version: 66.07.10.p01
glider: 574
mission: 8
dive: 132
start: 12 26 113 0 57 40
data:
$ID,574
$MISSION,8
$DIVE,132
$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,-15240.082
$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,79
$R_STBD_OVSHOOT,64
$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,111
$GPS1,261213,005028,-5500.248,2.131,36,0.7,36,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-70.4
$GPS2,261213,005718,-5500.262,2.187,14,0.9,15,-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,302.1,2373,-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,-13.93,0.000,2,0.000,0.000,68,1907,1980,0,0,0,0,0,0
$GC,42,-0.90,-109.8,3.2,-3.7,2,127,12.35,1.42,-66.93,0.000,4,0.272,0.073,2730,1028,3044,0,0,0,0,0,0
$GC,254,-0.90,-109.8,22.1,-17.2,37,259,0.00,1.35,0.00,0.000,6,0.000,0.030,2724,1898,3046,0,0,0,0,0,0
$GC,396,-0.90,-109.8,47.4,-17.4,62,401,0.08,0.00,0.00,0.000,6,0.250,0.000,2737,1898,3047,0,0,0,0,0,0
$GC,749,-0.90,-109.8,105.8,-16.0,121,752,0.00,1.12,0.00,0.000,4,0.000,0.041,2733,2630,3047,0,0,0,0,0,0
$GC,828,-0.90,-109.8,119.1,-15.5,128,832,0.00,1.05,0.00,0.000,6,0.000,0.034,2733,1942,3047,0,0,0,0,0,0
$GC,1158,-0.90,-109.8,170.5,-15.6,159,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1942,3047,0,0,0,0,0,0
$GC,1479,-0.90,-109.8,212.6,-12.6,189,1483,0.00,0.70,0.00,0.000,4,0.000,0.049,2733,1479,3047,0,0,0,0,0,0
$GC,1604,-0.90,-109.8,229.0,-12.8,200,1607,0.00,0.65,0.00,0.000,6,0.000,0.031,2731,1941,3046,0,0,0,0,0,0
$GC,1934,-0.90,-109.8,271.5,-12.7,231,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1941,3046,0,0,0,0,0,0
$GC,2255,-0.90,-109.8,312.8,-12.8,261,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1941,3046,0,0,0,0,0,0
$GC,2571,-0.90,-109.8,355.0,-13.0,291,2575,0.00,0.82,0.00,0.000,4,0.000,0.040,2727,2501,3046,0,0,0,0,0,0
$GC,2666,-0.90,-109.8,367.8,-13.0,299,2672,0.00,0.93,0.00,0.000,6,0.000,0.035,2727,1901,3046,0,0,0,0,0,0
$GC,3000,-0.90,-109.8,410.4,-12.5,327,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1901,3046,0,0,0,0,0,0
$GC,3308,-0.90,-109.8,449.3,-12.7,342,3312,0.00,2.00,0.00,0.000,4,0.000,0.053,2727,645,3046,0,0,0,0,0,0
$GC,3421,-0.90,-109.8,464.4,-13.4,347,3425,0.10,1.88,0.00,0.000,6,0.221,0.028,2739,1892,3046,0,0,0,0,0,0
$GC,3752,-0.90,-109.8,502.4,-11.4,363,3756,0.00,1.10,0.00,0.000,4,0.000,0.039,2735,2616,3046,0,0,0,0,0,0
$GC,3865,-0.90,-109.8,514.9,-11.2,368,3868,0.00,1.08,0.00,0.000,6,0.000,0.035,2735,1916,3047,0,0,0,0,0,0
$GC,4197,-0.90,-109.8,551.7,-10.9,384,4200,0.00,0.57,0.00,0.000,4,0.000,0.050,2735,1528,3047,0,0,0,0,0,0
$GC,4324,-0.90,-109.8,566.4,-11.3,389,4330,0.00,0.57,0.00,0.000,6,0.000,0.032,2733,1935,3047,0,0,0,0,0,0
$GC,4640,-0.90,-109.8,601.0,-11.0,405,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1935,3048,0,0,0,0,0,0
$GC,4949,-0.90,-109.8,635.6,-11.1,420,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1936,3047,0,0,0,0,0,0
$GC,5259,-0.90,-109.8,670.4,-11.2,435,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1935,3048,0,0,0,0,0,0
$GC,5568,-0.90,-109.8,704.2,-11.1,450,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1935,3048,0,0,0,0,0,0
$GC,5877,-0.90,-109.8,738.5,-11.1,465,5881,0.00,0.40,0.00,0.000,4,0.000,0.041,2731,2248,3048,0,0,0,0,0,0
$GC,5932,-0.90,-109.8,744.9,-10.9,467,5936,0.00,0.52,0.00,0.000,6,0.000,0.038,2731,1889,3048,0,0,0,0,0,0
$GC,6253,-0.90,-109.8,780.2,-10.9,483,6257,0.00,0.85,0.00,0.000,4,0.000,0.050,2731,1343,3049,0,0,0,0,0,0
$GC,6343,-0.90,-109.8,790.4,-10.9,487,6347,0.00,0.80,0.00,0.000,6,0.000,0.031,2728,1893,3049,0,0,0,0,0,0
$GC,6675,-0.90,-109.8,826.7,-10.7,503,6678,0.00,0.55,0.00,0.000,4,0.000,0.041,2725,2297,3048,0,0,0,0,0,0
$GC,6746,-0.90,-109.8,834.4,-10.3,506,6751,0.05,0.57,0.00,0.000,6,0.240,0.038,2733,1901,3048,0,0,0,0,0,0
$GC,7072,-0.90,-109.8,867.5,-10.2,522,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1902,3049,0,0,0,0,0,0
$GC,7382,-0.90,-109.8,897.5,-9.7,537,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1902,3049,0,0,0,0,0,0
$GC,7691,-0.90,-109.8,927.2,-9.6,552,7695,0.00,0.43,0.00,0.000,4,0.000,0.052,2734,1604,3049,0,0,0,0,0,0
$GC,7785,-0.90,-110.1,936.3,-9.4,556,7790,0.00,0.45,0.00,0.000,6,0.000,0.035,2733,1940,3049,0,0,0,0,0,0
$GC,8113,-0.90,-117.7,964.7,-8.6,572,8116,0.00,0.68,0.00,0.000,4,0.000,0.039,2730,2414,3049,0,0,0,0,0,0
$GC,8195,-0.90,-118.6,972.1,-9.3,575,8201,0.00,0.75,0.00,0.000,6,0.000,0.036,2730,1918,3049,0,0,0,0,0,0
$STATE,8407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8407,begin apogee
$GC,8411,-0.16,0.0,991.1,9.1,586,8511,0.90,0.00,96.45,1.618,6,0.176,0.000,2973,1807,2600,0,0,0,0,0,0
$STATE,8512,end apogee,CONTROL_FINISHED_OK
$STATE,8512,begin climb
$GC,8514,0.90,118.6,991.5,0.0,591,8634,1.15,0.00,117.05,1.537,6,0.100,0.000,3321,1807,2116,0,0,0,0,0,0
$GC,8938,0.90,118.6,920.5,18.4,612,8942,0.00,2.22,0.00,0.000,4,0.000,0.059,3331,491,2105,0,0,0,0,0,0
$GC,9071,0.90,118.6,894.3,19.9,618,9076,0.00,2.05,0.00,0.000,6,0.000,0.026,3331,1781,2104,0,0,0,0,0,0
$GC,9399,0.90,118.6,833.3,18.4,634,9403,0.00,0.68,0.00,0.000,4,0.000,0.046,3333,1360,2103,0,0,0,0,0,0
$GC,9601,0.90,118.6,795.7,19.0,643,9605,0.00,0.70,0.00,0.000,6,0.000,0.029,3333,1828,2102,0,0,0,0,0,0
$GC,9933,0.90,118.6,735.6,18.2,659,9937,0.00,1.27,0.00,0.000,4,0.000,0.050,3338,1051,2101,0,0,0,0,0,0
$GC,10068,0.90,118.6,710.9,18.7,665,10073,0.03,1.17,0.00,0.000,6,0.203,0.028,3329,1832,2101,0,0,0,0,0,0
$GC,10399,0.90,118.6,652.5,17.4,681,10403,0.00,0.85,0.00,0.000,4,0.000,0.048,3331,1302,2100,0,0,0,0,0,0
$GC,10606,0.90,118.6,616.2,18.3,690,10610,0.00,0.77,0.00,0.000,6,0.000,0.027,3332,1805,2100,0,0,0,0,0,0
$GC,10933,0.90,118.6,558.7,17.6,706,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1805,2100,0,0,0,0,0,0
$GC,11242,0.90,118.6,503.8,17.5,721,11246,0.00,1.00,0.00,0.000,4,0.000,0.049,3335,1184,2100,0,0,0,0,0,0
$GC,11378,0.90,118.6,480.4,16.8,727,11382,0.00,0.98,0.00,0.000,6,0.000,0.028,3335,1849,2100,0,0,0,0,0,0
$GC,11710,0.90,118.6,426.8,15.4,743,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1849,2100,0,0,0,0,0,0
$GC,12023,0.90,118.6,376.7,16.3,764,12027,0.00,1.23,0.00,0.000,4,0.000,0.048,3340,1093,2100,0,0,0,0,0,0
$GC,12186,0.90,118.6,348.8,17.4,778,12192,0.05,1.10,0.00,0.000,6,0.236,0.028,3328,1825,2100,0,0,0,0,0,0
$GC,12513,0.90,118.6,293.3,17.4,809,12517,0.00,0.73,0.00,0.000,4,0.000,0.046,3330,1367,2100,0,0,0,0,0,0
$GC,12675,0.90,118.6,264.8,16.8,823,12680,0.00,0.68,0.00,0.000,6,0.000,0.029,3330,1829,2100,0,0,0,0,0,0
$GC,13000,0.90,118.6,213.1,14.9,854,13003,0.00,0.98,0.00,0.000,4,0.000,0.047,3333,1221,2100,0,0,0,0,0,0
$GC,13262,0.90,118.6,172.1,14.7,877,13266,0.00,0.88,0.00,0.000,6,0.000,0.028,3333,1812,2100,0,0,0,0,0,0
$GC,13592,0.90,118.6,123.1,14.4,908,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1812,2100,0,0,0,0,0,0
$GC,13920,0.90,118.6,80.9,11.6,951,13928,0.00,0.93,0.00,0.000,4,0.000,0.048,3336,1235,2100,0,0,0,0,0,0
$GC,14101,0.90,118.6,58.2,12.8,982,14107,0.03,0.88,0.00,0.000,6,0.203,0.029,3329,1825,2100,0,0,0,0,0,0
$GC,14454,0.90,118.6,11.5,13.8,1043,14461,0.00,1.73,0.00,0.000,4,0.000,0.053,3335,771,2100,0,0,0,0,0,0
$STATE,14515,end climb,SURFACE_DEPTH_REACHED
$STATE,14515,begin surface coast
$FINISH,2.0,1.027025
$STATE,14540,end surface coast,CONTROL_FINISHED_OK
$STATE,14541,begin surface
$SM_CCo,14559,78.00,1.041,0,0,1743,210.22
$SM_GC,3.16,0.00,0.00,78.00,0.000,0.000,1.041,71,1927,1743,-9.21,0.45,210.22
$IRIDIUM_FIX,-5438.56,-3.75,251213,212117
$TT8_MAMPS,0.026964
$HUMID,63.07
$INTERNAL_PRESSURE,9.05756
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,21.7,57.644
$10V_AH,10.0,41.243
$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,23.875,43.925,213.500,78.000,0.000,29.876,22.280,246.201,0.000,0.000,16.848,2627.493,9123.946,393.707,2775.368,131.804,0.000,1431.322,0.000,2438.882,0.000,1.009,0.000
$DEVICE_MAMPS,272.340,90.270,1617.975,1041.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.441,743.056,710.629,69.790,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354680
$DATA_FILE_SIZE,60314,1057
$CAP_FILE_SIZE,129208,0
$CFSIZE,2097086464,2077655040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261213,050305,-5459.274,0.513,53,0.8,53,-20.2