version: 66.07.10.p01
glider: 574
mission: 8
dive: 64
start: 12 14 113 23 10 46
data:
$ID,574
$MISSION,8
$DIVE,64
$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,-15013.127
$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,94
$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,43
$GPS1,141213,230305,-5459.429,0.584,35,0.9,35,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.90
$_SM_ANGLEo,-69.5
$GPS2,141213,231025,-5459.397,0.637,32,1.7,32,-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,231.4,1305,-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,-19.98,0.000,2,0.000,0.000,67,1953,2097,0,0,0,0,0,0
$GC,48,-0.90,-125.4,3.1,-2.0,3,133,12.57,2.17,-63.38,0.000,4,0.278,0.071,2728,3244,3112,0,0,0,0,0,0
$GC,323,-0.90,-125.4,32.9,-16.6,49,329,0.00,2.10,0.00,0.000,6,0.000,0.032,2728,1903,3114,0,0,0,0,0,0
$GC,466,-0.90,-125.4,58.4,-18.0,74,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1903,3114,0,0,0,0,0,0
$GC,808,-0.90,-125.4,120.3,-18.4,125,812,0.00,0.75,0.00,0.000,4,0.000,0.048,2728,1410,3115,0,0,0,0,0,0
$GC,932,-0.90,-125.4,143.0,-17.1,136,936,0.00,0.68,0.00,0.000,6,0.000,0.030,2726,1887,3115,0,0,0,0,0,0
$GC,1262,-0.90,-125.4,199.5,-16.6,167,1266,0.03,0.57,0.00,0.000,4,0.317,0.041,2732,2301,3115,0,0,0,0,0,0
$GC,1492,-0.90,-125.4,235.4,-14.7,187,1497,0.00,0.60,0.00,0.000,6,0.000,0.037,2731,1895,3114,0,0,0,0,0,0
$GC,1817,-0.90,-125.4,281.7,-13.6,218,1820,0.00,0.40,0.00,0.000,4,0.000,0.054,2732,1614,3115,0,0,0,0,0,0
$GC,1898,-0.90,-125.4,293.0,-13.9,225,1902,0.00,0.40,0.00,0.000,6,0.000,0.036,2731,1921,3114,0,0,0,0,0,0
$GC,2228,-0.90,-125.4,341.5,-14.2,256,2232,0.00,0.38,0.00,0.000,4,0.000,0.044,2729,2217,3114,0,0,0,0,0,0
$GC,2435,-0.90,-125.4,371.1,-13.7,274,2441,0.00,0.45,0.00,0.000,6,0.000,0.039,2729,1903,3114,0,0,0,0,0,0
$GC,2760,-0.90,-125.4,414.3,-13.0,300,2763,0.00,0.40,0.00,0.000,4,0.000,0.054,2729,1623,3114,0,0,0,0,0,0
$GC,2887,-0.90,-125.4,431.3,-13.0,305,2892,0.00,0.40,0.00,0.000,6,0.000,0.035,2728,1919,3114,0,0,0,0,0,0
$GC,3203,-0.90,-125.4,471.7,-12.8,321,3206,0.00,0.38,0.00,0.000,4,0.000,0.044,2726,2217,3114,0,0,0,0,0,0
$GC,3414,-0.90,-125.4,500.0,-13.4,330,3418,0.00,0.45,0.00,0.000,6,0.000,0.039,2726,1902,3115,0,0,0,0,0,0
$GC,3736,-0.90,-125.4,542.4,-13.4,346,3737,0.03,0.00,0.00,0.000,6,0.291,0.000,2734,1902,3116,0,0,0,0,0,0
$GC,4045,-0.90,-125.4,582.8,-13.1,361,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1902,3116,0,0,0,0,0,0
$GC,4354,-0.90,-125.4,623.6,-13.1,376,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1902,3116,0,0,0,0,0,0
$GC,4664,-0.90,-125.4,663.5,-12.8,391,4667,0.00,0.40,0.00,0.000,4,0.000,0.053,2733,1620,3116,0,0,0,0,0,0
$GC,4776,-0.90,-125.4,678.2,-12.7,396,4780,0.00,0.38,0.00,0.000,6,0.000,0.037,2734,1903,3117,0,0,0,0,0,0
$GC,5107,-0.90,-125.4,721.6,-13.1,412,5111,0.00,0.47,0.00,0.000,4,0.000,0.041,2731,2264,3118,0,0,0,0,0,0
$GC,5310,-0.90,-125.4,747.4,-12.7,421,5313,0.00,0.50,0.00,0.000,6,0.000,0.039,2732,1913,3118,0,0,0,0,0,0
$GC,5642,-0.90,-125.4,789.7,-12.6,437,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1912,3118,0,0,0,0,0,0
$GC,5951,-0.90,-125.4,829.0,-12.2,452,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1912,3119,0,0,0,0,0,0
$GC,6260,-0.90,-125.4,867.1,-12.2,467,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1912,3119,0,0,0,0,0,0
$GC,6570,-0.90,-125.4,904.0,-11.8,482,6573,0.00,0.50,0.00,0.000,4,0.000,0.051,2731,1567,3120,0,0,0,0,0,0
$GC,6682,-0.90,-125.4,917.3,-11.6,487,6686,0.00,0.45,0.00,0.000,6,0.000,0.034,2730,1919,3120,0,0,0,0,0,0
$GC,7013,-0.90,-125.4,955.9,-11.6,503,7017,0.00,1.25,0.00,0.000,4,0.000,0.041,2724,2731,3121,0,0,0,0,0,0
$GC,7152,-0.90,-125.4,972.7,-11.9,509,7158,0.08,1.27,0.00,0.000,6,0.209,0.034,2739,1922,3121,0,0,0,0,0,0
$STATE,7313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7313,begin apogee
$GC,7318,-0.16,0.0,991.2,11.6,517,7435,0.85,0.00,110.85,1.623,6,0.172,0.000,2970,1790,2599,0,0,0,0,0,0
$STATE,7435,end apogee,CONTROL_FINISHED_OK
$STATE,7435,begin climb
$GC,7437,0.90,125.4,993.9,0.0,523,7563,1.17,0.00,122.28,1.556,6,0.104,0.000,3319,1790,2088,0,0,0,0,0,0
$GC,7865,0.90,125.4,929.7,16.9,544,7868,0.00,1.70,0.00,0.000,4,0.000,0.057,3327,788,2079,0,0,0,0,0,0
$GC,8000,0.90,125.4,905.5,18.3,550,8004,0.00,1.58,0.00,0.000,6,0.000,0.024,3327,1791,2077,0,0,0,0,0,0
$GC,8332,0.90,125.4,847.1,17.6,566,8335,0.00,0.82,0.00,0.000,4,0.000,0.047,3329,1287,2076,0,0,0,0,0,0
$GC,8588,0.90,125.4,800.2,18.8,577,8593,0.00,0.82,0.00,0.000,6,0.000,0.026,3329,1820,2075,0,0,0,0,0,0
$GC,8910,0.90,125.4,743.5,17.6,593,8914,0.00,0.98,0.00,0.000,4,0.000,0.048,3333,1219,2074,0,0,0,0,0,0
$GC,9090,0.90,125.4,711.6,16.8,601,9093,0.00,0.90,0.00,0.000,6,0.000,0.027,3333,1826,2074,0,0,0,0,0,0
$GC,9422,0.90,125.4,651.4,18.1,617,9425,0.00,1.05,0.00,0.000,4,0.000,0.050,3337,1180,2074,0,0,0,0,0,0
$GC,9678,0.90,125.4,604.4,18.8,628,9683,0.00,0.98,0.00,0.000,6,0.000,0.026,3336,1836,2074,0,0,0,0,0,0
$GC,10000,0.90,125.4,547.6,17.5,644,10004,0.00,1.15,0.00,0.000,4,0.000,0.048,3340,1124,2074,0,0,0,0,0,0
$GC,10162,0.90,125.4,519.5,18.2,651,10167,0.03,1.02,0.00,0.000,6,0.202,0.026,3332,1820,2073,0,0,0,0,0,0
$GC,10489,0.90,125.4,465.0,17.0,667,10492,0.00,0.73,0.00,0.000,4,0.000,0.047,3333,1364,2073,0,0,0,0,0,0
$GC,10745,0.90,125.4,420.5,17.8,678,10750,0.00,0.68,0.00,0.000,6,0.000,0.029,3333,1833,2073,0,0,0,0,0,0
$GC,11075,0.90,125.4,365.9,16.7,703,11078,0.00,1.92,0.00,0.000,4,0.000,0.054,3341,645,2073,0,0,0,0,0,0
$GC,11204,0.90,125.4,343.1,17.3,714,11210,0.05,1.75,0.00,0.000,6,0.181,0.026,3326,1800,2073,0,0,0,0,0,0
$GC,11531,0.90,125.4,288.6,16.9,745,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1800,2072,0,0,0,0,0,0
$GC,11850,0.90,125.4,234.0,16.8,775,11854,0.00,0.47,0.00,0.000,4,0.000,0.048,3327,1486,2073,0,0,0,0,0,0
$GC,12088,0.90,125.4,193.6,15.8,796,12092,0.00,0.47,0.00,0.000,6,0.000,0.033,3326,1853,2073,0,0,0,0,0,0
$GC,12418,0.90,125.4,138.1,15.8,827,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1853,2072,0,0,0,0,0,0
$GC,12743,0.90,125.4,91.8,13.8,862,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1853,2073,0,0,0,0,0,0
$GC,13090,0.90,125.4,46.0,13.1,923,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1854,2072,0,0,0,0,0,0
$STATE,13405,end climb,SURFACE_DEPTH_REACHED
$STATE,13405,begin surface coast
$FINISH,1.9,1.027208
$STATE,13425,end surface coast,CONTROL_FINISHED_OK
$STATE,13425,begin surface
$SM_CCo,13441,69.85,1.038,0,0,1742,210.22
$SM_GC,2.97,0.00,0.00,69.85,0.000,0.000,1.038,75,1864,1742,-9.20,-1.27,210.22
$IRIDIUM_FIX,-5438.56,0.00,141213,191910
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,22.0,47.287
$10V_AH,10.1,34.967
$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,24.025,32.525,233.125,69.850,0.000,24.283,21.272,266.380,0.000,0.000,35.121,2466.133,8149.207,397.826,2805.710,136.753,0.000,1427.888,0.000,2436.561,0.000,1.009,0.000
$DEVICE_MAMPS,317.475,81.855,1623.330,1038.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.324,713.363,657.911,69.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354672
$DATA_FILE_SIZE,56911,980
$CAP_FILE_SIZE,122542,0
$CFSIZE,2097086464,2086567936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,025705,-5500.307,-1.582,33,1.0,33,-20.2