version: 66.07.10.p01
glider: 574
mission: 8
dive: 129
start: 12 25 113 13 43 36
data:
$ID,574
$MISSION,8
$DIVE,129
$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,-15229.459
$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,81
$R_STBD_OVSHOOT,41
$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,108
$GPS1,251213,133623,-5500.080,2.520,40,0.9,40,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-72.5
$GPS2,251213,134314,-5500.052,2.569,15,0.7,17,-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,292.3,2731,-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,-20.05,0.000,2,0.000,0.000,67,1898,2085,0,0,0,0,0,0
$GC,48,-0.90,-139.7,3.0,-0.5,3,139,12.43,1.77,-71.18,0.000,4,0.274,0.070,2732,839,3169,0,0,0,0,0,0
$GC,207,-0.90,-139.7,12.0,-16.2,29,215,0.00,1.70,0.00,0.000,6,0.000,0.031,2725,1919,3171,0,0,0,0,0,0
$GC,262,-0.90,-139.7,22.4,-18.4,38,269,0.05,0.00,0.00,0.000,6,0.274,0.000,2733,1920,3172,0,0,0,0,0,0
$GC,407,-0.90,-139.7,49.5,-18.2,63,414,0.00,0.47,0.00,0.000,4,0.000,0.043,2732,2265,3171,0,0,0,0,0,0
$GC,556,-0.90,-139.7,78.5,-19.6,89,561,0.00,0.47,0.00,0.000,6,0.000,0.039,2732,1927,3171,0,0,0,0,0,0
$GC,893,-0.90,-139.7,144.5,-20.5,130,896,0.00,0.43,0.00,0.000,4,0.000,0.050,2732,1628,3172,0,0,0,0,0,0
$GC,915,-0.90,-139.7,149.0,-20.2,132,919,0.00,0.43,0.00,0.000,6,0.000,0.038,2731,1944,3171,0,0,0,0,0,0
$GC,1245,-0.90,-139.7,204.8,-15.6,163,1249,0.00,0.88,0.00,0.000,4,0.000,0.041,2727,2529,3172,0,0,0,0,0,0
$GC,1305,-0.90,-139.7,215.3,-17.0,168,1314,0.00,0.95,0.00,0.000,6,0.000,0.035,2727,1917,3171,0,0,0,0,0,0
$GC,1631,-0.90,-139.7,266.3,-15.7,199,1634,0.00,0.43,0.00,0.000,4,0.000,0.052,2727,1617,3171,0,0,0,0,0,0
$GC,1676,-0.90,-139.7,273.5,-15.8,203,1680,0.00,0.40,0.00,0.000,6,0.000,0.037,2726,1916,3171,0,0,0,0,0,0
$GC,2006,-0.90,-139.7,325.0,-14.9,234,2010,0.05,0.95,0.00,0.000,4,0.269,0.041,2730,2541,3170,0,0,0,0,0,0
$GC,2133,-0.90,-139.7,341.7,-12.9,245,2136,0.00,0.98,0.00,0.000,6,0.000,0.035,2730,1901,3170,0,0,0,0,0,0
$GC,2463,-0.90,-139.7,385.6,-13.1,276,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,3170,0,0,0,0,0,0
$GC,2786,-0.90,-139.7,428.4,-13.3,297,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,3171,0,0,0,0,0,0
$GC,3095,-0.90,-139.7,469.5,-13.3,312,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,3171,0,0,0,0,0,0
$GC,3404,-0.90,-139.7,511.1,-13.1,327,3408,0.00,0.55,0.00,0.000,4,0.000,0.050,2730,1525,3171,0,0,0,0,0,0
$GC,3543,-0.90,-139.7,530.3,-13.6,333,3547,0.00,0.55,0.00,0.000,6,0.000,0.033,2728,1912,3171,0,0,0,0,0,0
$GC,3870,-0.90,-139.7,576.2,-14.2,349,3874,0.00,0.68,0.00,0.000,4,0.000,0.041,2725,2386,3172,0,0,0,0,0,0
$GC,3983,-0.90,-139.7,592.3,-14.5,354,3986,0.00,0.70,0.00,0.000,6,0.000,0.037,2725,1907,3172,0,0,0,0,0,0
$GC,4315,-0.90,-139.7,639.0,-14.2,370,4316,0.05,0.00,0.00,0.000,6,0.250,0.000,2732,1907,3172,0,0,0,0,0,0
$GC,4624,-0.90,-139.7,680.2,-13.1,385,4627,0.00,0.80,0.00,0.000,4,0.000,0.048,2734,1385,3173,0,0,0,0,0,0
$GC,4701,-0.90,-139.7,690.8,-13.0,388,4706,0.00,0.77,0.00,0.000,6,0.000,0.030,2732,1910,3173,0,0,0,0,0,0
$GC,5022,-0.90,-139.7,733.0,-12.8,404,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3173,0,0,0,0,0,0
$GC,5332,-0.90,-139.7,772.1,-12.5,419,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3173,0,0,0,0,0,0
$GC,5641,-0.90,-139.7,811.0,-12.6,434,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3173,0,0,0,0,0,0
$GC,5950,-0.90,-139.7,850.5,-12.6,449,5954,0.00,0.88,0.00,0.000,4,0.000,0.041,2728,2494,3173,0,0,0,0,0,0
$GC,6021,-0.90,-139.7,860.0,-12.9,452,6026,0.00,0.90,0.00,0.000,6,0.000,0.034,2728,1905,3173,0,0,0,0,0,0
$GC,6349,-0.90,-139.7,902.2,-12.9,468,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1905,3173,0,0,0,0,0,0
$GC,6658,-0.90,-139.7,942.0,-12.6,483,6662,0.00,0.70,0.00,0.000,4,0.000,0.047,2728,1443,3174,0,0,0,0,0,0
$GC,6735,-0.90,-139.7,951.9,-12.6,486,6739,0.00,0.70,0.00,0.000,6,0.000,0.031,2725,1919,3174,0,0,0,0,0,0
$STATE,7034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7035,begin apogee
$GC,7039,-0.16,0.0,990.1,12.8,501,7166,0.93,0.00,123.70,1.622,6,0.181,0.000,2972,1794,2599,0,0,0,0,0,0
$STATE,7167,end apogee,CONTROL_FINISHED_OK
$STATE,7167,begin climb
$GC,7169,0.90,139.7,993.1,0.0,507,7316,1.17,0.73,138.82,1.545,4,0.101,0.053,3322,1403,2029,0,0,0,0,0,0
$GC,7568,0.90,139.7,931.9,18.0,526,7573,0.00,0.65,0.00,0.000,6,0.000,0.027,3322,1813,2021,0,0,0,0,0,0
$GC,7896,0.90,139.7,876.1,17.2,542,7899,0.00,1.95,0.00,0.000,4,0.000,0.056,3329,644,2019,0,0,0,0,0,0
$GC,8017,0.90,139.7,853.8,18.7,547,8023,0.00,1.83,0.00,0.000,6,0.000,0.026,3329,1818,2017,0,0,0,0,0,0
$GC,8339,0.90,139.7,796.8,17.9,563,8343,0.00,1.10,0.00,0.000,4,0.000,0.050,3333,1146,2017,0,0,0,0,0,0
$GC,8484,0.90,139.7,770.1,18.4,569,8489,0.00,1.05,0.00,0.000,6,0.000,0.028,3333,1836,2017,0,0,0,0,0,0
$GC,8806,0.90,139.7,710.2,19.0,585,8809,0.00,1.20,0.00,0.000,4,0.000,0.051,3338,1104,2016,0,0,0,0,0,0
$GC,8956,0.90,139.7,681.4,18.9,591,8962,0.03,1.08,0.00,0.000,6,0.200,0.028,3329,1831,2016,0,0,0,0,0,0
$GC,9272,0.90,139.7,625.2,17.7,607,9275,0.00,1.15,0.00,0.000,4,0.000,0.050,3333,1123,2016,0,0,0,0,0,0
$GC,9399,0.90,139.7,601.6,18.3,612,9405,0.00,1.05,0.00,0.000,6,0.000,0.027,3333,1823,2016,0,0,0,0,0,0
$GC,9716,0.90,139.7,543.5,18.8,628,9719,0.00,0.65,0.00,0.000,4,0.000,0.046,3334,1408,2016,0,0,0,0,0,0
$GC,9972,0.90,139.7,494.3,19.0,639,9977,0.00,0.60,0.00,0.000,6,0.000,0.029,3335,1814,2015,0,0,0,0,0,0
$GC,10294,0.90,139.7,431.2,19.9,655,10297,0.00,1.02,0.00,0.000,4,0.000,0.050,3338,1178,2015,0,0,0,0,0,0
$GC,10421,0.90,139.7,405.2,21.0,660,10428,0.05,0.98,0.00,0.000,6,0.238,0.028,3328,1837,2016,0,0,0,0,0,0
$GC,10749,0.90,139.7,341.9,20.4,689,10753,0.00,1.33,0.00,0.000,4,0.000,0.051,3332,1025,2016,0,0,0,0,0,0
$GC,10887,0.90,139.7,314.3,19.3,701,10890,0.00,1.17,0.00,0.000,6,0.000,0.028,3332,1817,2016,0,0,0,0,0,0
$GC,11217,0.90,139.7,252.4,18.2,732,11220,0.00,1.62,0.00,0.000,4,0.000,0.055,3339,832,2016,0,0,0,0,0,0
$GC,11331,0.90,139.7,230.8,19.2,742,11335,0.03,1.48,0.00,0.000,6,0.200,0.028,3330,1810,2015,0,0,0,0,0,0
$GC,11664,0.90,139.7,172.9,17.5,773,11667,0.00,0.35,0.00,0.000,4,0.000,0.046,3331,1584,2015,0,0,0,0,0,0
$GC,11923,0.90,139.7,128.7,16.3,796,11926,0.00,0.32,0.00,0.000,6,0.000,0.036,3330,1836,2015,0,0,0,0,0,0
$GC,12257,0.90,139.7,79.8,14.2,839,12262,0.00,1.98,0.00,0.000,4,0.000,0.055,3339,600,2016,0,0,0,0,0,0
$GC,12373,0.90,139.7,62.2,15.8,859,12378,0.05,1.83,0.00,0.000,6,0.230,0.028,3328,1813,2016,0,0,0,0,0,0
$GC,12728,0.90,139.7,9.1,18.5,920,12735,0.00,2.05,0.00,0.000,4,0.000,0.060,3335,576,2016,0,0,0,0,0,0
$STATE,12771,end climb,SURFACE_DEPTH_REACHED
$STATE,12771,begin surface coast
$FINISH,2.0,1.007200
$STATE,12790,end surface coast,CONTROL_FINISHED_OK
$STATE,12790,begin surface
$SM_CCo,12808,59.53,1.053,0,0,1743,210.22
$SM_GC,3.28,0.00,0.00,59.53,0.000,0.000,1.053,80,1923,1743,-9.22,0.37,210.22
$IRIDIUM_FIX,-5438.56,0.00,251213,090936
$TT8_MAMPS,0.027713
$HUMID,63.34
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.6,57.201
$10V_AH,10.0,40.967
$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,23.850,46.425,262.525,59.525,0.000,27.630,19.745,251.656,0.000,0.000,20.352,2322.428,7859.700,420.600,2545.756,135.119,0.000,1398.957,0.000,2214.916,0.000,1.009,0.000
$DEVICE_MAMPS,273.870,69.615,1621.800,1052.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.798,667.077,628.258,63.423,0.000,0.000,0.000,0.000,0.000,0.000
$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,53668,930
$CAP_FILE_SIZE,120193,0
$CFSIZE,2097086464,2078048256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251213,171921,-5459.218,0.582,27,1.4,42,-20.2