version: 66.07.10.p01
glider: 574
mission: 8
dive: 266
start: 1 10 114 14 24 14
data:
$ID,574
$MISSION,8
$DIVE,266
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,218
$T_ABORT,235
$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,100
$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,510
$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,4096
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100047.45
$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,36
$R_STBD_OVSHOOT,62
$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,0.16
$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,245
$GPS1,100114,141729,-5428.367,-13.454,40,1.5,40,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-68.0
$GPS2,100114,142354,-5428.330,-13.424,18,1.1,18,-20.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WP1
$TGT_LATLONG,-5415.000,-120.000
$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,309.1,76150,-22.4,-10.000
$D_GRID,600
$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,-0.73,-97.3,0.0,0.0,0,32,0.00,0.00,-5.72,0.000,2,0.000,0.000,66,1929,520,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.7,-0.0,1,192,11.60,0.70,-137.35,0.000,4,0.238,0.087,2788,2378,2997,0,0,0,0,0,0
$GC,230,-0.73,-97.3,36.8,-15.6,29,235,0.00,0.73,0.00,0.000,6,0.000,0.031,2788,1885,2998,0,0,0,0,0,0
$GC,556,-0.73,-97.3,89.0,-16.5,60,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1885,2999,0,0,0,0,0,0
$GC,877,-0.73,-97.3,140.4,-15.9,79,880,0.00,0.43,0.00,0.000,4,0.000,0.050,2788,1586,3000,0,0,0,0,0,0
$GC,937,-0.73,-97.3,150.5,-16.1,81,942,0.00,0.47,0.00,0.000,6,0.000,0.034,2787,1930,3000,0,0,0,0,0,0
$GC,1253,-0.73,-97.3,201.1,-16.1,97,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1930,3000,0,0,0,0,0,0
$GC,1562,-0.73,-97.3,251.6,-16.6,112,1565,0.00,0.60,0.00,0.000,4,0.000,0.040,2784,2358,3000,0,0,0,0,0,0
$GC,1607,-0.73,-97.3,258.8,-15.6,114,1611,0.00,0.65,0.00,0.000,6,0.000,0.035,2784,1908,3000,0,0,0,0,0,0
$GC,1939,-0.73,-97.3,311.5,-15.7,130,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,3000,0,0,0,0,0,0
$GC,2248,-0.73,-97.3,360.3,-16.3,145,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,2999,0,0,0,0,0,0
$GC,2558,-0.73,-97.3,409.6,-16.1,160,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,2999,0,0,0,0,0,0
$GC,2867,-0.73,-97.3,459.2,-15.6,175,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,2999,0,0,0,0,0,0
$GC,3176,-0.73,-97.3,508.9,-16.1,190,3180,0.00,0.65,0.00,0.000,4,0.000,0.047,2784,1472,2999,0,0,0,0,0,0
$GC,3225,-0.73,-97.3,517.1,-15.8,192,3229,0.00,0.62,0.00,0.000,6,0.000,0.031,2782,1907,2999,0,0,0,0,0,0
$GC,3552,-0.73,-97.3,569.2,-15.8,208,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1907,2999,0,0,0,0,0,0
$STATE,3757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3757,begin apogee
$GC,3762,-0.16,0.0,602.5,16.0,218,3917,0.68,0.00,128.98,1.251,6,0.164,0.000,2971,1790,2599,0,0,0,0,4,0
$STATE,3918,end apogee,CONTROL_FINISHED_OK
$STATE,3918,begin climb
$GC,3920,0.73,97.3,576.9,0.0,226,4025,0.93,1.15,96.40,1.209,4,0.094,0.050,3262,1166,2201,0,0,0,0,0,0
$GC,4187,0.73,97.3,533.4,15.8,238,4192,0.00,1.02,0.00,0.000,6,0.000,0.025,3262,1818,2187,0,0,0,0,0,0
$GC,4508,0.73,97.3,481.9,16.0,254,4512,0.00,0.93,0.00,0.000,4,0.000,0.046,3266,1254,2183,0,0,0,0,0,0
$GC,4676,0.73,97.3,455.1,16.8,261,4680,0.00,0.82,0.00,0.000,6,0.000,0.026,3266,1807,2182,0,0,0,0,0,0
$GC,4997,0.73,97.3,403.8,16.2,277,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1807,2182,0,0,0,0,0,0
$GC,5308,0.73,97.3,353.4,17.0,292,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1807,2182,0,0,0,0,0,0
$GC,5616,0.73,97.3,303.4,16.3,307,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1807,2182,0,0,0,0,0,0
$GC,5927,0.73,97.3,253.6,16.5,322,5930,0.00,0.45,0.00,0.000,4,0.000,0.041,3266,2154,2181,0,0,0,0,0,0
$GC,6009,0.73,97.3,239.8,16.4,325,6015,0.00,0.45,0.00,0.000,6,0.000,0.041,3266,1846,2181,0,0,0,0,0,0
$GC,6325,0.73,97.3,190.0,16.3,341,6329,0.00,1.90,0.00,0.000,4,0.000,0.054,3275,642,2181,0,0,0,0,0,0
$GC,6452,0.73,97.3,169.5,16.4,346,6458,0.00,1.77,0.00,0.000,6,0.000,0.025,3275,1814,2181,0,0,0,0,0,0
$GC,6769,0.73,97.3,119.9,15.2,362,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1814,2181,0,0,0,0,0,0
$GC,7084,0.73,97.3,69.8,15.6,386,7088,0.00,1.77,0.00,0.000,4,0.000,0.052,3282,724,2181,0,0,0,0,0,0
$GC,7177,0.73,97.3,54.3,15.9,394,7184,0.03,1.65,0.00,0.000,6,0.191,0.025,3274,1816,2181,0,0,0,0,0,0
$STATE,7502,end climb,SURFACE_DEPTH_REACHED
$STATE,7502,begin surface coast
$FINISH,0.0,1.027385
$STATE,7519,end surface coast,CONTROL_FINISHED_OK
$STATE,7519,begin surface
$SM_CCo,7522,441.90,0.989,5,0,395,540.63
$SM_GC,1305.79,9.55,0.00,0.00,0.062,0.000,0.000,96,1927,382,-9.14,0.48,544.07
$IRIDIUM_FIX,-5405.24,-11.10,100114,111100
$TT8_MAMPS,0.040446
$HUMID,65.55
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.7,84.867
$10V_AH,9.8,52.047
$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,22.775,16.975,225.375,441.900,0.000,31.192,58.099,183.732,0.000,0.000,20.824,1081.269,5474.215,837.470,1126.809,91.864,0.000,1318.892,0.000,829.269,0.000,1.008,0.000
$DEVICE_MAMPS,237.915,87.210,1250.775,989.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354968
$DATA_FILE_SIZE,23590,437
$CAP_FILE_SIZE,66808,9
$CFSIZE,2097086464,2062450688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1
$GPS,100114,164334,-5428.082,-14.920,105,0.9,105,-20.2