version: 66.07.10.p01
glider: 574
mission: 8
dive: 109
start: 12 22 113 6 35 37
data:
$ID,574
$MISSION,8
$DIVE,109
$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,-15161.42
$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,66
$R_STBD_OVSHOOT,42
$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,88
$GPS1,221213,062801,-5458.987,1.834,70,0.8,70,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-73.3
$GPS2,221213,063515,-5458.980,1.924,28,0.8,28,-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,247.6,2782,-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,-57.8,0.0,0.0,0,46,0.00,0.00,-20.23,0.000,2,0.000,0.000,67,1973,2086,0,0,0,0,0,0
$GC,48,-0.90,-135.3,3.0,-1.0,3,139,12.68,0.00,-69.97,0.000,6,0.280,0.000,2730,1980,3151,0,0,0,0,0,0
$GC,189,-0.90,-135.3,9.3,-16.9,26,196,0.00,1.00,0.00,0.000,4,0.000,0.037,2726,2623,3151,0,0,0,0,0,0
$GC,329,-0.90,-135.3,36.8,-18.3,50,337,0.00,1.08,0.00,0.000,6,0.000,0.032,2726,1921,3151,0,0,0,0,0,0
$GC,474,-0.90,-135.3,65.7,-19.2,75,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1921,3152,0,0,0,0,0,0
$GC,812,-0.90,-135.3,126.1,-16.9,122,816,0.00,0.62,0.00,0.000,4,0.000,0.035,2724,2361,3152,0,0,0,0,0,0
$GC,1054,-0.90,-135.3,164.7,-15.2,143,1061,0.08,0.70,0.00,0.000,6,0.225,0.035,2737,1888,3152,0,0,0,0,0,0
$GC,1379,-0.90,-135.3,210.0,-14.2,174,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1888,3152,0,0,0,0,0,0
$GC,1699,-0.90,-135.3,255.2,-14.9,204,1702,0.00,0.40,0.00,0.000,4,0.000,0.053,2737,1607,3152,0,0,0,0,0,0
$GC,1915,-0.90,-135.3,287.1,-15.4,223,1919,0.00,0.45,0.00,0.000,6,0.000,0.034,2737,1951,3152,0,0,0,0,0,0
$GC,2245,-0.90,-135.3,337.8,-15.1,254,2249,0.00,0.47,0.00,0.000,4,0.000,0.041,2737,1631,3152,0,0,0,0,0,0
$GC,2393,-0.90,-135.3,360.6,-15.3,267,2396,0.00,0.35,0.00,0.000,6,0.000,0.037,2737,1891,3152,0,0,0,0,0,0
$GC,2721,-0.90,-135.3,409.1,-14.3,295,2724,0.00,0.52,0.00,0.000,4,0.000,0.041,2734,2278,3152,0,0,0,0,0,0
$GC,2811,-0.90,-135.3,421.6,-13.8,299,2814,0.00,0.52,0.00,0.000,6,0.000,0.039,2733,1911,3152,0,0,0,0,0,0
$GC,3143,-0.90,-135.3,467.4,-13.5,315,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1910,3152,0,0,0,0,0,0
$GC,3452,-0.90,-135.3,509.6,-13.7,330,3456,0.00,0.93,0.00,0.000,4,0.000,0.047,2734,1315,3152,0,0,0,0,0,0
$GC,3569,-0.90,-135.3,526.2,-14.1,335,3573,0.00,0.90,0.00,0.000,6,0.000,0.028,2730,1919,3153,0,0,0,0,0,0
$GC,3896,-0.90,-135.3,570.4,-13.4,351,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1919,3153,0,0,0,0,0,0
$GC,4205,-0.90,-135.3,612.0,-13.3,366,4209,0.00,0.68,0.00,0.000,4,0.000,0.039,2727,2394,3153,0,0,0,0,0,0
$GC,4299,-0.90,-135.3,624.3,-12.5,370,4303,0.00,0.73,0.00,0.000,6,0.000,0.035,2727,1912,3153,0,0,0,0,0,0
$GC,4626,-0.90,-135.3,663.6,-11.6,386,4630,0.00,0.88,0.00,0.000,4,0.000,0.047,2727,1347,3153,0,0,0,0,0,0
$GC,4731,-0.90,-135.3,676.9,-12.0,390,4738,0.08,0.85,0.00,0.000,6,0.226,0.027,2737,1924,3153,0,0,0,0,0,0
$GC,5047,-0.90,-135.3,713.6,-11.8,406,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1924,3153,0,0,0,0,0,0
$GC,5356,-0.90,-135.3,749.6,-11.5,421,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1924,3154,0,0,0,0,0,0
$GC,5666,-0.90,-135.3,786.1,-11.8,436,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1926,3154,0,0,0,0,0,0
$GC,5975,-0.90,-135.3,823.2,-12.0,451,5979,0.00,0.35,0.00,0.000,4,0.000,0.044,2737,2205,3154,0,0,0,0,0,0
$GC,6119,-0.90,-135.3,841.1,-12.0,457,6124,0.00,0.45,0.00,0.000,6,0.000,0.040,2737,1893,3154,0,0,0,0,0,0
$GC,6441,-0.90,-135.3,882.1,-13.5,473,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1894,3154,0,0,0,0,0,0
$GC,6750,-0.90,-135.3,921.1,-12.5,488,6754,0.00,0.77,0.00,0.000,4,0.000,0.048,2737,1389,3154,0,0,0,0,0,0
$GC,6889,-0.90,-135.3,939.9,-12.7,494,6894,0.00,0.77,0.00,0.000,6,0.000,0.028,2734,1916,3155,0,0,0,0,0,0
$GC,7216,-0.90,-135.3,980.1,-12.3,510,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1916,3155,0,0,0,0,0,0
$STATE,7297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7297,begin apogee
$GC,7302,-0.16,0.0,990.1,12.0,514,7424,0.90,0.00,118.75,1.579,6,0.181,0.000,2973,1792,2601,0,0,0,0,0,0
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7425,begin climb
$GC,7427,0.90,135.3,992.6,0.0,520,7569,1.15,0.85,132.48,1.506,4,0.106,0.050,3320,1322,2047,0,0,0,0,0,0
$GC,7707,0.90,135.3,951.0,18.1,533,7712,0.00,0.77,0.00,0.000,6,0.000,0.024,3320,1805,2040,0,0,0,0,0,0
$GC,8035,0.90,135.3,892.6,18.2,549,8038,0.00,0.98,0.00,0.000,4,0.000,0.047,3323,1220,2036,0,0,0,0,0,0
$GC,8151,0.90,135.3,871.8,16.5,554,8155,0.00,0.95,0.00,0.000,6,0.000,0.025,3323,1840,2035,0,0,0,0,0,0
$GC,8478,0.90,135.3,812.8,18.7,570,8482,0.00,0.75,0.00,0.000,4,0.000,0.044,3325,1372,2034,0,0,0,0,0,0
$GC,8690,0.90,135.3,772.5,18.4,579,8694,0.00,0.68,0.00,0.000,6,0.000,0.028,3325,1834,2034,0,0,0,0,0,0
$GC,9011,0.90,135.3,710.6,19.4,595,9015,0.00,1.08,0.00,0.000,4,0.000,0.047,3329,1171,2034,0,0,0,0,0,0
$GC,9184,0.90,135.3,676.5,19.0,602,9190,0.00,0.98,0.00,0.000,6,0.000,0.025,3329,1832,2033,0,0,0,0,0,0
$GC,9500,0.90,135.3,614.4,19.5,618,9503,0.00,1.33,0.00,0.000,4,0.000,0.049,3334,1020,2033,0,0,0,0,0,0
$GC,9658,0.90,135.3,583.2,19.8,625,9662,0.00,1.17,0.00,0.000,6,0.000,0.025,3334,1812,2033,0,0,0,0,0,0
$GC,9990,0.90,135.3,518.9,19.0,641,9994,0.00,0.75,0.00,0.000,4,0.000,0.044,3337,1338,2033,0,0,0,0,0,0
$GC,10224,0.90,135.3,474.9,19.5,651,10229,0.05,0.73,0.00,0.000,6,0.236,0.026,3327,1826,2033,0,0,0,0,0,0
$GC,10545,0.90,135.3,418.7,17.6,667,10549,0.00,1.27,0.00,0.000,4,0.000,0.048,3331,1040,2033,0,0,0,0,0,0
$GC,10662,0.90,135.3,397.6,18.5,672,10670,0.00,1.17,0.00,0.000,6,0.000,0.024,3331,1824,2033,0,0,0,0,0,0
$GC,10987,0.90,135.3,341.7,16.6,703,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1824,2033,0,0,0,0,0,0
$GC,11310,0.90,135.3,290.4,16.1,733,11314,0.00,1.42,0.00,0.000,4,0.000,0.049,3337,944,2033,0,0,0,0,0,0
$GC,11438,0.90,135.3,268.3,16.9,744,11447,0.03,1.33,0.00,0.000,6,0.273,0.024,3327,1821,2033,0,0,0,0,0,0
$GC,11763,0.90,135.3,213.9,17.4,775,11767,0.00,0.38,0.00,0.000,4,0.000,0.045,3327,1565,2033,0,0,0,0,0,0
$GC,12025,0.90,135.3,167.7,17.5,798,12029,0.00,0.32,0.00,0.000,6,0.000,0.036,3327,1812,2033,0,0,0,0,0,0
$GC,12358,0.90,135.3,114.0,15.1,829,12362,0.00,0.38,0.00,0.000,4,0.000,0.043,3327,2109,2033,0,0,0,0,0,0
$GC,12437,0.90,135.3,101.0,16.2,836,12441,0.00,0.38,0.00,0.000,6,0.000,0.044,3328,1840,2033,0,0,0,0,0,0
$GC,12785,0.90,135.3,50.4,12.6,896,12790,0.00,2.28,0.00,0.000,4,0.000,0.059,3339,437,2033,0,0,0,0,0,0
$GC,13022,0.90,135.3,16.3,15.7,937,13029,0.03,2.10,0.00,0.000,6,0.197,0.028,3330,1809,2033,0,0,0,0,0,0
$GC,13079,0.90,135.3,8.2,14.9,946,13086,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1809,2033,0,0,0,0,0,0
$STATE,13110,end climb,SURFACE_DEPTH_REACHED
$STATE,13110,begin surface coast
$FINISH,1.9,1.027206
$STATE,13130,end surface coast,CONTROL_FINISHED_OK
$STATE,13130,begin surface
$SM_CCo,13146,61.30,0.998,0,0,1744,210.22
$SM_GC,3.00,0.00,0.00,61.30,0.000,0.000,0.998,73,1977,1744,-9.20,1.67,210.22
$IRIDIUM_FIX,-5442.29,3.75,221213,020236
$TT8_MAMPS,0.026964
$HUMID,62.95
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.7,54.000
$10V_AH,10.1,39.092
$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,24.200,35.700,251.225,61.300,0.000,29.386,28.684,251.066,0.000,0.000,31.149,2394.501,8005.050,388.302,2720.235,139.056,0.000,1438.315,0.000,2357.321,0.000,1.009,0.000
$DEVICE_MAMPS,279.990,65.790,1578.960,998.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.763,683.614,641.044,61.518,0.000,0.000,0.000,0.000,0.000,0.000
$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,53681,954
$CAP_FILE_SIZE,124100,0
$CFSIZE,2097086464,2080669696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221213,101735,-5459.755,-0.070,75,0.9,75,-20.2