version: 66.07.10.p01
glider: 574
mission: 8
dive: 154
start: 12 29 113 12 56 32
data:
$ID,574
$MISSION,8
$DIVE,154
$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,540.63239
$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,-16525.738
$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,40
$R_STBD_OVSHOOT,79
$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,0.1
$SIM_PITCH,-20
$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,133
$GPS1,291213,125025,-5459.415,-0.420,298,0.7,298,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-40.02
$_SM_ANGLEo,-70.0
$GPS2,291213,125611,-5459.375,-0.454,23,0.9,23,-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,177.6,1255,-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
$STATE,22,begin dive
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$GC,42,-0.90,-57.8,3.2,-10.2,2,187,11.32,0.00,-127.15,0.000,6,0.243,0.000,2735,1927,2834,0,0,0,0,0,0
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$GC,380,-0.90,-58.2,37.2,-9.8,59,385,0.00,0.43,0.00,0.000,4,0.000,0.046,2735,1621,2835,0,0,0,0,0,0
$GC,641,-0.90,-58.2,63.5,-10.1,105,648,0.00,0.38,0.00,0.000,6,0.000,0.037,2734,1910,2835,0,0,0,0,0,0
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$GC,1238,-0.90,-58.2,123.6,-9.9,190,1242,0.00,1.08,0.00,0.000,6,0.000,0.033,2729,1906,2835,0,0,0,0,0,0
$GC,1571,-0.90,-58.2,156.4,-9.8,221,1575,0.00,0.50,0.00,0.000,4,0.000,0.034,2727,2274,2835,0,0,0,0,0,0
$GC,1700,-0.90,-58.2,169.6,-9.9,232,1708,0.00,0.55,0.00,0.000,6,0.000,0.036,2727,1896,2835,0,0,0,0,0,0
$GC,2025,-0.90,-58.2,202.3,-10.1,263,2028,0.00,0.88,0.00,0.000,4,0.000,0.046,2727,1327,2835,0,0,0,0,0,0
$GC,2165,-0.90,-58.2,216.4,-10.2,275,2171,0.08,0.85,0.00,0.000,6,0.237,0.027,2737,1907,2835,0,0,0,0,0,0
$GC,2490,-0.90,-58.2,248.6,-9.8,306,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1907,2835,0,0,0,0,0,0
$GC,2809,-0.90,-58.2,280.7,-10.0,336,2813,0.00,0.35,0.00,0.000,4,0.000,0.044,2737,2197,2835,0,0,0,0,0,0
$GC,2923,-0.90,-58.2,292.1,-9.9,346,2926,0.00,0.38,0.00,0.000,6,0.000,0.040,2737,1911,2835,0,0,0,0,0,0
$GC,3256,-0.90,-58.2,324.9,-9.8,377,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2836,0,0,0,0,0,0
$GC,3581,-0.90,-58.2,358.0,-10.1,408,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2836,0,0,0,0,0,0
$GC,3900,-0.90,-58.2,389.7,-10.2,438,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2837,0,0,0,0,0,0
$GC,4212,-0.90,-58.2,421.3,-10.6,458,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2837,0,0,0,0,0,0
$GC,4521,-0.90,-58.2,452.1,-9.8,473,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2838,0,0,0,0,0,0
$GC,4830,-0.90,-58.2,482.4,-10.0,488,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2838,0,0,0,0,0,0
$GC,5140,-0.90,-58.2,513.2,-9.9,503,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2839,0,0,0,0,0,0
$GC,5449,-0.90,-58.2,543.7,-9.7,518,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2839,0,0,0,0,0,0
$GC,5758,-0.90,-58.2,575.0,-10.3,533,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2840,0,0,0,0,0,0
$GC,6068,-0.90,-58.2,606.1,-9.9,548,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2840,0,0,0,0,0,0
$GC,6377,-0.90,-58.2,636.2,-9.7,563,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1911,2841,0,0,0,0,0,0
$GC,6686,-0.90,-58.2,667.0,-10.1,578,6690,0.00,0.38,0.00,0.000,4,0.000,0.052,2737,1642,2841,0,0,0,0,0,0
$GC,6803,-0.90,-58.2,679.0,-10.4,583,6807,0.00,0.38,0.00,0.000,6,0.000,0.034,2736,1922,2841,0,0,0,0,0,0
$GC,7130,-0.90,-58.2,712.2,-10.0,599,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1922,2842,0,0,0,0,0,0
$GC,7439,-0.90,-58.2,743.1,-10.1,614,7443,0.00,0.50,0.00,0.000,4,0.000,0.039,2733,2300,2842,0,0,0,0,0,0
$GC,7690,-0.90,-58.2,768.6,-9.6,625,7695,0.00,0.55,0.00,0.000,6,0.000,0.035,2733,1914,2842,0,0,0,0,0,0
$GC,8017,-0.90,-58.2,801.4,-10.2,641,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1914,2843,0,0,0,0,0,0
$GC,8327,-0.90,-58.2,832.3,-10.1,656,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1914,2844,0,0,0,0,0,0
$GC,8636,-0.90,-58.2,863.4,-9.9,671,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1913,2843,0,0,0,0,0,0
$GC,8945,-0.90,-58.2,893.8,-10.4,686,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1913,2844,0,0,0,0,0,0
$GC,9255,-0.90,-58.6,924.3,-9.4,701,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1913,2845,0,0,0,0,0,0
$GC,9564,-0.90,-58.6,955.5,-10.0,716,9568,0.00,0.43,0.00,0.000,4,0.000,0.050,2733,1612,2845,0,0,0,0,0,0
$GC,9703,-0.90,-58.6,969.5,-10.2,722,9707,0.00,0.40,0.00,0.000,6,0.000,0.034,2732,1926,2846,0,0,0,0,0,0
$STATE,9925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9925,begin apogee
$GC,9930,-0.16,0.0,991.6,10.0,733,9987,0.90,0.00,53.58,1.630,6,0.181,0.000,2973,1803,2600,0,0,0,0,0,0
$STATE,9987,end apogee,CONTROL_FINISHED_OK
$STATE,9987,begin climb
$GC,9989,0.90,58.6,985.7,0.0,736,10049,1.10,0.00,55.92,1.573,6,0.103,0.000,3315,1803,2361,0,0,0,0,0,0
$GC,10357,0.90,58.6,948.3,10.3,754,10360,0.00,0.77,0.00,0.000,4,0.000,0.050,3318,1324,2355,0,0,0,0,0,0
$GC,10613,0.90,58.6,922.6,10.0,765,10618,0.00,0.70,0.00,0.000,6,0.000,0.027,3319,1802,2354,0,0,0,0,0,0
$GC,10935,0.90,58.6,890.8,9.7,781,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1801,2354,0,0,0,0,0,0
$GC,11244,0.90,58.6,859.6,10.0,796,11248,0.00,0.40,0.00,0.000,4,0.000,0.041,3319,1531,2354,0,0,0,0,0,0
$GC,11501,0.90,58.6,833.7,10.8,807,11505,0.00,0.40,0.00,0.000,6,0.000,0.034,3319,1824,2354,0,0,0,0,0,0
$GC,11822,0.90,58.6,801.9,10.2,823,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1824,2354,0,0,0,0,0,0
$GC,12131,0.90,58.6,770.9,10.1,838,12135,0.00,0.47,0.00,0.000,4,0.000,0.043,3321,1505,2354,0,0,0,0,0,0
$GC,12389,0.90,59.3,745.0,9.4,849,12393,0.00,0.45,0.00,0.000,6,0.000,0.033,3321,1835,2354,0,0,0,0,0,0
$GC,12710,0.90,59.3,712.8,9.9,865,12714,0.00,0.68,0.00,0.000,4,0.000,0.044,3323,1393,2354,0,0,0,0,0,0
$GC,12966,0.90,61.9,687.1,9.1,876,12971,0.00,0.60,0.00,0.000,6,0.000,0.030,3323,1826,2354,0,0,0,0,0,0
$GC,13288,0.90,61.9,654.8,9.8,892,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1826,2354,0,0,0,0,0,0
$GC,13597,0.90,61.9,623.9,10.3,907,13601,0.00,0.40,0.00,0.000,4,0.000,0.041,3324,1553,2355,0,0,0,0,0,0
$GC,13854,0.90,61.9,598.1,10.2,918,13858,0.00,0.35,0.00,0.000,6,0.000,0.034,3324,1801,2355,0,0,0,0,0,0
$GC,14177,0.90,61.9,565.2,10.6,934,14181,0.00,0.77,0.00,0.000,4,0.000,0.043,3326,1308,2354,0,0,0,0,0,0
$GC,14428,0.90,62.8,539.6,9.3,945,14435,0.00,0.77,3.17,0.933,6,0.000,0.026,3325,1837,2342,0,0,0,0,0,0
$GC,14750,0.90,62.8,507.5,9.9,961,14751,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1838,2350,0,0,0,0,0,0
$GC,15060,0.90,62.8,476.9,9.5,976,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1838,2350,0,0,0,0,0,0
$GC,15369,0.90,62.8,446.3,9.9,991,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1838,2350,0,0,0,0,0,0
$GC,15678,0.90,62.8,415.7,9.9,1006,15679,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1838,2351,0,0,0,0,0,0
$GC,15994,0.90,62.8,384.3,9.9,1028,15995,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1837,2351,0,0,0,0,0,0
$GC,16311,0.90,62.8,352.5,10.2,1058,16313,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1838,2351,0,0,0,0,0,0
$GC,16630,0.90,64.7,320.8,9.2,1088,16643,0.00,0.77,3.83,0.985,4,0.000,0.043,3327,1362,2337,0,0,0,0,0,0
$GC,16896,0.90,66.8,294.4,9.2,1111,16903,0.00,0.68,3.83,0.977,6,0.000,0.028,3325,1842,2327,0,0,0,0,0,0
$GC,17221,0.90,66.8,261.6,9.7,1142,17225,0.00,0.38,0.00,0.000,4,0.000,0.041,3325,1576,2333,0,0,0,0,0,0
$GC,17482,0.90,66.8,236.0,10.9,1165,17486,0.00,0.28,0.00,0.000,6,0.000,0.038,3325,1793,2333,0,0,0,0,0,0
$GC,17812,0.90,66.8,203.3,10.1,1196,17816,0.00,0.68,0.00,0.000,4,0.000,0.043,3327,1359,2333,0,0,0,0,0,0
$GC,17953,0.90,66.8,189.1,9.4,1208,17961,0.00,0.65,0.00,0.000,6,0.000,0.029,3327,1826,2333,0,0,0,0,0,0
$GC,18279,0.90,66.8,156.1,10.3,1239,18283,0.00,0.43,0.00,0.000,4,0.000,0.042,3328,1533,2333,0,0,0,0,0,0
$GC,18540,0.90,66.8,130.0,10.2,1262,18544,0.00,0.38,0.00,0.000,6,0.000,0.035,3328,1826,2333,0,0,0,0,0,0
$GC,18870,0.90,66.8,97.5,9.8,1294,18875,0.00,0.85,0.00,0.000,4,0.000,0.041,3332,1287,2334,0,0,0,0,0,0
$GC,19131,0.90,66.8,70.9,10.0,1340,19136,0.00,0.75,0.00,0.000,6,0.000,0.028,3332,1815,2334,0,0,0,0,0,0
$GC,19479,0.90,66.8,36.3,10.5,1401,19484,0.00,2.15,0.00,0.000,4,0.000,0.047,3332,3185,2334,0,0,0,0,0,0
$GC,19746,0.90,66.8,9.1,9.8,1447,19754,0.05,2.08,0.00,0.000,6,0.188,0.032,3326,1850,2334,0,0,0,0,0,0
$GC,19804,0.90,66.8,3.3,10.6,1456,19811,0.00,2.33,0.00,0.000,4,0.000,0.056,3336,424,2334,0,0,0,0,0,0
$STATE,19818,end climb,SURFACE_DEPTH_REACHED
$STATE,19818,begin surface coast
$FINISH,0.0,1.027209
$STATE,19854,end surface coast,CONTROL_FINISHED_OK
$STATE,19854,begin surface
$SM_CCo,19856,430.30,0.962,0,0,396,540.63
$SM_GC,1305.79,9.80,0.00,0.00,0.064,0.000,0.000,79,1887,386,-9.16,-0.65,543.09
$IRIDIUM_FIX,-5438.56,-3.75,291213,101001
$TT8_MAMPS,0.036701
$HUMID,62.24
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,22.2,61.924
$10V_AH,9.9,43.306
$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,23.250,30.750,120.325,430.300,0.000,0.000,0.000,0.000,0.000,0.000,25.354,3584.931,12801.032,689.787,3363.672,161.550,0.000,2147.010,0.000,3325.222,0.000,1.008,0.000
$DEVICE_MAMPS,243.270,64.260,1630.215,962.370,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.391,1006.057,1071.187,115.491,0.000,0.000,0.000,0.000,0.000,0.000
$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,83540,1464
$CAP_FILE_SIZE,224716,722
$CFSIZE,2097086464,2074673152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291213,125611,-5459.375,-0.454,901,99.0,901,-20.2