version: 66.07.10.p01
glider: 574
mission: 8
dive: 103
start: 12 21 113 7 22 35
data:
$ID,574
$MISSION,8
$DIVE,103
$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,-15141.555
$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,47
$R_STBD_OVSHOOT,98
$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,82
$GPS1,211213,071504,-5500.219,2.016,62,1.3,62,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.8
$GPS2,211213,072213,-5500.217,2.105,18,1.2,19,-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,300.5,2272,-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,-25.77,0.000,2,0.000,0.000,67,1945,2186,0,0,0,0,0,0
$GC,54,-0.90,-130.2,3.0,-1.5,4,127,12.52,1.55,-55.45,0.000,4,0.277,0.067,2726,989,3131,0,0,0,0,0,0
$GC,166,-0.90,-130.2,7.9,-12.8,22,173,0.05,1.35,0.00,0.000,6,0.210,0.026,2735,1870,3134,0,0,0,0,0,0
$GC,223,-0.90,-130.2,16.9,-15.4,31,230,0.00,0.45,0.00,0.000,4,0.000,0.041,2734,2209,3134,0,0,0,0,0,0
$GC,265,-0.90,-130.2,23.5,-14.7,38,273,0.00,0.43,0.00,0.000,6,0.000,0.041,2734,1906,3134,0,0,0,0,0,0
$GC,411,-0.90,-130.2,47.0,-19.2,63,418,0.00,0.45,0.00,0.000,4,0.000,0.035,2733,2244,3134,0,0,0,0,0,0
$GC,463,-0.90,-130.2,56.5,-17.5,72,470,0.00,0.47,0.00,0.000,6,0.000,0.037,2733,1901,3134,0,0,0,0,0,0
$GC,810,-0.90,-130.2,119.0,-16.7,124,814,0.00,1.08,0.00,0.000,4,0.000,0.050,2733,1225,3134,0,0,0,0,0,0
$GC,860,-0.90,-130.2,128.4,-18.5,128,868,0.00,1.05,0.00,0.000,6,0.000,0.029,2730,1909,3134,0,0,0,0,0,0
$GC,1187,-0.90,-130.2,181.4,-16.5,159,1190,0.00,1.70,0.00,0.000,4,0.000,0.045,2722,3015,3134,0,0,0,0,0,0
$GC,1259,-0.90,-130.2,193.4,-15.6,165,1266,0.03,1.67,0.00,0.000,6,0.204,0.032,2730,1933,3134,0,0,0,0,0,0
$GC,1584,-0.90,-130.2,243.9,-15.1,196,1588,0.00,0.95,0.00,0.000,4,0.000,0.047,2730,1320,3133,0,0,0,0,0,0
$GC,1668,-0.90,-130.2,257.5,-16.4,203,1674,0.00,0.90,0.00,0.000,6,0.000,0.028,2727,1919,3133,0,0,0,0,0,0
$GC,1993,-0.90,-130.2,311.3,-16.9,234,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1919,3133,0,0,0,0,0,0
$GC,2312,-0.90,-130.2,363.0,-15.7,264,2316,0.00,0.40,0.00,0.000,4,0.000,0.042,2725,2234,3134,0,0,0,0,0,0
$GC,2384,-0.90,-130.2,374.5,-15.3,270,2390,0.05,0.50,0.00,0.000,6,0.246,0.039,2733,1884,3134,0,0,0,0,0,0
$GC,2705,-0.90,-130.2,421.6,-14.2,294,2709,0.00,0.65,0.00,0.000,4,0.000,0.047,2734,1451,3135,0,0,0,0,0,0
$GC,2805,-0.90,-130.2,436.1,-13.9,298,2809,0.00,0.68,0.00,0.000,6,0.000,0.030,2733,1920,3135,0,0,0,0,0,0
$GC,3126,-0.90,-130.2,477.6,-12.6,314,3130,0.00,0.55,0.00,0.000,4,0.000,0.039,2730,2322,3136,0,0,0,0,0,0
$GC,3203,-0.90,-130.2,487.4,-12.6,317,3207,0.00,0.60,0.00,0.000,6,0.000,0.037,2730,1914,3136,0,0,0,0,0,0
$GC,3525,-0.90,-130.2,527.1,-12.6,333,3528,0.00,0.88,0.00,0.000,4,0.000,0.048,2730,1351,3137,0,0,0,0,0,0
$GC,3614,-0.90,-130.2,539.0,-13.3,337,3618,0.00,0.80,0.00,0.000,6,0.000,0.029,2726,1903,3137,0,0,0,0,0,0
$GC,3946,-0.90,-130.2,582.6,-13.2,353,3950,0.00,0.50,0.00,0.000,4,0.000,0.041,2727,1565,3138,0,0,0,0,0,0
$GC,4068,-0.90,-130.2,599.1,-13.8,358,4072,0.00,0.50,0.00,0.000,6,0.000,0.032,2725,1926,3138,0,0,0,0,0,0
$GC,4389,-0.90,-130.2,641.9,-13.7,374,4391,0.05,0.00,0.00,0.000,6,0.264,0.000,2734,1926,3138,0,0,0,0,0,0
$GC,4699,-0.90,-130.2,683.3,-13.4,389,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1927,3139,0,0,0,0,0,0
$GC,5008,-0.90,-130.2,724.2,-13.2,404,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1927,3140,0,0,0,0,0,0
$GC,5317,-0.90,-130.2,762.1,-12.4,419,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1926,3141,0,0,0,0,0,0
$GC,5627,-0.90,-130.2,802.4,-12.9,434,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1927,3141,0,0,0,0,0,0
$GC,5936,-0.90,-130.2,840.1,-12.0,449,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1927,3143,0,0,0,0,0,0
$GC,6245,-0.90,-130.2,876.4,-12.2,464,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1926,3144,0,0,0,0,0,0
$GC,6555,-0.90,-130.2,913.6,-12.1,479,6558,0.00,0.55,0.00,0.000,4,0.000,0.040,2732,2325,3144,0,0,0,0,0,0
$GC,6660,-0.90,-130.2,926.4,-12.1,483,6665,0.00,0.62,0.00,0.000,6,0.000,0.037,2732,1905,3144,0,0,0,0,0,0
$GC,6975,-0.90,-130.2,964.7,-12.3,499,6979,0.00,0.75,0.00,0.000,4,0.000,0.048,2732,1414,3145,0,0,0,0,0,0
$GC,7097,-0.90,-130.2,980.3,-12.8,504,7102,0.00,0.73,0.00,0.000,6,0.000,0.028,2730,1910,3145,0,0,0,0,0,0
$STATE,7190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7191,begin apogee
$GC,7195,-0.16,0.0,991.4,12.0,509,7315,0.90,0.00,116.65,1.587,6,0.178,0.000,2970,1790,2600,0,0,0,0,0,0
$STATE,7316,end apogee,CONTROL_FINISHED_OK
$STATE,7316,begin climb
$GC,7318,0.90,130.2,994.1,0.0,515,7452,1.17,0.00,128.27,1.518,6,0.101,0.000,3319,1790,2069,0,0,0,0,0,0
$GC,7762,0.90,130.2,922.9,17.9,537,7766,0.00,1.77,0.00,0.000,4,0.000,0.056,3327,725,2060,0,0,0,0,0,0
$GC,7862,0.90,130.2,904.0,18.6,541,7866,0.00,1.70,0.00,0.000,6,0.000,0.024,3325,1801,2058,0,0,0,0,0,0
$GC,8184,0.90,130.2,845.5,18.0,557,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1801,2057,0,0,0,0,0,0
$GC,8493,0.90,130.2,791.4,17.5,572,8496,0.00,0.65,0.00,0.000,4,0.000,0.039,3325,2254,2056,0,0,0,0,0,0
$GC,8570,0.90,130.2,777.3,18.2,575,8574,0.00,0.62,0.00,0.000,6,0.000,0.039,3326,1848,2056,0,0,0,0,0,0
$GC,8891,0.90,130.2,719.8,18.1,591,8895,0.00,1.35,0.00,0.000,4,0.000,0.055,3332,1018,2056,0,0,0,0,0,0
$GC,9007,0.90,130.2,697.1,19.3,596,9012,0.00,1.25,0.00,0.000,6,0.000,0.026,3332,1832,2055,0,0,0,0,0,0
$GC,9335,0.90,130.2,634.2,19.4,612,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1832,2055,0,0,0,0,0,0
$GC,9644,0.90,130.2,574.9,19.1,627,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1832,2055,0,0,0,0,0,0
$GC,9953,0.90,130.2,515.8,19.3,642,9957,0.00,0.57,0.00,0.000,4,0.000,0.045,3334,1461,2055,0,0,0,0,0,0
$GC,10075,0.90,130.2,491.6,19.7,647,10080,0.00,0.55,0.00,0.000,6,0.000,0.031,3334,1865,2055,0,0,0,0,0,0
$GC,10397,0.90,130.2,430.6,18.9,663,10400,0.00,0.75,0.00,0.000,4,0.000,0.045,3336,1385,2055,0,0,0,0,0,0
$GC,10558,0.90,130.2,399.0,20.0,670,10564,0.00,0.60,0.00,0.000,6,0.000,0.030,3336,1813,2055,0,0,0,0,0,0
$GC,10887,0.90,130.2,339.4,17.0,701,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1813,2055,0,0,0,0,0,0
$GC,11212,0.90,130.2,287.6,15.3,732,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1814,2055,0,0,0,0,0,0
$GC,11531,0.90,130.2,238.8,15.3,762,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1814,2055,0,0,0,0,0,0
$GC,11849,0.90,130.2,188.8,15.8,792,11853,0.00,0.93,0.00,0.000,4,0.000,0.047,3339,1237,2055,0,0,0,0,0,0
$GC,11908,0.90,130.2,179.6,16.5,797,11913,0.05,0.82,0.00,0.000,6,0.168,0.028,3324,1800,2055,0,0,0,0,0,0
$GC,12238,0.90,130.2,131.8,14.6,828,12242,0.00,1.27,0.00,0.000,4,0.000,0.050,3329,1017,2055,0,0,0,0,0,0
$GC,12457,0.90,130.2,102.4,12.7,847,12463,0.00,1.23,0.00,0.000,6,0.000,0.024,3328,1831,2055,0,0,0,0,0,0
$GC,12803,0.90,130.2,52.1,15.1,906,12810,0.00,0.98,0.00,0.000,4,0.000,0.047,3332,1218,2055,0,0,0,0,0,0
$GC,12988,0.90,130.2,23.7,15.1,938,12995,0.00,0.88,0.00,0.000,6,0.000,0.027,3332,1812,2056,0,0,0,0,0,0
$STATE,13125,end climb,SURFACE_DEPTH_REACHED
$STATE,13125,begin surface coast
$FINISH,1.7,1.026657
$STATE,13145,end surface coast,CONTROL_FINISHED_OK
$STATE,13145,begin surface
$SM_CCo,13162,66.00,1.002,0,0,1742,210.22
$SM_GC,2.88,0.00,0.00,66.00,0.000,0.000,1.002,74,1957,1742,-9.20,1.33,210.22
$IRIDIUM_FIX,-5438.56,-3.75,201213,232304
$TT8_MAMPS,0.026964
$HUMID,63.42
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,21.8,53.121
$10V_AH,10.0,38.549
$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,24.025,36.900,244.925,66.000,0.000,29.727,41.446,243.215,0.000,0.000,22.939,2371.719,8246.773,421.489,2499.932,123.164,0.000,1358.578,0.000,2146.288,0.000,1.009,0.000
$DEVICE_MAMPS,276.930,74.970,1586.610,1002.150,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.891,690.089,648.847,63.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354748
$DATA_FILE_SIZE,53543,964
$CAP_FILE_SIZE,118681,0
$CFSIZE,2097086464,2081456128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,110458,-5459.660,0.312,79,1.5,79,-20.2