version: 66.07.10.p01
glider: 574
mission: 8
dive: 61
start: 12 14 113 11 7 57
data:
$ID,574
$MISSION,8
$DIVE,61
$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,-15003.973
$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,31
$R_STBD_OVSHOOT,93
$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,40
$GPS1,141213,105634,-5500.667,1.561,59,0.8,59,-20.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-71.8
$GPS2,141213,110736,-5500.673,1.543,21,1.5,21,-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,327.5,2059,-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,-14.10,0.000,2,0.000,0.000,66,1951,1987,0,0,0,0,0,0
$GC,42,-0.90,-99.0,3.2,-4.9,2,121,12.45,0.00,-62.15,0.000,6,0.275,0.000,2731,1952,3004,0,0,0,0,0,0
$GC,171,-0.90,-99.0,5.6,-10.2,23,177,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1951,3005,0,0,0,0,0,0
$GC,227,-0.90,-99.0,14.4,-15.2,32,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1951,3005,0,0,0,0,0,0
$GC,282,-0.90,-99.0,22.8,-15.5,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1951,3005,0,0,0,0,0,0
$GC,426,-0.90,-99.0,46.8,-16.2,66,433,0.00,0.55,0.00,0.000,4,0.000,0.047,2731,1582,3005,0,0,0,0,0,0
$GC,520,-0.90,-99.0,62.0,-16.2,82,525,0.00,0.43,0.00,0.000,6,0.000,0.039,2730,1893,3005,0,0,0,0,0,0
$GC,860,-0.90,-99.0,117.2,-16.0,133,864,0.00,1.33,0.00,0.000,4,0.000,0.043,2723,2740,3005,0,0,0,0,0,0
$GC,1089,-0.90,-99.0,153.2,-14.7,153,1093,0.03,1.30,0.00,0.000,6,0.223,0.035,2730,1911,3005,0,0,0,0,0,0
$GC,1418,-0.90,-99.0,198.4,-12.7,184,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1911,3006,0,0,0,0,0,0
$GC,1738,-0.90,-99.0,239.3,-12.5,214,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1911,3005,0,0,0,0,0,0
$GC,2056,-0.90,-99.0,277.3,-11.7,244,2060,0.00,0.82,0.00,0.000,4,0.000,0.050,2730,1381,3005,0,0,0,0,0,0
$GC,2174,-0.90,-99.0,291.5,-12.0,254,2179,0.00,0.77,0.00,0.000,6,0.000,0.030,2729,1905,3005,0,0,0,0,0,0
$GC,2502,-0.90,-99.0,331.1,-13.0,285,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1905,3005,0,0,0,0,0,0
$GC,2827,-0.90,-99.0,371.3,-11.8,316,2831,0.00,1.33,0.00,0.000,4,0.000,0.042,2722,2761,3006,0,0,0,0,0,0
$GC,2952,-0.90,-99.0,386.2,-11.7,327,2956,0.05,1.33,0.00,0.000,6,0.190,0.034,2736,1909,3005,0,0,0,0,0,0
$GC,3287,-0.90,-99.0,422.6,-10.9,349,3291,0.00,1.08,0.00,0.000,4,0.000,0.050,2736,1229,3006,0,0,0,0,0,0
$GC,3400,-0.90,-99.0,435.4,-11.5,354,3403,0.00,1.00,0.00,0.000,6,0.000,0.028,2733,1904,3006,0,0,0,0,0,0
$GC,3732,-0.90,-99.0,472.5,-11.3,370,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1904,3007,0,0,0,0,0,0
$GC,4041,-0.90,-99.0,506.7,-10.7,385,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1905,3007,0,0,0,0,0,0
$GC,4350,-0.90,-99.0,539.5,-10.6,400,4354,0.00,0.85,0.00,0.000,4,0.000,0.039,2730,2484,3007,0,0,0,0,0,0
$GC,4444,-0.90,-99.0,550.0,-10.7,404,4448,0.00,0.90,0.00,0.000,6,0.000,0.035,2730,1897,3007,0,0,0,0,0,0
$GC,4771,-0.90,-99.0,585.4,-10.9,420,4775,0.00,0.43,0.00,0.000,4,0.000,0.037,2728,2221,3008,0,0,0,0,0,0
$GC,4915,-0.90,-99.0,601.6,-10.9,426,4920,0.00,0.47,0.00,0.000,6,0.000,0.038,2728,1894,3008,0,0,0,0,0,0
$GC,5237,-0.90,-99.0,636.4,-11.1,442,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1894,3009,0,0,0,0,0,0
$GC,5548,-0.90,-99.0,669.8,-10.6,457,5551,0.00,1.05,0.00,0.000,4,0.000,0.050,2728,1229,3009,0,0,0,0,0,0
$GC,5637,-0.90,-99.0,679.6,-11.2,461,5642,0.03,1.00,0.00,0.000,6,0.221,0.028,2732,1908,3010,0,0,0,0,0,0
$GC,5969,-0.90,-99.0,713.3,-10.1,477,5973,0.00,0.73,0.00,0.000,4,0.000,0.040,2729,2409,3010,0,0,0,0,0,0
$GC,6063,-0.90,-99.0,722.7,-9.5,481,6068,0.00,0.75,0.00,0.000,6,0.000,0.036,2729,1913,3010,0,0,0,0,0,0
$GC,6390,-0.90,-99.0,756.6,-10.7,497,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1913,3010,0,0,0,0,0,0
$GC,6700,-0.90,-99.0,790.3,-10.9,512,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1913,3011,0,0,0,0,0,0
$GC,7009,-0.90,-99.0,824.0,-10.6,527,7013,0.00,0.68,0.00,0.000,4,0.000,0.049,2729,1467,3012,0,0,0,0,0,0
$GC,7085,-0.90,-99.0,832.6,-11.1,530,7090,0.00,0.65,0.00,0.000,6,0.000,0.031,2727,1919,3012,0,0,0,0,0,0
$GC,7407,-0.90,-99.0,866.6,-10.7,546,7410,0.00,0.55,0.00,0.000,4,0.000,0.041,2724,2318,3012,0,0,0,0,0,0
$GC,7618,-0.90,-99.0,889.2,-11.2,555,7623,0.08,0.62,0.00,0.000,6,0.214,0.037,2738,1891,3012,0,0,0,0,0,0
$GC,7939,-0.90,-99.0,920.9,-9.7,571,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1891,3012,0,0,0,0,0,0
$GC,8249,-0.90,-101.6,949.9,-9.1,586,8252,0.00,0.50,0.00,0.000,4,0.000,0.051,2738,1549,3013,0,0,0,0,0,0
$GC,8354,-0.90,-101.6,959.7,-9.7,590,8359,0.00,0.52,0.00,0.000,6,0.000,0.032,2738,1929,3013,0,0,0,0,0,0
$GC,8670,-0.90,-106.4,987.7,-8.9,606,8673,0.00,0.38,0.00,0.000,4,0.000,0.045,2736,2224,3013,0,0,0,0,0,0
$STATE,8695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8695,begin apogee
$GC,8699,-0.16,0.0,990.3,8.9,607,8794,0.85,0.00,87.97,1.622,6,0.171,0.000,2971,1824,2600,0,0,0,0,0,0
$STATE,8795,end apogee,CONTROL_FINISHED_OK
$STATE,8795,begin climb
$GC,8796,0.90,106.4,991.5,0.0,612,8904,1.15,0.88,101.78,1.576,4,0.103,0.049,3323,1311,2168,0,0,0,0,0,0
$GC,9155,0.90,106.4,936.5,16.4,628,9161,0.00,0.77,0.00,0.000,6,0.000,0.027,3324,1801,2159,0,0,0,0,0,0
$GC,9471,0.90,106.4,884.3,16.4,644,9475,0.00,1.33,0.00,0.000,4,0.000,0.050,3328,1014,2155,0,0,0,0,0,0
$GC,9606,0.90,106.4,861.7,17.8,650,9610,0.00,1.25,0.00,0.000,6,0.000,0.028,3328,1821,2155,0,0,0,0,0,0
$GC,9938,0.90,106.4,807.3,16.4,666,9942,0.00,0.68,0.00,0.000,4,0.000,0.046,3330,1396,2154,0,0,0,0,0,0
$GC,10185,0.90,106.4,765.1,17.6,677,10189,0.00,0.62,0.00,0.000,6,0.000,0.031,3330,1839,2154,0,0,0,0,0,0
$GC,10519,0.90,106.4,707.6,17.2,693,10522,0.00,1.50,0.00,0.000,4,0.000,0.052,3337,928,2153,0,0,0,0,0,0
$GC,10658,0.90,106.4,682.2,18.5,699,10662,0.00,1.35,0.00,0.000,6,0.000,0.026,3336,1809,2153,0,0,0,0,0,0
$GC,10985,0.90,106.4,626.7,16.6,715,10989,0.00,0.38,0.00,0.000,4,0.000,0.045,3337,1560,2153,0,0,0,0,0,0
$GC,11242,0.90,106.4,582.4,17.3,726,11247,0.03,0.38,0.00,0.000,6,0.283,0.037,3328,1832,2153,0,0,0,0,0,0
$GC,11563,0.90,106.4,528.3,17.1,742,11567,0.00,2.03,0.00,0.000,4,0.000,0.056,3336,588,2152,0,0,0,0,0,0
$GC,11735,0.90,106.4,497.3,18.5,749,11743,0.03,1.85,0.00,0.000,6,0.216,0.027,3329,1797,2152,0,0,0,0,0,0
$GC,12052,0.90,106.4,447.2,15.9,765,12055,0.00,0.40,0.00,0.000,4,0.000,0.046,3329,1543,2152,0,0,0,0,0,0
$GC,12309,0.90,106.4,407.9,15.3,776,12313,0.00,0.43,0.00,0.000,6,0.000,0.036,3329,1854,2152,0,0,0,0,0,0
$GC,12637,0.90,106.4,359.5,14.4,804,12641,0.00,0.68,0.00,0.000,4,0.000,0.046,3331,1422,2152,0,0,0,0,0,0
$GC,12806,0.90,106.4,333.9,14.9,819,12810,0.00,0.55,0.00,0.000,6,0.000,0.033,3331,1824,2152,0,0,0,0,0,0
$GC,13136,0.90,106.4,284.2,15.1,850,13140,0.00,1.40,0.00,0.000,4,0.000,0.051,3337,967,2152,0,0,0,0,0,0
$GC,13308,0.90,106.4,257.8,15.6,865,13312,0.03,1.25,0.00,0.000,6,0.203,0.028,3329,1803,2152,0,0,0,0,0,0
$GC,13637,0.90,106.4,211.3,13.3,896,13641,0.00,0.52,0.00,0.000,4,0.000,0.041,3329,2187,2152,0,0,0,0,0,0
$GC,13751,0.90,106.4,196.3,13.5,906,13754,0.00,0.52,0.00,0.000,6,0.000,0.043,3330,1826,2152,0,0,0,0,0,0
$GC,14084,0.90,106.4,149.6,13.8,937,14088,0.00,2.28,0.00,0.000,4,0.000,0.060,3340,424,2152,0,0,0,0,0,0
$GC,14317,0.90,106.4,115.3,14.1,957,14321,0.05,2.10,0.00,0.000,6,0.236,0.028,3328,1817,2152,0,0,0,0,0,0
$GC,14657,0.90,106.4,70.7,13.2,1006,14662,0.00,0.45,0.00,0.000,4,0.000,0.050,3329,1513,2152,0,0,0,0,0,0
$GC,14919,0.90,106.4,37.1,12.7,1052,14926,0.00,0.43,0.00,0.000,6,0.000,0.035,3329,1843,2153,0,0,0,0,0,0
$GC,15067,0.90,106.4,18.1,12.4,1077,15074,0.00,1.65,0.00,0.000,4,0.000,0.054,3335,835,2152,0,0,0,0,0,0
$STATE,15181,end climb,SURFACE_DEPTH_REACHED
$STATE,15181,begin surface coast
$FINISH,1.9,1.022344
$STATE,15207,end surface coast,CONTROL_FINISHED_OK
$STATE,15207,begin surface
$SM_CCo,15225,85.55,1.032,0,0,1743,210.22
$SM_GC,3.04,0.00,0.00,85.55,0.000,0.000,1.032,77,1886,1743,-9.21,-0.68,210.22
$IRIDIUM_FIX,-5442.29,0.00,141213,101050
$TT8_MAMPS,0.027713
$HUMID,62.44
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,22.1,46.847
$10V_AH,10.0,34.693
$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,23.875,47.875,189.750,85.550,0.000,59.364,76.109,336.747,0.000,0.000,24.283,2786.115,9399.357,376.582,3274.951,142.537,0.000,1556.495,0.000,2735.436,0.000,1.010,0.000
$DEVICE_MAMPS,283.050,59.670,1621.800,1031.985,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.160,779.293,740.145,72.970,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,63526,1100
$CAP_FILE_SIZE,146384,0
$CFSIZE,2097086464,2086928384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,152423,-5459.441,-0.275,40,0.8,40,-20.2