version: 66.07.10.p01
glider: 574
mission: 8
dive: 151
start: 12 29 113 2 36 21
data:
$ID,574
$MISSION,8
$DIVE,151
$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,-15310.09
$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,49
$R_STBD_OVSHOOT,56
$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,130
$GPS1,291213,022904,-5459.780,-1.522,61,2.0,61,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.27
$_SM_ANGLEo,-72.7
$GPS2,291213,023600,-5459.738,-1.559,16,1.4,16,-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,126.5,1726,-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,-8.05,0.000,2,0.000,0.000,68,1927,579,0,0,0,0,0,0
$GC,36,-0.90,-144.1,5.4,-0.0,1,211,12.07,0.73,-152.73,0.000,4,0.258,0.073,2732,2450,3187,0,0,0,0,0,0
$GC,290,-0.90,-144.1,20.1,-20.1,43,295,0.00,0.80,0.00,0.000,6,0.000,0.032,2732,1908,3189,0,0,0,0,0,0
$GC,433,-0.90,-144.1,50.6,-22.0,68,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1908,3189,0,0,0,0,0,0
$GC,778,-0.90,-144.1,126.1,-21.9,119,781,0.00,1.23,0.00,0.000,4,0.000,0.037,2728,2691,3189,0,0,0,0,0,0
$GC,1008,-0.90,-144.1,172.1,-18.8,139,1014,0.00,1.20,0.00,0.000,6,0.000,0.030,2727,1912,3189,0,0,0,0,0,0
$GC,1333,-0.90,-144.1,234.2,-17.8,170,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1912,3188,0,0,0,0,0,0
$GC,1653,-0.90,-144.1,290.1,-17.5,200,1657,0.00,0.45,0.00,0.000,4,0.000,0.034,2726,2253,3189,0,0,0,0,0,0
$GC,1793,-0.90,-144.1,314.4,-16.8,212,1801,0.00,0.52,0.00,0.000,6,0.000,0.036,2726,1890,3188,0,0,0,0,0,0
$GC,2119,-0.90,-144.1,368.2,-16.7,243,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1890,3189,0,0,0,0,0,0
$GC,2433,-0.90,-144.1,421.8,-17.2,267,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1890,3189,0,0,0,0,0,0
$GC,2742,-0.90,-144.1,474.0,-16.8,282,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1890,3189,0,0,0,0,0,0
$GC,3052,-0.90,-144.1,522.5,-15.2,297,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1890,3190,0,0,0,0,0,0
$GC,3361,-0.90,-144.1,569.0,-14.9,312,3364,0.00,0.60,0.00,0.000,4,0.000,0.034,2724,2317,3190,0,0,0,0,0,0
$GC,3578,-0.90,-144.1,601.4,-14.6,321,3585,0.08,0.60,0.00,0.000,6,0.220,0.034,2739,1901,3191,0,0,0,0,0,0
$GC,3894,-0.90,-144.1,645.1,-13.9,337,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1901,3191,0,0,0,0,0,0
$GC,4203,-0.90,-144.1,687.5,-13.5,352,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1901,3192,0,0,0,0,0,0
$GC,4513,-0.90,-144.1,727.7,-12.6,367,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1902,3192,0,0,0,0,0,0
$GC,4822,-0.90,-144.1,767.5,-13.1,382,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1901,3192,0,0,0,0,0,0
$GC,5131,-0.90,-144.1,808.4,-13.4,397,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1901,3192,0,0,0,0,0,0
$GC,5441,-0.90,-144.1,850.2,-13.8,412,5444,0.00,0.35,0.00,0.000,4,0.000,0.053,2739,1649,3193,0,0,0,0,0,0
$GC,5613,-0.90,-144.1,874.6,-13.4,419,5619,0.00,0.38,0.00,0.000,6,0.000,0.037,2739,1937,3193,0,0,0,0,0,0
$GC,5929,-0.90,-144.1,919.3,-14.3,435,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1938,3195,0,0,0,0,0,0
$GC,6238,-0.90,-144.1,964.4,-14.8,450,6242,0.00,0.55,0.00,0.000,4,0.000,0.040,2736,2336,3197,0,0,0,0,0,0
$GC,6410,-0.90,-144.1,989.6,-14.5,457,6416,0.00,0.62,0.00,0.000,6,0.000,0.034,2736,1906,3197,0,0,0,0,0,0
$STATE,6436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6436,begin apogee
$GC,6441,-0.16,0.0,993.0,14.1,459,6573,0.88,0.00,128.88,1.600,6,0.175,0.000,2974,1837,2599,0,0,0,0,0,0
$STATE,6574,end apogee,CONTROL_FINISHED_OK
$STATE,6574,begin climb
$GC,6576,0.90,144.1,997.9,0.0,465,6721,1.12,0.00,141.55,1.526,6,0.098,0.000,3313,1836,2012,0,0,0,0,0,0
$GC,7031,0.90,144.1,936.2,16.4,488,7034,0.00,1.45,0.00,0.000,4,0.000,0.053,3319,984,2005,0,0,0,0,0,0
$GC,7226,0.90,144.1,902.7,17.6,496,7232,0.00,1.27,0.00,0.000,6,0.000,0.024,3319,1808,2004,0,0,0,0,0,0
$GC,7542,0.90,144.1,849.3,17.0,512,7546,0.00,0.80,0.00,0.000,4,0.000,0.045,3321,1314,2004,0,0,0,0,0,0
$GC,7799,0.90,144.1,804.9,16.9,523,7803,0.00,0.75,0.00,0.000,6,0.000,0.025,3321,1817,2004,0,0,0,0,0,0
$GC,8120,0.90,144.1,750.0,17.1,539,8124,0.00,1.20,0.00,0.000,4,0.000,0.047,3326,1079,2004,0,0,0,0,0,0
$GC,8349,0.90,144.1,709.0,17.7,549,8354,0.00,1.12,0.00,0.000,6,0.000,0.025,3326,1826,2003,0,0,0,0,0,0
$GC,8677,0.90,144.1,649.5,18.6,565,8680,0.00,0.82,0.00,0.000,4,0.000,0.044,3328,1306,2003,0,0,0,0,0,0
$GC,8901,0.90,144.1,607.4,18.8,575,8905,0.00,0.75,0.00,0.000,6,0.000,0.027,3328,1812,2003,0,0,0,0,0,0
$GC,9233,0.90,144.1,548.4,17.1,591,9237,0.00,0.93,0.00,0.000,4,0.000,0.045,3331,1235,2003,0,0,0,0,0,0
$GC,9490,0.90,144.1,504.6,17.5,602,9495,0.00,0.90,0.00,0.000,6,0.000,0.024,3331,1833,2003,0,0,0,0,0,0
$GC,9812,0.90,144.1,453.0,15.8,618,9815,0.00,0.65,0.00,0.000,4,0.000,0.044,3333,1414,2003,0,0,0,0,0,0
$GC,10069,0.90,144.1,412.9,15.3,629,10073,0.00,0.60,0.00,0.000,6,0.000,0.027,3333,1824,2003,0,0,0,0,0,0
$GC,10397,0.90,144.1,363.5,15.3,656,10400,0.00,0.77,0.00,0.000,4,0.000,0.044,3336,1330,2003,0,0,0,0,0,0
$GC,10656,0.90,144.1,324.0,14.8,679,10661,0.03,0.70,0.00,0.000,6,0.200,0.027,3328,1814,2003,0,0,0,0,0,0
$GC,10986,0.90,144.1,276.0,14.3,710,10990,0.00,0.90,0.00,0.000,4,0.000,0.046,3331,1251,2003,0,0,0,0,0,0
$GC,11249,0.90,144.1,235.2,16.4,733,11252,0.00,0.82,0.00,0.000,6,0.000,0.027,3330,1816,2003,0,0,0,0,0,0
$GC,11579,0.90,144.1,179.8,16.5,764,11582,0.00,0.62,0.00,0.000,4,0.000,0.043,3332,1414,2003,0,0,0,0,0,0
$GC,11774,0.90,144.1,152.3,13.4,781,11777,0.00,0.57,0.00,0.000,6,0.000,0.030,3332,1841,2003,0,0,0,0,0,0
$GC,12104,0.90,144.1,103.2,14.9,812,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1841,2003,0,0,0,0,0,0
$GC,12443,0.90,144.1,55.7,13.7,869,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1841,2003,0,0,0,0,0,0
$GC,12796,0.90,144.1,12.2,13.5,930,12803,0.00,0.85,0.00,0.000,4,0.000,0.046,3335,1309,2003,0,0,0,0,0,0
$STATE,13005,end climb,NO_VERTICAL_VELOCITY
$STATE,13005,begin surface
$SM_CCo,13008,348.12,0.923,0,0,396,540.63
$SM_GC,5.38,9.50,0.00,0.00,0.047,0.000,0.000,82,1919,389,-9.16,0.25,542.35
$IRIDIUM_FIX,-5438.56,0.00,281213,222236
$TT8_MAMPS,0.027713
$HUMID,63.19
$INTERNAL_PRESSURE,8.9306
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.5,61.284
$10V_AH,9.9,43.014
$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,23.675,25.525,270.425,348.125,0.000,27.135,41.098,236.512,0.000,0.000,19.636,2372.936,8004.854,737.470,2752.099,139.252,0.000,1776.638,0.000,2416.465,0.000,1.008,0.000
$DEVICE_MAMPS,257.805,115.515,1600.380,922.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.242,776.108,650.656,79.719,0.000,0.000,0.000,0.000,0.000,0.000
$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,53525,965
$CAP_FILE_SIZE,117896,0
$CFSIZE,2097086464,2075164672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291213,062358,-5500.302,1.652,36,1.0,36,-20.3