version: 66.07.10.p01
glider: 574
mission: 8
dive: 68
start: 12 15 113 14 52 33
data:
$ID,574
$MISSION,8
$DIVE,68
$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,-15025.449
$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,46
$R_STBD_OVSHOOT,95
$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,47
$GPS1,151213,144501,-5459.837,-1.059,41,0.9,41,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-73.6
$GPS2,151213,145211,-5459.800,-1.084,20,1.3,20,-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,128.0,1210,-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,-57.8,0.0,0.0,0,34,0.00,0.00,-8.52,0.000,2,0.000,0.000,66,1953,1883,0,0,0,0,0,0
$GC,36,-0.90,-144.1,3.0,-0.0,1,139,11.95,2.15,-82.12,0.000,4,0.261,0.063,2728,3259,3188,0,0,0,0,0,0
$GC,346,-0.90,-144.1,33.0,-18.7,53,351,0.00,2.10,0.00,0.000,6,0.000,0.033,2729,1919,3190,0,0,0,0,0,0
$GC,489,-0.90,-144.1,60.8,-19.5,78,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1919,3190,0,0,0,0,0,0
$GC,826,-0.90,-144.1,126.6,-18.8,126,830,0.00,1.10,0.00,0.000,4,0.000,0.050,2729,1225,3190,0,0,0,0,0,0
$GC,940,-0.90,-144.1,147.2,-16.8,136,944,0.03,0.98,0.00,0.000,6,0.240,0.030,2731,1877,3190,0,0,0,0,0,0
$GC,1269,-0.90,-144.1,202.8,-16.1,167,1273,0.00,2.10,0.00,0.000,4,0.000,0.047,2723,3203,3190,0,0,0,0,0,0
$GC,1426,-0.90,-144.1,225.1,-14.0,180,1434,0.03,2.03,0.00,0.000,6,0.209,0.034,2730,1915,3190,0,0,0,0,0,0
$GC,1752,-0.90,-144.1,274.3,-14.7,211,1756,0.00,0.93,0.00,0.000,4,0.000,0.048,2730,1323,3189,0,0,0,0,0,0
$GC,1854,-0.90,-144.1,290.6,-15.7,220,1857,0.00,0.88,0.00,0.000,6,0.000,0.028,2728,1914,3189,0,0,0,0,0,0
$GC,2184,-0.90,-144.1,344.8,-17.2,251,2187,0.00,1.42,0.00,0.000,4,0.000,0.041,2721,2828,3189,0,0,0,0,0,0
$GC,2345,-0.90,-144.1,370.4,-16.0,265,2349,0.05,1.42,0.00,0.000,6,0.185,0.034,2736,1908,3189,0,0,0,0,0,0
$GC,2680,-0.90,-144.1,423.3,-15.6,290,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1907,3189,0,0,0,0,0,0
$GC,2990,-0.90,-144.1,471.2,-15.3,305,2993,0.00,0.35,0.00,0.000,4,0.000,0.038,2736,2180,3189,0,0,0,0,0,0
$GC,3089,-0.90,-144.1,486.0,-14.1,309,3093,0.00,0.43,0.00,0.000,6,0.000,0.041,2736,1882,3189,0,0,0,0,0,0
$GC,3410,-0.90,-144.1,531.6,-13.7,325,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1882,3189,0,0,0,0,0,0
$GC,3720,-0.90,-144.1,573.2,-13.4,340,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1882,3189,0,0,0,0,0,0
$GC,4029,-0.90,-144.1,614.7,-13.5,355,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1882,3189,0,0,0,0,0,0
$GC,4338,-0.90,-144.1,655.8,-12.9,370,4342,0.00,0.47,0.00,0.000,4,0.000,0.054,2736,1556,3189,0,0,0,0,0,0
$GC,4473,-0.90,-144.1,673.1,-13.0,376,4477,0.00,0.50,0.00,0.000,6,0.000,0.034,2735,1929,3190,0,0,0,0,0,0
$GC,4805,-0.90,-144.1,714.8,-12.6,392,4809,0.00,0.70,0.00,0.000,4,0.000,0.040,2732,2419,3193,0,0,0,0,0,0
$GC,4942,-0.90,-144.1,731.9,-12.5,398,4945,0.00,0.75,0.00,0.000,6,0.000,0.037,2732,1918,3193,0,0,0,0,0,0
$GC,5274,-0.90,-144.1,774.4,-12.7,414,5277,0.00,0.68,0.00,0.000,4,0.000,0.050,2732,1470,3194,0,0,0,0,0,0
$GC,5368,-0.90,-144.1,787.1,-13.5,418,5372,0.00,0.62,0.00,0.000,6,0.000,0.031,2730,1908,3193,0,0,0,0,0,0
$GC,5695,-0.90,-144.1,831.5,-13.6,434,5698,0.00,0.93,0.00,0.000,4,0.000,0.041,2725,2527,3193,0,0,0,0,0,0
$GC,5845,-0.90,-144.1,851.4,-13.0,440,5851,0.00,0.93,0.00,0.000,6,0.000,0.035,2725,1915,3193,0,0,0,0,0,0
$GC,6161,-0.90,-144.1,894.1,-13.7,456,6165,0.05,0.77,0.00,0.000,4,0.248,0.050,2737,1419,3193,0,0,0,0,0,0
$GC,6260,-0.90,-144.1,908.1,-13.2,460,6264,0.00,0.73,0.00,0.000,6,0.000,0.029,2735,1915,3193,0,0,0,0,0,0
$GC,6581,-0.90,-144.1,950.8,-13.3,476,6585,0.00,0.40,0.00,0.000,4,0.000,0.043,2733,2229,3193,0,0,0,0,0,0
$GC,6703,-0.90,-144.1,966.5,-13.0,481,6707,0.00,0.50,0.00,0.000,6,0.000,0.040,2733,1889,3193,0,0,0,0,0,0
$STATE,6899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6899,begin apogee
$GC,6904,-0.16,0.0,991.2,12.6,491,7033,0.88,0.00,126.38,1.617,6,0.173,0.000,2971,1831,2600,0,0,0,0,0,0
$STATE,7034,end apogee,CONTROL_FINISHED_OK
$STATE,7034,begin climb
$GC,7036,0.90,144.1,994.4,0.0,497,7182,1.15,0.57,140.35,1.553,4,0.104,0.051,3314,1516,2011,0,0,0,0,0,0
$GC,7434,0.90,144.1,930.2,19.3,516,7438,0.00,0.45,0.00,0.000,6,0.000,0.030,3314,1808,2004,0,0,0,0,0,0
$GC,7761,0.90,144.1,872.6,18.0,532,7764,0.00,1.55,0.00,0.000,4,0.000,0.054,3320,896,2003,0,0,0,0,0,0
$GC,7956,0.90,144.1,835.4,18.9,540,7962,0.00,1.45,0.00,0.000,6,0.000,0.024,3320,1823,2001,0,0,0,0,0,0
$GC,8272,0.90,144.1,777.3,18.2,556,8276,0.00,0.73,0.00,0.000,4,0.000,0.047,3322,1374,2001,0,0,0,0,0,0
$GC,8529,0.90,144.1,729.9,18.3,567,8533,0.00,0.68,0.00,0.000,6,0.000,0.028,3322,1837,2000,0,0,0,0,0,0
$GC,8850,0.90,144.1,671.0,18.5,583,8854,0.00,1.30,0.00,0.000,4,0.000,0.050,3327,1041,2000,0,0,0,0,0,0
$GC,9057,0.90,144.1,631.5,19.2,592,9062,0.00,1.17,0.00,0.000,6,0.000,0.025,3325,1818,1999,0,0,0,0,0,0
$GC,9384,0.90,144.1,570.3,19.0,608,9388,0.00,1.05,0.00,0.000,4,0.000,0.048,3328,1168,2000,0,0,0,0,0,0
$GC,9641,0.90,144.1,520.4,19.0,619,9645,0.00,0.98,0.00,0.000,6,0.000,0.025,3328,1825,1999,0,0,0,0,0,0
$GC,9963,0.90,144.1,457.5,19.7,635,9966,0.00,0.80,0.00,0.000,4,0.000,0.047,3331,1321,1999,0,0,0,0,0,0
$GC,10219,0.90,144.1,405.8,20.2,646,10224,0.00,0.75,0.00,0.000,6,0.000,0.027,3331,1823,1999,0,0,0,0,0,0
$GC,10549,0.90,144.1,342.7,18.6,676,10553,0.00,1.15,0.00,0.000,4,0.000,0.050,3335,1113,1999,0,0,0,0,0,0
$GC,10709,0.90,144.1,313.9,18.1,690,10713,0.00,1.05,0.00,0.000,6,0.000,0.026,3335,1826,2000,0,0,0,0,0,0
$GC,11041,0.90,144.1,259.6,16.1,721,11045,0.00,1.00,0.00,0.000,4,0.000,0.047,3339,1200,1999,0,0,0,0,0,0
$GC,11259,0.90,144.1,222.2,17.9,740,11268,0.05,0.93,0.00,0.000,6,0.235,0.025,3327,1819,1999,0,0,0,0,0,0
$GC,11584,0.90,144.1,168.0,16.8,771,11588,0.00,0.82,0.00,0.000,4,0.000,0.046,3329,1300,1999,0,0,0,0,0,0
$GC,11845,0.90,144.1,122.3,16.3,794,11849,0.00,0.75,0.00,0.000,6,0.000,0.027,3329,1814,1999,0,0,0,0,0,0
$GC,12184,0.90,144.1,68.2,15.3,842,12189,0.00,0.47,0.00,0.000,4,0.000,0.047,3331,1499,1999,0,0,0,0,0,0
$GC,12445,0.90,144.1,28.6,14.6,888,12452,0.00,0.43,0.00,0.000,6,0.000,0.031,3331,1808,1999,0,0,0,0,0,0
$GC,12595,0.90,144.1,8.7,12.2,913,12602,0.00,0.98,0.00,0.000,4,0.000,0.051,3335,1206,2000,0,0,0,0,0,0
$STATE,12627,end climb,SURFACE_DEPTH_REACHED
$STATE,12627,begin surface coast
$FINISH,1.8,1.002610
$STATE,12640,end surface coast,CONTROL_FINISHED_OK
$STATE,12640,begin surface
$SM_CCo,12658,54.90,1.047,0,0,1742,210.22
$SM_GC,3.39,0.00,0.00,54.90,0.000,0.000,1.047,72,1892,1742,-9.22,-0.51,210.22
$IRIDIUM_FIX,-5438.56,-3.75,151213,111102
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.9,47.880
$10V_AH,10.1,35.336
$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,23.350,44.075,266.725,54.900,0.000,35.477,20.270,256.484,0.000,0.000,23.012,2336.890,7533.536,421.989,2736.209,120.457,0.000,1452.656,0.000,2371.351,0.000,1.008,0.000
$DEVICE_MAMPS,260.865,117.810,1617.210,1046.520,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.522,680.297,616.270,66.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354688
$DATA_FILE_SIZE,53502,920
$CAP_FILE_SIZE,121956,0
$CFSIZE,2097086464,2086043648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,182534,-5500.817,1.327,33,0.8,33,-20.3