version: 66.07.10.p01
glider: 574
mission: 8
dive: 271
start: 1 11 114 2 47 26
data:
$ID,574
$MISSION,8
$DIVE,271
$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,-100062.73
$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,39
$R_STBD_OVSHOOT,69
$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,250
$GPS1,110114,023634,-5426.806,-19.676,38,0.9,38,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-70.3
$GPS2,110114,024706,-5426.814,-19.656,25,1.1,25,-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,308.7,68863,-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,-5.88,0.000,2,0.000,0.000,66,1832,520,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.3,-0.0,1,191,11.85,2.15,-138.62,0.000,4,0.245,0.062,2796,508,2997,0,0,0,0,0,0
$GC,319,-0.73,-97.3,51.1,-16.1,37,325,0.00,2.12,0.00,0.000,6,0.000,0.027,2788,1879,2998,0,0,0,0,0,0
$GC,656,-0.73,-97.3,103.8,-15.8,68,659,0.00,1.70,0.00,0.000,4,0.000,0.044,2780,2985,2998,0,0,0,0,0,0
$GC,768,-0.73,-97.3,122.3,-16.1,73,772,0.08,1.67,0.00,0.000,6,0.201,0.030,2794,1883,2999,0,0,0,0,0,0
$GC,1100,-0.73,-97.3,176.0,-16.0,89,1103,0.00,1.08,0.00,0.000,4,0.000,0.047,2795,1198,2999,0,0,0,0,0,0
$GC,1227,-0.73,-97.3,196.6,-15.2,94,1233,0.00,1.10,0.00,0.000,6,0.000,0.028,2791,1924,2999,0,0,0,0,0,0
$GC,1543,-0.73,-97.3,247.2,-16.4,110,1547,0.00,2.05,0.00,0.000,4,0.000,0.047,2782,3241,2999,0,0,0,0,0,0
$GC,1633,-0.73,-97.3,261.5,-16.0,114,1637,0.00,2.03,0.00,0.000,6,0.000,0.029,2782,1914,2999,0,0,0,0,0,0
$GC,1966,-0.73,-97.3,315.0,-16.3,130,1969,0.00,1.20,0.00,0.000,4,0.000,0.046,2782,1149,2999,0,0,0,0,0,0
$GC,2042,-0.73,-97.3,327.5,-15.9,133,2048,0.08,1.15,0.00,0.000,6,0.226,0.026,2791,1917,2999,0,0,0,0,0,0
$GC,2364,-0.73,-97.3,377.5,-15.0,149,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1917,2998,0,0,0,0,0,0
$GC,2673,-0.73,-97.3,426.5,-16.6,164,2677,0.00,0.82,0.00,0.000,4,0.000,0.039,2789,2479,2998,0,0,0,0,0,0
$GC,2745,-0.73,-97.3,438.1,-15.2,167,2749,0.00,0.90,0.00,0.000,6,0.000,0.034,2789,1889,2998,0,0,0,0,0,0
$GC,3072,-0.73,-97.3,489.5,-15.8,183,3076,0.00,0.47,0.00,0.000,4,0.000,0.049,2789,1558,2998,0,0,0,0,0,0
$GC,3184,-0.73,-97.3,507.3,-15.7,188,3188,0.00,0.50,0.00,0.000,6,0.000,0.032,2788,1936,2998,0,0,0,0,0,0
$GC,3516,-0.73,-97.3,559.9,-16.1,204,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1935,2998,0,0,0,0,0,0
$STATE,3783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3783,begin apogee
$GC,3788,-0.16,0.0,602.6,16.6,217,3937,0.65,0.00,125.95,1.248,6,0.161,0.000,2971,1797,2600,0,0,0,0,4,0
$STATE,3938,end apogee,CONTROL_FINISHED_OK
$STATE,3938,begin climb
$GC,3940,0.73,97.3,580.4,0.0,224,4038,0.93,0.00,95.00,1.199,6,0.096,0.000,3257,1797,2203,0,0,0,0,0,0
$GC,4336,0.73,97.3,515.0,15.8,244,4340,0.00,2.17,0.00,0.000,4,0.000,0.055,3267,492,2186,0,0,0,0,0,0
$GC,4480,0.73,97.3,491.7,14.7,250,4486,0.00,2.03,0.00,0.000,6,0.000,0.024,3267,1802,2185,0,0,0,0,0,0
$GC,4796,0.73,97.3,442.5,16.0,266,4800,0.00,0.85,0.00,0.000,4,0.000,0.044,3269,1271,2184,0,0,0,0,0,0
$GC,4954,0.73,97.3,417.4,15.9,273,4958,0.00,0.82,0.00,0.000,6,0.000,0.025,3269,1831,2183,0,0,0,0,0,0
$GC,5286,0.73,97.3,364.0,16.0,289,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1831,2183,0,0,0,0,0,0
$GC,5597,0.73,97.3,313.5,16.1,304,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1831,2183,0,0,0,0,0,0
$GC,5905,0.73,97.3,264.0,15.8,319,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1831,2181,0,0,0,0,0,0
$GC,6214,0.73,97.3,214.0,16.5,334,6218,0.00,0.43,0.00,0.000,4,0.000,0.044,3270,1542,2183,0,0,0,0,0,0
$GC,6471,0.73,97.3,172.8,16.5,345,6475,0.00,0.40,0.00,0.000,6,0.000,0.033,3271,1836,2182,0,0,0,0,0,0
$GC,6792,0.73,97.3,122.2,16.3,361,6796,0.00,2.25,0.00,0.000,4,0.000,0.054,3280,449,2182,0,0,0,0,0,0
$GC,7049,0.73,97.3,80.6,15.4,377,7055,0.00,2.05,0.00,0.000,6,0.000,0.025,3280,1794,2182,0,0,0,0,0,0
$GC,7374,0.73,97.3,28.4,15.8,408,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1794,2182,0,0,0,0,0,0
$STATE,7533,end climb,SURFACE_DEPTH_REACHED
$STATE,7533,begin surface coast
$FINISH,0.0,1.027230
$STATE,7551,end surface coast,CONTROL_FINISHED_OK
$STATE,7551,begin surface
$SM_CCo,7554,443.20,1.004,5,0,395,540.63
$SM_GC,1305.79,9.55,0.00,0.00,0.060,0.000,0.000,84,1942,380,-9.16,0.88,544.56
$IRIDIUM_FIX,-5405.24,-22.20,110114,000027
$TT8_MAMPS,0.038948
$HUMID,64.29
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.7,86.005
$10V_AH,9.8,52.247
$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,23.125,30.225,220.950,443.200,0.000,28.026,53.330,433.311,0.000,0.000,27.578,1113.946,5334.732,849.424,1466.685,125.799,0.000,1371.445,0.000,945.734,0.000,1.007,0.000
$DEVICE_MAMPS,244.800,61.965,1247.715,1003.680,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354836
$DATA_FILE_SIZE,23573,435
$CAP_FILE_SIZE,74690,9
$CFSIZE,2097086464,2061959168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,1
$GPS,110114,050629,-5426.560,-20.825,55,1.3,55,-20.2