version: 66.07.10.p01
glider: 574
mission: 8
dive: 123
start: 12 24 113 14 25 52
data:
$ID,574
$MISSION,8
$DIVE,123
$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,-15208.8
$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,40
$R_STBD_OVSHOOT,91
$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,102
$GPS1,241213,141834,-5459.952,2.893,43,0.8,43,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-74.2
$GPS2,241213,142530,-5459.922,2.998,20,1.4,20,-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,287.7,3188,-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,-20.00,0.000,2,0.000,0.000,66,1960,2086,0,0,0,0,0,0
$GC,48,-0.90,-137.6,3.0,-0.7,3,128,12.60,0.55,-62.38,0.000,4,0.278,0.106,2729,1612,3161,0,0,0,0,0,0
$GC,137,-0.90,-143.6,4.9,-8.8,17,145,0.00,0.38,-0.77,0.000,6,0.000,0.037,2728,1883,3186,0,0,0,0,0,0
$GC,194,-0.90,-143.6,16.0,-20.0,26,201,0.00,0.57,0.00,0.000,4,0.000,0.042,2725,2288,3187,0,0,0,0,0,0
$GC,261,-0.90,-143.6,30.0,-18.3,37,267,0.03,0.57,0.00,0.000,6,0.239,0.037,2732,1885,3187,0,0,0,0,0,0
$GC,405,-0.90,-143.6,57.0,-19.1,62,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1885,3188,0,0,0,0,0,0
$GC,749,-0.90,-143.6,121.6,-18.5,113,753,0.00,1.23,0.00,0.000,4,0.000,0.049,2733,1119,3188,0,0,0,0,0,0
$GC,829,-0.90,-143.6,135.7,-17.3,120,832,0.00,1.20,0.00,0.000,6,0.000,0.030,2728,1901,3188,0,0,0,0,0,0
$GC,1158,-0.90,-143.6,192.0,-16.5,151,1162,0.00,1.90,0.00,0.000,4,0.000,0.047,2719,3122,3187,0,0,0,0,0,0
$GC,1283,-0.90,-143.6,212.4,-15.8,162,1287,0.08,1.83,0.00,0.000,6,0.217,0.031,2736,1930,3187,0,0,0,0,0,0
$GC,1614,-0.90,-143.6,261.6,-14.3,193,1618,0.00,0.60,0.00,0.000,4,0.000,0.049,2736,1522,3186,0,0,0,0,0,0
$GC,1674,-0.90,-143.6,270.8,-14.2,198,1680,0.00,0.60,0.00,0.000,6,0.000,0.033,2735,1941,3186,0,0,0,0,0,0
$GC,2003,-0.90,-143.6,315.7,-14.1,229,2006,0.00,0.55,0.00,0.000,4,0.000,0.041,2733,2342,3186,0,0,0,0,0,0
$GC,2097,-0.90,-143.6,329.8,-13.7,237,2102,0.00,0.68,0.00,0.000,6,0.000,0.037,2733,1892,3186,0,0,0,0,0,0
$GC,2422,-0.90,-143.6,375.7,-14.2,268,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1892,3186,0,0,0,0,0,0
$GC,2736,-0.90,-143.6,422.4,-15.1,291,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1892,3187,0,0,0,0,0,0
$GC,3045,-0.90,-143.6,467.4,-14.5,306,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1892,3187,0,0,0,0,0,0
$GC,3355,-0.90,-143.6,511.3,-14.2,321,3358,0.00,0.65,0.00,0.000,4,0.000,0.048,2732,1461,3187,0,0,0,0,0,0
$GC,3424,-0.90,-143.6,520.9,-14.3,324,3427,0.00,0.62,0.00,0.000,6,0.000,0.032,2731,1910,3188,0,0,0,0,0,0
$GC,3756,-0.90,-143.6,567.5,-13.7,340,3759,0.00,0.43,0.00,0.000,4,0.000,0.043,2728,2233,3188,0,0,0,0,0,0
$GC,4013,-0.90,-143.6,603.3,-14.5,351,4017,0.00,0.47,0.00,0.000,6,0.000,0.039,2729,1905,3188,0,0,0,0,0,0
$GC,4334,-0.90,-143.6,647.0,-13.6,367,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1905,3188,0,0,0,0,0,0
$GC,4643,-0.90,-143.6,687.5,-12.8,382,4647,0.00,0.47,0.00,0.000,4,0.000,0.051,2729,1574,3189,0,0,0,0,0,0
$GC,4748,-0.90,-143.6,701.5,-13.3,386,4754,0.00,0.47,0.00,0.000,6,0.000,0.034,2727,1915,3188,0,0,0,0,0,0
$GC,5064,-0.90,-143.6,740.0,-12.1,402,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1914,3189,0,0,0,0,0,0
$GC,5373,-0.90,-143.6,777.1,-12.1,417,5377,0.00,0.70,0.00,0.000,4,0.000,0.039,2724,2402,3189,0,0,0,0,0,0
$GC,5450,-0.90,-143.6,786.5,-11.8,420,5455,0.08,0.75,0.00,0.000,6,0.213,0.036,2738,1905,3189,0,0,0,0,0,0
$GC,5771,-0.90,-143.6,823.1,-11.6,436,5775,0.00,0.62,0.00,0.000,4,0.000,0.049,2738,1485,3192,0,0,0,0,0,0
$GC,5861,-0.90,-143.6,834.3,-13.0,440,5864,0.00,0.57,0.00,0.000,6,0.000,0.033,2737,1905,3192,0,0,0,0,0,0
$GC,6192,-0.90,-143.6,873.0,-11.5,456,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1905,3192,0,0,0,0,0,0
$GC,6502,-0.90,-143.6,909.4,-11.9,471,6505,0.00,0.60,0.00,0.000,4,0.000,0.040,2734,2335,3193,0,0,0,0,0,0
$GC,6579,-0.90,-143.6,918.6,-12.3,474,6583,0.00,0.65,0.00,0.000,6,0.000,0.036,2734,1897,3193,0,0,0,0,0,0
$GC,6900,-0.90,-143.6,955.5,-11.5,490,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1897,3193,0,0,0,0,0,0
$STATE,7208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7208,begin apogee
$GC,7213,-0.16,0.0,991.9,11.9,505,7344,0.88,0.00,128.30,1.653,6,0.173,0.000,2972,1831,2600,0,0,0,0,0,0
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7345,begin climb
$GC,7347,0.90,143.6,994.2,0.0,511,7494,1.15,0.00,141.73,1.570,6,0.101,0.000,3315,1831,2014,0,0,0,0,0,0
$GC,7798,0.90,143.6,924.5,17.1,533,7802,0.00,2.17,0.00,0.000,4,0.000,0.059,3325,546,2005,0,0,0,0,0,0
$GC,7914,0.90,143.6,903.4,18.2,538,7919,0.00,1.98,0.00,0.000,6,0.000,0.026,3325,1791,2004,0,0,0,0,0,0
$GC,8236,0.90,143.6,847.2,17.3,554,8239,0.00,0.95,0.00,0.000,4,0.000,0.049,3327,1214,2003,0,0,0,0,0,0
$GC,8425,0.90,143.6,813.5,17.5,562,8430,0.00,0.95,0.00,0.000,6,0.000,0.026,3327,1844,2003,0,0,0,0,0,0
$GC,8747,0.90,143.6,758.3,17.3,578,8751,0.00,2.17,0.00,0.000,4,0.000,0.056,3336,507,2003,0,0,0,0,0,0
$GC,8857,0.90,143.6,737.7,17.9,583,8863,0.03,2.00,0.00,0.000,6,0.202,0.026,3328,1810,2003,0,0,0,0,0,0
$GC,9185,0.90,143.6,679.2,18.3,599,9188,0.00,1.05,0.00,0.000,4,0.000,0.049,3331,1160,2003,0,0,0,0,0,0
$GC,9297,0.90,143.6,658.2,20.0,604,9301,0.00,1.00,0.00,0.000,6,0.000,0.028,3331,1840,2002,0,0,0,0,0,0
$GC,9629,0.90,143.6,596.1,18.6,620,9632,0.00,1.05,0.00,0.000,4,0.000,0.048,3335,1186,2003,0,0,0,0,0,0
$GC,9773,0.90,143.6,568.4,19.5,626,9778,0.00,0.95,0.00,0.000,6,0.000,0.027,3335,1829,2002,0,0,0,0,0,0
$GC,10095,0.90,143.6,507.0,19.4,642,10099,0.00,1.65,0.00,0.000,4,0.000,0.052,3342,786,2003,0,0,0,0,0,0
$GC,10230,0.90,143.6,479.9,20.4,648,10234,0.05,1.52,0.00,0.000,6,0.182,0.026,3327,1801,2003,0,0,0,0,0,0
$GC,10561,0.90,143.6,417.8,18.9,664,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1801,2003,0,0,0,0,0,0
$GC,10879,0.90,143.6,358.4,19.0,689,10882,0.00,1.65,0.00,0.000,4,0.000,0.053,3333,795,2003,0,0,0,0,0,0
$GC,10996,0.90,143.6,335.0,20.1,699,11002,0.00,1.55,0.00,0.000,6,0.000,0.026,3333,1821,2003,0,0,0,0,0,0
$GC,11321,0.90,143.6,275.7,18.0,730,11325,0.00,0.95,0.00,0.000,4,0.000,0.048,3336,1226,2003,0,0,0,0,0,0
$GC,11505,0.90,143.6,243.6,16.9,746,11511,0.00,0.90,0.00,0.000,6,0.000,0.024,3336,1824,2003,0,0,0,0,0,0
$GC,11834,0.90,143.6,190.7,17.3,777,11838,0.00,0.90,0.00,0.000,4,0.000,0.047,3339,1261,2003,0,0,0,0,0,0
$GC,11913,0.90,143.6,176.4,17.0,784,11917,0.03,0.82,0.00,0.000,6,0.200,0.027,3329,1819,2003,0,0,0,0,0,0
$GC,12242,0.90,143.6,124.1,14.7,815,12246,0.00,1.50,0.00,0.000,4,0.000,0.052,3334,905,2003,0,0,0,0,0,0
$GC,12371,0.90,143.6,104.1,14.9,826,12378,0.00,1.40,0.00,0.000,6,0.000,0.026,3334,1825,2003,0,0,0,0,0,0
$GC,12716,0.90,143.6,55.4,14.4,884,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1825,2004,0,0,0,0,0,0
$GC,13071,0.90,143.6,3.5,13.8,945,13078,0.00,1.15,0.00,0.000,4,0.000,0.054,3340,1121,2004,0,0,0,0,0,0
$STATE,13085,end climb,SURFACE_DEPTH_REACHED
$STATE,13085,begin surface coast
$FINISH,1.7,1.003604
$STATE,13098,end surface coast,CONTROL_FINISHED_OK
$STATE,13099,begin surface
$SM_CCo,13116,60.72,1.093,1,0,1743,210.22
$SM_GC,2.74,0.00,0.00,60.72,0.000,0.000,1.093,71,1907,1743,-9.24,0.06,210.22
$IRIDIUM_FIX,-5438.56,0.00,241213,101019
$TT8_MAMPS,0.026964
$HUMID,63.58
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,21.6,56.207
$10V_AH,10.0,40.409
$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,23.925,47.250,270.025,60.725,0.000,29.315,25.068,243.501,0.000,0.000,22.775,2371.542,8119.627,408.157,2579.774,123.004,0.000,1407.556,0.000,2236.069,0.000,1.011,0.000
$DEVICE_MAMPS,278.460,117.045,1653.165,1093.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.862,653.785,638.501,59.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354740
$DATA_FILE_SIZE,53596,949
$CAP_FILE_SIZE,123385,1
$CFSIZE,2097086464,2078834688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,241213,180636,-5459.187,0.586,27,0.7,27,-20.3