version: 66.07.10.p01
glider: 574
mission: 8
dive: 273
start: 1 11 114 7 53 38
data:
$ID,574
$MISSION,8
$DIVE,273
$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,-100068.55
$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,35
$R_STBD_OVSHOOT,47
$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,252
$GPS1,110114,074258,-5426.246,-21.992,36,1.1,36,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-67.8
$GPS2,110114,075318,-5426.150,-21.907,27,1.5,27,-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,308.4,66163,-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,-5.75,0.000,2,0.000,0.000,66,1968,520,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.3,-0.0,1,192,11.75,1.65,-139.88,0.000,4,0.243,0.070,2793,989,2998,0,0,0,0,0,0
$GC,275,-0.73,-97.3,43.5,-15.5,33,281,0.00,1.42,0.00,0.000,6,0.000,0.026,2788,1919,3000,0,0,0,0,0,0
$GC,601,-0.73,-97.3,94.6,-16.1,64,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1919,2999,0,0,0,0,0,0
$GC,911,-0.73,-97.3,144.6,-16.2,81,915,0.00,0.73,0.00,0.000,4,0.000,0.040,2788,1446,3000,0,0,0,0,0,0
$GC,978,-0.73,-97.3,155.4,-15.7,84,982,0.00,0.68,0.00,0.000,6,0.000,0.031,2786,1916,3000,0,0,0,0,0,0
$GC,1310,-0.73,-97.3,209.3,-15.7,100,1313,0.00,1.23,0.00,0.000,4,0.000,0.041,2780,2711,3000,0,0,0,0,0,0
$GC,1377,-0.73,-97.3,220.1,-16.3,103,1382,0.03,1.23,0.00,0.000,6,0.197,0.031,2788,1907,3000,0,0,0,0,0,0
$GC,1709,-0.73,-97.3,272.7,-16.1,119,1713,0.00,1.70,0.00,0.000,4,0.000,0.049,2787,829,3000,0,0,0,0,0,0
$GC,1800,-0.73,-97.3,286.8,-15.7,123,1803,0.00,1.62,0.00,0.000,6,0.000,0.026,2782,1893,3000,0,0,0,0,0,0
$GC,2132,-0.73,-97.3,339.9,-16.4,139,2135,0.00,1.35,0.00,0.000,4,0.000,0.041,2776,2767,3000,0,0,0,0,0,0
$GC,2276,-0.73,-97.3,363.4,-16.0,145,2281,0.05,1.33,0.00,0.000,6,0.172,0.031,2790,1912,2999,0,0,0,0,0,0
$GC,2597,-0.73,-97.3,413.5,-16.1,161,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1912,2999,0,0,0,0,0,0
$GC,2907,-0.73,-97.3,462.7,-16.0,176,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1912,2999,0,0,0,0,0,0
$GC,3216,-0.73,-97.3,512.7,-15.8,191,3220,0.00,0.57,0.00,0.000,4,0.000,0.047,2791,1519,2999,0,0,0,0,0,0
$GC,3284,-0.73,-97.3,523.4,-15.5,194,3287,0.00,0.57,0.00,0.000,6,0.000,0.031,2790,1937,2999,0,0,0,0,0,0
$GC,3616,-0.73,-97.3,577.2,-16.0,210,3619,0.00,1.65,0.00,0.000,4,0.000,0.044,2782,3013,2999,0,0,0,0,0,0
$GC,3732,-0.73,-97.3,595.8,-15.8,215,3737,0.00,1.70,0.00,0.000,6,0.000,0.028,2782,1906,2999,0,0,0,0,0,0
$STATE,3771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3771,begin apogee
$GC,3775,-0.16,0.0,601.7,15.9,217,3931,0.68,0.00,132.07,1.238,6,0.166,0.000,2970,1803,2600,0,0,0,0,4,0
$STATE,3932,end apogee,CONTROL_FINISHED_OK
$STATE,3932,begin climb
$GC,3934,0.73,97.3,576.2,0.0,225,4036,0.93,1.20,94.32,1.193,4,0.099,0.047,3260,1118,2201,0,0,0,0,0,0
$GC,4153,0.73,97.3,540.3,15.2,235,4158,0.00,1.10,0.00,0.000,6,0.000,0.024,3260,1810,2189,0,0,0,0,0,0
$GC,4481,0.73,97.3,489.3,15.9,251,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1810,2185,0,0,0,0,0,0
$GC,4790,0.73,97.3,441.0,15.0,266,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1810,2183,0,0,0,0,0,0
$GC,5099,0.73,97.3,391.9,15.9,281,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1810,2182,0,0,0,0,0,0
$GC,5408,0.73,97.3,342.5,15.7,296,5412,0.00,1.92,0.00,0.000,4,0.000,0.051,3267,618,2182,0,0,0,0,0,0
$GC,5536,0.73,97.3,322.1,15.4,301,5542,0.00,1.80,0.00,0.000,6,0.000,0.024,3267,1807,2182,0,0,0,0,0,0
$GC,5852,0.73,97.3,270.4,16.3,317,5856,0.00,1.02,0.00,0.000,4,0.000,0.037,3267,2490,2182,0,0,0,0,0,0
$GC,5991,0.73,97.3,248.0,16.5,323,5996,0.00,1.02,0.00,0.000,6,0.000,0.034,3271,1830,2182,0,0,0,0,0,0
$GC,6319,0.73,97.3,196.0,16.0,339,6323,0.00,1.90,0.00,0.000,4,0.000,0.054,3279,653,2182,0,0,0,0,0,0
$GC,6424,0.73,97.3,179.0,15.8,343,6431,0.03,1.77,0.00,0.000,6,0.194,0.024,3272,1827,2182,0,0,0,0,0,0
$GC,6740,0.73,97.3,128.6,16.1,359,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1827,2182,0,0,0,0,0,0
$GC,7053,0.73,97.3,78.7,16.5,380,7057,0.00,1.50,0.00,0.000,4,0.000,0.048,3276,905,2182,0,0,0,0,0,0
$GC,7293,0.73,97.3,39.9,15.8,401,7300,0.00,1.40,0.00,0.000,6,0.000,0.024,3276,1824,2182,0,0,0,0,0,0
$STATE,7527,end climb,SURFACE_DEPTH_REACHED
$STATE,7527,begin surface coast
$FINISH,0.0,1.027278
$STATE,7545,end surface coast,CONTROL_FINISHED_OK
$STATE,7545,begin surface
$SM_CCo,7547,454.33,1.010,8,0,395,540.63
$SM_GC,1305.79,9.55,0.00,0.00,0.060,0.000,0.000,83,1932,381,-9.16,0.59,544.31
$IRIDIUM_FIX,-5405.24,-18.48,110114,050529
$TT8_MAMPS,0.039697
$HUMID,64.88
$INTERNAL_PRESSURE,8.95013
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.7,86.495
$10V_AH,9.8,52.333
$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,23.000,32.250,226.400,454.325,0.000,27.787,22.633,443.783,0.000,0.000,29.507,1111.135,5355.332,861.639,1442.616,127.177,0.000,1399.219,0.000,934.796,0.000,1.007,0.000
$DEVICE_MAMPS,242.505,98.685,1237.770,1009.800,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354808
$DATA_FILE_SIZE,23619,435
$CAP_FILE_SIZE,76693,12
$CFSIZE,2097086464,2061762560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1
$GPS,110114,101304,-5425.987,-23.324,58,0.9,58,-20.2