,2659,0.00,1.02,0.00,0.000,6,0.000,0.032,2728,1911,3062,0,0,0,0,0,0
$GC,2972,-0.90,-112.8,423.0,-12.9,319,2975,0.00,0.93,0.00,0.000,4,0.000,0.047,2728,1313,3062,0,0,0,0,0,0
$GC,3094,-0.90,-112.8,439.1,-13.1,324,3099,0.05,0.88,0.00,0.000,6,0.261,0.027,2733,1906,3062,0,0,0,0,0,0
$GC,3415,-0.90,-112.8,478.0,-12.2,340,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1905,3062,0,0,0,0,0,0
$GC,3724,-0.90,-112.8,515.7,-12.0,355,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1905,3063,0,0,0,0,0,0
$GC,4033,-0.90,-112.8,551.8,-11.4,370,4037,0.00,0.43,0.00,0.000,4,0.000,0.043,2733,1616,3063,0,0,0,0,0,0
$GC,4146,-0.90,-112.8,564.3,-10.8,375,4149,0.00,0.40,0.00,0.000,6,0.000,0.036,2733,1925,3063,0,0,0,0,0,0
$GC,4478,-0.90,-112.8,600.4,-10.8,391,4481,0.00,0.68,0.00,0.000,4,0.000,0.041,2733,1482,3064,0,0,0,0,0,0
$GC,4571,-0.90,-112.8,610.8,-11.0,395,4576,0.00,0.60,0.00,0.000,6,0.000,0.030,2731,1910,3064,0,0,0,0,0,0
$GC,4898,-0.90,-112.8,646.2,-10.7,411,4902,0.00,0.38,0.00,0.000,4,0.000,0.044,2729,2209,3065,0,0,0,0,0,0
$GC,4992,-0.90,-112.8,656.7,-10.8,415,4996,0.00,0.45,0.00,0.000,6,0.000,0.039,2729,1891,3065,0,0,0,0,0,0
$GC,5319,-0.90,-112.8,691.7,-11.0,431,5323,0.00,1.02,0.00,0.000,4,0.000,0.047,2729,1236,3065,0,0,0,0,0,0
$GC,5470,-0.90,-112.8,709.2,-12.5,437,5476,0.03,0.98,0.00,0.000,6,0.223,0.027,2732,1897,3065,0,0,0,0,0,0
$GC,5785,-0.90,-112.8,743.3,-10.8,453,5789,0.00,0.35,0.00,0.000,4,0.000,0.043,2731,2186,3065,0,0,0,0,0,0
$GC,5901,-0.90,-112.8,756.1,-11.3,458,5906,0.00,0.40,0.00,0.000,6,0.000,0.040,2731,1903,3065,0,0,0,0,0,0
$GC,6228,-0.90,-112.8,791.8,-11.0,474,6232,0.00,0.85,0.00,0.000,4,0.000,0.047,2731,1353,3066,0,0,0,0,0,0
$GC,6341,-0.90,-112.8,804.1,-11.3,479,6344,0.00,0.82,0.00,0.000,6,0.000,0.029,2728,1917,3066,0,0,0,0,0,0
$GC,6673,-0.90,-112.8,839.5,-10.5,495,6676,0.00,0.47,0.00,0.000,4,0.000,0.041,2728,1591,3066,0,0,0,0,0,0
$GC,6890,-0.90,-112.8,861.8,-10.2,504,6895,0.00,0.47,0.00,0.000,6,0.000,0.033,2727,1940,3066,0,0,0,0,0,0
$GC,7206,-0.90,-112.8,893.1,-9.9,520,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1940,3067,0,0,0,0,0,0
$GC,7515,-0.90,-112.8,923.0,-9.5,535,7518,0.00,0.52,0.00,0.000,4,0.000,0.041,2727,1582,3067,0,0,0,0,0,0
$GC,7666,-0.90,-112.8,937.5,-10.2,541,7671,0.00,0.45,0.00,0.000,6,0.000,0.034,2726,1929,3068,0,0,0,0,0,0
$GC,7981,-0.90,-116.6,966.5,-9.0,557,7983,0.05,0.00,0.00,0.000,6,0.266,0.000,2734,1931,3067,0,0,0,0,0,0
$STATE,8268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8268,begin apogee
$GC,8273,-0.16,0.0,991.6,8.7,571,8377,0.90,0.00,100.62,1.664,6,0.180,0.000,2974,1796,2600,0,0,0,0,0,0
$STATE,8378,end apogee,CONTROL_FINISHED_OK
$STATE,8378,begin climb
$GC,8379,0.90,116.6,991.7,0.0,576,8499,1.15,0.00,115.65,1.580,6,0.101,0.000,3320,1795,2124,0,0,0,0,0,0
$GC,8800,0.90,116.6,921.0,18.4,597,8804,0.00,2.15,0.00,0.000,4,0.000,0.057,3329,521,2113,0,0,0,0,0,0
$GC,8929,0.90,116.6,896.2,19.4,603,8933,0.00,1.98,0.00,0.000,6,0.000,0.025,3330,1782,2113,0,0,0,0,0,0
$GC,9261,0.90,116.6,834.9,18.4,619,9264,0.00,0.55,0.00,0.000,4,0.000,0.045,3331,1437,2112,0,0,0,0,0,0
$GC,9518,0.90,116.6,786.9,19.4,630,9522,0.00,0.60,0.00,0.000,6,0.000,0.030,3331,1861,2111,0,0,0,0,0,0
$GC,9839,0.90,116.6,728.2,18.1,646,9843,0.00,1.25,0.00,0.000,4,0.000,0.049,3335,1094,2110,0,0,0,0,0,0
$GC,9989,0.90,116.6,700.0,19.4,652,9995,0.00,1.05,0.00,0.000,6,0.000,0.025,3335,1800,2110,0,0,0,0,0,0
$GC,10305,0.90,116.6,640.3,19.2,668,10308,0.00,0.52,0.00,0.000,4,0.000,0.044,3337,1459,2110,0,0,0,0,0,0
$GC,10561,0.90,116.6,591.3,19.7,679,10566,0.03,0.52,0.00,0.000,6,0.285,0.031,3327,1847,2110,0,0,0,0,0,0
$GC,10883,0.90,116.6,534.1,17.8,695,10887,0.00,0.65,0.00,0.000,4,0.000,0.044,3329,1431,2110,0,0,0,0,0,0
$GC,11130,0.90,116.6,489.9,18.3,706,11133,0.00,0.50,0.00,0.000,6,0.000,0.030,3329,1796,2110,0,0,0,0,0,0
$GC,11461,0.90,116.6,431.6,17.7,722,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1796,2109,0,0,0,0,0,0
$GC,11775,0.90,116.6,376.5,17.7,743,11778,0.00,0.75,0.00,0.000,4,0.000,0.046,3331,1324,2109,0,0,0,0,0,0
$GC,11936,0.90,116.6,348.7,17.4,757,11940,0.00,0.70,0.00,0.000,6,0.000,0.028,3331,1813,2109,0,0,0,0,0,0
$GC,12266,0.90,116.6,291.2,17.8,788,12269,0.00,0.47,0.00,0.000,4,0.000,0.044,3333,1495,2109,0,0,0,0,0,0
$GC,12525,0.90,116.6,246.4,16.9,811,12529,0.00,0.45,0.00,0.000,6,0.000,0.033,3333,1846,2110,0,0,0,0,0,0
$GC,12855,0.90,116.6,193.1,15.5,842,12859,0.00,1.80,0.00,0.000,4,0.000,0.051,3340,725,2110,0,0,0,0,0,0
$GC,13007,0.90,116.6,170.0,14.7,855,13013,0.03,1.60,0.00,0.000,6,0.200,0.025,3329,1788,2109,0,0,0,0,0,0
$GC,13332,0.90,116.6,128.3,11.9,886,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1788,2109,0,0,0,0,0,0
$GC,13656,0.90,116.6,89.3,11.9,923,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1788,2109,0,0,0,0,0,0
$GC,14003,0.90,116.6,47.5,11.8,984,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1788,2110,0,0,0,0,0,0
$STATE,14352,end climb,SURFACE_DEPTH_REACHED
$STATE,14352,begin surface coast
$FINISH,1.7,1.017931
$STATE,14372,end surface coast,CONTROL_FINISHED_OK
$STATE,14372,begin surface
$SM_CCo,14389,80.68,1.085,0,0,1743,210.22
$SM_GC,2.99,0.00,0.00,80.68,0.000,0.000,1.085,75,1975,1743,-9.20,1.84,210.22
$IRIDIUM_FIX,-5438.56,-52.48,221213,222232
$TT8_MAMPS,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.7,54.803
$10V_AH,10.0,39.569
$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,23.875,35.100,216.275,80.675,0.000,43.606,23.420,283.067,0.000,0.000,23.187,2633.271,8805.375,406.225,2961.032,136.798,0.000,1507.902,0.000,2562.363,0.000,1.010,0.000
$DEVICE_MAMPS,285.345,63.495,1663.875,1084.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.112,743.072,701.656,69.162,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,60249,1047
$CAP_FILE_SIZE,134069,0
$CFSIZE,2097086464,2079981568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231213,062234,-5459.142,0.784,64,0.8,64,-20.3