version: 66.07.10.p01
glider: 574
mission: 8
dive: 149
start: 12 28 113 18 56 11
data:
$ID,574
$MISSION,8
$DIVE,149
$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,-15303.118
$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,41
$R_STBD_OVSHOOT,82
$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,128
$GPS1,281213,184858,-5459.866,2.536,38,1.0,38,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.16
$_SM_ANGLEo,-74.2
$GPS2,281213,185549,-5459.931,2.596,18,0.8,20,-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,287.7,2761,-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,-8.43,0.000,2,0.000,0.000,67,1865,591,0,0,0,0,0,0
$GC,36,-0.90,-144.1,5.0,-0.0,1,211,12.07,2.25,-152.45,0.000,4,0.258,0.057,2728,3259,3188,0,0,0,0,0,0
$GC,307,-0.90,-144.1,19.2,-19.9,46,314,0.00,2.12,0.00,0.000,6,0.000,0.029,2728,1917,3189,0,0,0,0,0,0
$GC,363,-0.90,-144.1,29.7,-19.3,55,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1917,3188,0,0,0,0,0,0
$GC,505,-0.90,-144.1,58.4,-20.0,80,510,0.00,1.10,0.00,0.000,4,0.000,0.034,2725,2624,3189,0,0,0,0,0,0
$GC,596,-0.90,-144.1,76.4,-19.4,96,603,0.00,1.12,0.00,0.000,6,0.000,0.031,2725,1901,3189,0,0,0,0,0,0
$GC,936,-0.90,-144.1,146.3,-19.6,137,940,0.05,0.62,0.00,0.000,4,0.265,0.046,2733,1490,3189,0,0,0,0,0,0
$GC,1028,-0.90,-144.1,162.9,-16.4,145,1031,0.00,0.57,0.00,0.000,6,0.000,0.032,2732,1909,3189,0,0,0,0,0,0
$GC,1358,-0.90,-144.1,220.5,-17.5,176,1361,0.00,1.17,0.00,0.000,4,0.000,0.039,2726,2680,3189,0,0,0,0,0,0
$GC,1441,-0.90,-144.1,235.1,-16.6,183,1447,0.00,1.23,0.00,0.000,6,0.000,0.031,2727,1896,3189,0,0,0,0,0,0
$GC,1767,-0.90,-144.1,292.3,-17.8,214,1770,0.00,0.65,0.00,0.000,4,0.000,0.032,2724,2357,3189,0,0,0,0,0,0
$GC,1838,-0.90,-144.1,305.4,-18.2,220,1847,0.05,0.70,0.00,0.000,6,0.252,0.034,2733,1878,3189,0,0,0,0,0,0
$GC,2163,-0.90,-144.1,361.1,-16.9,251,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1877,3189,0,0,0,0,0,0
$GC,2480,-0.90,-144.1,413.7,-16.4,277,2483,0.00,0.65,0.00,0.000,4,0.000,0.033,2732,2338,3189,0,0,0,0,0,0
$GC,2557,-0.90,-144.1,426.9,-16.9,280,2561,0.00,0.62,0.00,0.000,6,0.000,0.034,2732,1910,3189,0,0,0,0,0,0
$GC,2878,-0.90,-144.1,478.2,-16.0,296,2882,0.00,0.43,0.00,0.000,4,0.000,0.035,2731,2243,3190,0,0,0,0,0,0
$GC,3135,-0.90,-144.1,520.7,-16.8,307,3139,0.00,0.47,0.00,0.000,6,0.000,0.036,2731,1906,3190,0,0,0,0,0,0
$GC,3456,-0.90,-144.1,575.8,-17.4,323,3460,0.00,0.55,0.00,0.000,4,0.000,0.034,2730,2304,3190,0,0,0,0,0,0
$GC,3614,-0.90,-144.1,602.9,-17.0,330,3618,0.00,0.55,0.00,0.000,6,0.000,0.037,2729,1913,3190,0,0,0,0,0,0
$GC,3946,-0.90,-144.1,661.4,-17.7,346,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1913,3191,0,0,0,0,0,0
$GC,4256,-0.90,-144.1,714.2,-17.2,361,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1913,3191,0,0,0,0,0,0
$GC,4565,-0.90,-144.1,764.0,-15.6,376,4568,0.00,0.35,0.00,0.000,4,0.000,0.037,2729,2194,3192,0,0,0,0,0,0
$GC,4822,-0.90,-144.1,803.7,-15.8,387,4826,0.00,0.40,0.00,0.000,6,0.000,0.038,2729,1902,3192,0,0,0,0,0,0
$GC,5143,-0.90,-144.1,849.9,-14.0,403,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1902,3192,0,0,0,0,0,0
$GC,5452,-0.90,-144.1,893.7,-14.3,418,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1902,3194,0,0,0,0,0,0
$GC,5761,-0.90,-144.1,938.2,-14.4,433,5765,0.00,0.52,0.00,0.000,4,0.000,0.034,2728,2286,3194,0,0,0,0,0,0
$GC,5900,-0.90,-144.1,958.2,-13.9,439,5904,0.00,0.55,0.00,0.000,6,0.000,0.036,2727,1905,3195,0,0,0,0,0,0
$STATE,6122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6123,begin apogee
$GC,6127,-0.16,0.0,990.4,14.6,450,6258,0.90,0.00,127.78,1.607,6,0.177,0.000,2971,1838,2600,0,0,0,0,0,0
$STATE,6259,end apogee,CONTROL_FINISHED_OK
$STATE,6259,begin climb
$GC,6261,0.90,144.1,994.6,0.0,456,6407,1.12,0.00,141.60,1.532,6,0.097,0.000,3311,1838,2012,0,0,0,0,0,0
$GC,6716,0.90,144.1,929.0,17.0,479,6720,0.00,2.38,0.00,0.000,4,0.000,0.057,3321,429,2007,0,0,0,0,0,0
$GC,6860,0.90,144.1,902.3,18.1,485,6866,0.00,2.15,0.00,0.000,6,0.000,0.025,3321,1791,2005,0,0,0,0,0,0
$GC,7176,0.90,144.1,846.9,17.4,501,7180,0.00,0.68,0.00,0.000,4,0.000,0.045,3323,1372,2003,0,0,0,0,0,0
$GC,7433,0.90,144.1,801.5,17.5,512,7437,0.00,0.70,0.00,0.000,6,0.000,0.027,3323,1838,2002,0,0,0,0,0,0
$GC,7754,0.90,144.1,746.6,17.2,528,7758,0.00,1.48,0.00,0.000,4,0.000,0.050,3329,934,2002,0,0,0,0,0,0
$GC,7921,0.90,144.1,716.5,18.4,535,7925,0.00,1.33,0.00,0.000,6,0.000,0.024,3329,1823,2001,0,0,0,0,0,0
$GC,8242,0.90,144.1,660.8,17.5,551,8246,0.00,1.15,0.00,0.000,4,0.000,0.047,3333,1109,2001,0,0,0,0,0,0
$GC,8393,0.90,144.1,634.4,16.5,557,8398,0.00,1.05,0.00,0.000,6,0.000,0.025,3333,1823,2001,0,0,0,0,0,0
$GC,8710,0.90,144.1,579.8,17.9,573,8714,0.00,1.23,0.00,0.000,4,0.000,0.048,3338,1062,2001,0,0,0,0,0,0
$GC,8845,0.90,144.1,554.3,19.1,579,8849,0.03,1.12,0.00,0.000,6,0.207,0.025,3330,1831,2001,0,0,0,0,0,0
$GC,9176,0.90,144.1,494.9,18.4,595,9180,0.00,1.12,0.00,0.000,4,0.000,0.047,3334,1130,2001,0,0,0,0,0,0
$GC,9365,0.90,144.1,459.3,19.3,603,9370,0.00,1.02,0.00,0.000,6,0.000,0.025,3333,1822,2001,0,0,0,0,0,0
$GC,9687,0.90,144.1,400.8,17.9,619,9691,0.00,0.45,0.00,0.000,4,0.000,0.044,3334,1522,2001,0,0,0,0,0,0
$GC,9950,0.90,144.1,355.3,16.6,641,9953,0.00,0.40,0.00,0.000,6,0.000,0.032,3334,1818,2001,0,0,0,0,0,0
$GC,10280,0.90,144.1,301.2,15.6,672,10283,0.00,1.42,0.00,0.000,4,0.000,0.049,3340,941,2001,0,0,0,0,0,0
$GC,10430,0.90,144.1,276.9,17.2,685,10434,0.03,1.30,0.00,0.000,6,0.202,0.026,3330,1815,2001,0,0,0,0,0,0
$GC,10759,0.90,144.1,223.0,17.7,716,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1815,2001,0,0,0,0,0,0
$GC,11079,0.90,144.1,169.9,15.6,746,11082,0.00,1.85,0.00,0.000,4,0.000,0.052,3336,653,2001,0,0,0,0,0,0
$GC,11241,0.90,144.1,145.1,14.4,760,11249,0.00,1.75,0.00,0.000,6,0.000,0.024,3336,1807,2001,0,0,0,0,0,0
$GC,11568,0.90,144.1,100.0,14.0,791,11571,0.00,0.77,0.00,0.000,4,0.000,0.037,3336,2347,2001,0,0,0,0,0,0
$GC,11672,0.90,144.1,85.5,14.0,808,11678,0.03,0.80,0.00,0.000,6,0.218,0.039,3332,1814,2001,0,0,0,0,0,0
$GC,12021,0.90,144.1,39.1,13.3,869,12026,0.00,1.80,0.00,0.000,4,0.000,0.056,3339,676,2001,0,0,0,0,0,0
$GC,12196,0.90,144.1,14.7,13.6,899,12204,0.05,1.73,0.00,0.000,6,0.171,0.026,3322,1823,2001,0,0,0,0,0,0
$GC,12254,0.90,144.1,7.3,13.1,908,12261,0.00,0.57,0.00,0.000,4,0.000,0.037,3322,2245,2001,0,0,0,0,0,0
$STATE,12427,end climb,NO_VERTICAL_VELOCITY
$STATE,12427,begin surface
$SM_CCo,12430,349.52,0.955,0,0,395,540.63
$SM_GC,5.49,9.48,0.00,0.00,0.048,0.000,0.000,85,1904,384,-9.16,-0.17,543.33
$IRIDIUM_FIX,-5438.56,-3.75,281213,141415
$TT8_MAMPS,0.026964
$HUMID,63.38
$INTERNAL_PRESSURE,8.9306
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.5,60.832
$10V_AH,9.9,42.822
$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,23.800,45.525,269.375,349.525,0.000,24.198,30.016,243.141,0.000,0.000,22.722,2315.511,7546.201,748.511,2689.745,127.178,0.000,1782.979,0.000,2350.300,0.000,1.008,0.000
$DEVICE_MAMPS,264.690,116.280,1607.265,955.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.484,786.063,622.333,80.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,53516,937
$CAP_FILE_SIZE,121364,0
$CFSIZE,2097086464,2075426816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,281213,223404,-5458.903,0.623,27,0.9,27,-20.3