version: 66.07.10.p01
glider: 574
mission: 8
dive: 118
start: 12 23 113 18 47 28
data:
$ID,574
$MISSION,8
$DIVE,118
$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,-15191.491
$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,69
$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,97
$GPS1,231213,183358,-5459.146,1.126,51,0.9,51,-20.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-70.8
$GPS2,231213,184706,-5459.138,1.276,44,1.9,45,-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,240.7,2094,-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,-57.8,0.0,0.0,0,52,0.00,0.00,-25.67,0.000,2,0.000,0.000,66,1905,2187,0,0,0,0,0,0
$GC,54,-0.90,-129.9,3.2,-1.5,4,122,12.50,0.00,-51.88,0.000,6,0.277,0.000,2726,1911,3131,0,0,0,0,0,0
$GC,172,-0.90,-129.9,11.0,-15.3,23,180,0.03,0.40,0.00,0.000,4,0.310,0.041,2733,2202,3132,0,0,0,0,0,0
$GC,303,-0.90,-129.9,36.3,-20.0,45,308,0.00,0.40,0.00,0.000,6,0.000,0.040,2733,1909,3133,0,0,0,0,0,0
$GC,448,-0.90,-129.9,61.5,-17.9,70,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1908,3133,0,0,0,0,0,0
$GC,792,-0.90,-129.9,121.9,-16.1,120,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1909,3133,0,0,0,0,0,0
$GC,1111,-0.90,-129.9,169.6,-15.1,150,1115,0.00,0.57,0.00,0.000,4,0.000,0.050,2733,1515,3133,0,0,0,0,0,0
$GC,1183,-0.90,-129.9,181.4,-15.5,156,1191,0.00,0.57,0.00,0.000,6,0.000,0.031,2733,1922,3134,0,0,0,0,0,0
$GC,1510,-0.90,-129.9,232.2,-15.6,187,1513,0.00,0.90,0.00,0.000,4,0.000,0.038,2728,2527,3133,0,0,0,0,0,0
$GC,1634,-0.90,-129.9,250.7,-14.6,198,1638,0.00,0.93,0.00,0.000,6,0.000,0.034,2729,1916,3133,0,0,0,0,0,0
$GC,1968,-0.90,-129.9,299.9,-15.2,229,1972,0.00,0.45,0.00,0.000,4,0.000,0.050,2728,1598,3132,0,0,0,0,0,0
$GC,2060,-0.90,-129.9,313.5,-14.7,237,2064,0.00,0.40,0.00,0.000,6,0.000,0.035,2727,1911,3133,0,0,0,0,0,0
$GC,2390,-0.90,-129.9,363.4,-15.5,268,2394,0.00,0.45,0.00,0.000,4,0.000,0.041,2725,2259,3133,0,0,0,0,0,0
$GC,2609,-0.90,-129.9,398.2,-15.2,287,2615,0.05,0.52,0.00,0.000,6,0.252,0.037,2733,1890,3132,0,0,0,0,0,0
$GC,2935,-0.90,-129.9,447.8,-15.1,304,2939,0.00,0.32,0.00,0.000,4,0.000,0.054,2733,1651,3134,0,0,0,0,0,0
$GC,3029,-0.90,-129.9,462.0,-14.3,308,3033,0.00,0.35,0.00,0.000,6,0.000,0.035,2733,1910,3133,0,0,0,0,0,0
$GC,3356,-0.90,-129.9,507.9,-14.0,324,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1910,3134,0,0,0,0,0,0
$GC,3665,-0.90,-129.9,548.7,-13.2,339,3669,0.00,0.70,0.00,0.000,4,0.000,0.041,2733,1451,3135,0,0,0,0,0,0
$GC,3856,-0.90,-129.9,573.1,-13.2,347,3860,0.00,0.65,0.00,0.000,6,0.000,0.029,2732,1918,3135,0,0,0,0,0,0
$GC,4177,-0.90,-129.9,613.1,-12.4,363,4181,0.00,0.93,0.00,0.000,4,0.000,0.041,2732,1323,3135,0,0,0,0,0,0
$GC,4357,-0.90,-129.9,636.4,-12.6,371,4360,0.00,0.85,0.00,0.000,6,0.000,0.028,2729,1900,3135,0,0,0,0,0,0
$GC,4689,-0.90,-129.9,678.3,-12.4,387,4692,0.00,0.45,0.00,0.000,4,0.000,0.041,2729,1589,3135,0,0,0,0,0,0
$GC,4872,-0.90,-129.9,701.6,-12.5,395,4877,0.00,0.47,0.00,0.000,6,0.000,0.033,2727,1937,3135,0,0,0,0,0,0
$GC,5199,-0.90,-129.9,743.3,-13.0,411,5203,0.00,0.45,0.00,0.000,4,0.000,0.041,2727,1627,3135,0,0,0,0,0,0
$GC,5456,-0.90,-129.9,776.9,-13.0,422,5460,0.00,0.38,0.00,0.000,6,0.000,0.034,2727,1908,3136,0,0,0,0,0,0
$GC,5777,-0.90,-129.9,817.1,-12.7,438,5781,0.00,0.77,0.00,0.000,4,0.000,0.041,2727,1406,3136,0,0,0,0,0,0
$GC,5890,-0.90,-129.9,831.5,-12.7,443,5894,0.03,0.70,0.00,0.000,6,0.230,0.028,2731,1907,3135,0,0,0,0,0,0
$GC,6221,-0.90,-129.9,871.7,-11.8,459,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1907,3136,0,0,0,0,0,0
$GC,6530,-0.90,-129.9,909.1,-11.9,474,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1907,3136,0,0,0,0,0,0
$GC,6840,-0.90,-129.9,945.5,-11.7,489,6844,0.00,0.40,0.00,0.000,4,0.000,0.043,2731,1627,3137,0,0,0,0,0,0
$GC,7096,-0.90,-129.9,975.6,-10.8,500,7100,0.00,0.40,0.00,0.000,6,0.000,0.034,2731,1926,3137,0,0,0,0,0,0
$STATE,7230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7231,begin apogee
$GC,7235,-0.16,0.0,990.5,11.1,507,7354,0.90,0.00,115.65,1.658,6,0.177,0.000,2973,1801,2600,0,0,0,0,0,0
$STATE,7355,end apogee,CONTROL_FINISHED_OK
$STATE,7355,begin climb
$GC,7357,0.90,129.9,992.4,0.0,513,7490,1.12,0.00,128.20,1.572,6,0.101,0.000,3311,1801,2070,0,0,0,0,0,0
$GC,7788,0.90,129.9,926.6,16.9,534,7791,0.00,0.35,0.00,0.000,4,0.000,0.055,3313,1566,2060,0,0,0,0,0,0
$GC,7999,0.90,129.9,892.1,16.1,543,8003,0.00,0.32,0.00,0.000,6,0.000,0.034,3314,1812,2059,0,0,0,0,0,0
$GC,8320,0.90,129.9,841.0,16.1,559,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1812,2058,0,0,0,0,0,0
$GC,8630,0.90,129.9,793.2,15.1,574,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1812,2057,0,0,0,0,0,0
$GC,8939,0.90,129.9,746.3,15.6,589,8943,0.00,0.47,0.00,0.000,4,0.000,0.044,3314,1502,2057,0,0,0,0,0,0
$GC,9196,0.90,129.9,704.3,16.8,600,9200,0.00,0.45,0.00,0.000,6,0.000,0.031,3314,1831,2056,0,0,0,0,0,0
$GC,9517,0.90,129.9,651.0,16.6,616,9521,0.00,0.60,0.00,0.000,4,0.000,0.045,3317,1448,2056,0,0,0,0,0,0
$GC,9616,0.90,129.9,634.1,17.1,620,9620,0.00,0.52,0.00,0.000,6,0.000,0.029,3317,1823,2056,0,0,0,0,0,0
$GC,9937,0.90,129.9,581.7,16.2,636,9941,0.00,0.52,0.00,0.000,4,0.000,0.044,3318,1481,2055,0,0,0,0,0,0
$GC,10076,0.90,129.9,558.1,16.9,642,10080,0.00,0.47,0.00,0.000,6,0.000,0.031,3318,1825,2055,0,0,0,0,0,0
$GC,10403,0.90,129.9,502.7,17.1,658,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1825,2055,0,0,0,0,0,0
$GC,10712,0.90,129.9,448.3,17.4,673,10716,0.00,1.23,0.00,0.000,4,0.000,0.048,3323,1066,2055,0,0,0,0,0,0
$GC,10847,0.90,129.9,424.6,17.6,679,10851,0.00,1.10,0.00,0.000,6,0.000,0.025,3322,1814,2055,0,0,0,0,0,0
$GC,11175,0.90,129.9,368.2,17.6,703,11178,0.00,1.02,0.00,0.000,4,0.000,0.047,3326,1173,2055,0,0,0,0,0,0
$GC,11292,0.90,129.9,348.2,17.1,713,11298,0.00,0.98,0.00,0.000,6,0.000,0.024,3326,1832,2055,0,0,0,0,0,0
$GC,11617,0.90,129.9,292.6,17.2,744,11621,0.00,0.40,0.00,0.000,4,0.000,0.045,3326,1556,2055,0,0,0,0,0,0
$GC,11878,0.90,129.9,247.5,17.7,767,11882,0.00,0.35,0.00,0.000,6,0.000,0.034,3326,1815,2055,0,0,0,0,0,0
$GC,12208,0.90,129.9,191.3,16.7,798,12212,0.00,2.05,0.00,0.000,4,0.000,0.054,3335,551,2055,0,0,0,0,0,0
$GC,12348,0.90,129.9,167.4,16.4,810,12353,0.00,1.92,0.00,0.000,6,0.000,0.025,3335,1811,2055,0,0,0,0,0,0
$GC,12676,0.90,129.9,116.2,13.9,841,12680,0.00,0.38,0.00,0.000,4,0.000,0.041,3335,2120,2055,0,0,0,0,0,0
$GC,12759,0.90,129.9,103.2,12.9,848,12767,0.00,0.40,0.00,0.000,6,0.000,0.041,3335,1856,2055,0,0,0,0,0,0
$GC,13107,0.90,129.9,55.5,13.0,907,13111,0.00,0.88,0.00,0.000,4,0.000,0.051,3340,1296,2055,0,0,0,0,0,0
$GC,13160,0.90,129.9,47.8,15.1,916,13165,0.03,0.80,0.00,0.000,6,0.203,0.028,3331,1865,2055,0,0,0,0,0,0
$STATE,13467,end climb,SURFACE_DEPTH_REACHED
$STATE,13467,begin surface coast
$FINISH,1.8,1.014303
$STATE,13488,end surface coast,CONTROL_FINISHED_OK
$STATE,13488,begin surface
$SM_CCo,13503,69.70,1.082,0,0,1742,210.22
$SM_GC,3.20,0.00,0.00,69.70,0.000,0.000,1.082,71,1876,1742,-9.22,-0.96,210.22
$IRIDIUM_FIX,-5438.56,0.00,231213,181833
$TT8_MAMPS,0.026964
$HUMID,63.34
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,21.6,55.439
$10V_AH,10.0,39.951
$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,23.575,28.775,243.850,69.700,0.000,61.981,69.488,425.457,0.000,0.000,46.748,2461.333,8290.694,379.915,3080.573,152.131,0.000,1447.252,0.000,2435.468,0.000,1.009,0.000
$DEVICE_MAMPS,309.825,65.025,1657.755,1081.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.848,680.269,657.804,63.422,0.000,0.000,0.000,0.000,0.000,0.000
$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,53508,972
$CAP_FILE_SIZE,130924,0
$CFSIZE,2097086464,2079490048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231213,223504,-5459.872,-0.717,48,0.9,48,-20.2