version: 66.07.10.p01
glider: 574
mission: 8
dive: 277
start: 1 11 114 17 53 44
data:
$ID,574
$MISSION,8
$DIVE,277
$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,-100082.61
$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,46
$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,256
$GPS1,110114,174158,-5424.997,-27.336,61,0.9,61,-20.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-60.9
$GPS2,110114,175324,-5424.957,-27.275,26,1.1,26,-20.1
$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,308.0,59956,-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,-5.82,0.000,2,0.000,0.000,67,1851,521,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.4,-0.0,1,186,11.80,1.77,-131.18,0.000,4,0.243,0.063,2791,762,2998,0,0,0,0,0,0
$GC,288,-0.73,-97.3,45.5,-15.6,35,292,0.00,1.77,0.00,0.000,6,0.000,0.031,2784,1894,2998,0,0,0,0,0,0
$GC,618,-0.73,-97.3,98.3,-15.4,66,621,0.00,1.25,0.00,0.000,4,0.000,0.040,2778,2708,2999,0,0,0,0,0,0
$GC,717,-0.73,-97.3,114.5,-16.2,71,723,0.08,1.25,0.00,0.000,6,0.210,0.029,2792,1903,2999,0,0,0,0,0,0
$GC,1039,-0.73,-97.3,165.3,-15.0,87,1043,0.00,0.45,0.00,0.000,4,0.000,0.037,2792,2233,2999,0,0,0,0,0,0
$GC,1071,-0.73,-97.3,170.7,-16.2,88,1075,0.00,0.50,0.00,0.000,6,0.000,0.037,2792,1891,2999,0,0,0,0,0,0
$GC,1393,-0.73,-97.3,222.2,-16.1,104,1397,0.00,1.62,0.00,0.000,4,0.000,0.048,2792,875,2999,0,0,0,0,0,0
$GC,1460,-0.73,-97.3,233.1,-16.0,107,1464,0.00,1.60,0.00,0.000,6,0.000,0.026,2786,1927,2999,0,0,0,0,0,0
$GC,1792,-0.73,-97.3,285.6,-15.9,123,1796,0.00,0.90,0.00,0.000,4,0.000,0.039,2781,2534,2999,0,0,0,0,0,0
$GC,1841,-0.73,-97.3,293.9,-16.1,125,1846,0.05,0.95,0.00,0.000,6,0.230,0.032,2790,1906,2999,0,0,0,0,0,0
$GC,2169,-0.73,-97.3,345.8,-16.1,141,2172,0.00,1.65,0.00,0.000,4,0.000,0.048,2790,873,2998,0,0,0,0,0,0
$GC,2236,-0.73,-97.3,356.5,-15.3,144,2240,0.00,1.58,0.00,0.000,6,0.000,0.026,2785,1907,2999,0,0,0,0,0,0
$GC,2568,-0.73,-97.3,409.4,-16.1,160,2572,0.00,1.00,0.00,0.000,4,0.000,0.039,2780,2572,2998,0,0,0,0,0,0
$GC,2646,-0.73,-97.3,422.2,-16.6,163,2650,0.00,0.98,0.00,0.000,6,0.000,0.032,2780,1923,2998,0,0,0,0,0,0
$GC,2967,-0.73,-97.3,472.4,-15.9,179,2972,0.08,1.00,0.00,0.000,4,0.215,0.047,2799,1286,2998,0,0,0,0,0,0
$GC,3021,-0.73,-97.3,481.2,-15.6,181,3026,0.00,0.95,0.00,0.000,6,0.000,0.027,2796,1921,2998,0,0,0,0,0,0
$GC,3343,-0.73,-97.3,532.6,-16.0,197,3347,0.00,1.05,0.00,0.000,4,0.000,0.040,2791,2621,2998,0,0,0,0,0,0
$GC,3420,-0.73,-97.3,545.4,-16.0,200,3425,0.00,1.10,0.00,0.000,6,0.000,0.031,2792,1907,2998,0,0,0,0,0,0
$GC,3742,-0.73,-97.3,596.7,-16.0,216,3746,0.00,0.45,0.00,0.000,4,0.000,0.050,2792,1591,2998,0,0,0,0,0,0
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3763,begin apogee
$GC,3768,-0.16,0.0,600.5,16.8,217,3915,0.65,0.00,123.50,1.255,6,0.167,0.000,2973,1830,2600,0,0,0,0,4,0
$STATE,3916,end apogee,CONTROL_FINISHED_OK
$STATE,3916,begin climb
$GC,3918,0.73,97.3,577.8,0.0,224,4020,0.93,1.77,94.15,1.196,4,0.100,0.047,3263,846,2199,0,0,0,0,0,0
$GC,4149,0.73,97.3,539.0,16.3,234,4155,0.00,1.55,0.00,0.000,6,0.000,0.023,3263,1808,2188,0,0,0,0,0,0
$GC,4465,0.73,97.3,489.3,15.7,250,4469,0.00,0.47,0.00,0.000,4,0.000,0.041,3265,1498,2183,0,0,0,0,0,0
$GC,4609,0.73,97.3,466.2,15.9,256,4613,0.00,0.50,0.00,0.000,6,0.000,0.031,3265,1868,2183,0,0,0,0,0,0
$GC,4930,0.73,97.3,414.5,16.0,272,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1868,2181,0,0,0,0,0,0
$GC,5240,0.73,97.3,365.4,15.7,287,5243,0.00,1.92,0.00,0.000,4,0.000,0.050,3272,673,2181,0,0,0,0,0,0
$GC,5375,0.73,97.3,344.1,16.0,293,5378,0.00,1.67,0.00,0.000,6,0.000,0.024,3273,1799,2181,0,0,0,0,0,0
$GC,5707,0.73,97.3,290.9,15.1,309,5710,0.00,0.95,0.00,0.000,4,0.000,0.037,3272,2439,2180,0,0,0,0,0,0
$GC,5819,0.73,97.3,272.6,17.0,314,5823,0.00,0.93,0.00,0.000,6,0.000,0.036,3275,1829,2180,0,0,0,0,0,0
$GC,6151,0.73,97.3,219.8,16.4,330,6155,0.00,2.12,0.00,0.000,4,0.000,0.055,3285,494,2180,0,0,0,0,0,0
$GC,6297,0.73,97.3,196.2,16.5,336,6303,0.08,1.98,0.00,0.000,6,0.200,0.024,3270,1814,2180,0,0,0,0,0,0
$GC,6612,0.73,97.3,146.1,15.8,352,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1814,2180,0,0,0,0,0,0
$GC,6922,0.73,97.3,95.9,16.7,368,6926,0.00,1.20,0.00,0.000,4,0.000,0.048,3273,1067,2180,0,0,0,0,0,0
$GC,7004,0.73,97.3,82.5,16.2,375,7010,0.00,1.15,0.00,0.000,6,0.000,0.025,3273,1831,2180,0,0,0,0,0,0
$GC,7330,0.73,97.3,30.5,16.0,406,7333,0.00,0.77,0.00,0.000,4,0.000,0.045,3275,1340,2180,0,0,0,0,0,0
$STATE,7502,end climb,SURFACE_DEPTH_REACHED
$STATE,7502,begin surface coast
$FINISH,0.0,1.027249
$STATE,7520,end surface coast,CONTROL_FINISHED_OK
$STATE,7520,begin surface
$SM_CCo,7523,437.95,0.965,6,0,395,540.63
$SM_GC,1305.79,9.57,0.00,0.00,0.063,0.000,0.000,85,1923,383,-9.16,0.37,544.07
$IRIDIUM_FIX,-5405.24,-14.80,110114,151540
$TT8_MAMPS,0.041195
$HUMID,65.12
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,21.8,87.408
$10V_AH,9.8,52.496
$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,23.225,40.050,217.650,437.950,0.000,25.241,43.490,497.895,0.000,0.000,29.745,1127.993,5292.513,827.497,1533.961,132.854,0.000,1385.526,0.000,958.565,0.000,1.006,0.000
$DEVICE_MAMPS,243.270,62.730,1254.600,964.665,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354872
$DATA_FILE_SIZE,23641,434
$CAP_FILE_SIZE,80993,10
$CFSIZE,2097086464,2061369344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1
$GPS,110114,201144,-5424.867,-28.930,22,1.5,22,-20.1