version: 66.07.10.p01
glider: 574
mission: 8
dive: 113
start: 12 22 113 22 17 29
data:
$ID,574
$MISSION,8
$DIVE,113
$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,-15174.546
$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,32
$R_STBD_OVSHOOT,37
$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,92
$GPS1,221213,220328,-5500.250,-0.758,71,1.0,71,-20.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-73.3
$GPS2,221213,221707,-5500.218,-0.586,35,0.8,37,-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,77.2,742,-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,-57.8,0.0,0.0,0,40,0.00,0.00,-13.88,0.000,2,0.000,0.000,65,1901,1970,0,0,0,0,0,0
$GC,42,-0.90,-116.5,3.0,-3.0,2,134,12.80,2.30,-70.95,0.000,4,0.282,0.060,2730,499,3075,0,0,0,0,0,0
$GC,269,-0.90,-116.5,27.3,-19.2,40,277,0.05,2.20,0.00,0.000,6,0.218,0.025,2733,1915,3077,0,0,0,0,0,0
$GC,415,-0.90,-116.5,50.9,-17.0,65,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1915,3077,0,0,0,0,0,0
$GC,760,-0.90,-116.5,109.6,-17.8,121,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1915,3078,0,0,0,0,0,0
$GC,1078,-0.90,-116.5,164.2,-16.9,151,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1915,3078,0,0,0,0,0,0
$GC,1397,-0.90,-116.5,213.1,-14.9,181,1401,0.00,1.95,0.00,0.000,4,0.000,0.045,2725,3139,3077,0,0,0,0,0,0
$GC,1525,-0.90,-116.5,232.0,-13.2,192,1534,0.00,1.92,0.00,0.000,6,0.000,0.031,2725,1901,3076,0,0,0,0,0,0
$GC,1853,-0.90,-116.5,275.9,-13.3,223,1857,0.05,0.60,0.00,0.000,4,0.250,0.047,2734,1505,3076,0,0,0,0,0,0
$GC,1988,-0.90,-116.5,294.6,-13.6,235,1992,0.00,0.60,0.00,0.000,6,0.000,0.031,2733,1945,3077,0,0,0,0,0,0
$GC,2318,-0.90,-116.5,337.5,-12.3,266,2322,0.00,0.35,0.00,0.000,4,0.000,0.043,2731,2238,3076,0,0,0,0,0,0
$GC,2454,-0.90,-116.5,354.4,-12.4,278,2458,0.00,0.47,0.00,0.000,6,0.000,0.039,2731,1896,3076,0,0,0,0,0,0
$GC,2788,-0.90,-116.5,396.3,-12.6,309,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1896,3077,0,0,0,0,0,0
$GC,3104,-0.90,-116.5,436.4,-12.4,326,3107,0.00,0.80,0.00,0.000,4,0.000,0.047,2731,1376,3077,0,0,0,0,0,0
$GC,3180,-0.90,-116.5,446.5,-12.9,329,3185,0.00,0.77,0.00,0.000,6,0.000,0.027,2728,1901,3076,0,0,0,0,0,0
$GC,3502,-0.90,-116.5,487.6,-12.9,345,3505,0.00,0.77,0.00,0.000,4,0.000,0.037,2724,2439,3077,0,0,0,0,0,0
$GC,3624,-0.90,-116.5,503.8,-13.7,350,3629,0.08,0.80,0.00,0.000,6,0.219,0.034,2738,1903,3076,0,0,0,0,0,0
$GC,3945,-0.90,-116.5,544.7,-12.7,366,3949,0.00,0.45,0.00,0.000,4,0.000,0.050,2738,1586,3077,0,0,0,0,0,0
$GC,4062,-0.90,-116.5,560.3,-13.1,371,4066,0.00,0.47,0.00,0.000,6,0.000,0.033,2737,1939,3078,0,0,0,0,0,0
$GC,4388,-0.90,-116.5,601.5,-12.5,387,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1939,3078,0,0,0,0,0,0
$GC,4698,-0.90,-116.5,640.3,-12.6,402,4701,0.00,0.35,0.00,0.000,4,0.000,0.044,2736,2223,3078,0,0,0,0,0,0
$GC,4848,-0.90,-116.5,658.8,-12.2,408,4853,0.00,0.45,0.00,0.000,6,0.000,0.038,2736,1903,3077,0,0,0,0,0,0
$GC,5164,-0.90,-116.5,696.5,-11.5,424,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1903,3078,0,0,0,0,0,0
$GC,5473,-0.90,-116.5,732.8,-11.5,439,5476,0.00,0.68,0.00,0.000,4,0.000,0.047,2736,1454,3078,0,0,0,0,0,0
$GC,5595,-0.90,-116.5,747.2,-11.8,444,5599,0.00,0.65,0.00,0.000,6,0.000,0.029,2734,1914,3078,0,0,0,0,0,0
$GC,5916,-0.90,-116.5,781.9,-10.7,460,5920,0.00,0.57,0.00,0.000,4,0.000,0.038,2731,2331,3079,0,0,0,0,0,0
$GC,6122,-0.90,-116.5,804.0,-11.1,469,6127,0.00,0.62,0.00,0.000,6,0.000,0.035,2731,1906,3078,0,0,0,0,0,0
$GC,6449,-0.90,-116.5,839.3,-10.9,485,6453,0.00,0.52,0.00,0.000,4,0.000,0.049,2731,1543,3079,0,0,0,0,0,0
$GC,6608,-0.90,-116.5,856.9,-10.9,492,6611,0.00,0.47,0.00,0.000,6,0.000,0.033,2729,1913,3079,0,0,0,0,0,0
$GC,6939,-0.90,-116.5,894.3,-11.4,508,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1913,3079,0,0,0,0,0,0
$GC,7249,-0.90,-116.5,929.0,-11.2,523,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1913,3079,0,0,0,0,0,0
$GC,7558,-0.90,-116.5,963.3,-10.9,538,7562,0.00,0.47,0.00,0.000,4,0.000,0.040,2726,2271,3079,0,0,0,0,0,0
$GC,7686,-0.90,-116.5,977.1,-10.3,543,7691,0.00,0.52,0.00,0.000,6,0.000,0.037,2727,1908,3079,0,0,0,0,0,0
$STATE,7814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7814,begin apogee
$GC,7819,-0.16,0.0,990.5,10.4,550,7925,0.93,0.00,102.85,1.666,6,0.180,0.000,2973,1823,2600,0,0,0,0,0,0
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7927,0.90,116.5,992.5,0.0,555,8050,1.15,0.57,115.38,1.580,4,0.102,0.050,3319,1508,2125,0,0,0,0,0,0
$GC,8304,0.90,116.5,932.0,19.3,573,8307,0.00,0.40,0.00,0.000,6,0.000,0.031,3319,1790,2116,0,0,0,0,0,0
$GC,8635,0.90,116.5,868.5,19.1,589,8639,0.00,1.35,0.00,0.000,4,0.000,0.050,3324,987,2114,0,0,0,0,0,0
$GC,8797,0.90,116.5,836.4,19.2,596,8801,0.00,1.27,0.00,0.000,6,0.000,0.025,3325,1817,2114,0,0,0,0,0,0
$GC,9124,0.90,116.5,771.9,19.8,612,9128,0.00,0.68,0.00,0.000,4,0.000,0.044,3326,1389,2113,0,0,0,0,0,0
$GC,9313,0.90,116.5,733.7,21.5,620,9318,0.00,0.65,0.00,0.000,6,0.000,0.028,3325,1846,2112,0,0,0,0,0,0
$GC,9635,0.90,116.5,675.5,18.1,636,9638,0.00,0.90,0.00,0.000,4,0.000,0.047,3328,1287,2112,0,0,0,0,0,0
$GC,9818,0.90,116.5,642.6,18.5,644,9823,0.00,0.77,0.00,0.000,6,0.000,0.025,3328,1794,2112,0,0,0,0,0,0
$GC,10145,0.90,116.5,588.3,16.3,660,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1794,2112,0,0,0,0,0,0
$GC,10455,0.90,116.5,538.2,15.9,675,10458,0.00,0.60,0.00,0.000,4,0.000,0.044,3330,1404,2112,0,0,0,0,0,0
$GC,10646,0.90,116.5,507.5,15.9,683,10649,0.00,0.60,0.00,0.000,6,0.000,0.028,3330,1835,2111,0,0,0,0,0,0
$GC,10966,0.90,116.5,454.2,16.9,699,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1835,2112,0,0,0,0,0,0
$GC,11276,0.90,116.5,402.4,17.2,714,11279,0.00,1.12,0.00,0.000,4,0.000,0.047,3334,1137,2111,0,0,0,0,0,0
$GC,11460,0.90,116.5,368.2,18.5,729,11466,0.00,1.02,0.00,0.000,6,0.000,0.026,3334,1825,2111,0,0,0,0,0,0
$GC,11786,0.90,116.5,308.5,18.2,760,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1825,2111,0,0,0,0,0,0
$GC,12105,0.90,116.5,252.8,16.3,790,12108,0.00,1.50,0.00,0.000,4,0.000,0.049,3340,905,2111,0,0,0,0,0,0
$GC,12268,0.90,116.5,224.2,16.9,804,12276,0.03,1.35,0.00,0.000,6,0.202,0.025,3329,1803,2111,0,0,0,0,0,0
$GC,12595,0.90,116.5,172.4,15.0,835,12598,0.00,0.40,0.00,0.000,4,0.000,0.045,3329,1524,2111,0,0,0,0,0,0
$GC,12643,0.90,116.5,164.5,14.3,839,12649,0.00,0.43,0.00,0.000,6,0.000,0.032,3329,1834,2111,0,0,0,0,0,0
$GC,12968,0.90,116.5,117.8,13.2,870,12972,0.00,0.70,0.00,0.000,4,0.000,0.045,3331,1386,2110,0,0,0,0,0,0
$GC,13029,0.90,116.5,108.6,15.4,875,13034,0.00,0.62,0.00,0.000,6,0.000,0.028,3331,1826,2111,0,0,0,0,0,0
$GC,13372,0.90,116.5,62.7,12.1,930,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1826,2111,0,0,0,0,0,0
$GC,13723,0.90,116.5,17.7,14.8,991,13730,0.00,0.77,0.00,0.000,4,0.000,0.048,3334,1338,2112,0,0,0,0,0,0
$STATE,13843,end climb,SURFACE_DEPTH_REACHED
$STATE,13843,begin surface coast
$FINISH,1.8,1.023226
$STATE,13863,end surface coast,CONTROL_FINISHED_OK
$STATE,13863,begin surface
$SM_CCo,13881,81.60,1.085,0,0,1743,210.22
$SM_GC,2.78,0.00,0.00,81.60,0.000,0.000,1.085,68,1885,1743,-9.24,-0.71,210.22
$IRIDIUM_FIX,-5438.56,0.00,221213,181834
$TT8_MAMPS,0.028462
$HUMID,62.71
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.7,54.660
$10V_AH,10.0,39.471
$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,24.200,36.450,218.225,81.600,0.000,23.828,24.000,599.526,0.000,0.000,38.792,2538.865,8500.727,404.780,3165.730,158.743,0.000,1463.417,0.000,2459.361,0.000,1.646,0.000
$DEVICE_MAMPS,282.285,100.215,1666.170,1084.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.515,729.837,678.955,68.518,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354608
$DATA_FILE_SIZE,56792,1014
$CAP_FILE_SIZE,132085,0
$CFSIZE,2097086464,2080112640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231213,021134,-5459.274,2.829,47,0.8,47,-20.3