version: 66.07.10.p01
glider: 574
mission: 8
dive: 221
start: 1 6 114 19 14 55
data:
$ID,574
$MISSION,8
$DIVE,221
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,145
$T_MISSION,160
$T_ABORT,175
$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,540
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,5
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-99508.859
$T_RSLEEP,5
$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,96
$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,0.14
$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,200
$GPS1,060114,190704,-5440.451,6.389,40,0.8,40,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-40.02
$_SM_ANGLEo,-64.9
$GPS2,060114,191435,-5440.448,6.504,18,0.8,18,-20.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,WP1
$TGT_LATLONG,-5440.000,0.000
$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,297.2,7016,-17.0,-9.195
$D_GRID,400
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.56,-145.9,0.0,0.0,0,34,0.00,0.00,-7.65,0.000,2,0.000,0.000,66,1965,575,0,0,0,0,0,0
$GC,36,-0.56,-145.9,3.8,-0.0,1,195,12.52,0.00,-139.12,0.000,6,0.253,0.000,2839,1973,3194,0,0,0,0,0,0
$GC,334,-0.56,-145.9,46.0,-14.0,52,339,0.00,0.57,0.00,0.000,4,0.000,0.044,2839,1586,3195,0,0,0,0,0,0
$GC,373,-0.56,-145.9,51.8,-14.3,59,378,0.00,0.40,0.00,0.000,6,0.000,0.039,2838,1878,3195,0,0,0,0,0,0
$GC,719,-0.56,-145.9,100.4,-13.9,120,722,0.00,1.00,0.00,0.000,4,0.000,0.040,2833,2538,3196,0,0,0,0,0,0
$GC,786,-0.56,-145.9,110.0,-14.3,126,791,0.03,0.98,0.00,0.000,6,0.200,0.033,2842,1884,3195,0,0,0,0,0,0
$GC,1120,-0.56,-145.9,155.8,-13.4,157,1124,0.00,0.77,0.00,0.000,4,0.000,0.051,2841,1384,3195,0,0,0,0,0,0
$GC,1176,-0.56,-145.9,164.4,-14.1,162,1180,0.00,0.75,0.00,0.000,6,0.000,0.031,2840,1903,3195,0,0,0,0,0,0
$GC,1509,-0.56,-145.9,211.5,-14.2,193,1513,0.00,2.20,0.00,0.000,4,0.000,0.051,2830,3284,3196,0,0,0,0,0,0
$GC,1596,-0.56,-145.9,224.5,-14.7,200,1605,0.05,2.12,0.00,0.000,6,0.161,0.032,2846,1926,3195,0,0,0,0,0,0
$GC,1922,-0.56,-145.9,270.0,-13.5,231,1925,0.00,1.65,0.00,0.000,4,0.000,0.054,2846,910,3195,0,0,0,0,0,0
$GC,1982,-0.56,-145.9,278.6,-13.9,236,1990,0.00,1.50,0.00,0.000,6,0.000,0.028,2842,1892,3196,0,0,0,0,0,0
$GC,2307,-0.56,-145.9,323.4,-13.8,267,2311,0.00,1.00,0.00,0.000,4,0.000,0.041,2837,2558,3195,0,0,0,0,0,0
$GC,2377,-0.56,-145.9,332.8,-13.4,273,2381,0.00,1.00,0.00,0.000,6,0.000,0.036,2837,1905,3195,0,0,0,0,0,0
$GC,2707,-0.56,-145.9,379.4,-13.7,304,2711,0.00,0.73,0.00,0.000,4,0.000,0.035,2835,2401,3195,0,0,0,0,0,0
$GC,2786,-0.56,-145.9,390.7,-14.5,311,2791,0.03,0.75,0.00,0.000,6,0.180,0.037,2844,1892,3195,0,0,0,0,0,0
$STATE,2860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2860,begin apogee
$GC,2865,-0.16,0.0,401.3,14.4,318,3032,0.45,0.00,157.60,1.185,6,0.148,0.000,2977,1832,2600,0,0,0,0,1,0
$STATE,3033,end apogee,CONTROL_FINISHED_OK
$STATE,3033,begin climb
$GC,3034,0.56,145.9,377.9,0.0,334,3177,0.75,0.00,138.27,1.080,6,0.094,0.000,3204,1831,2004,0,0,0,0,0,0
$GC,3494,0.56,145.9,313.3,13.6,378,3498,0.00,2.42,0.00,0.000,4,0.000,0.063,3214,414,1993,0,0,0,0,0,0
$GC,3600,0.56,145.9,298.6,13.9,387,3604,0.00,2.20,0.00,0.000,6,0.000,0.028,3214,1808,1990,0,0,0,0,0,0
$GC,3927,0.56,145.9,253.0,13.5,417,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1808,1990,0,0,0,0,0,0
$GC,4243,0.56,145.9,208.4,13.9,447,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1807,1989,0,0,0,0,0,0
$GC,4564,0.56,145.9,163.7,14.2,477,4568,0.00,2.28,0.00,0.000,4,0.000,0.059,3223,420,1989,0,0,0,0,0,0
$GC,4697,0.56,145.9,144.8,14.6,488,4704,0.00,2.17,0.00,0.000,6,0.000,0.028,3223,1826,1989,0,0,0,0,0,0
$GC,5022,0.56,145.9,100.2,13.3,519,5026,0.00,0.70,0.00,0.000,4,0.000,0.047,3224,1383,1989,0,0,0,0,0,0
$GC,5192,0.56,145.9,76.1,14.5,548,5197,0.00,0.68,0.00,0.000,6,0.000,0.031,3224,1865,1989,0,0,0,0,0,0
$GC,5542,0.56,145.9,27.3,14.7,609,5547,0.00,1.23,0.00,0.000,4,0.000,0.053,3228,1113,1989,0,0,0,0,0,0
$GC,5672,0.56,145.9,8.8,13.9,631,5680,0.03,1.02,0.00,0.000,6,0.168,0.028,3217,1810,1989,0,0,0,0,0,0
$STATE,5717,end climb,SURFACE_DEPTH_REACHED
$STATE,5717,begin surface coast
$FINISH,0.0,1.027334
$STATE,5742,end surface coast,CONTROL_FINISHED_OK
$STATE,5742,begin surface
$SM_CCo,5759,378.08,0.974,0,0,397,540.14
$SM_GC,-40.02,0.00,0.00,378.08,0.000,0.000,0.974,67,1940,397,-9.22,0.85,540.14
$IRIDIUM_FIX,-5419.99,3.72,060114,171750
$TT8_MAMPS,0.036701
$HUMID,59.96
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,21.8,75.324
$10V_AH,9.9,49.171
$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,22.925,28.300,295.875,378.075,0.000,29.130,41.245,255.710,0.000,0.000,21.625,1466.284,2412.495,721.192,1825.327,158.310,0.000,1522.467,0.000,1467.924,0.000,1.007,0.000
$DEVICE_MAMPS,253.215,119.340,1184.985,973.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.461,721.214,634.713,102.097,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354668
$DATA_FILE_SIZE,37017,642
$CAP_FILE_SIZE,223552,1982
$CFSIZE,2097086464,2067562496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060114,205806,-5440.239,5.622,17,1.0,18,-20.4