version: 66.07.10.p01
glider: 574
mission: 8
dive: 117
start: 12 23 113 14 29 45
data:
$ID,574
$MISSION,8
$DIVE,117
$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,-15188.295
$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,54
$R_STBD_OVSHOOT,106
$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,96
$GPS1,231213,142122,-5459.659,3.385,70,0.9,70,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.8
$GPS2,231213,142923,-5459.635,3.533,15,1.7,15,-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,280.1,3813,-25.1,-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,-0.81,-71.0,0.0,0.0,0,40,0.00,0.00,-14.18,0.000,2,0.000,0.000,66,1947,1985,0,0,0,0,0,0
$GC,42,-0.82,-141.4,3.1,-3.2,2,139,12.52,0.00,-77.62,0.000,6,0.273,0.000,2752,1954,3177,0,0,0,0,0,0
$GC,189,-0.82,-141.4,7.9,-13.0,26,196,0.08,0.60,0.00,0.000,4,0.231,0.044,2767,1562,3179,0,0,0,0,0,0
$GC,264,-0.82,-141.4,20.5,-15.3,38,271,0.00,0.43,0.00,0.000,6,0.000,0.036,2766,1883,3179,0,0,0,0,0,0
$GC,409,-0.82,-141.4,45.8,-16.0,63,416,0.00,0.50,0.00,0.000,4,0.000,0.041,2765,2245,3179,0,0,0,0,0,0
$GC,473,-0.82,-141.4,56.1,-15.7,74,478,0.00,0.47,0.00,0.000,6,0.000,0.038,2765,1911,3179,0,0,0,0,0,0
$GC,821,-0.82,-141.4,110.1,-14.8,130,824,0.00,0.47,0.00,0.000,4,0.000,0.051,2765,1584,3179,0,0,0,0,0,0
$GC,1060,-0.82,-141.4,143.0,-14.0,151,1063,0.00,0.43,0.00,0.000,6,0.000,0.036,2764,1905,3179,0,0,0,0,0,0
$GC,1390,-0.82,-141.4,196.1,-14.8,182,1393,0.00,1.85,0.00,0.000,4,0.000,0.046,2755,3097,3179,0,0,0,0,0,0
$GC,1503,-0.82,-141.4,213.5,-14.5,192,1507,0.00,1.80,0.00,0.000,6,0.000,0.031,2755,1924,3179,0,0,0,0,0,0
$GC,1833,-0.82,-141.4,261.9,-13.9,223,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1924,3179,0,0,0,0,0,0
$GC,2154,-0.82,-141.4,305.0,-13.4,253,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1923,3179,0,0,0,0,0,0
$GC,2470,-0.82,-141.4,347.1,-13.4,283,2474,0.00,0.85,0.00,0.000,4,0.000,0.047,2755,1374,3179,0,0,0,0,0,0
$GC,2586,-0.82,-141.4,362.1,-13.6,293,2590,0.03,0.75,0.00,0.000,6,0.223,0.028,2759,1898,3179,0,0,0,0,0,0
$GC,2914,-0.82,-141.4,403.8,-12.5,323,2918,0.00,0.85,0.00,0.000,4,0.000,0.037,2757,2479,3179,0,0,0,0,0,0
$GC,3014,-0.82,-141.4,416.1,-11.9,327,3018,0.00,0.90,0.00,0.000,6,0.000,0.034,2756,1895,3179,0,0,0,0,0,0
$GC,3335,-0.82,-141.4,455.3,-12.6,343,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1895,3179,0,0,0,0,0,0
$GC,3645,-0.82,-141.4,494.8,-12.7,358,3648,0.00,1.08,0.00,0.000,4,0.000,0.047,2756,1210,3179,0,0,0,0,0,0
$GC,3727,-0.82,-141.4,506.0,-13.5,361,3734,0.08,1.05,0.00,0.000,6,0.226,0.026,2765,1910,3180,0,0,0,0,0,0
$GC,4043,-0.82,-141.4,544.2,-11.8,377,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1911,3180,0,0,0,0,0,0
$GC,4353,-0.82,-141.4,579.8,-11.3,392,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1910,3180,0,0,0,0,0,0
$GC,4662,-0.82,-141.4,613.8,-11.2,407,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1910,3181,0,0,0,0,0,0
$GC,4971,-0.82,-141.4,647.4,-11.2,422,4975,0.00,0.90,0.00,0.000,4,0.000,0.037,2762,2518,3181,0,0,0,0,0,0
$GC,5065,-0.82,-141.4,657.8,-11.2,426,5070,0.00,0.95,0.00,0.000,6,0.000,0.034,2762,1900,3182,0,0,0,0,0,0
$GC,5392,-0.82,-141.4,694.7,-11.8,442,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1900,3182,0,0,0,0,0,0
$GC,5702,-0.82,-141.4,731.2,-11.9,457,5705,0.00,1.38,0.00,0.000,4,0.000,0.050,2762,1038,3183,0,0,0,0,0,0
$GC,5795,-0.82,-141.4,743.0,-12.8,461,5800,0.00,1.33,0.00,0.000,6,0.000,0.025,2758,1908,3183,0,0,0,0,0,0
$GC,6123,-0.82,-141.4,783.2,-12.5,477,6127,0.00,0.55,0.00,0.000,4,0.000,0.038,2755,2310,3185,0,0,0,0,0,0
$GC,6194,-0.82,-141.4,792.3,-12.0,480,6199,0.00,0.60,0.00,0.000,6,0.000,0.036,2755,1900,3185,0,0,0,0,0,0
$GC,6521,-0.82,-141.4,833.7,-13.0,496,6525,0.00,0.95,0.00,0.000,4,0.000,0.047,2755,1290,3186,0,0,0,0,0,0
$GC,6611,-0.82,-141.4,845.6,-13.4,500,6615,0.03,0.93,0.00,0.000,6,0.208,0.028,2758,1920,3186,0,0,0,0,0,0
$GC,6943,-0.82,-141.4,887.1,-12.3,516,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1919,3187,0,0,0,0,0,0
$GC,7252,-0.82,-141.4,923.3,-11.7,531,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1920,3187,0,0,0,0,0,0
$GC,7562,-0.82,-141.4,959.6,-11.8,546,7565,0.00,0.80,0.00,0.000,4,0.000,0.039,2756,2465,3188,0,0,0,0,0,0
$GC,7629,-0.82,-141.4,967.5,-11.7,549,7633,0.00,0.82,0.00,0.000,6,0.000,0.036,2756,1915,3188,0,0,0,0,0,0
$STATE,7836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7836,begin apogee
$GC,7840,-0.16,0.0,991.5,11.5,559,7971,0.77,0.00,126.95,1.659,6,0.167,0.000,2970,1800,2600,0,0,0,0,0,0
$STATE,7972,end apogee,CONTROL_FINISHED_OK
$STATE,7972,begin climb
$GC,7973,0.82,141.4,995.4,0.0,565,8119,1.08,0.00,141.18,1.580,6,0.103,0.000,3289,1800,2022,0,0,0,0,0,0
$GC,8428,0.82,141.4,935.1,14.5,588,8432,0.00,2.30,0.00,0.000,4,0.000,0.059,3299,442,2013,0,0,0,0,0,0
$GC,8590,0.82,141.4,910.1,15.4,595,8594,0.00,2.15,0.00,0.000,6,0.000,0.024,3298,1798,2011,0,0,0,0,0,0
$GC,8912,0.82,141.4,863.8,14.6,611,8915,0.00,1.05,0.00,0.000,4,0.000,0.048,3301,1160,2010,0,0,0,0,0,0
$GC,9062,0.82,141.4,841.4,14.8,617,9068,0.00,1.02,0.00,0.000,6,0.000,0.025,3301,1846,2009,0,0,0,0,0,0
$GC,9378,0.82,141.4,794.9,14.7,633,9382,0.00,1.58,0.00,0.000,4,0.000,0.052,3307,891,2009,0,0,0,0,0,0
$GC,9490,0.82,141.4,777.1,16.3,638,9494,0.00,1.40,0.00,0.000,6,0.000,0.025,3307,1816,2008,0,0,0,0,0,0
$GC,9822,0.82,141.4,724.8,16.0,654,9826,0.00,1.12,0.00,0.000,4,0.000,0.049,3311,1122,2008,0,0,0,0,0,0
$GC,9967,0.82,141.4,700.6,16.9,660,9972,0.08,1.05,0.00,0.000,6,0.217,0.025,3297,1833,2008,0,0,0,0,0,0
$GC,10288,0.82,141.4,649.7,16.2,676,10292,0.00,1.33,0.00,0.000,4,0.000,0.050,3301,1018,2008,0,0,0,0,0,0
$GC,10400,0.82,141.4,631.1,17.2,681,10404,0.00,1.17,0.00,0.000,6,0.000,0.026,3301,1808,2008,0,0,0,0,0,0
$GC,10732,0.82,141.4,575.8,16.9,697,10736,0.00,1.17,0.00,0.000,4,0.000,0.048,3305,1081,2008,0,0,0,0,0,0
$GC,10867,0.82,141.4,552.1,18.0,703,10871,0.00,1.10,0.00,0.000,6,0.000,0.027,3305,1824,2008,0,0,0,0,0,0
$GC,11199,0.82,141.4,495.2,17.3,719,11203,0.00,0.75,0.00,0.000,4,0.000,0.046,3307,1352,2008,0,0,0,0,0,0
$GC,11304,0.82,141.4,477.2,17.6,723,11309,0.00,0.70,0.00,0.000,6,0.000,0.026,3307,1824,2008,0,0,0,0,0,0
$GC,11619,0.82,141.4,424.4,16.8,739,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1824,2008,0,0,0,0,0,0
$GC,11937,0.82,141.4,372.6,16.8,761,11940,0.00,0.62,0.00,0.000,4,0.000,0.044,3309,1424,2008,0,0,0,0,0,0
$GC,12061,0.82,141.4,351.6,17.0,772,12065,0.03,0.55,0.00,0.000,6,0.218,0.030,3301,1832,2008,0,0,0,0,0,0
$GC,12390,0.82,141.4,300.2,15.9,803,12394,0.00,0.90,0.00,0.000,4,0.000,0.047,3304,1268,2008,0,0,0,0,0,0
$GC,12587,0.82,141.4,268.7,15.8,820,12594,0.00,0.80,0.00,0.000,6,0.000,0.024,3304,1800,2008,0,0,0,0,0,0
$GC,12913,0.82,141.4,218.5,14.5,851,12914,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1800,2008,0,0,0,0,0,0
$GC,13233,0.82,141.4,171.9,14.3,881,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1800,2008,0,0,0,0,0,0
$GC,13549,0.82,141.4,130.2,13.1,911,13553,0.00,1.70,0.00,0.000,4,0.000,0.053,3310,746,2008,0,0,0,0,0,0
$GC,13606,0.82,141.4,122.2,14.4,916,13610,0.08,1.62,0.00,0.000,6,0.213,0.025,3296,1822,2008,0,0,0,0,0,0
$GC,13942,0.82,141.4,75.9,14.8,961,13947,0.00,0.45,0.00,0.000,4,0.000,0.046,3296,1519,2008,0,0,0,0,0,0
$GC,14080,0.82,141.4,55.9,14.3,985,14085,0.00,0.43,0.00,0.000,6,0.000,0.034,3296,1852,2008,0,0,0,0,0,0
$GC,14433,0.82,141.4,6.9,13.4,1046,14440,0.00,1.45,0.00,0.000,4,0.000,0.054,3301,967,2008,0,0,0,0,0,0
$STATE,14465,end climb,SURFACE_DEPTH_REACHED
$STATE,14465,begin surface coast
$FINISH,1.8,1.027229
$STATE,14490,end surface coast,CONTROL_FINISHED_OK
$STATE,14490,begin surface
$SM_CCo,14507,59.12,1.097,0,0,1743,210.22
$SM_GC,3.18,0.00,0.00,59.12,0.000,0.000,1.097,68,1911,1743,-9.24,0.03,210.22
$IRIDIUM_FIX,-5438.56,-3.75,231213,101048
$TT8_MAMPS,0.027713
$HUMID,63.30
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.6,55.277
$10V_AH,10.0,39.855
$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,23.750,49.175,268.125,59.125,0.000,36.200,49.878,281.402,0.000,0.000,18.642,2615.375,9030.047,434.239,2841.305,131.341,0.000,1484.508,0.000,2432.385,0.000,1.008,0.000
$DEVICE_MAMPS,273.105,91.035,1659.285,1097.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.221,759.531,715.656,70.433,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354756
$DATA_FILE_SIZE,60185,1055
$CAP_FILE_SIZE,131142,0
$CFSIZE,2097086464,2079588352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231213,183358,-5459.146,1.126,51,0.9,51,-20.3