version: 66.07.10.p01
glider: 574
mission: 8
dive: 115
start: 12 23 113 6 30 56
data:
$ID,574
$MISSION,8
$DIVE,115
$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,-15181.056
$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,70
$R_STBD_OVSHOOT,56
$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,94
$GPS1,231213,062234,-5459.142,0.784,64,0.8,64,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-72.4
$GPS2,231213,063035,-5459.122,0.883,31,0.9,32,-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,230.3,1878,-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,-19.90,0.000,2,0.000,0.000,66,1969,2084,0,0,0,0,0,0
$GC,48,-0.90,-130.7,3.1,-1.5,3,133,12.82,0.70,-66.90,0.000,4,0.283,0.078,2727,2454,3133,0,0,0,0,0,0
$GC,177,-0.90,-130.7,9.8,-18.6,24,185,0.00,0.77,0.00,0.000,6,0.000,0.035,2727,1935,3134,0,0,0,0,0,0
$GC,234,-0.90,-130.7,19.2,-17.7,33,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1934,3135,0,0,0,0,0,0
$GC,287,-0.90,-130.7,29.5,-18.6,42,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1935,3134,0,0,0,0,0,0
$GC,433,-0.90,-130.7,55.2,-17.7,67,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1935,3135,0,0,0,0,0,0
$GC,779,-0.90,-130.7,117.7,-18.3,120,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1935,3134,0,0,0,0,0,0
$GC,1098,-0.90,-130.7,171.2,-15.5,150,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1934,3135,0,0,0,0,0,0
$GC,1417,-0.90,-130.7,220.3,-14.7,180,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1935,3134,0,0,0,0,0,0
$GC,1735,-0.90,-130.7,266.7,-14.4,210,1739,0.00,0.68,0.00,0.000,4,0.000,0.048,2727,1478,3134,0,0,0,0,0,0
$GC,1909,-0.90,-130.7,292.3,-14.3,225,1915,0.00,0.65,0.00,0.000,6,0.000,0.031,2725,1930,3133,0,0,0,0,0,0
$GC,2235,-0.90,-130.7,337.7,-13.7,256,2236,0.05,0.00,0.00,0.000,6,0.270,0.000,2733,1930,3133,0,0,0,0,0,0
$GC,2553,-0.90,-130.7,380.8,-13.6,286,2557,0.00,0.93,0.00,0.000,4,0.000,0.038,2730,2555,3133,0,0,0,0,0,0
$GC,2680,-0.90,-130.7,397.8,-14.2,297,2684,0.00,0.98,0.00,0.000,6,0.000,0.034,2730,1910,3133,0,0,0,0,0,0
$GC,3011,-0.90,-130.7,445.7,-14.5,314,3015,0.00,0.45,0.00,0.000,4,0.000,0.050,2729,1593,3134,0,0,0,0,0,0
$GC,3259,-0.90,-130.7,482.1,-14.5,325,3262,0.00,0.43,0.00,0.000,6,0.000,0.035,2729,1925,3134,0,0,0,0,0,0
$GC,3591,-0.90,-130.7,531.0,-15.0,341,3594,0.00,0.30,0.00,0.000,4,0.000,0.048,2727,2177,3135,0,0,0,0,0,0
$GC,3749,-0.90,-130.7,554.6,-14.3,348,3752,0.00,0.38,0.00,0.000,6,0.000,0.041,2727,1902,3135,0,0,0,0,0,0
$GC,4081,-0.90,-130.7,604.7,-15.2,364,4084,0.00,0.52,0.00,0.000,4,0.000,0.050,2727,1539,3135,0,0,0,0,0,0
$GC,4231,-0.90,-130.7,627.7,-15.2,370,4237,0.00,0.50,0.00,0.000,6,0.000,0.033,2725,1903,3135,0,0,0,0,0,0
$GC,4547,-0.90,-130.7,674.1,-14.4,386,4549,0.05,0.00,0.00,0.000,6,0.265,0.000,2734,1903,3135,0,0,0,0,0,0
$GC,4856,-0.90,-130.7,715.9,-13.1,401,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3136,0,0,0,0,0,0
$GC,5165,-0.90,-130.7,754.8,-12.3,416,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1903,3136,0,0,0,0,0,0
$GC,5475,-0.90,-130.7,791.9,-11.7,431,5478,0.00,0.60,0.00,0.000,4,0.000,0.038,2732,2337,3136,0,0,0,0,0,0
$GC,5625,-0.90,-130.7,810.1,-12.1,437,5631,0.00,0.62,0.00,0.000,6,0.000,0.036,2732,1909,3136,0,0,0,0,0,0
$GC,5941,-0.90,-130.7,845.3,-11.0,453,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1909,3136,0,0,0,0,0,0
$GC,6250,-0.90,-130.7,880.9,-12.1,468,6254,0.00,0.95,0.00,0.000,4,0.000,0.047,2732,1299,3136,0,0,0,0,0,0
$GC,6389,-0.90,-130.7,898.3,-12.4,474,6394,0.00,0.90,0.00,0.000,6,0.000,0.028,2729,1900,3136,0,0,0,0,0,0
$GC,6716,-0.90,-130.7,938.6,-12.6,490,6720,0.00,0.35,0.00,0.000,4,0.000,0.044,2727,2187,3136,0,0,0,0,0,0
$GC,6832,-0.90,-130.7,953.5,-12.7,495,6837,0.00,0.40,0.00,0.000,6,0.000,0.040,2727,1906,3136,0,0,0,0,0,0
$STATE,7137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7137,begin apogee
$GC,7142,-0.16,0.0,990.4,12.0,510,7261,0.90,0.00,115.53,1.665,6,0.176,0.000,2970,1836,2600,0,0,0,0,0,0
$STATE,7262,end apogee,CONTROL_FINISHED_OK
$STATE,7262,begin climb
$GC,7263,0.90,130.7,993.2,0.0,516,7398,1.12,0.00,129.23,1.584,6,0.100,0.000,3310,1836,2067,0,0,0,0,0,0
$GC,7714,0.90,130.7,927.7,15.9,538,7718,0.00,1.40,0.00,0.000,4,0.000,0.055,3316,1012,2057,0,0,0,0,0,0
$GC,7842,0.90,130.7,906.4,15.8,543,7848,0.00,1.25,0.00,0.000,6,0.000,0.024,3316,1825,2056,0,0,0,0,0,0
$GC,8158,0.90,130.7,852.8,17.5,559,8162,0.00,1.10,0.00,0.000,4,0.000,0.048,3320,1156,2055,0,0,0,0,0,0
$GC,8320,0.90,130.7,823.2,18.3,566,8324,0.00,1.00,0.00,0.000,6,0.000,0.026,3320,1831,2055,0,0,0,0,0,0
$GC,8647,0.90,130.7,763.0,18.3,582,8650,0.00,0.95,0.00,0.000,4,0.000,0.047,3323,1242,2055,0,0,0,0,0,0
$GC,8836,0.90,130.7,727.1,18.9,590,8840,0.00,0.85,0.00,0.000,6,0.000,0.024,3322,1804,2054,0,0,0,0,0,0
$GC,9157,0.90,130.7,668.1,18.4,606,9161,0.00,1.05,0.00,0.000,4,0.000,0.047,3326,1152,2054,0,0,0,0,0,0
$GC,9279,0.90,130.7,644.9,18.5,611,9284,0.00,1.02,0.00,0.000,6,0.000,0.025,3326,1839,2054,0,0,0,0,0,0
$GC,9601,0.90,130.7,584.0,19.0,627,9605,0.00,0.95,0.00,0.000,4,0.000,0.047,3330,1244,2054,0,0,0,0,0,0
$GC,9745,0.90,130.7,555.7,20.5,633,9750,0.00,0.85,0.00,0.000,6,0.000,0.024,3329,1806,2054,0,0,0,0,0,0
$GC,10067,0.90,130.7,495.1,18.8,649,10071,0.00,0.80,0.00,0.000,4,0.000,0.047,3332,1304,2054,0,0,0,0,0,0
$GC,10239,0.90,130.7,462.8,19.4,656,10245,0.00,0.77,0.00,0.000,6,0.000,0.024,3332,1823,2054,0,0,0,0,0,0
$GC,10555,0.90,130.7,406.1,17.7,672,10559,0.00,0.65,0.00,0.000,4,0.000,0.044,3334,1403,2054,0,0,0,0,0,0
$GC,10728,0.90,130.7,374.7,18.3,685,10734,0.00,0.62,0.00,0.000,6,0.000,0.028,3334,1840,2054,0,0,0,0,0,0
$GC,11053,0.90,130.7,318.4,17.3,716,11057,0.00,0.80,0.00,0.000,4,0.000,0.045,3337,1334,2054,0,0,0,0,0,0
$GC,11170,0.90,130.7,297.7,16.8,726,11176,0.00,0.70,0.00,0.000,6,0.000,0.026,3336,1806,2054,0,0,0,0,0,0
$GC,11499,0.90,130.7,241.6,17.1,757,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1805,2054,0,0,0,0,0,0
$GC,11824,0.90,130.7,185.6,17.3,788,11828,0.00,1.73,0.00,0.000,4,0.000,0.051,3343,732,2054,0,0,0,0,0,0
$GC,11953,0.90,130.7,162.8,17.2,799,11959,0.05,1.62,0.00,0.000,6,0.168,0.025,3328,1813,2054,0,0,0,0,0,0
$GC,12278,0.90,130.7,114.1,14.0,830,12282,0.00,1.17,0.00,0.000,4,0.000,0.039,3327,2587,2054,0,0,0,0,0,0
$GC,12420,0.90,130.7,93.0,15.3,846,12427,0.00,1.17,0.00,0.000,6,0.000,0.035,3331,1824,2054,0,0,0,0,0,0
$GC,12771,0.90,130.7,45.1,13.2,907,12776,0.00,1.52,0.00,0.000,4,0.000,0.054,3338,881,2054,0,0,0,0,0,0
$GC,12876,0.90,130.7,28.8,17.1,925,12882,0.03,1.42,0.00,0.000,6,0.200,0.027,3329,1828,2054,0,0,0,0,0,0
$GC,13025,0.90,130.7,4.2,16.2,950,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1839,2053,0,0,0,0,0,0
$STATE,13038,end climb,SURFACE_DEPTH_REACHED
$STATE,13038,begin surface coast
$FINISH,1.7,1.027216
$STATE,13058,end surface coast,CONTROL_FINISHED_OK
$STATE,13058,begin surface
$SM_CCo,13074,69.35,1.086,0,0,1743,210.22
$SM_GC,2.83,0.00,0.00,69.35,0.000,0.000,1.086,75,1956,1743,-9.21,1.58,210.22
$IRIDIUM_FIX,-5438.56,22.52,231213,020222
$TT8_MAMPS,0.026964
$HUMID,63.46
$INTERNAL_PRESSURE,9.04779
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,21.6,54.956
$10V_AH,10.1,39.660
$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,24.025,34.650,244.750,69.350,0.000,24.792,49.995,273.002,0.000,0.000,34.118,2379.207,7989.079,393.403,2736.571,128.256,0.000,1425.581,0.000,2329.246,0.000,1.009,0.000
$DEVICE_MAMPS,283.050,132.345,1664.640,1085.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.147,683.588,641.765,62.150,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354736
$DATA_FILE_SIZE,53669,955
$CAP_FILE_SIZE,123172,0
$CFSIZE,2097086464,2079883264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231213,101152,-5500.119,-0.843,77,0.8,77,-20.2