version: 66.07.10.p01
glider: 574
mission: 8
dive: 66
start: 12 15 113 7 12 15
data:
$ID,574
$MISSION,8
$DIVE,66
$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,-15019.259
$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,38
$R_STBD_OVSHOOT,77
$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,45
$GPS1,151213,070423,-5500.042,2.050,45,0.9,45,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-73.9
$GPS2,151213,071154,-5500.029,2.171,19,1.0,19,-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,291.6,2307,-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,-57.8,0.0,0.0,0,51,0.00,0.00,-25.52,0.000,2,0.000,0.000,68,1939,2195,0,0,0,0,0,0
$GC,54,-0.90,-132.6,3.1,-1.3,4,127,12.70,1.50,-52.33,0.000,4,0.282,0.068,2728,1035,3143,0,0,0,0,0,0
$GC,189,-0.90,-132.6,13.9,-17.3,26,196,0.00,1.30,0.00,0.000,6,0.000,0.028,2723,1879,3144,0,0,0,0,0,0
$GC,245,-0.90,-132.6,24.5,-19.1,35,250,0.05,0.00,0.00,0.000,6,0.278,0.000,2733,1879,3145,0,0,0,0,0,0
$GC,388,-0.90,-132.6,51.9,-18.2,60,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1879,3145,0,0,0,0,0,0
$GC,735,-0.90,-132.6,115.9,-17.8,114,738,0.00,0.82,0.00,0.000,4,0.000,0.039,2730,2434,3145,0,0,0,0,0,0
$GC,802,-0.90,-132.6,127.7,-16.4,120,806,0.00,0.80,0.00,0.000,6,0.000,0.038,2730,1908,3145,0,0,0,0,0,0
$GC,1132,-0.90,-132.6,184.3,-16.9,151,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1908,3145,0,0,0,0,0,0
$GC,1455,-0.90,-132.6,237.6,-15.8,181,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1908,3145,0,0,0,0,0,0
$GC,1780,-0.90,-132.6,290.2,-15.9,212,1784,0.00,0.40,0.00,0.000,4,0.000,0.037,2729,2211,3145,0,0,0,0,0,0
$GC,1940,-0.90,-132.6,314.8,-15.2,226,1943,0.00,0.45,0.00,0.000,6,0.000,0.040,2729,1891,3144,0,0,0,0,0,0
$GC,2272,-0.90,-132.6,365.9,-15.2,257,2275,0.00,0.57,0.00,0.000,4,0.000,0.050,2729,1507,3144,0,0,0,0,0,0
$GC,2332,-0.90,-132.6,376.1,-15.9,262,2338,0.00,0.60,0.00,0.000,6,0.000,0.031,2727,1928,3144,0,0,0,0,0,0
$GC,2663,-0.90,-132.6,425.7,-14.8,286,2666,0.00,1.00,0.00,0.000,4,0.000,0.041,2722,2588,3144,0,0,0,0,0,0
$GC,2843,-0.90,-132.6,451.6,-13.8,294,2847,0.05,1.02,0.00,0.000,6,0.194,0.035,2736,1915,3144,0,0,0,0,0,0
$GC,3174,-0.90,-132.6,496.3,-13.3,310,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1915,3145,0,0,0,0,0,0
$GC,3483,-0.90,-132.6,536.8,-13.1,325,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1915,3146,0,0,0,0,0,0
$GC,3794,-0.90,-132.6,575.8,-12.2,340,3798,0.00,0.43,0.00,0.000,4,0.000,0.054,2736,1620,3146,0,0,0,0,0,0
$GC,3893,-0.90,-132.6,588.4,-11.9,344,3898,0.00,0.40,0.00,0.000,6,0.000,0.035,2736,1917,3146,0,0,0,0,0,0
$GC,4214,-0.90,-132.6,623.6,-10.3,360,4218,0.00,0.47,0.00,0.000,4,0.000,0.041,2733,2277,3147,0,0,0,0,0,0
$GC,4471,-0.90,-132.6,650.2,-10.2,371,4475,0.00,0.55,0.00,0.000,6,0.000,0.038,2733,1905,3147,0,0,0,0,0,0
$GC,4792,-0.90,-132.6,682.5,-10.4,387,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1905,3147,0,0,0,0,0,0
$GC,5101,-0.90,-132.6,713.2,-9.8,402,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1905,3148,0,0,0,0,0,0
$GC,5411,-0.90,-132.6,743.4,-9.9,417,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1904,3149,0,0,0,0,0,0
$GC,5720,-0.90,-132.6,774.8,-10.1,432,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1905,3149,0,0,0,0,0,0
$GC,6029,-0.90,-132.6,807.9,-11.0,447,6033,0.00,0.70,0.00,0.000,4,0.000,0.034,2732,2390,3149,0,0,0,0,0,0
$GC,6157,-0.90,-132.6,822.2,-10.8,452,6163,0.00,0.73,0.00,0.000,6,0.000,0.037,2732,1910,3149,0,0,0,0,0,0
$GC,6473,-0.90,-132.6,858.3,-11.8,468,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3149,0,0,0,0,0,0
$GC,6782,-0.90,-132.6,895.5,-12.0,483,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1910,3150,0,0,0,0,0,0
$GC,7091,-0.90,-132.6,932.4,-11.8,498,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1910,3151,0,0,0,0,0,0
$GC,7401,-0.90,-132.6,969.3,-11.7,513,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1910,3152,0,0,0,0,0,0
$STATE,7585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7585,begin apogee
$GC,7589,-0.16,0.0,990.6,11.6,522,7710,0.90,0.00,117.38,1.624,6,0.174,0.000,2974,1823,2600,0,0,0,0,0,0
$STATE,7711,end apogee,CONTROL_FINISHED_OK
$STATE,7711,begin climb
$GC,7713,0.90,132.6,992.3,0.0,528,7847,1.15,0.68,129.48,1.567,4,0.100,0.051,3319,1459,2058,0,0,0,0,0,0
$GC,8099,0.90,132.6,928.6,18.1,546,8103,0.00,0.52,0.00,0.000,6,0.000,0.028,3319,1800,2050,0,0,0,0,0,0
$GC,8426,0.90,132.6,866.5,19.2,562,8430,0.00,2.33,0.00,0.000,4,0.000,0.058,3328,427,2050,0,0,0,0,0,0
$GC,8582,0.90,132.6,835.2,19.7,569,8586,0.00,2.17,0.00,0.000,6,0.000,0.027,3328,1803,2049,0,0,0,0,0,0
$GC,8908,0.90,132.6,773.5,18.5,585,8912,0.00,1.25,0.00,0.000,4,0.000,0.050,3332,1042,2049,0,0,0,0,0,0
$GC,9059,0.90,132.6,744.9,19.8,591,9065,0.00,1.20,0.00,0.000,6,0.000,0.027,3333,1839,2049,0,0,0,0,0,0
$GC,9375,0.90,132.6,687.1,18.0,607,9378,0.00,1.80,0.00,0.000,4,0.000,0.053,3340,714,2049,0,0,0,0,0,0
$GC,9514,0.90,132.6,661.6,18.5,613,9519,0.05,1.67,0.00,0.000,6,0.182,0.026,3325,1817,2049,0,0,0,0,0,0
$GC,9840,0.90,132.6,607.7,16.3,629,9844,0.00,1.40,0.00,0.000,4,0.000,0.050,3330,961,2049,0,0,0,0,0,0
$GC,9979,0.90,132.6,584.8,15.3,635,9984,0.00,1.33,0.00,0.000,6,0.000,0.025,3330,1826,2049,0,0,0,0,0,0
$GC,10306,0.90,132.6,532.3,16.0,651,10310,0.00,1.88,0.00,0.000,4,0.000,0.053,3337,680,2049,0,0,0,0,0,0
$GC,10428,0.90,132.6,511.6,17.3,656,10434,0.03,1.73,0.00,0.000,6,0.202,0.025,3330,1816,2050,0,0,0,0,0,0
$GC,10750,0.90,132.6,458.6,17.0,672,10753,0.00,1.25,0.00,0.000,4,0.000,0.050,3333,1044,2050,0,0,0,0,0,0
$GC,10866,0.90,132.6,438.4,17.2,677,10871,0.00,1.20,0.00,0.000,6,0.000,0.025,3333,1839,2050,0,0,0,0,0,0
$GC,11185,0.90,132.6,384.2,17.4,696,11189,0.00,1.42,0.00,0.000,4,0.000,0.049,3339,962,2050,0,0,0,0,0,0
$GC,11335,0.90,132.6,357.6,18.4,709,11340,0.05,1.27,0.00,0.000,6,0.178,0.026,3324,1815,2051,0,0,0,0,0,0
$GC,11665,0.90,132.6,300.9,16.6,740,11669,0.00,0.62,0.00,0.000,4,0.000,0.046,3325,1413,2051,0,0,0,0,0,0
$GC,11817,0.90,132.6,275.3,16.6,753,11822,0.00,0.60,0.00,0.000,6,0.000,0.030,3325,1845,2051,0,0,0,0,0,0
$GC,12142,0.90,132.6,220.5,16.7,784,12145,0.00,1.45,0.00,0.000,4,0.000,0.051,3330,955,2051,0,0,0,0,0,0
$GC,12323,0.90,132.6,187.8,18.5,800,12326,0.00,1.25,0.00,0.000,6,0.000,0.026,3330,1799,2052,0,0,0,0,0,0
$GC,12652,0.90,132.6,132.9,15.1,831,12654,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1799,2052,0,0,0,0,0,0
$GC,12978,0.90,132.6,86.9,13.5,869,12983,0.00,1.73,0.00,0.000,4,0.000,0.052,3337,722,2052,0,0,0,0,0,0
$GC,13161,0.90,132.6,60.6,15.1,901,13166,0.05,1.65,0.00,0.000,6,0.230,0.026,3327,1815,2052,0,0,0,0,0,0
$GC,13515,0.90,132.6,12.7,15.4,962,13522,0.00,1.15,0.00,0.000,4,0.000,0.049,3330,1101,2053,0,0,0,0,0,0
$STATE,13582,end climb,SURFACE_DEPTH_REACHED
$STATE,13582,begin surface coast
$FINISH,1.8,1.020445
$STATE,13607,end surface coast,CONTROL_FINISHED_OK
$STATE,13607,begin surface
$SM_CCo,13625,66.32,1.040,0,0,1743,210.22
$SM_GC,3.11,0.00,0.00,66.32,0.000,0.000,1.040,86,1929,1743,-9.20,0.54,210.22
$IRIDIUM_FIX,-5438.56,18.74,151213,020237
$TT8_MAMPS,0.026964
$HUMID,63.15
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.9,47.578
$10V_AH,10.1,35.159
$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,24.200,44.650,246.850,66.325,0.000,30.023,47.471,256.274,0.000,0.000,22.220,2433.970,8506.045,407.875,2671.366,125.196,0.000,1399.558,0.000,2294.694,0.000,1.009,0.000
$DEVICE_MAMPS,281.520,100.980,1624.095,1040.400,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.380,673.705,650.461,62.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354664
$DATA_FILE_SIZE,56875,977
$CAP_FILE_SIZE,122314,0
$CFSIZE,2097086464,2086305792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,110134,-5458.944,0.280,32,0.9,32,-20.2