version: 66.07.10.p01
glider: 574
mission: 8
dive: 279
start: 1 11 114 22 51 55
data:
$ID,574
$MISSION,8
$DIVE,279
$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,-100088.47
$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,76
$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,258
$GPS1,110114,224104,-5424.753,-30.501,23,0.9,23,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-67.5
$GPS2,110114,225135,-5424.727,-30.546,19,0.9,19,-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,308.7,56461,-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,-5.50,0.000,2,0.000,0.000,66,1928,515,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.2,-0.0,1,189,11.98,1.90,-136.38,0.000,4,0.248,0.068,2792,783,2997,0,0,0,0,0,0
$GC,298,-0.73,-97.3,46.7,-15.6,36,302,0.00,1.67,0.00,0.000,6,0.000,0.027,2786,1883,2999,0,0,0,0,0,0
$GC,628,-0.73,-97.3,99.5,-16.1,67,632,0.00,0.98,0.00,0.000,4,0.000,0.038,2780,2530,2999,0,0,0,0,0,0
$GC,690,-0.73,-97.3,109.2,-16.0,70,696,0.03,0.95,0.00,0.000,6,0.203,0.032,2788,1897,2999,0,0,0,0,0,0
$GC,1005,-0.73,-97.3,159.4,-16.0,86,1009,0.00,0.73,0.00,0.000,4,0.000,0.046,2788,1419,2999,0,0,0,0,0,0
$GC,1060,-0.73,-97.3,168.4,-16.4,88,1064,0.00,0.75,0.00,0.000,6,0.000,0.029,2787,1930,2999,0,0,0,0,0,0
$GC,1381,-0.73,-97.3,218.7,-15.7,104,1385,0.00,1.52,0.00,0.000,4,0.000,0.043,2780,2905,3000,0,0,0,0,0,0
$GC,1481,-0.73,-97.3,235.1,-15.4,108,1486,0.03,1.52,0.00,0.000,6,0.193,0.030,2787,1914,2999,0,0,0,0,0,0
$GC,1802,-0.73,-97.3,285.0,-15.3,124,1806,0.00,0.68,0.00,0.000,4,0.000,0.047,2787,1461,3000,0,0,0,0,0,0
$GC,1862,-0.73,-97.3,294.6,-16.0,126,1868,0.00,0.65,0.00,0.000,6,0.000,0.029,2786,1918,3000,0,0,0,0,0,0
$GC,2178,-0.73,-97.3,345.0,-16.2,142,2182,0.00,2.12,0.00,0.000,4,0.000,0.048,2777,3278,2999,0,0,0,0,0,0
$GC,2272,-0.73,-97.3,360.2,-15.6,146,2277,0.05,2.10,0.00,0.000,6,0.168,0.028,2791,1915,2999,0,0,0,0,0,0
$GC,2594,-0.73,-97.3,413.0,-16.4,162,2598,0.00,0.77,0.00,0.000,4,0.000,0.044,2791,1402,2999,0,0,0,0,0,0
$GC,2639,-0.73,-97.3,420.3,-16.5,164,2643,0.00,0.73,0.00,0.000,6,0.000,0.030,2790,1903,3000,0,0,0,0,0,0
$GC,2972,-0.73,-97.3,473.7,-16.0,180,2975,0.00,1.67,0.00,0.000,4,0.000,0.044,2782,2988,2999,0,0,0,0,0,0
$GC,3054,-0.73,-97.3,487.5,-16.2,183,3061,0.00,1.67,0.00,0.000,6,0.000,0.028,2782,1897,2998,0,0,0,0,0,0
$GC,3371,-0.73,-97.3,537.1,-15.6,199,3374,0.00,0.50,0.00,0.000,4,0.000,0.047,2783,1547,2999,0,0,0,0,0,0
$GC,3438,-0.73,-97.3,547.9,-16.0,202,3442,0.00,0.50,0.00,0.000,6,0.000,0.033,2781,1915,2999,0,0,0,0,0,0
$STATE,3769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3769,begin apogee
$GC,3774,-0.16,0.0,601.4,16.3,218,3920,0.70,0.00,127.20,1.254,6,0.167,0.000,2974,1780,2600,0,0,0,0,3,0
$STATE,3920,end apogee,CONTROL_FINISHED_OK
$STATE,3920,begin climb
$GC,3922,0.73,97.3,579.9,0.0,225,4025,0.93,2.42,93.10,1.184,4,0.099,0.057,3268,457,2201,0,0,0,0,0,0
$GC,4198,0.73,97.3,533.1,15.8,237,4204,0.00,2.15,0.00,0.000,6,0.000,0.023,3268,1785,2189,0,0,0,0,0,0
$GC,4514,0.73,97.3,483.1,15.8,253,4518,0.00,0.55,0.00,0.000,4,0.000,0.035,3268,2184,2186,0,0,0,0,0,0
$GC,4604,0.73,97.3,468.7,16.8,257,4608,0.00,0.50,0.00,0.000,6,0.000,0.040,3270,1845,2184,0,0,0,0,0,0
$GC,4936,0.73,97.3,415.3,16.2,273,4940,0.00,1.35,0.00,0.000,4,0.000,0.050,3275,1006,2183,0,0,0,0,0,0
$GC,5049,0.73,97.3,397.0,16.6,278,5053,0.00,1.25,0.00,0.000,6,0.000,0.025,3275,1838,2183,0,0,0,0,0,0
$GC,5381,0.73,97.3,343.0,17.0,294,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1838,2183,0,0,0,0,0,0
$GC,5692,0.73,97.3,293.6,15.6,309,5696,0.00,0.73,0.00,0.000,4,0.000,0.045,3278,1378,2183,0,0,0,0,0,0
$GC,5752,0.73,97.3,283.6,15.7,311,5758,0.00,0.65,0.00,0.000,6,0.000,0.028,3278,1839,2183,0,0,0,0,0,0
$GC,6068,0.73,97.3,234.2,15.4,327,6072,0.00,0.98,0.00,0.000,4,0.000,0.039,3278,2491,2183,0,0,0,0,0,0
$GC,6129,0.73,97.3,223.9,16.3,329,6135,0.03,1.02,0.00,0.000,6,0.203,0.034,3274,1826,2183,0,0,0,0,0,0
$GC,6445,0.73,97.3,172.3,17.2,345,6449,0.00,2.25,0.00,0.000,4,0.000,0.056,3283,415,2183,0,0,0,0,0,0
$GC,6667,0.73,97.3,136.5,16.1,355,6673,0.05,2.10,0.00,0.000,6,0.166,0.024,3268,1792,2183,0,0,0,0,0,0
$GC,6987,0.73,97.3,86.4,16.0,374,6991,0.00,2.20,0.00,0.000,4,0.000,0.047,3269,3188,2182,0,0,0,0,0,0
$GC,7097,0.73,97.3,68.3,16.4,383,7103,0.00,2.12,0.00,0.000,6,0.000,0.032,3275,1825,2182,0,0,0,0,0,0
$GC,7423,0.73,97.3,16.6,16.3,415,7428,0.00,1.80,0.00,0.000,4,0.000,0.054,3284,680,2181,0,0,0,0,0,0
$STATE,7512,end climb,SURFACE_DEPTH_REACHED
$STATE,7512,begin surface coast
$FINISH,0.0,1.027186
$STATE,7529,end surface coast,CONTROL_FINISHED_OK
$STATE,7529,begin surface
$SM_CCo,7532,442.42,0.998,5,0,396,540.63
$SM_GC,1305.79,9.57,0.00,0.00,0.062,0.000,0.000,89,1940,380,-9.14,0.85,544.56
$IRIDIUM_FIX,-5405.24,-22.18,110114,202014
$TT8_MAMPS,0.041944
$HUMID,64.96
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,21.7,87.871
$10V_AH,9.8,52.576
$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,23.350,45.675,220.300,442.425,0.000,26.166,40.706,448.926,0.000,0.000,21.587,1125.005,5286.932,837.022,1485.923,134.268,0.000,1400.927,0.000,967.766,0.000,1.007,0.000
$DEVICE_MAMPS,247.860,68.085,1253.835,998.325,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.119,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354772
$DATA_FILE_SIZE,23606,434
$CAP_FILE_SIZE,81671,8
$CFSIZE,2097086464,2061172736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1
$GPS,120114,011022,-5424.656,-31.754,39,0.9,39,-20.1