version: 66.07.10.p01
glider: 574
mission: 8
dive: 147
start: 12 28 113 11 6 9
data:
$ID,574
$MISSION,8
$DIVE,147
$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,-15295.703
$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,35
$R_STBD_OVSHOOT,36
$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,126
$GPS1,281213,105834,-5458.921,0.332,36,0.8,36,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.78
$_SM_ANGLEo,-71.1
$GPS2,281213,110548,-5458.900,0.422,15,1.0,15,-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,212.6,2085,-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,-7.90,0.000,2,0.000,0.000,68,1908,578,0,0,0,0,0,0
$GC,36,-0.90,-144.1,4.7,-0.0,1,205,12.40,2.28,-147.27,0.000,4,0.266,0.056,2724,3306,3187,0,0,0,0,0,0
$GC,351,-0.90,-144.1,33.0,-18.8,54,359,0.03,2.20,0.00,0.000,6,0.211,0.031,2731,1909,3188,0,0,0,0,0,0
$GC,500,-0.90,-144.1,63.0,-20.8,79,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1909,3188,0,0,0,0,0,0
$GC,844,-0.90,-144.1,136.2,-20.5,125,848,0.00,1.62,0.00,0.000,4,0.000,0.041,2725,2933,3189,0,0,0,0,0,0
$GC,949,-0.90,-144.1,158.2,-18.8,134,956,0.00,1.60,0.00,0.000,6,0.000,0.032,2725,1908,3188,0,0,0,0,0,0
$GC,1279,-0.90,-144.1,221.1,-18.8,165,1284,0.05,0.00,0.00,0.000,6,0.253,0.000,2733,1908,3188,0,0,0,0,0,0
$GC,1603,-0.90,-144.1,282.1,-17.8,196,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1908,3188,0,0,0,0,0,0
$GC,1923,-0.90,-144.1,339.3,-18.4,226,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1908,3188,0,0,0,0,0,0
$GC,2241,-0.90,-144.1,394.3,-16.7,256,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1908,3188,0,0,0,0,0,0
$GC,2551,-0.90,-144.1,444.2,-16.0,273,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1908,3190,0,0,0,0,0,0
$GC,2860,-0.90,-144.1,491.2,-15.0,288,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1908,3190,0,0,0,0,0,0
$GC,3170,-0.90,-144.1,538.4,-14.6,303,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1908,3190,0,0,0,0,0,0
$GC,3479,-0.90,-144.1,582.7,-14.3,318,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1908,3192,0,0,0,0,0,0
$GC,3788,-0.90,-144.1,628.0,-15.0,333,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1908,3193,0,0,0,0,0,0
$GC,4098,-0.90,-144.1,676.6,-16.0,348,4101,0.00,0.40,0.00,0.000,4,0.000,0.037,2734,2221,3193,0,0,0,0,0,0
$GC,4355,-0.90,-144.1,717.2,-16.1,359,4359,0.00,0.47,0.00,0.000,6,0.000,0.037,2733,1890,3194,0,0,0,0,0,0
$GC,4676,-0.90,-144.1,767.0,-15.5,375,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1890,3194,0,0,0,0,0,0
$GC,4985,-0.90,-144.1,815.5,-15.5,390,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1890,3194,0,0,0,0,0,0
$GC,5294,-0.90,-144.1,864.0,-15.8,405,5298,0.00,0.40,0.00,0.000,4,0.000,0.036,2733,2207,3195,0,0,0,0,0,0
$GC,5551,-0.90,-144.1,904.5,-15.0,416,5556,0.00,0.43,0.00,0.000,6,0.000,0.040,2733,1905,3195,0,0,0,0,0,0
$GC,5873,-0.90,-144.1,954.1,-16.1,432,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1904,3195,0,0,0,0,0,0
$STATE,6098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6098,begin apogee
$GC,6103,-0.16,0.0,990.1,15.9,443,6233,0.88,0.00,127.40,1.606,6,0.174,0.000,2971,1838,2600,0,0,0,0,0,0
$STATE,6234,end apogee,CONTROL_FINISHED_OK
$STATE,6234,begin climb
$GC,6236,0.90,144.1,996.0,0.0,449,6382,1.12,0.60,141.10,1.531,4,0.097,0.050,3313,1511,2012,0,0,0,0,0,0
$GC,6634,0.90,144.1,947.8,15.0,468,6638,0.00,0.50,0.00,0.000,6,0.000,0.030,3313,1849,2007,0,0,0,0,0,0
$GC,6961,0.90,144.1,899.9,14.6,484,6965,0.00,1.48,0.00,0.000,4,0.000,0.050,3318,968,2006,0,0,0,0,0,0
$GC,7105,0.90,144.1,877.7,14.7,490,7110,0.00,1.33,0.00,0.000,6,0.000,0.024,3318,1824,2005,0,0,0,0,0,0
$GC,7427,0.90,144.1,828.4,15.6,506,7431,0.00,0.82,0.00,0.000,4,0.000,0.046,3321,1306,2005,0,0,0,0,0,0
$GC,7630,0.90,144.1,795.9,16.9,515,7633,0.00,0.75,0.00,0.000,6,0.000,0.028,3321,1813,2004,0,0,0,0,0,0
$GC,7961,0.90,144.1,743.8,15.9,531,7965,0.00,0.52,0.00,0.000,4,0.000,0.044,3322,1467,2005,0,0,0,0,0,0
$GC,8190,0.90,144.1,707.7,15.6,541,8194,0.00,0.52,0.00,0.000,6,0.000,0.031,3322,1827,2004,0,0,0,0,0,0
$GC,8517,0.90,144.1,656.8,15.8,557,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1826,2004,0,0,0,0,0,0
$GC,8826,0.90,144.1,607.4,15.7,572,8830,0.00,0.45,0.00,0.000,4,0.000,0.044,3323,1528,2004,0,0,0,0,0,0
$GC,8965,0.90,144.1,584.3,15.8,578,8970,0.00,0.43,0.00,0.000,6,0.000,0.031,3323,1833,2004,0,0,0,0,0,0
$GC,9292,0.90,144.1,530.1,16.7,594,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1833,2004,0,0,0,0,0,0
$GC,9601,0.90,144.1,481.3,15.2,609,9605,0.00,0.62,0.00,0.000,4,0.000,0.044,3325,1434,2004,0,0,0,0,0,0
$GC,9792,0.90,144.1,451.2,15.9,617,9796,0.00,0.52,0.00,0.000,6,0.000,0.030,3325,1818,2004,0,0,0,0,0,0
$GC,10113,0.90,144.1,400.2,15.7,633,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1818,2004,0,0,0,0,0,0
$GC,10431,0.90,144.1,351.2,15.7,662,10435,0.00,0.50,0.00,0.000,4,0.000,0.040,3325,2194,2004,0,0,0,0,0,0
$GC,10526,0.90,144.1,336.2,15.0,670,10532,0.00,0.57,0.00,0.000,6,0.000,0.039,3326,1809,2004,0,0,0,0,0,0
$GC,10855,0.90,144.1,287.1,15.4,701,10858,0.00,0.38,0.00,0.000,4,0.000,0.057,3328,1545,2004,0,0,0,0,0,0
$GC,11113,0.90,144.1,247.1,16.1,724,11117,0.00,0.35,0.00,0.000,6,0.000,0.035,3328,1808,2004,0,0,0,0,0,0
$GC,11443,0.90,144.1,196.0,16.3,755,11447,0.00,0.60,0.00,0.000,4,0.000,0.047,3330,1424,2004,0,0,0,0,0,0
$GC,11704,0.90,144.1,157.7,14.2,778,11708,0.00,0.57,0.00,0.000,6,0.000,0.031,3330,1852,2004,0,0,0,0,0,0
$GC,12038,0.90,144.1,112.1,13.2,809,12042,0.00,0.35,0.00,0.000,4,0.000,0.044,3330,2129,2004,0,0,0,0,0,0
$GC,12139,0.90,144.1,98.1,13.2,819,12147,0.00,0.45,0.00,0.000,6,0.000,0.043,3331,1813,2004,0,0,0,0,0,0
$GC,12490,0.90,144.1,53.5,12.5,880,12495,0.00,1.05,0.00,0.000,4,0.000,0.053,3336,1150,2004,0,0,0,0,0,0
$GC,12753,0.90,144.1,19.5,11.8,926,12761,0.03,0.95,0.00,0.000,6,0.203,0.027,3328,1798,2004,0,0,0,0,0,0
$GC,12810,0.90,144.1,12.8,11.2,935,12817,0.00,0.40,0.00,0.000,4,0.000,0.044,3328,1529,2004,0,0,0,0,0,0
$STATE,13031,end climb,NO_VERTICAL_VELOCITY
$STATE,13031,begin surface
$SM_CCo,13033,347.88,0.952,0,0,395,540.63
$SM_GC,5.18,9.50,0.00,0.00,0.048,0.000,0.000,83,1962,389,-9.16,1.50,542.35
$IRIDIUM_FIX,-5442.29,0.00,281213,070751
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,8.9306
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,21.5,60.369
$10V_AH,9.9,42.632
$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,24.000,24.800,268.500,347.875,0.000,33.402,41.459,243.771,0.000,0.000,16.972,2378.811,8118.117,729.449,2699.077,124.866,0.000,1734.730,0.000,2338.066,0.000,1.008,0.000
$DEVICE_MAMPS,266.220,116.280,1605.735,952.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.495,785.849,646.736,81.308,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354700
$DATA_FILE_SIZE,56908,972
$CAP_FILE_SIZE,116143,0
$CFSIZE,2097086464,2075688960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,281213,145404,-5500.116,-1.005,28,1.0,28,-20.2