version: 66.07.10.p01
glider: 574
mission: 8
dive: 29
start: 12 9 113 6 9 20
data:
$ID,574
$MISSION,8
$DIVE,29
$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,330
$T_MISSION,370
$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,240
$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,-14901.887
$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,1940
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,71
$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,8
$GPS1,091213,060134,-5500.535,-1.142,25,1.2,25,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-70.1
$GPS2,091213,060859,-5500.549,-1.038,18,0.8,18,-20.2
$SPEED_LIMITS,0.173,0.260
$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,67.5,1500,-27.8,-10.000
$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,-63.1,0.0,0.0,0,57,0.00,0.00,-31.40,0.000,2,0.000,0.000,67,1965,2197,0,0,0,0,0,0
$GC,60,-0.91,-145.7,3.1,-1.2,5,127,12.40,2.35,-48.70,0.000,4,0.275,0.071,2728,547,3196,0,0,0,0,0,0
$GC,195,-0.91,-145.7,15.7,-17.8,27,203,0.05,2.15,0.00,0.000,6,0.227,0.030,2732,1908,3198,0,0,0,0,0,0
$GC,249,-0.91,-145.7,27.8,-21.3,36,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1908,3198,0,0,0,0,0,0
$GC,395,-0.91,-145.7,55.2,-18.1,61,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1908,3199,0,0,0,0,0,0
$GC,741,-0.91,-145.7,120.8,-18.9,113,744,0.00,0.45,0.00,0.000,4,0.000,0.042,2730,2240,3199,0,0,0,0,0,0
$GC,933,-0.91,-145.7,155.3,-16.4,130,937,0.00,0.45,0.00,0.000,6,0.000,0.043,2730,1924,3199,0,0,0,0,0,0
$GC,1267,-0.91,-145.7,215.6,-18.8,161,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1924,3199,0,0,0,0,0,0
$GC,1592,-0.91,-145.7,273.5,-17.0,192,1596,0.00,0.45,0.00,0.000,4,0.000,0.038,2729,2252,3198,0,0,0,0,0,0
$GC,1852,-0.91,-145.7,317.4,-16.7,215,1856,0.00,0.45,0.00,0.000,6,0.000,0.043,2729,1936,3198,0,0,0,0,0,0
$GC,2182,-0.91,-145.7,372.5,-16.6,246,2186,0.00,1.00,0.00,0.000,4,0.000,0.039,2725,2589,3197,0,0,0,0,0,0
$GC,2341,-0.91,-145.7,397.9,-16.1,260,2345,0.00,0.98,0.00,0.000,6,0.000,0.038,2726,1954,3198,0,0,0,0,0,0
$GC,2673,-0.91,-145.7,450.7,-15.7,277,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1954,3198,0,0,0,0,0,0
$GC,2982,-0.91,-145.7,498.6,-15.7,292,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1953,3197,0,0,0,0,0,0
$GC,3291,-0.91,-145.7,546.3,-15.3,307,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1953,3198,0,0,0,0,0,0
$GC,3600,-0.91,-145.7,593.8,-15.2,322,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1953,3198,0,0,0,0,0,0
$GC,3910,-0.91,-145.7,640.8,-15.0,337,3913,0.00,0.47,0.00,0.000,4,0.000,0.054,2725,1629,3199,0,0,0,0,0,0
$GC,4054,-0.91,-145.7,662.4,-14.5,343,4058,0.00,0.50,0.00,0.000,6,0.000,0.035,2724,1983,3199,0,0,0,0,0,0
$GC,4375,-0.91,-145.7,708.9,-14.5,359,4377,0.05,0.00,0.00,0.000,6,0.262,0.000,2732,1983,3199,0,0,0,0,0,0
$GC,4685,-0.91,-145.7,753.2,-14.4,374,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1983,3199,0,0,0,0,0,0
$GC,4994,-0.91,-145.7,797.7,-13.8,389,4998,0.00,0.28,0.00,0.000,4,0.000,0.049,2732,2216,3199,0,0,0,0,0,0
$GC,5223,-0.91,-145.7,829.0,-13.5,399,5227,0.00,0.43,0.00,0.000,6,0.000,0.041,2732,1919,3199,0,0,0,0,0,0
$GC,5549,-0.91,-145.7,871.5,-12.7,415,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1919,3199,0,0,0,0,0,0
$GC,5859,-0.91,-145.7,910.9,-12.5,430,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1919,3199,0,0,0,0,0,0
$GC,6168,-0.91,-145.7,948.8,-12.1,445,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1919,3200,0,0,0,0,0,0
$GC,6477,-0.91,-145.7,986.9,-12.3,460,6481,0.00,0.57,0.00,0.000,4,0.000,0.053,2732,1532,3199,0,0,0,0,0,0
$STATE,6503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6503,begin apogee
$GC,6507,-0.16,0.0,990.5,12.8,461,6638,0.88,0.00,126.93,1.612,6,0.183,0.000,2969,1851,2600,0,0,0,0,0,0
$STATE,6638,end apogee,CONTROL_FINISHED_OK
$STATE,6639,begin climb
$GC,6640,0.91,145.7,993.2,0.0,467,6787,1.15,0.68,139.73,1.588,4,0.108,0.042,3313,1458,2005,0,0,0,0,0,0
$GC,7038,0.91,145.7,931.8,16.8,486,7042,0.00,0.55,0.00,0.000,6,0.000,0.030,3312,1816,1999,0,0,0,0,0,0
$GC,7365,0.91,145.7,876.8,16.8,502,7369,0.00,2.30,0.00,0.000,4,0.000,0.060,3322,452,1997,0,0,0,0,0,0
$GC,7621,0.91,145.7,831.3,18.0,513,7628,0.00,2.12,0.00,0.000,6,0.000,0.027,3322,1805,1995,0,0,0,0,0,0
$GC,7938,0.91,145.7,776.8,17.8,529,7941,0.00,1.00,0.00,0.000,4,0.000,0.050,3325,1192,1995,0,0,0,0,0,0
$GC,8194,0.91,145.7,729.5,18.3,540,8199,0.00,1.00,0.00,0.000,6,0.000,0.028,3325,1853,1995,0,0,0,0,0,0
$GC,8516,0.91,145.7,668.6,19.2,556,8520,0.00,1.23,0.00,0.000,4,0.000,0.051,3329,1103,1995,0,0,0,0,0,0
$GC,8722,0.91,145.7,627.3,20.2,565,8727,0.00,1.10,0.00,0.000,6,0.000,0.027,3329,1829,1995,0,0,0,0,0,0
$GC,9050,0.91,145.7,561.7,20.3,581,9053,0.00,1.05,0.00,0.000,4,0.000,0.051,3333,1182,1995,0,0,0,0,0,0
$GC,9297,0.91,145.7,512.9,19.5,592,9301,0.00,0.95,0.00,0.000,6,0.000,0.028,3333,1839,1995,0,0,0,0,0,0
$GC,9629,0.91,145.7,449.6,18.9,608,9633,0.00,0.90,0.00,0.000,4,0.000,0.050,3336,1280,1995,0,0,0,0,0,0
$GC,9886,0.91,145.7,401.0,18.3,619,9890,0.00,0.80,0.00,0.000,6,0.000,0.027,3336,1808,1995,0,0,0,0,0,0
$GC,10216,0.91,145.7,343.0,18.0,650,10220,0.00,0.80,0.00,0.000,4,0.000,0.049,3339,1309,1995,0,0,0,0,0,0
$GC,10469,0.91,145.7,297.1,18.6,672,10478,0.05,0.80,0.00,0.000,6,0.243,0.028,3329,1844,1995,0,0,0,0,0,0
$GC,10794,0.91,145.7,241.1,17.3,703,10798,0.00,0.60,0.00,0.000,4,0.000,0.048,3330,1460,1995,0,0,0,0,0,0
$GC,11054,0.91,145.7,198.6,16.9,726,11058,0.00,0.52,0.00,0.000,6,0.000,0.032,3330,1838,1995,0,0,0,0,0,0
$GC,11388,0.91,145.7,145.1,14.5,757,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1838,1995,0,0,0,0,0,0
$GC,11716,0.91,145.7,95.2,14.6,790,11720,0.00,0.93,0.00,0.000,4,0.000,0.051,3333,1264,1995,0,0,0,0,0,0
$GC,11976,0.91,145.7,54.6,15.9,836,11981,0.00,0.82,0.00,0.000,6,0.000,0.029,3334,1831,1995,0,0,0,0,0,0
$GC,12329,0.91,145.7,5.4,18.0,897,12336,0.00,1.83,0.00,0.000,4,0.000,0.059,3343,723,1995,0,0,0,0,0,0
$STATE,12343,end climb,SURFACE_DEPTH_REACHED
$STATE,12343,begin surface coast
$FINISH,1.8,1.014348
$STATE,12362,end surface coast,CONTROL_FINISHED_OK
$STATE,12362,begin surface
$SM_CCo,12381,79.82,1.055,0,0,1620,240.14
$SM_GC,2.89,0.00,0.00,79.82,0.000,0.000,1.055,69,1942,1620,-9.22,0.06,240.14
$IRIDIUM_FIX,-5438.56,3.75,091213,020246
$TT8_MAMPS,0.026964
$HUMID,63.23
$INTERNAL_PRESSURE,9.03803
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,22.1,42.098
$10V_AH,10.1,31.726
$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,23.775,32.775,266.650,79.825,0.000,30.046,49.542,254.484,0.000,0.000,21.677,2249.881,7498.300,428.214,2618.155,115.291,0.000,1390.506,0.000,2242.636,0.000,1.009,0.000
$DEVICE_MAMPS,274.635,71.145,1611.855,1054.935,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.797,653.868,598.718,60.558,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,50403,902
$CAP_FILE_SIZE,111367,0
$CFSIZE,2097086464,2091155456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,093804,-5459.449,1.528,28,0.9,28,-20.3