version: 66.07.10.p01
glider: 574
mission: 8
dive: 146
start: 12 28 113 7 13 45
data:
$ID,574
$MISSION,8
$DIVE,146
$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,-15292.205
$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,58
$R_STBD_OVSHOOT,90
$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,125
$GPS1,281213,070624,-5459.150,2.515,42,1.1,42,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.58
$_SM_ANGLEo,-72.9
$GPS2,281213,071324,-5459.173,2.571,15,1.6,15,-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,261.0,3132,-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,-7.85,0.000,2,0.000,0.000,67,1938,577,0,0,0,0,0,0
$GC,36,-0.90,-144.1,4.6,-0.0,1,210,12.10,2.08,-151.30,0.000,4,0.258,0.064,2733,3257,3187,0,0,0,0,0,0
$GC,445,-0.90,-144.1,42.1,-19.6,70,450,0.00,2.08,0.00,0.000,6,0.000,0.030,2733,1924,3188,0,0,0,0,0,0
$GC,793,-0.90,-144.1,116.9,-21.6,125,796,0.00,0.68,0.00,0.000,4,0.000,0.044,2733,1474,3188,0,0,0,0,0,0
$GC,864,-0.90,-144.1,132.7,-20.5,131,870,0.00,0.60,0.00,0.000,6,0.000,0.031,2732,1896,3189,0,0,0,0,0,0
$GC,1190,-0.90,-144.1,194.0,-19.2,162,1193,0.00,1.67,0.00,0.000,4,0.000,0.044,2723,2978,3189,0,0,0,0,0,0
$GC,1291,-0.90,-144.1,212.4,-17.6,171,1296,0.08,1.65,0.00,0.000,6,0.215,0.031,2738,1911,3188,0,0,0,0,0,0
$GC,1621,-0.90,-144.1,267.1,-16.4,202,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1911,3188,0,0,0,0,0,0
$GC,1941,-0.90,-144.1,319.2,-16.8,232,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1911,3188,0,0,0,0,0,0
$GC,2261,-0.90,-144.1,372.2,-16.8,262,2264,0.00,0.45,0.00,0.000,4,0.000,0.050,2739,1594,3189,0,0,0,0,0,0
$GC,2352,-0.90,-144.1,387.7,-16.2,270,2355,0.00,0.43,0.00,0.000,6,0.000,0.035,2739,1919,3189,0,0,0,0,0,0
$GC,2685,-0.90,-144.1,444.0,-17.5,290,2688,0.00,0.73,0.00,0.000,4,0.000,0.039,2735,2420,3190,0,0,0,0,0,0
$GC,2779,-0.90,-144.1,460.1,-16.3,294,2783,0.00,0.80,0.00,0.000,6,0.000,0.034,2735,1889,3189,0,0,0,0,0,0
$GC,3106,-0.90,-144.1,515.6,-16.8,310,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1889,3190,0,0,0,0,0,0
$GC,3415,-0.90,-144.1,565.7,-16.2,325,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1889,3191,0,0,0,0,0,0
$GC,3725,-0.90,-144.1,615.3,-15.7,340,3728,0.00,0.52,0.00,0.000,4,0.000,0.034,2733,2276,3191,0,0,0,0,0,0
$GC,3919,-0.90,-144.1,645.9,-15.8,348,3925,0.00,0.55,0.00,0.000,6,0.000,0.036,2733,1897,3191,0,0,0,0,0,0
$GC,4235,-0.90,-144.1,693.8,-15.1,364,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1897,3192,0,0,0,0,0,0
$GC,4544,-0.90,-144.1,740.2,-15.0,379,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1897,3193,0,0,0,0,0,0
$GC,4854,-0.90,-144.1,785.1,-14.3,394,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1897,3194,0,0,0,0,0,0
$GC,5163,-0.90,-144.1,829.8,-14.5,409,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1897,3196,0,0,0,0,0,0
$GC,5472,-0.90,-144.1,875.4,-14.6,424,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1897,3197,0,0,0,0,0,0
$GC,5782,-0.90,-144.1,920.4,-14.7,439,5785,0.00,0.45,0.00,0.000,4,0.000,0.035,2732,2236,3197,0,0,0,0,0,0
$GC,6010,-0.90,-144.1,953.6,-13.5,449,6014,0.00,0.47,0.00,0.000,6,0.000,0.037,2732,1905,3197,0,0,0,0,0,0
$STATE,6275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6276,begin apogee
$GC,6280,-0.16,0.0,991.6,14.2,462,6415,0.88,0.00,128.23,1.606,6,0.174,0.000,2971,1832,2599,0,0,0,0,0,0
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6417,0.90,144.1,996.7,0.0,469,6563,1.17,0.00,140.68,1.529,6,0.096,0.000,3321,1832,2011,0,0,0,0,0,0
$GC,6865,0.90,144.1,933.5,16.7,491,6869,0.00,1.65,0.00,0.000,4,0.000,0.053,3328,844,2005,0,0,0,0,0,0
$GC,6981,0.90,144.1,912.8,17.5,496,6987,0.00,1.52,0.00,0.000,6,0.000,0.024,3328,1815,2004,0,0,0,0,0,0
$GC,7309,0.90,144.1,856.3,17.6,512,7313,0.00,0.88,0.00,0.000,4,0.000,0.045,3331,1278,2003,0,0,0,0,0,0
$GC,7537,0.90,144.1,815.1,18.0,522,7541,0.00,0.82,0.00,0.000,6,0.000,0.025,3332,1819,2002,0,0,0,0,0,0
$GC,7864,0.90,144.1,755.7,18.1,538,7868,0.00,1.35,0.00,0.000,4,0.000,0.050,3337,993,2002,0,0,0,0,0,0
$GC,7999,0.90,144.1,731.2,17.8,544,8004,0.03,1.25,0.00,0.000,6,0.197,0.026,3329,1831,2002,0,0,0,0,0,0
$GC,8330,0.90,144.1,675.4,16.7,560,8334,0.00,1.15,0.00,0.000,4,0.000,0.047,3332,1119,2001,0,0,0,0,0,0
$GC,8430,0.90,144.1,658.2,17.5,564,8435,0.00,1.05,0.00,0.000,6,0.000,0.025,3332,1824,2002,0,0,0,0,0,0
$GC,8751,0.90,144.1,605.5,16.5,580,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1824,2001,0,0,0,0,0,0
$GC,9060,0.90,144.1,556.5,15.3,595,9064,0.00,0.98,0.00,0.000,4,0.000,0.046,3336,1213,2001,0,0,0,0,0,0
$GC,9266,0.90,144.1,522.0,16.3,604,9271,0.00,0.90,0.00,0.000,6,0.000,0.026,3335,1820,2001,0,0,0,0,0,0
$GC,9594,0.90,144.1,469.9,15.8,620,9597,0.00,1.25,0.00,0.000,4,0.000,0.048,3341,1046,2001,0,0,0,0,0,0
$GC,9706,0.90,144.1,451.7,16.1,625,9710,0.03,1.15,0.00,0.000,6,0.201,0.027,3330,1822,2001,0,0,0,0,0,0
$GC,10038,0.90,144.1,398.7,16.1,641,10042,0.00,0.70,0.00,0.000,4,0.000,0.044,3332,1375,2001,0,0,0,0,0,0
$GC,10286,0.90,144.1,358.2,16.6,663,10290,0.00,0.62,0.00,0.000,6,0.000,0.028,3332,1808,2001,0,0,0,0,0,0
$GC,10616,0.90,144.1,306.1,15.9,694,10620,0.00,0.43,0.00,0.000,4,0.000,0.044,3333,1522,2000,0,0,0,0,0,0
$GC,10878,0.90,144.1,266.2,14.2,717,10882,0.03,0.43,0.00,0.000,6,0.209,0.033,3325,1838,2001,0,0,0,0,0,0
$GC,11207,0.90,144.1,214.6,16.7,748,11210,0.00,0.98,0.00,0.000,4,0.000,0.047,3328,1230,2001,0,0,0,0,0,0
$GC,11320,0.90,144.1,195.6,17.1,758,11324,0.00,0.85,0.00,0.000,6,0.000,0.026,3328,1800,2001,0,0,0,0,0,0
$GC,11654,0.90,144.1,138.8,15.2,789,11658,0.00,2.20,0.00,0.000,4,0.000,0.054,3338,429,2001,0,0,0,0,0,0
$GC,11797,0.90,144.1,116.2,14.0,801,11802,0.05,2.10,0.00,0.000,6,0.234,0.026,3328,1820,2001,0,0,0,0,0,0
$GC,12137,0.90,144.1,73.2,12.1,850,12142,0.00,1.17,0.00,0.000,4,0.000,0.040,3325,2591,2001,0,0,0,0,0,0
$GC,12326,0.90,144.1,49.5,13.0,883,12331,0.00,1.17,0.00,0.000,6,0.000,0.036,3328,1829,2001,0,0,0,0,0,0
$GC,12681,0.90,144.1,4.3,13.7,944,12688,0.00,1.48,0.00,0.000,4,0.000,0.053,3329,911,2001,0,0,0,0,0,0
$STATE,12837,end climb,NO_VERTICAL_VELOCITY
$STATE,12837,begin surface
$SM_CCo,12839,346.35,0.949,0,0,395,540.63
$SM_GC,4.90,9.57,0.00,0.00,0.053,0.000,0.000,84,1914,387,-9.16,0.11,542.84
$IRIDIUM_FIX,-5442.29,0.00,281213,030312
$TT8_MAMPS,0.026964
$HUMID,63.11
$INTERNAL_PRESSURE,8.9306
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.5,60.141
$10V_AH,9.9,42.537
$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,23.925,40.950,268.900,346.350,0.000,23.906,44.047,242.926,0.000,0.000,18.427,2377.221,7912.861,711.391,2715.555,125.162,0.000,1736.882,0.000,2367.427,0.000,1.010,0.000
$DEVICE_MAMPS,257.805,117.045,1605.735,949.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.513,815.660,643.824,87.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,56965,970
$CAP_FILE_SIZE,118981,0
$CFSIZE,2097086464,2075820032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,281213,105834,-5458.921,0.332,36,0.8,36,-20.2