version: 66.07.10.p01
glider: 574
mission: 8
dive: 281
start: 1 12 114 3 52 13
data:
$ID,574
$MISSION,8
$DIVE,281
$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,-100095.88
$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,63
$R_STBD_OVSHOOT,73
$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,260
$GPS1,120114,034054,-5424.468,-32.994,43,0.9,43,-20.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-68.9
$GPS2,120114,035153,-5424.524,-32.977,15,2.0,15,-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,309.2,53851,-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,-5.55,0.000,2,0.000,0.000,67,1853,518,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.2,-0.0,1,190,11.95,1.10,-136.45,0.000,4,0.246,0.092,2793,1211,2997,0,0,0,0,0,0
$GC,323,-0.73,-97.3,51.0,-16.1,38,329,0.00,1.05,0.00,0.000,6,0.000,0.028,2788,1896,2999,0,0,0,0,0,0
$GC,660,-0.73,-97.3,104.2,-15.7,69,663,0.00,1.02,0.00,0.000,4,0.000,0.039,2784,2572,2999,0,0,0,0,0,0
$GC,916,-0.73,-97.3,145.6,-15.8,80,921,0.00,1.00,0.00,0.000,6,0.000,0.031,2784,1920,3000,0,0,0,0,0,0
$GC,1238,-0.73,-97.3,195.6,-15.6,96,1242,0.00,0.88,0.00,0.000,4,0.000,0.034,2781,2503,2999,0,0,0,0,0,0
$GC,1286,-0.73,-97.3,203.5,-16.4,98,1292,0.05,0.90,0.00,0.000,6,0.238,0.033,2789,1903,2999,0,0,0,0,0,0
$GC,1614,-0.73,-97.3,254.6,-15.8,114,1617,0.00,0.43,0.00,0.000,4,0.000,0.050,2789,1600,3000,0,0,0,0,0,0
$GC,1831,-0.73,-97.3,289.9,-15.8,123,1837,0.00,0.45,0.00,0.000,6,0.000,0.034,2789,1931,3000,0,0,0,0,0,0
$GC,2147,-0.73,-97.3,338.6,-16.3,139,2151,0.00,1.12,0.00,0.000,4,0.000,0.040,2784,2672,3000,0,0,0,0,0,0
$GC,2224,-0.73,-97.3,351.2,-15.6,142,2229,0.00,1.17,0.00,0.000,6,0.000,0.031,2784,1911,2999,0,0,0,0,0,0
$GC,2545,-0.73,-97.3,401.6,-15.7,158,2549,0.00,0.85,0.00,0.000,4,0.000,0.046,2784,1359,2999,0,0,0,0,0,0
$GC,2613,-0.73,-97.3,412.5,-15.9,161,2618,0.03,0.77,0.00,0.000,6,0.212,0.030,2788,1899,2999,0,0,0,0,0,0
$GC,2944,-0.73,-97.3,464.7,-16.1,177,2948,0.00,0.38,0.00,0.000,4,0.000,0.044,2788,2199,2999,0,0,0,0,0,0
$GC,3044,-0.73,-97.3,481.0,-15.5,181,3048,0.00,0.45,0.00,0.000,6,0.000,0.037,2787,1881,2999,0,0,0,0,0,0
$GC,3365,-0.73,-97.3,532.8,-16.1,197,3369,0.00,0.47,0.00,0.000,4,0.000,0.049,2788,1550,2999,0,0,0,0,0,0
$GC,3420,-0.73,-97.3,542.0,-16.1,199,3424,0.00,0.52,0.00,0.000,6,0.000,0.032,2786,1926,2998,0,0,0,0,0,0
$GC,3741,-0.73,-97.3,593.7,-16.3,215,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1926,2999,0,0,0,0,0,0
$STATE,3781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3781,begin apogee
$GC,3786,-0.16,0.0,600.3,16.2,217,3923,0.68,0.00,117.85,1.251,6,0.163,0.000,2974,1802,2600,0,0,0,0,3,0
$STATE,3923,end apogee,CONTROL_FINISHED_OK
$STATE,3923,begin climb
$GC,3925,0.73,97.3,577.5,0.0,224,4023,0.95,0.00,93.80,1.187,6,0.096,0.000,3264,1799,2203,0,0,0,0,0,0
$GC,4333,0.73,97.3,511.6,16.1,244,4337,0.00,1.85,0.00,0.000,4,0.000,0.054,3272,669,2186,0,0,0,0,0,0
$GC,4501,0.73,97.3,484.1,15.6,251,4505,0.00,1.73,0.00,0.000,6,0.000,0.024,3272,1793,2183,0,0,0,0,0,0
$GC,4822,0.73,97.3,433.5,16.0,267,4825,0.00,0.50,0.00,0.000,4,0.000,0.037,3272,2167,2183,0,0,0,0,0,0
$GC,4912,0.73,97.3,419.3,15.2,271,4916,0.00,0.45,0.00,0.000,6,0.000,0.040,3273,1849,2183,0,0,0,0,0,0
$GC,5244,0.73,97.3,365.8,15.9,287,5247,0.00,1.45,0.00,0.000,4,0.000,0.053,3279,949,2182,0,0,0,0,0,0
$GC,5349,0.73,97.3,348.5,15.8,291,5355,0.00,1.35,0.00,0.000,6,0.000,0.024,3279,1847,2182,0,0,0,0,0,0
$GC,5665,0.73,97.3,298.0,15.6,307,5669,0.00,1.88,0.00,0.000,4,0.000,0.050,3286,664,2182,0,0,0,0,0,0
$GC,5815,0.73,97.3,273.3,16.3,313,5822,0.05,1.75,0.00,0.000,6,0.166,0.024,3272,1818,2182,0,0,0,0,0,0
$GC,6132,0.73,97.3,222.8,16.4,329,6136,0.00,0.77,0.00,0.000,4,0.000,0.045,3272,1328,2182,0,0,0,0,0,0
$GC,6282,0.73,97.3,198.8,15.6,335,6288,0.00,0.73,0.00,0.000,6,0.000,0.027,3272,1847,2182,0,0,0,0,0,0
$GC,6598,0.73,97.3,149.0,15.7,351,6602,0.00,2.30,0.00,0.000,4,0.000,0.053,3282,425,2182,0,0,0,0,0,0
$GC,6854,0.73,97.3,107.4,16.8,362,6861,0.03,2.08,0.00,0.000,6,0.187,0.024,3274,1789,2182,0,0,0,0,0,0
$GC,7178,0.73,97.3,55.7,16.5,390,7182,0.00,2.20,0.00,0.000,4,0.000,0.054,3281,431,2182,0,0,0,0,0,0
$GC,7401,0.73,97.3,19.6,16.0,409,7407,0.03,2.12,0.00,0.000,6,0.187,0.025,3273,1825,2181,0,0,0,0,0,0
$STATE,7508,end climb,SURFACE_DEPTH_REACHED
$STATE,7508,begin surface coast
$FINISH,0.3,1.027161
$STATE,7525,end surface coast,CONTROL_FINISHED_OK
$STATE,7525,begin surface
$SM_CCo,7528,450.20,0.993,8,0,396,540.63
$SM_GC,1305.79,9.30,0.00,0.00,0.048,0.000,0.000,87,1959,382,-9.15,1.36,544.07
$IRIDIUM_FIX,-5405.24,-33.27,120114,010149
$TT8_MAMPS,0.042693
$HUMID,64.49
$INTERNAL_PRESSURE,8.94037
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.7,88.333
$10V_AH,9.8,52.659
$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,23.050,33.925,211.650,450.200,0.000,28.417,42.988,475.915,0.000,0.000,18.621,1136.154,5182.956,867.814,1592.063,134.146,0.000,1446.027,0.000,1042.899,0.000,1.007,0.000
$DEVICE_MAMPS,246.330,91.800,1250.775,992.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354860
$DATA_FILE_SIZE,23670,431
$CAP_FILE_SIZE,81910,11
$CFSIZE,2097086464,2060976128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,11,1
$GPS,120114,061054,-5424.210,-34.239,37,1.0,37,-20.1