version: 66.07.10.p01
glider: 574
mission: 8
dive: 156
start: 12 30 113 1 48 36
data:
$ID,574
$MISSION,8
$DIVE,156
$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,-20137.408
$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,44
$R_STBD_OVSHOOT,88
$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,135
$GPS1,291213,125611,-5459.375,-0.454,901,99.0,901,-20.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-40.02
$_SM_ANGLEo,-64.6
$GPS2,291213,125611,-5459.375,-0.454,901,99.0,901,-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
$GC,24,-0.90,-57.8,0.0,0.0,0,40,0.00,0.00,-13.62,0.000,2,0.000,0.000,82,1870,2457,0,0,0,0,0,0
$GC,42,-0.90,-57.8,3.4,-10.2,2,62,12.25,2.15,-2.40,0.000,4,0.269,0.058,2739,515,2846,0,0,0,0,0,0
$GC,287,-0.90,-57.8,28.0,-10.3,43,292,0.00,2.05,0.00,0.000,6,0.000,0.026,2731,1873,2855,0,0,0,0,0,0
$GC,430,-0.90,-57.8,42.5,-9.8,68,435,0.00,0.57,0.00,0.000,4,0.000,0.038,2728,2288,2858,0,0,0,0,0,0
$GC,690,-0.90,-57.8,68.8,-10.1,114,697,0.00,0.55,0.00,0.000,6,0.000,0.036,2728,1893,2859,0,0,0,0,0,0
$GC,1044,-0.90,-58.3,103.4,-9.4,173,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2859,0,0,0,0,0,0
$GC,1359,-0.90,-58.3,135.3,-10.0,203,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2860,0,0,0,0,0,0
$GC,1680,-0.90,-58.3,167.3,-9.8,233,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2860,0,0,0,0,0,0
$GC,1996,-0.90,-58.3,199.5,-10.0,263,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2860,0,0,0,0,0,0
$GC,2317,-0.90,-58.3,231.4,-10.3,293,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2861,0,0,0,0,0,0
$GC,2632,-0.90,-58.3,263.3,-9.9,323,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2861,0,0,0,0,0,0
$GC,2954,-0.90,-58.3,295.3,-10.0,353,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2861,0,0,0,0,0,0
$GC,3270,-0.90,-58.3,327.5,-9.9,383,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1894,2862,0,0,0,0,0,0
$GC,3591,-0.90,-58.3,359.1,-10.4,413,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2862,0,0,0,0,0,0
$GC,3907,-0.90,-58.3,390.9,-10.4,443,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2862,0,0,0,0,0,0
$GC,4229,-0.90,-58.3,422.8,-10.0,463,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2862,0,0,0,0,0,0
$GC,4538,-0.90,-58.3,454.1,-10.0,478,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2862,0,0,0,0,0,0
$GC,4848,-0.90,-58.3,484.8,-9.9,493,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2862,0,0,0,0,0,0
$GC,5157,-0.90,-58.3,515.4,-9.8,508,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1894,2863,0,0,0,0,0,0
$GC,5466,-0.90,-58.3,546.5,-9.6,523,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1893,2863,0,0,0,0,0,0
$GC,5776,-0.90,-58.3,577.5,-10.0,538,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1894,2863,0,0,0,0,0,0
$GC,6085,-0.90,-58.3,608.3,-9.9,553,6089,0.00,0.45,0.00,0.000,4,0.000,0.049,2728,1574,2863,0,0,0,0,0,0
$GC,6190,-0.90,-58.3,619.1,-10.3,557,6196,0.00,0.52,0.00,0.000,6,0.000,0.034,2726,1944,2863,0,0,0,0,0,0
$GC,6506,-0.90,-58.3,651.0,-9.9,573,6507,0.05,0.00,0.00,0.000,6,0.266,0.000,2735,1945,2863,0,0,0,0,0,0
$GC,6815,-0.90,-58.3,682.6,-10.3,588,6819,0.00,0.65,0.00,0.000,4,0.000,0.040,2733,2404,2863,0,0,0,0,0,0
$GC,6995,-0.90,-58.3,700.5,-9.9,596,6999,0.00,0.70,0.00,0.000,6,0.000,0.035,2733,1920,2863,0,0,0,0,0,0
$GC,7327,-0.90,-58.3,733.9,-10.0,612,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1920,2863,0,0,0,0,0,0
$GC,7636,-0.90,-58.3,764.5,-10.2,627,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1921,2864,0,0,0,0,0,0
$GC,7946,-0.90,-58.3,795.1,-10.2,642,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1920,2863,0,0,0,0,0,0
$GC,8255,-0.90,-58.3,826.9,-10.1,657,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1920,2863,0,0,0,0,0,0
$GC,8564,-0.90,-58.3,857.7,-10.0,672,8568,0.00,0.45,0.00,0.000,4,0.000,0.050,2732,1604,2864,0,0,0,0,0,0
$GC,8703,-0.90,-58.3,871.8,-9.9,678,8707,0.00,0.43,0.00,0.000,6,0.000,0.035,2731,1928,2864,0,0,0,0,0,0
$GC,9030,-0.90,-58.3,904.7,-10.1,694,9033,0.00,0.35,0.00,0.000,4,0.000,0.045,2729,2210,2864,0,0,0,0,0,0
$GC,9270,-0.90,-58.3,928.9,-10.5,704,9275,0.00,0.45,0.00,0.000,6,0.000,0.039,2729,1896,2864,0,0,0,0,0,0
$GC,9585,-0.90,-58.3,960.7,-10.7,720,9586,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1895,2864,0,0,0,0,0,0
$STATE,9873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9873,begin apogee
$GC,9877,-0.16,0.0,990.1,9.7,734,9938,0.90,0.00,56.92,1.651,6,0.179,0.000,2970,1831,2600,0,0,0,0,0,0
$STATE,9939,end apogee,CONTROL_FINISHED_OK
$STATE,9939,begin climb
$GC,9940,0.90,58.3,984.3,0.0,737,10001,1.10,0.00,55.25,1.607,6,0.106,0.000,3314,1831,2362,0,0,0,0,0,0
$GC,10310,0.90,58.3,946.2,10.0,755,10314,0.00,1.33,0.00,0.000,4,0.000,0.054,3319,1039,2358,0,0,0,0,0,0
$GC,10558,0.90,58.3,921.8,10.5,766,10561,0.00,1.15,0.00,0.000,6,0.000,0.028,3320,1793,2358,0,0,0,0,0,0
$GC,10890,0.90,58.3,888.6,10.2,782,10893,0.00,0.40,0.00,0.000,4,0.000,0.044,3321,1526,2358,0,0,0,0,0,0
$GC,11146,0.90,58.3,862.8,10.5,793,11150,0.00,0.43,0.00,0.000,6,0.000,0.035,3321,1845,2358,0,0,0,0,0,0
$GC,11467,0.90,58.3,830.1,10.6,809,11470,0.00,0.73,0.00,0.000,4,0.000,0.045,3323,1379,2358,0,0,0,0,0,0
$GC,11724,0.90,58.3,804.4,10.5,820,11728,0.00,0.62,0.00,0.000,6,0.000,0.031,3323,1818,2357,0,0,0,0,0,0
$GC,12045,0.90,58.3,771.9,10.5,836,12049,0.00,0.80,0.00,0.000,4,0.000,0.045,3326,1314,2358,0,0,0,0,0,0
$GC,12302,0.90,58.3,746.4,9.9,847,12306,0.00,0.73,0.00,0.000,6,0.000,0.030,3326,1818,2358,0,0,0,0,0,0
$GC,12624,0.90,58.3,714.6,10.3,863,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1818,2358,0,0,0,0,0,0
$GC,12933,0.90,58.3,683.5,9.9,878,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1818,2359,0,0,0,0,0,0
$GC,13242,0.90,58.3,652.8,10.2,893,13246,0.00,0.40,0.00,0.000,4,0.000,0.042,3326,1545,2359,0,0,0,0,0,0
$GC,13499,0.90,58.3,626.9,10.6,904,13503,0.00,0.38,0.00,0.000,6,0.000,0.036,3326,1811,2359,0,0,0,0,0,0
$GC,13820,0.90,58.3,595.6,10.1,920,13824,0.00,0.70,0.00,0.000,4,0.000,0.044,3329,1362,2359,0,0,0,0,0,0
$GC,14023,0.90,58.3,575.4,10.8,929,14026,0.00,0.65,0.00,0.000,6,0.000,0.031,3328,1825,2360,0,0,0,0,0,0
$GC,14355,0.90,58.3,541.6,10.0,945,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1825,2360,0,0,0,0,0,0
$GC,14665,0.90,58.3,511.2,9.7,960,14668,0.00,0.65,0.00,0.000,4,0.000,0.043,3331,1401,2360,0,0,0,0,0,0
$GC,14921,0.90,58.3,485.2,9.4,971,14926,0.00,0.60,0.00,0.000,6,0.000,0.031,3331,1827,2360,0,0,0,0,0,0
$GC,15243,0.90,58.3,453.5,9.9,987,15246,0.00,0.73,0.00,0.000,4,0.000,0.042,3333,1363,2360,0,0,0,0,0,0
$GC,15422,0.90,58.3,435.4,10.1,995,15426,0.00,0.62,0.00,0.000,6,0.000,0.031,3333,1818,2360,0,0,0,0,0,0
$GC,15754,0.90,58.3,402.8,9.9,1011,15756,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1818,2360,0,0,0,0,0,0
$GC,16072,0.90,58.3,370.9,10.1,1039,16074,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1818,2361,0,0,0,0,0,0
$GC,16395,0.90,58.3,339.1,9.9,1069,16398,0.00,0.57,0.00,0.000,4,0.000,0.044,3335,1443,2361,0,0,0,0,0,0
$GC,16653,0.90,58.3,312.8,10.7,1092,16658,0.03,0.50,0.00,0.000,6,0.209,0.034,3327,1821,2361,0,0,0,0,0,0
$GC,16983,0.90,58.3,279.5,10.4,1123,16987,0.00,1.67,0.00,0.000,4,0.000,0.050,3333,774,2361,0,0,0,0,0,0
$GC,17245,0.90,60.5,253.1,9.2,1146,17255,0.00,1.55,2.67,0.723,6,0.000,0.028,3334,1801,2353,0,0,0,0,0,0
$GC,17575,0.90,60.5,220.3,10.0,1177,17579,0.00,2.25,0.00,0.000,4,0.000,0.054,3343,414,2358,0,0,0,0,0,0
$GC,17833,0.90,60.5,194.1,9.6,1199,17840,0.05,2.12,0.00,0.000,6,0.156,0.027,3326,1808,2359,0,0,0,0,0,0
$GC,18159,0.90,60.5,162.3,9.8,1230,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$GC,18478,0.90,60.5,130.3,10.3,1260,18479,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$GC,18799,0.90,60.5,98.1,9.9,1291,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$GC,19146,0.90,60.5,63.3,10.5,1352,19150,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$GC,19495,0.90,60.5,29.0,10.2,1413,19499,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$GC,19641,0.90,60.5,14.4,10.1,1438,19647,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$GC,19697,0.90,60.5,8.7,10.5,1447,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1808,2359,0,0,0,0,0,0
$GC,19753,0.90,60.5,3.2,10.0,1456,19759,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1809,2359,0,0,0,0,0,0
$STATE,19766,end climb,SURFACE_DEPTH_REACHED
$STATE,19766,begin surface coast
$FINISH,0.0,1.027350
$STATE,19802,end surface coast,CONTROL_FINISHED_OK
$STATE,19802,begin surface
$SM_CCo,19804,430.95,1.024,0,0,396,540.63
$SM_CCo,21185,1.30,0.476,0,0,394,540.63
$SM_GC,1071.95,0.00,0.00,1.30,0.000,0.000,0.476,86,1940,394,-9.21,0.85,540.63
$IRIDIUM_FIX,-5438.56,-7.49,291213,121204
$TT8_MAMPS,0.035952
$HUMID,65.71
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,22.1,62.297
$10V_AH,9.8,43.647
$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,23.600,29.075,114.850,432.250,0.000,176.584,140.913,0.000,0.000,0.000,901.915,3651.302,13611.388,633.580,4586.541,259.070,0.000,2197.528,0.000,3372.187,0.000,1.008,0.000
$DEVICE_MAMPS,269.280,118.575,1650.870,1024.335,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1377.565,1018.443,1288.656,132.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,80199,1464
$CAP_FILE_SIZE,371220,2736
$CFSIZE,2097086464,2073591808
$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