version: 66.07.10.p01
glider: 574
mission: 8
dive: 136
start: 12 26 113 16 57 8
data:
$ID,574
$MISSION,8
$DIVE,136
$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,-15255.167
$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,51
$R_STBD_OVSHOOT,49
$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,115
$GPS1,261213,164652,-5459.492,0.272,37,1.3,37,-20.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-75.5
$GPS2,261213,165647,-5459.434,0.340,18,1.0,19,-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,219.2,1110,-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,-57.8,0.0,0.0,0,34,0.00,0.00,-8.07,0.000,2,0.000,0.000,69,1909,1869,0,0,0,0,0,0
$GC,36,-0.90,-144.1,3.1,-0.0,1,139,12.12,0.40,-84.65,0.000,4,0.265,0.108,2733,2209,3188,0,0,0,0,0,0
$GC,224,-0.90,-144.1,14.5,-17.6,32,231,0.00,0.43,0.00,0.000,6,0.000,0.040,2733,1902,3190,0,0,0,0,0,0
$GC,280,-0.90,-144.1,24.2,-17.6,41,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1902,3191,0,0,0,0,0,0
$GC,423,-0.90,-144.1,50.3,-18.6,66,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1902,3191,0,0,0,0,0,0
$GC,768,-0.90,-144.1,111.7,-17.1,121,772,0.00,0.50,0.00,0.000,4,0.000,0.036,2732,2265,3191,0,0,0,0,0,0
$GC,851,-0.90,-144.1,126.0,-16.7,128,859,0.00,0.52,0.00,0.000,6,0.000,0.037,2732,1904,3190,0,0,0,0,0,0
$GC,1176,-0.90,-144.1,175.1,-16.4,159,1180,0.00,0.47,0.00,0.000,4,0.000,0.037,2731,2248,3191,0,0,0,0,0,0
$GC,1435,-0.90,-144.1,215.3,-14.1,182,1439,0.00,0.47,0.00,0.000,6,0.000,0.038,2730,1908,3190,0,0,0,0,0,0
$GC,1769,-0.90,-144.1,264.2,-14.6,213,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1908,3190,0,0,0,0,0,0
$GC,2094,-0.90,-144.1,311.4,-14.1,244,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1908,3190,0,0,0,0,0,0
$GC,2412,-0.90,-144.1,356.3,-13.8,274,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1908,3190,0,0,0,0,0,0
$GC,2731,-0.90,-144.1,400.9,-13.9,304,2735,0.00,0.38,0.00,0.000,4,0.000,0.037,2730,2203,3190,0,0,0,0,0,0
$GC,2915,-0.90,-144.1,426.4,-13.8,312,2919,0.00,0.43,0.00,0.000,6,0.000,0.040,2730,1901,3189,0,0,0,0,0,0
$GC,3242,-0.90,-144.1,471.8,-14.2,328,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,3189,0,0,0,0,0,0
$GC,3551,-0.90,-144.1,517.4,-14.8,343,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,3190,0,0,0,0,0,0
$GC,3860,-0.90,-144.1,562.1,-14.2,358,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,3190,0,0,0,0,0,0
$GC,4170,-0.90,-144.1,605.6,-14.1,373,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1900,3190,0,0,0,0,0,0
$GC,4479,-0.90,-144.1,649.1,-14.2,388,4483,0.00,0.55,0.00,0.000,4,0.000,0.049,2729,1525,3190,0,0,0,0,0,0
$GC,4606,-0.90,-144.1,667.6,-13.8,393,4612,0.00,0.60,0.00,0.000,6,0.000,0.032,2728,1943,3190,0,0,0,0,0,0
$GC,4922,-0.90,-144.1,711.8,-13.9,409,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1943,3190,0,0,0,0,0,0
$GC,5232,-0.90,-144.1,754.4,-13.5,424,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1943,3191,0,0,0,0,0,0
$GC,5541,-0.90,-144.1,796.9,-13.5,439,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1943,3190,0,0,0,0,0,0
$GC,5850,-0.90,-144.1,838.4,-13.5,454,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1943,3191,0,0,0,0,0,0
$GC,6159,-0.90,-144.1,879.7,-13.6,469,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1945,3193,0,0,0,0,0,0
$GC,6469,-0.90,-144.1,920.3,-12.9,484,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1945,3193,0,0,0,0,0,0
$GC,6778,-0.90,-144.1,959.8,-12.7,499,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1945,3193,0,0,0,0,0,0
$STATE,7024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7024,begin apogee
$GC,7029,-0.16,0.0,990.7,12.3,511,7160,0.90,0.00,127.90,1.611,6,0.178,0.000,2970,1813,2600,0,0,0,0,0,0
$STATE,7161,end apogee,CONTROL_FINISHED_OK
$STATE,7161,begin climb
$GC,7163,0.90,144.1,993.3,0.0,517,7310,1.15,0.00,143.20,1.539,6,0.103,0.000,3312,1813,2012,0,0,0,0,0,0
$GC,7618,0.90,144.1,919.5,18.0,540,7622,0.00,2.22,0.00,0.000,4,0.000,0.060,3322,514,2003,0,0,0,0,0,0
$GC,7756,0.90,144.1,893.1,19.7,546,7761,0.00,2.03,0.00,0.000,6,0.000,0.025,3322,1794,2001,0,0,0,0,0,0
$GC,8078,0.90,144.1,834.7,18.1,562,8081,0.00,0.55,0.00,0.000,4,0.000,0.044,3323,1448,2001,0,0,0,0,0,0
$GC,8335,0.90,144.1,786.2,19.3,573,8339,0.00,0.57,0.00,0.000,6,0.000,0.031,3323,1860,2001,0,0,0,0,0,0
$GC,8656,0.90,144.1,726.4,18.6,589,8660,0.00,1.85,0.00,0.000,4,0.000,0.054,3330,736,2000,0,0,0,0,0,0
$GC,8814,0.90,144.1,695.8,19.8,596,8818,0.00,1.60,0.00,0.000,6,0.000,0.026,3330,1791,1999,0,0,0,0,0,0
$GC,9145,0.90,144.1,631.6,19.5,612,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1791,1999,0,0,0,0,0,0
$GC,9455,0.90,144.1,569.9,20.1,627,9458,0.00,1.10,0.00,0.000,4,0.000,0.050,3335,1111,1999,0,0,0,0,0,0
$GC,9661,0.90,144.1,527.8,20.6,636,9666,0.00,1.08,0.00,0.000,6,0.000,0.026,3334,1831,2000,0,0,0,0,0,0
$GC,9988,0.90,144.1,464.1,19.5,652,9992,0.00,0.73,0.00,0.000,4,0.000,0.045,3337,1372,2000,0,0,0,0,0,0
$GC,10245,0.90,144.1,414.2,19.6,663,10250,0.05,0.65,0.00,0.000,6,0.236,0.028,3327,1811,2000,0,0,0,0,0,0
$GC,10573,0.90,144.1,353.0,18.9,690,10576,0.00,1.27,0.00,0.000,4,0.000,0.050,3331,1027,1999,0,0,0,0,0,0
$GC,10767,0.90,144.1,316.4,18.9,707,10770,0.00,1.17,0.00,0.000,6,0.000,0.027,3331,1818,1999,0,0,0,0,0,0
$GC,11097,0.90,144.1,254.2,18.1,738,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1819,2000,0,0,0,0,0,0
$GC,11416,0.90,144.1,196.6,17.5,768,11419,0.00,1.38,0.00,0.000,4,0.000,0.050,3336,971,1999,0,0,0,0,0,0
$GC,11533,0.90,144.1,175.7,17.2,778,11540,0.03,1.30,0.00,0.000,6,0.275,0.026,3327,1831,2000,0,0,0,0,0,0
$GC,11861,0.90,144.1,123.0,16.1,809,11865,0.00,0.40,0.00,0.000,4,0.000,0.047,3327,1559,2000,0,0,0,0,0,0
$GC,12123,0.90,144.1,86.0,13.0,841,12128,0.00,0.35,0.00,0.000,6,0.000,0.035,3327,1823,1999,0,0,0,0,0,0
$GC,12469,0.90,144.1,38.5,13.6,902,12476,0.00,1.75,0.00,0.000,4,0.000,0.053,3334,752,2000,0,0,0,0,0,0
$GC,12623,0.90,144.1,16.4,15.0,928,12631,0.00,1.60,0.00,0.000,6,0.000,0.027,3334,1812,2000,0,0,0,0,0,0
$GC,12680,0.90,144.1,8.0,13.9,937,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1812,2000,0,0,0,0,0,0
$STATE,12717,end climb,SURFACE_DEPTH_REACHED
$STATE,12717,begin surface coast
$FINISH,2.0,1.015074
$STATE,12736,end surface coast,CONTROL_FINISHED_OK
$STATE,12736,begin surface
$SM_CCo,12753,56.15,1.045,0,0,1743,210.22
$SM_GC,3.35,0.00,0.00,56.15,0.000,0.000,1.045,78,1966,1743,-9.22,1.58,210.22
$IRIDIUM_FIX,-5442.29,-3.75,261213,161620
$TT8_MAMPS,0.027713
$HUMID,63.93
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,21.6,58.267
$10V_AH,10.0,41.603
$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,23.175,26.600,271.100,56.150,0.000,48.949,70.065,288.847,0.000,0.000,21.328,2315.983,7917.253,417.987,2632.406,125.232,0.000,1345.962,0.000,2175.523,0.000,1.008,0.000
$DEVICE_MAMPS,275.400,107.865,1611.090,1044.990,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.099,700.025,630.720,65.632,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,53513,946
$CAP_FILE_SIZE,112703,0
$CFSIZE,2097086464,2077130752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261213,203153,-5500.323,-1.078,41,0.9,41,-20.2