version: 66.07.10.p01
glider: 574
mission: 8
dive: 142
start: 12 27 113 15 37 34
data:
$ID,574
$MISSION,8
$DIVE,142
$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,-15277.906
$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,43
$R_STBD_OVSHOOT,60
$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,121
$GPS1,271213,153035,-5459.572,-0.696,70,0.8,70,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-74.8
$GPS2,271213,153713,-5459.547,-0.621,18,1.8,18,-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,162.0,1067,-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,-8.23,0.000,2,0.000,0.000,68,1968,1876,0,0,0,0,0,0
$GC,36,-0.90,-144.1,3.3,-0.0,1,139,12.30,2.15,-83.85,0.000,4,0.272,0.062,2731,3290,3185,0,0,0,0,0,0
$GC,394,-0.90,-144.1,35.9,-16.5,61,399,0.00,2.10,0.00,0.000,6,0.000,0.031,2731,1918,3187,0,0,0,0,0,0
$GC,537,-0.90,-144.1,61.9,-19.8,86,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1918,3187,0,0,0,0,0,0
$GC,873,-0.90,-144.1,124.3,-17.4,134,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1918,3187,0,0,0,0,0,0
$GC,1193,-0.90,-144.1,185.6,-18.3,164,1197,0.00,0.57,0.00,0.000,4,0.000,0.034,2729,2334,3187,0,0,0,0,0,0
$GC,1453,-0.90,-144.1,230.7,-16.9,187,1457,0.00,0.62,0.00,0.000,6,0.000,0.034,2729,1895,3186,0,0,0,0,0,0
$GC,1783,-0.90,-144.1,286.0,-16.2,218,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1895,3186,0,0,0,0,0,0
$GC,2102,-0.90,-144.1,337.5,-15.7,248,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1895,3186,0,0,0,0,0,0
$GC,2421,-0.90,-144.1,387.0,-14.9,278,2425,0.00,0.70,0.00,0.000,4,0.000,0.033,2727,2383,3186,0,0,0,0,0,0
$GC,2584,-0.90,-144.1,411.0,-13.8,289,2588,0.00,0.70,0.00,0.000,6,0.000,0.034,2727,1911,3186,0,0,0,0,0,0
$GC,2911,-0.90,-144.1,457.0,-14.0,305,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1911,3186,0,0,0,0,0,0
$GC,3220,-0.90,-144.1,500.1,-13.8,320,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1911,3187,0,0,0,0,0,0
$GC,3529,-0.90,-144.1,543.0,-13.8,335,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1911,3187,0,0,0,0,0,0
$GC,3839,-0.90,-144.1,583.3,-12.8,350,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1911,3187,0,0,0,0,0,0
$GC,4148,-0.90,-144.1,623.1,-12.9,365,4152,0.00,0.55,0.00,0.000,4,0.000,0.047,2727,1531,3191,0,0,0,0,0,0
$GC,4354,-0.90,-144.1,650.2,-12.4,374,4359,0.05,0.55,0.00,0.000,6,0.257,0.031,2734,1930,3190,0,0,0,0,0,0
$GC,4681,-0.90,-144.1,689.3,-11.9,390,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1930,3191,0,0,0,0,0,0
$GC,4990,-0.90,-144.1,726.1,-11.9,405,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1930,3191,0,0,0,0,0,0
$GC,5299,-0.90,-144.1,763.7,-12.4,420,5303,0.00,0.32,0.00,0.000,4,0.000,0.044,2733,2201,3192,0,0,0,0,0,0
$GC,5528,-0.90,-144.1,792.9,-12.8,430,5532,0.00,0.43,0.00,0.000,6,0.000,0.038,2732,1897,3192,0,0,0,0,0,0
$GC,5855,-0.90,-144.1,836.2,-13.5,446,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1897,3192,0,0,0,0,0,0
$GC,6164,-0.90,-144.1,876.4,-12.8,461,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1897,3192,0,0,0,0,0,0
$GC,6473,-0.90,-144.1,916.1,-12.7,476,6477,0.00,0.62,0.00,0.000,4,0.000,0.047,2733,1474,3192,0,0,0,0,0,0
$GC,6612,-0.90,-144.1,933.9,-12.9,482,6616,0.00,0.62,0.00,0.000,6,0.000,0.029,2731,1919,3192,0,0,0,0,0,0
$GC,6939,-0.90,-144.1,974.4,-12.2,498,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1920,3192,0,0,0,0,0,0
$STATE,7082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7082,begin apogee
$GC,7087,-0.16,0.0,991.6,11.7,505,7218,0.90,0.00,128.18,1.621,6,0.175,0.000,2974,1793,2600,0,0,0,0,0,0
$STATE,7219,end apogee,CONTROL_FINISHED_OK
$STATE,7219,begin climb
$GC,7221,0.90,144.1,993.3,0.0,511,7372,1.12,1.02,142.15,1.545,4,0.098,0.051,3317,1240,2011,0,0,0,0,0,0
$GC,7623,0.90,144.1,927.7,17.9,529,7629,0.00,0.88,0.00,0.000,6,0.000,0.024,3316,1800,2004,0,0,0,0,0,0
$GC,7939,0.90,144.1,871.9,17.5,545,7943,0.00,1.17,0.00,0.000,4,0.000,0.050,3321,1096,2004,0,0,0,0,0,0
$GC,8179,0.90,144.1,828.2,18.1,555,8185,0.00,1.12,0.00,0.000,6,0.000,0.025,3321,1833,2003,0,0,0,0,0,0
$GC,8496,0.90,144.1,771.6,18.0,571,8499,0.00,1.10,0.00,0.000,4,0.000,0.047,3325,1156,2003,0,0,0,0,0,0
$GC,8747,0.90,144.1,726.2,17.9,582,8751,0.00,1.00,0.00,0.000,6,0.000,0.025,3325,1829,2002,0,0,0,0,0,0
$GC,9074,0.90,144.1,668.0,18.0,598,9078,0.00,1.05,0.00,0.000,4,0.000,0.046,3329,1177,2002,0,0,0,0,0,0
$GC,9331,0.90,144.1,620.4,19.1,609,9335,0.00,0.95,0.00,0.000,6,0.000,0.025,3329,1831,2003,0,0,0,0,0,0
$GC,9653,0.90,144.1,561.7,18.4,625,9657,0.00,1.10,0.00,0.000,4,0.000,0.047,3333,1146,2003,0,0,0,0,0,0
$GC,9887,0.90,144.1,517.6,18.8,635,9891,0.00,1.00,0.00,0.000,6,0.000,0.024,3333,1831,2003,0,0,0,0,0,0
$GC,10209,0.90,144.1,458.3,18.5,651,10212,0.00,0.43,0.00,0.000,4,0.000,0.044,3334,1544,2003,0,0,0,0,0,0
$GC,10466,0.90,144.1,410.8,18.4,662,10470,0.00,0.35,0.00,0.000,6,0.000,0.034,3334,1819,2002,0,0,0,0,0,0
$GC,10794,0.90,144.1,351.8,18.2,690,10798,0.00,1.08,0.00,0.000,4,0.000,0.047,3338,1147,2002,0,0,0,0,0,0
$GC,10965,0.90,144.1,319.5,18.7,705,10969,0.03,0.95,0.00,0.000,6,0.205,0.028,3330,1815,2003,0,0,0,0,0,0
$GC,11294,0.90,144.1,263.2,16.4,736,11298,0.00,0.77,0.00,0.000,4,0.000,0.045,3331,1330,2002,0,0,0,0,0,0
$GC,11524,0.90,144.1,228.2,15.0,756,11532,0.00,0.70,0.00,0.000,6,0.000,0.025,3331,1795,2003,0,0,0,0,0,0
$GC,11850,0.90,144.1,176.3,17.0,787,11853,0.00,0.32,0.00,0.000,4,0.000,0.045,3332,1569,2003,0,0,0,0,0,0
$GC,11979,0.90,144.1,155.4,16.1,798,11984,0.00,0.38,0.00,0.000,6,0.000,0.033,3332,1836,2003,0,0,0,0,0,0
$GC,12307,0.90,144.1,101.2,16.9,829,12311,0.00,1.80,0.00,0.000,4,0.000,0.053,3340,717,2004,0,0,0,0,0,0
$GC,12472,0.90,144.1,72.4,18.0,857,12478,0.05,1.65,0.00,0.000,6,0.233,0.026,3328,1843,2003,0,0,0,0,0,0
$GC,12823,0.90,144.1,20.3,15.0,918,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1843,2003,0,0,0,0,0,0
$STATE,12948,end climb,SURFACE_DEPTH_REACHED
$STATE,12948,begin surface coast
$FINISH,2.1,1.008542
$STATE,12974,end surface coast,CONTROL_FINISHED_OK
$STATE,12974,begin surface
$SM_CCo,12990,57.72,1.050,0,0,1743,210.22
$SM_GC,3.46,0.00,0.00,57.72,0.000,0.000,1.050,69,1852,1743,-9.21,-1.64,210.22
$IRIDIUM_FIX,-5438.56,0.00,271213,111118
$TT8_MAMPS,0.026964
$HUMID,64.01
$INTERNAL_PRESSURE,9.06732
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,21.5,59.192
$10V_AH,10.0,42.143
$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,23.350,28.900,270.325,57.725,0.000,30.637,19.385,233.986,0.000,0.000,21.326,2355.048,7863.248,385.492,2702.965,142.571,0.000,1409.752,0.000,2382.043,0.000,1.008,0.000
$DEVICE_MAMPS,271.575,65.025,1621.035,1050.345,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.759,706.664,635.577,71.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,53511,943
$CAP_FILE_SIZE,117118,0
$CFSIZE,2097086464,2076344320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271213,191609,-5500.824,0.911,33,1.1,33,-20.2