version: 66.07.10.p01
glider: 574
mission: 8
dive: 116
start: 12 23 113 10 25 16
data:
$ID,574
$MISSION,8
$DIVE,116
$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,-15184.315
$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,36
$R_STBD_OVSHOOT,105
$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,95
$GPS1,231213,101152,-5500.119,-0.843,77,0.8,77,-20.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-71.7
$GPS2,231213,102454,-5500.059,-0.683,17,1.0,18,-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,101.7,734,-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,-20.08,0.000,2,0.000,0.000,66,1960,2083,0,0,0,0,0,0
$GC,48,-0.90,-121.7,3.2,-2.5,3,122,12.27,2.30,-55.85,0.000,4,0.269,0.051,2732,506,3097,0,0,0,0,0,0
$GC,366,-0.90,-121.7,48.7,-20.5,57,374,0.03,2.10,0.00,0.000,6,0.233,0.028,2730,1850,3099,0,0,0,0,0,0
$GC,716,-0.90,-121.7,114.2,-17.5,112,720,0.00,1.45,0.00,0.000,4,0.000,0.042,2723,2777,3099,0,0,0,0,0,0
$GC,976,-0.90,-121.7,161.6,-16.5,135,981,0.03,1.35,0.00,0.000,6,0.219,0.032,2730,1898,3099,0,0,0,0,0,0
$GC,1306,-0.90,-121.7,210.0,-14.2,166,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1898,3099,0,0,0,0,0,0
$GC,1626,-0.90,-121.7,255.4,-13.9,196,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1898,3098,0,0,0,0,0,0
$GC,1944,-0.90,-121.7,299.6,-13.7,226,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1898,3098,0,0,0,0,0,0
$GC,2263,-0.90,-121.7,344.1,-14.1,256,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1898,3098,0,0,0,0,0,0
$GC,2582,-0.90,-121.7,388.0,-13.6,286,2585,0.00,0.60,0.00,0.000,4,0.000,0.048,2730,1492,3098,0,0,0,0,0,0
$GC,2695,-0.90,-121.7,403.6,-14.1,295,2699,0.00,0.52,0.00,0.000,6,0.000,0.033,2730,1883,3098,0,0,0,0,0,0
$GC,3027,-0.90,-121.7,446.7,-12.7,311,3031,0.00,0.35,0.00,0.000,4,0.000,0.044,2728,2170,3099,0,0,0,0,0,0
$GC,3278,-0.90,-121.7,477.6,-11.4,322,3282,0.00,0.38,0.00,0.000,6,0.000,0.039,2728,1901,3099,0,0,0,0,0,0
$GC,3605,-0.90,-121.7,513.0,-10.6,338,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1900,3099,0,0,0,0,0,0
$GC,3914,-0.90,-121.7,546.0,-10.9,353,3918,0.00,0.45,0.00,0.000,4,0.000,0.050,2727,1584,3099,0,0,0,0,0,0
$GC,4087,-0.90,-121.7,564.9,-11.7,360,4093,0.00,0.45,0.00,0.000,6,0.000,0.034,2726,1921,3099,0,0,0,0,0,0
$GC,4403,-0.90,-121.7,599.4,-11.0,376,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3099,0,0,0,0,0,0
$GC,4712,-0.90,-121.7,633.7,-11.5,391,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1920,3099,0,0,0,0,0,0
$GC,5022,-0.90,-121.7,670.0,-12.0,406,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1921,3100,0,0,0,0,0,0
$GC,5331,-0.90,-121.7,707.4,-12.1,421,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3100,0,0,0,0,0,0
$GC,5640,-0.90,-121.7,743.0,-11.4,436,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3100,0,0,0,0,0,0
$GC,5950,-0.90,-121.7,777.3,-11.0,451,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1921,3100,0,0,0,0,0,0
$GC,6259,-0.90,-121.7,811.4,-11.3,466,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3101,0,0,0,0,0,0
$GC,6568,-0.90,-121.7,847.5,-11.5,481,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3101,0,0,0,0,0,0
$GC,6878,-0.90,-121.7,883.6,-11.9,496,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3101,0,0,0,0,0,0
$GC,7187,-0.90,-121.7,919.0,-11.2,511,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1921,3101,0,0,0,0,0,0
$GC,7496,-0.90,-121.7,953.3,-10.9,526,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1921,3101,0,0,0,0,0,0
$GC,7806,-0.90,-121.7,986.6,-10.8,541,7809,0.00,0.38,0.00,0.000,4,0.000,0.042,2727,1652,3101,0,0,0,0,0,0
$STATE,7836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7836,begin apogee
$GC,7841,-0.16,0.0,990.3,10.9,542,7953,0.90,0.00,108.12,1.666,6,0.178,0.000,2970,1810,2600,0,0,0,0,0,0
$STATE,7953,end apogee,CONTROL_FINISHED_OK
$STATE,7953,begin climb
$GC,7955,0.90,121.7,991.8,0.0,548,8080,1.15,0.00,120.85,1.585,6,0.101,0.000,3313,1810,2104,0,0,0,0,0,0
$GC,8382,0.90,121.7,922.8,18.0,569,8385,0.00,0.88,0.00,0.000,4,0.000,0.047,3316,1294,2095,0,0,0,0,0,0
$GC,8629,0.90,121.7,877.8,17.6,580,8633,0.00,0.75,0.00,0.000,6,0.000,0.024,3316,1784,2093,0,0,0,0,0,0
$GC,8961,0.90,121.7,817.6,17.9,596,8965,0.00,0.62,0.00,0.000,4,0.000,0.046,3318,1391,2093,0,0,0,0,0,0
$GC,9212,0.90,121.7,771.2,18.6,607,9217,0.00,0.68,0.00,0.000,6,0.000,0.028,3318,1839,2092,0,0,0,0,0,0
$GC,9539,0.90,121.7,712.0,18.4,623,9543,0.00,0.65,0.00,0.000,4,0.000,0.045,3320,1429,2092,0,0,0,0,0,0
$GC,9796,0.90,121.7,666.2,17.5,634,9801,0.00,0.60,0.00,0.000,6,0.000,0.029,3320,1847,2093,0,0,0,0,0,0
$GC,10118,0.90,121.7,609.8,17.4,650,10121,0.00,1.08,0.00,0.000,4,0.000,0.048,3324,1182,2093,0,0,0,0,0,0
$GC,10301,0.90,121.7,577.4,17.5,658,10306,0.00,0.95,0.00,0.000,6,0.000,0.025,3324,1820,2092,0,0,0,0,0,0
$GC,10629,0.90,121.7,518.9,18.2,674,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1819,2092,0,0,0,0,0,0
$GC,10938,0.90,121.7,464.0,17.8,689,10941,0.00,0.60,0.00,0.000,4,0.000,0.044,3325,1434,2092,0,0,0,0,0,0
$GC,11195,0.90,121.7,417.2,17.8,700,11199,0.00,0.57,0.00,0.000,6,0.000,0.029,3325,1844,2092,0,0,0,0,0,0
$GC,11523,0.90,121.7,360.5,16.6,726,11526,0.00,0.68,0.00,0.000,4,0.000,0.044,3327,1414,2092,0,0,0,0,0,0
$GC,11726,0.90,121.7,326.5,16.0,744,11730,0.00,0.55,0.00,0.000,6,0.000,0.030,3327,1815,2092,0,0,0,0,0,0
$GC,12056,0.90,121.7,272.9,16.1,775,12060,0.00,0.93,0.00,0.000,4,0.000,0.047,3331,1236,2092,0,0,0,0,0,0
$GC,12219,0.90,121.7,245.0,17.8,789,12225,0.00,0.85,0.00,0.000,6,0.000,0.026,3331,1802,2092,0,0,0,0,0,0
$GC,12545,0.90,121.7,188.5,17.5,820,12548,0.00,1.05,0.00,0.000,4,0.000,0.047,3334,1147,2092,0,0,0,0,0,0
$GC,12785,0.90,121.7,147.4,16.6,841,12788,0.00,1.00,0.00,0.000,6,0.000,0.028,3334,1830,2092,0,0,0,0,0,0
$GC,13115,0.90,121.7,103.2,12.0,872,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1831,2092,0,0,0,0,0,0
$GC,13454,0.90,121.7,62.4,12.1,929,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1830,2092,0,0,0,0,0,0
$GC,13803,0.90,121.7,18.9,11.5,990,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1832,2093,0,0,0,0,0,0
$GC,13859,0.90,121.7,12.8,10.4,999,13866,0.00,0.45,0.00,0.000,4,0.000,0.060,3336,1544,2092,0,0,0,0,0,0
$GC,13898,0.90,121.7,8.6,9.8,1005,13905,0.00,0.38,0.00,0.000,6,0.000,0.035,3336,1824,2092,0,0,0,0,0,0
$STATE,13941,end climb,SURFACE_DEPTH_REACHED
$STATE,13942,begin surface coast
$FINISH,2.0,1.027215
$STATE,13967,end surface coast,CONTROL_FINISHED_OK
$STATE,13967,begin surface
$SM_CCo,13983,77.18,1.091,0,0,1743,210.22
$SM_GC,2.89,0.00,0.00,77.18,0.000,0.000,1.091,85,1954,1743,-9.20,1.24,210.22
$IRIDIUM_FIX,-5442.29,-3.75,231213,101029
$TT8_MAMPS,0.026964
$HUMID,63.46
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.6,55.116
$10V_AH,9.9,39.757
$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,23.450,23.800,228.975,77.175,0.000,60.307,97.473,416.206,0.000,0.000,21.348,2513.988,8792.026,385.501,3023.411,132.464,0.000,1382.140,0.000,2380.044,0.000,1.646,0.000
$DEVICE_MAMPS,269.280,130.815,1666.170,1090.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.591,719.882,683.762,69.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354736
$DATA_FILE_SIZE,56914,1016
$CAP_FILE_SIZE,122270,0
$CFSIZE,2097086464,2079752192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231213,142122,-5459.659,3.385,70,0.9,70,-20.3