version: 66.07.10.p01
glider: 574
mission: 8
dive: 226
start: 1 7 114 4 35 44
data:
$ID,574
$MISSION,8
$DIVE,226
$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,-99522.953
$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,42
$R_STBD_OVSHOOT,55
$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,205
$GPS1,070114,042754,-5438.992,3.148,21,1.2,21,-20.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-40.02
$_SM_ANGLEo,-67.2
$GPS2,070114,043524,-5439.021,3.336,23,1.2,23,-20.3
$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,263.4,4007,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.56,-145.9,0.0,0.0,0,33,0.00,0.00,-7.53,0.000,2,0.000,0.000,66,1924,573,0,0,0,0,0,0
$GC,35,-0.56,-145.9,3.6,-0.0,1,201,12.43,2.28,-143.80,0.000,4,0.248,0.058,2835,3295,3191,0,0,0,0,0,0
$GC,311,-0.56,-145.9,42.9,-13.7,48,318,0.00,2.20,0.00,0.000,6,0.000,0.033,2835,1915,3192,0,0,0,0,0,0
$GC,659,-0.56,-145.9,91.3,-14.1,109,664,0.05,0.00,0.00,0.000,6,0.241,0.000,2845,1915,3193,0,0,0,0,0,0
$GC,990,-0.56,-145.9,137.9,-14.2,145,993,0.00,0.40,0.00,0.000,4,0.000,0.037,2845,2215,3193,0,0,0,0,0,0
$GC,1082,-0.56,-145.9,150.7,-13.5,153,1085,0.00,0.45,0.00,0.000,6,0.000,0.039,2845,1898,3193,0,0,0,0,0,0
$GC,1412,-0.56,-145.9,197.0,-14.0,184,1415,0.00,0.45,0.00,0.000,4,0.000,0.037,2844,2231,3193,0,0,0,0,0,0
$GC,1636,-0.56,-145.9,228.0,-13.8,204,1640,0.00,0.45,0.00,0.000,6,0.000,0.040,2844,1912,3193,0,0,0,0,0,0
$GC,1966,-0.56,-145.9,274.6,-14.5,235,1970,0.00,0.62,0.00,0.000,4,0.000,0.036,2842,2346,3193,0,0,0,0,0,0
$GC,2023,-0.56,-145.9,282.2,-13.3,240,2026,0.00,0.62,0.00,0.000,6,0.000,0.038,2842,1919,3193,0,0,0,0,0,0
$GC,2353,-0.56,-145.9,328.4,-14.1,271,2356,0.00,1.25,0.00,0.000,4,0.000,0.053,2842,1139,3192,0,0,0,0,0,0
$GC,2432,-0.56,-145.9,339.2,-13.3,278,2436,0.00,1.15,0.00,0.000,6,0.000,0.028,2837,1902,3193,0,0,0,0,0,0
$GC,2765,-0.56,-145.9,385.9,-13.4,309,2768,0.00,1.98,0.00,0.000,4,0.000,0.051,2828,3147,3192,0,0,0,0,0,0
$GC,2847,-0.56,-145.9,398.1,-14.1,316,2856,0.05,1.90,0.00,0.000,6,0.162,0.031,2845,1922,3192,0,0,0,0,0,0
$STATE,2863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2863,begin apogee
$GC,2868,-0.16,0.0,400.5,14.7,318,2999,0.45,0.00,127.32,1.201,6,0.146,0.000,2977,1786,2600,0,0,0,0,0,0
$STATE,3000,end apogee,CONTROL_FINISHED_OK
$STATE,3000,begin climb
$GC,3001,0.56,145.9,382.5,0.0,330,3149,0.73,1.02,141.02,1.100,4,0.099,0.055,3209,1232,2003,0,0,0,0,0,0
$GC,3205,0.56,145.9,354.1,13.3,349,3209,0.00,0.95,0.00,0.000,6,0.000,0.027,3209,1826,1996,0,0,0,0,0,0
$GC,3535,0.56,145.9,308.3,13.7,380,3538,0.00,1.90,0.00,0.000,4,0.000,0.055,3215,699,1992,0,0,0,0,0,0
$GC,3628,0.56,145.9,295.1,13.9,388,3637,0.00,1.73,0.00,0.000,6,0.000,0.025,3215,1805,1991,0,0,0,0,0,0
$GC,3954,0.56,145.9,249.7,14.2,419,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1805,1990,0,0,0,0,0,0
$GC,4275,0.56,145.9,205.6,14.5,449,4279,0.00,1.08,0.00,0.000,4,0.000,0.050,3219,1145,1990,0,0,0,0,0,0
$GC,4415,0.56,145.9,185.7,13.2,461,4421,0.00,1.05,0.00,0.000,6,0.000,0.026,3218,1841,1990,0,0,0,0,0,0
$GC,4740,0.56,145.9,139.5,15.5,492,4744,0.00,0.75,0.00,0.000,4,0.000,0.047,3221,1371,1990,0,0,0,0,0,0
$GC,4853,0.56,145.9,123.5,14.0,502,4857,0.00,0.65,0.00,0.000,6,0.000,0.033,3221,1819,1990,0,0,0,0,0,0
$GC,5190,0.56,145.9,76.6,14.0,547,5195,0.00,0.50,0.00,0.000,4,0.000,0.041,3221,2187,1990,0,0,0,0,0,0
$GC,5281,0.56,145.9,63.3,14.2,563,5286,0.00,0.52,0.00,0.000,6,0.000,0.043,3221,1832,1990,0,0,0,0,0,0
$GC,5632,0.56,145.9,14.4,14.1,624,5639,0.00,0.35,0.00,0.000,4,0.000,0.040,3221,2110,1990,0,0,0,0,0,0
$GC,5713,0.56,145.9,3.2,13.5,637,5720,0.00,0.43,0.00,0.000,6,0.000,0.045,3222,1820,1990,0,0,0,0,0,0
$STATE,5727,end climb,SURFACE_DEPTH_REACHED
$STATE,5727,begin surface coast
$FINISH,0.0,1.027417
$STATE,5752,end surface coast,CONTROL_FINISHED_OK
$STATE,5752,begin surface
$SM_CCo,5769,376.00,0.986,0,0,397,540.14
$SM_GC,-40.02,0.00,0.00,376.00,0.000,0.000,0.986,66,1953,397,-9.21,1.22,540.14
$IRIDIUM_FIX,-5419.99,7.44,070114,020208
$TT8_MAMPS,0.035952
$HUMID,60.47
$INTERNAL_PRESSURE,8.9306
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,21.8,76.371
$10V_AH,9.9,49.543
$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,22.825,24.925,268.350,376.000,0.000,22.246,42.146,252.828,0.000,0.000,26.145,1485.091,2380.469,692.753,1866.041,166.971,0.000,1522.072,0.000,1522.252,0.000,1.007,0.000
$DEVICE_MAMPS,247.860,81.855,1201.050,986.085,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.877,726.521,658.239,104.385,0.000,0.000,0.000,0.000,0.000,0.000
$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,36967,643
$CAP_FILE_SIZE,230483,2058
$CFSIZE,2097086464,2066874368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070114,061934,-5438.857,2.152,49,1.2,49,-20.3