version: 66.07.10.p01
glider: 574
mission: 8
dive: 157
start: 12 30 113 8 23 46
data:
$ID,574
$MISSION,8
$DIVE,157
$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,-21943.24
$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,37
$R_STBD_OVSHOOT,78
$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,136
$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,-63.8
$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,23,begin dive
$GC,24,-0.90,-57.8,0.0,0.0,0,40,0.00,0.00,-13.43,0.000,2,0.000,0.000,86,1940,2595,0,0,0,0,0,0
$GC,42,-0.90,-57.8,3.3,-10.3,2,62,12.20,1.35,-1.42,0.000,4,0.269,0.062,2725,2784,2843,0,0,0,0,0,0
$GC,324,-0.90,-57.8,31.7,-9.6,50,332,0.03,1.35,0.00,0.000,6,0.233,0.032,2731,1908,2843,0,0,0,0,0,0
$GC,470,-0.90,-57.8,46.2,-9.6,75,477,0.00,0.47,0.00,0.000,4,0.000,0.050,2732,1578,2844,0,0,0,0,0,0
$GC,735,-0.90,-57.8,72.5,-9.9,121,740,0.00,0.45,0.00,0.000,6,0.000,0.035,2731,1923,2845,0,0,0,0,0,0
$GC,1082,-0.90,-57.8,107.4,-9.6,176,1086,0.00,1.50,0.00,0.000,4,0.000,0.046,2731,990,2845,0,0,0,0,0,0
$GC,1286,-0.90,-57.8,127.9,-10.3,194,1289,0.00,1.35,0.00,0.000,6,0.000,0.028,2726,1879,2845,0,0,0,0,0,0
$GC,1618,-0.90,-57.8,161.0,-10.2,225,1622,0.05,0.62,0.00,0.000,4,0.272,0.038,2733,2332,2845,0,0,0,0,0,0
$GC,1730,-0.90,-57.8,172.6,-10.1,235,1734,0.00,0.62,0.00,0.000,6,0.000,0.036,2732,1898,2845,0,0,0,0,0,0
$GC,2060,-0.90,-57.8,205.8,-9.9,266,2064,0.00,0.57,0.00,0.000,4,0.000,0.048,2732,1503,2845,0,0,0,0,0,0
$GC,2265,-0.90,-57.8,226.1,-10.2,284,2269,0.00,0.60,0.00,0.000,6,0.000,0.033,2730,1936,2846,0,0,0,0,0,0
$GC,2595,-0.90,-57.8,259.5,-10.2,315,2598,0.00,0.65,0.00,0.000,4,0.000,0.041,2727,2397,2846,0,0,0,0,0,0
$GC,2700,-0.90,-57.8,269.8,-9.8,324,2708,0.00,0.73,0.00,0.000,6,0.000,0.033,2727,1906,2846,0,0,0,0,0,0
$GC,3025,-0.90,-57.8,302.3,-10.3,355,3027,0.03,0.00,0.00,0.000,6,0.301,0.000,2734,1907,2847,0,0,0,0,0,0
$GC,3347,-0.90,-57.8,334.6,-10.1,385,3351,0.00,0.47,0.00,0.000,4,0.000,0.035,2734,2260,2847,0,0,0,0,0,0
$GC,3485,-0.90,-57.8,348.5,-9.9,397,3489,0.00,0.50,0.00,0.000,6,0.000,0.037,2734,1903,2847,0,0,0,0,0,0
$GC,3815,-0.90,-57.8,381.8,-10.2,428,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,2848,0,0,0,0,0,0
$GC,4130,-0.90,-59.7,412.2,-9.2,452,4134,0.00,0.38,0.00,0.000,4,0.000,0.051,2734,1633,2848,0,0,0,0,0,0
$GC,4292,-0.90,-61.4,428.5,-9.2,459,4296,0.00,0.38,0.00,0.000,6,0.000,0.035,2733,1915,2848,0,0,0,0,0,0
$GC,4619,-0.90,-61.4,461.0,-10.2,475,4622,0.00,0.57,0.00,0.000,4,0.000,0.037,2729,2333,2848,0,0,0,0,0,0
$GC,4769,-0.90,-61.4,476.4,-10.1,481,4775,0.00,0.62,0.00,0.000,6,0.000,0.034,2730,1905,2848,0,0,0,0,0,0
$GC,5085,-0.90,-61.4,507.7,-10.2,497,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1904,2849,0,0,0,0,0,0
$GC,5394,-0.90,-61.4,538.5,-10.0,512,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,2849,0,0,0,0,0,0
$GC,5704,-0.90,-61.4,569.6,-10.0,527,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1904,2849,0,0,0,0,0,0
$GC,6013,-0.90,-61.4,600.6,-10.1,542,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,2849,0,0,0,0,0,0
$GC,6322,-0.90,-61.4,631.6,-9.9,557,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,2849,0,0,0,0,0,0
$GC,6632,-0.90,-61.4,663.5,-9.7,572,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,2849,0,0,0,0,0,0
$GC,6941,-0.90,-61.4,694.5,-9.7,587,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,2849,0,0,0,0,0,0
$GC,7251,-0.90,-61.4,725.5,-9.9,602,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1905,2849,0,0,0,0,0,0
$GC,7560,-0.90,-61.4,756.2,-10.1,617,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1905,2849,0,0,0,0,0,0
$GC,7869,-0.90,-61.4,787.1,-9.9,632,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1904,2850,0,0,0,0,0,0
$GC,8178,-0.90,-61.4,817.2,-9.9,647,8182,0.00,0.43,0.00,0.000,4,0.000,0.052,2730,1604,2850,0,0,0,0,0,0
$GC,8380,-0.90,-61.4,837.5,-10.1,656,8384,0.00,0.40,0.00,0.000,6,0.000,0.036,2729,1912,2850,0,0,0,0,0,0
$GC,8712,-0.90,-61.4,870.7,-10.0,672,8716,0.00,0.30,0.00,0.000,4,0.000,0.046,2727,2165,2849,0,0,0,0,0,0
$GC,8968,-0.90,-61.4,896.8,-9.8,683,8972,0.00,0.38,0.00,0.000,6,0.000,0.039,2727,1900,2849,0,0,0,0,0,0
$GC,9289,-0.90,-61.4,928.3,-10.0,699,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1900,2850,0,0,0,0,0,0
$GC,9599,-0.90,-61.4,959.6,-10.3,714,9600,0.03,0.00,0.00,0.000,6,0.296,0.000,2735,1900,2850,0,0,0,0,0,0
$STATE,9907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9907,begin apogee
$GC,9911,-0.16,0.0,990.2,9.5,729,9977,0.88,0.00,62.38,1.463,6,0.179,0.000,2970,1835,2600,0,0,0,0,0,0
$STATE,9978,end apogee,CONTROL_FINISHED_OK
$STATE,9978,begin climb
$GC,9980,0.90,61.4,984.2,0.0,732,10042,1.12,0.00,58.92,1.607,6,0.103,0.000,3320,1835,2349,0,0,0,0,0,0
$GC,10338,0.90,61.4,947.7,10.0,750,10341,0.00,0.68,0.00,0.000,4,0.000,0.051,3323,1404,2350,0,0,0,0,0,0
$GC,10595,0.90,61.8,921.8,9.4,761,10599,0.00,0.60,0.00,0.000,6,0.000,0.031,3323,1818,2349,0,0,0,0,0,0
$GC,10916,0.90,61.8,889.8,10.1,777,10920,0.00,0.73,0.00,0.000,4,0.000,0.044,3325,1363,2350,0,0,0,0,0,0
$GC,11165,0.90,61.8,865.1,10.0,788,11169,0.00,0.65,0.00,0.000,6,0.000,0.031,3325,1821,2349,0,0,0,0,0,0
$GC,11497,0.90,61.8,831.0,10.2,804,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1822,2350,0,0,0,0,0,0
$GC,11806,0.90,61.8,799.5,10.2,819,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1821,2350,0,0,0,0,0,0
$GC,12116,0.90,61.8,768.3,10.5,834,12119,0.00,0.47,0.00,0.000,4,0.000,0.044,3327,1508,2350,0,0,0,0,0,0
$GC,12372,0.90,61.8,742.7,9.9,845,12376,0.00,0.45,0.00,0.000,6,0.000,0.034,3326,1831,2351,0,0,0,0,0,0
$GC,12694,0.90,63.9,711.1,9.2,861,12700,0.00,0.80,2.85,0.866,4,0.000,0.045,3329,1348,2339,0,0,0,0,0,0
$GC,12924,0.90,63.9,687.9,9.8,871,12928,0.00,0.70,0.00,0.000,6,0.000,0.030,3329,1832,2347,0,0,0,0,0,0
$GC,13247,0.90,63.9,656.0,10.0,887,13252,0.00,0.52,1.88,0.458,4,0.000,0.042,3330,1508,2339,0,0,0,0,0,0
$GC,13504,0.90,65.4,629.6,9.3,898,13510,0.00,0.43,3.30,0.958,6,0.000,0.034,3330,1812,2333,0,0,0,0,0,0
$GC,13820,0.90,65.4,597.9,10.1,914,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1812,2341,0,0,0,0,0,0
$GC,14129,0.90,65.4,566.4,10.3,929,14130,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1812,2341,0,0,0,0,0,0
$GC,14438,0.90,65.4,534.9,10.1,944,14440,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1812,2341,0,0,0,0,0,0
$GC,14748,0.90,65.4,503.7,10.2,959,14751,0.00,0.40,0.00,0.000,4,0.000,0.044,3331,1539,2342,0,0,0,0,0,0
$GC,15004,0.90,65.4,478.1,10.1,970,15010,0.00,0.40,2.42,0.687,6,0.000,0.036,3331,1820,2333,0,0,0,0,0,0
$GC,15326,0.90,65.4,446.2,10.2,986,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1820,2340,0,0,0,0,0,0
$GC,15635,0.90,65.4,415.6,9.6,1001,15639,0.00,1.08,0.00,0.000,4,0.000,0.047,3336,1150,2340,0,0,0,0,0,0
$GC,15837,0.90,65.4,394.8,9.7,1012,15842,0.03,1.00,0.00,0.000,6,0.212,0.028,3328,1827,2341,0,0,0,0,0,0
$GC,16167,0.90,65.4,361.3,10.1,1043,16169,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1827,2341,0,0,0,0,0,0
$GC,16490,0.90,65.4,329.8,10.1,1073,16495,0.00,0.00,1.83,0.460,6,0.000,0.000,3328,1826,2333,0,0,0,0,0,0
$GC,16815,0.90,65.4,297.2,10.0,1104,16820,0.00,0.68,1.73,0.464,4,0.000,0.038,3325,2282,2333,0,0,0,0,0,0
$GC,17072,0.90,65.4,271.5,10.9,1126,17079,0.00,0.73,1.58,0.458,6,0.000,0.037,3326,1802,2334,0,0,0,0,0,0
$GC,17400,0.90,65.4,239.4,10.1,1157,17407,0.00,0.00,2.05,0.510,6,0.000,0.000,3326,1802,2333,0,0,0,0,0,0
$GC,17727,0.90,65.4,206.4,10.0,1188,17731,0.00,0.52,1.88,0.461,4,0.000,0.053,3329,1470,2333,0,0,0,0,0,0
$GC,17973,0.90,65.4,181.6,10.2,1209,17980,0.00,0.52,1.65,0.460,6,0.000,0.034,3329,1845,2333,0,0,0,0,0,0
$GC,18299,0.90,65.4,148.8,10.1,1240,18302,0.00,0.00,2.00,0.458,6,0.000,0.000,3329,1845,2333,0,0,0,0,0,0
$GC,18617,0.90,65.4,116.9,9.9,1270,18621,0.00,0.52,1.80,0.459,4,0.000,0.041,3329,2208,2332,0,0,0,0,0,0
$GC,18781,0.90,65.4,100.4,10.3,1284,18786,0.00,0.57,1.75,0.457,6,0.000,0.041,3331,1816,2333,0,0,0,0,0,0
$GC,19130,0.90,65.4,65.5,10.6,1344,19138,0.00,2.22,2.22,0.590,4,0.000,0.057,3341,425,2333,0,0,0,0,0,0
$GC,19167,0.90,65.4,61.5,9.9,1350,19175,0.05,2.08,0.00,0.000,6,0.168,0.027,3326,1796,2336,0,0,0,0,0,0
$GC,19519,0.90,65.4,26.6,10.1,1411,19524,0.00,2.20,0.00,0.000,4,0.000,0.057,3335,429,2342,0,0,0,0,0,0
$STATE,19754,end climb,SURFACE_DEPTH_REACHED
$STATE,19754,begin surface coast
$FINISH,0.0,1.027360
$STATE,19785,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19787,426.42,1.009,1,0,396,540.63
$SM_GC,1305.79,9.77,0.00,0.00,0.063,0.000,0.000,77,1905,384,-9.16,-0.14,543.58
$IRIDIUM_FIX,-5438.56,-7.49,291213,121204
$TT8_MAMPS,0.038199
$HUMID,62.28
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,22.1,62.486
$10V_AH,9.9,43.810
$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,24.175,36.175,150.225,426.425,0.000,170.732,141.760,0.000,0.000,0.000,901.917,3644.649,12879.863,657.855,4618.820,201.482,0.000,2038.826,0.000,3400.835,0.000,1.618,0.000
$DEVICE_MAMPS,300.645,113.985,1606.500,1009.035,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.591,1011.676,1039.999,95.644,0.000,0.000,0.000,0.000,0.000,0.000
$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,80075,1456
$CAP_FILE_SIZE,187799,224
$CFSIZE,2097086464,2073362432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,291213,125611,-5459.375,-0.454,901,99.0,901,-20.2