version: 66.07.10.p01
glider: 574
mission: 8
dive: 294
start: 1 13 114 11 32 13
data:
$ID,574
$MISSION,8
$DIVE,294
$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,-100134.79
$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,41
$R_STBD_OVSHOOT,87
$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,273
$GPS1,130114,112552,-5423.189,-48.763,34,0.8,34,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-68.1
$GPS2,130114,113153,-5423.219,-48.709,18,1.0,18,-20.0
$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,314.2,37121,-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,-5.40,0.000,2,0.000,0.000,68,1867,511,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.5,-0.0,1,197,11.60,1.52,-144.77,0.000,4,0.232,0.054,2796,2818,2996,0,0,0,0,0,0
$GC,341,-0.73,-97.3,54.4,-15.5,40,347,0.00,1.42,0.00,0.000,6,0.000,0.030,2796,1900,2997,0,0,0,0,0,0
$GC,677,-0.73,-97.3,107.5,-16.2,70,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1900,2997,0,0,0,0,0,0
$GC,985,-0.73,-97.3,156.9,-15.9,85,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1900,2998,0,0,0,0,0,0
$GC,1295,-0.73,-97.3,206.8,-16.1,100,1298,0.00,0.50,0.00,0.000,4,0.000,0.050,2796,1550,2998,0,0,0,0,0,0
$GC,1366,-0.73,-97.3,218.7,-15.9,103,1370,0.00,0.50,0.00,0.000,6,0.000,0.034,2795,1904,2998,0,0,0,0,0,0
$GC,1693,-0.73,-97.3,269.4,-15.3,119,1697,0.00,0.38,0.00,0.000,4,0.000,0.045,2793,2196,2999,0,0,0,0,0,0
$GC,1742,-0.73,-97.3,277.5,-16.1,121,1746,0.00,0.43,0.00,0.000,6,0.000,0.038,2793,1899,2998,0,0,0,0,0,0
$GC,2069,-0.73,-97.3,330.2,-16.7,137,2073,0.00,0.38,0.00,0.000,4,0.000,0.055,2793,1631,2998,0,0,0,0,0,0
$GC,2168,-0.73,-97.3,346.5,-16.7,141,2173,0.00,0.40,0.00,0.000,6,0.000,0.036,2792,1925,2999,0,0,0,0,0,0
$GC,2491,-0.73,-97.3,398.0,-16.1,157,2495,0.00,0.88,0.00,0.000,4,0.000,0.041,2788,2512,2998,0,0,0,0,0,0
$GC,2551,-0.73,-97.3,408.1,-16.9,159,2558,0.00,0.93,0.00,0.000,6,0.000,0.034,2788,1907,2997,0,0,0,0,0,0
$GC,2868,-0.73,-97.3,458.7,-16.1,175,2872,0.00,0.75,0.00,0.000,4,0.000,0.048,2788,1414,2997,0,0,0,0,0,0
$GC,2990,-0.73,-97.3,478.8,-16.4,180,2994,0.00,0.73,0.00,0.000,6,0.000,0.030,2785,1909,2998,0,0,0,0,0,0
$GC,3311,-0.73,-97.3,529.0,-15.7,196,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1910,2998,0,0,0,0,0,0
$GC,3621,-0.73,-97.3,578.4,-15.6,211,3624,0.00,1.42,0.00,0.000,4,0.000,0.042,2779,2821,2998,0,0,0,0,0,0
$GC,3733,-0.73,-97.3,596.5,-16.5,216,3738,0.03,1.40,0.00,0.000,6,0.193,0.032,2787,1922,2997,0,0,0,0,0,0
$STATE,3754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3754,begin apogee
$GC,3759,-0.16,0.0,600.0,15.5,217,3975,0.65,0.00,163.62,1.194,6,0.156,0.000,2971,1788,2597,0,0,0,0,9,0
$STATE,3976,end apogee,CONTROL_FINISHED_OK
$STATE,3976,begin climb
$GC,3978,0.73,97.3,564.2,0.0,228,4122,0.93,1.20,131.18,1.126,4,0.098,0.034,3255,2457,2195,0,0,0,0,1,0
$GC,4244,0.73,97.3,520.9,16.0,240,4251,0.00,1.02,0.00,0.000,6,0.000,0.035,3258,1843,2173,0,0,0,0,0,0
$GC,4561,0.73,97.3,470.8,16.5,256,4565,0.00,1.45,0.00,0.000,4,0.000,0.054,3265,969,2169,0,0,0,0,0,0
$GC,4699,0.73,97.3,448.7,16.0,262,4704,0.00,1.30,0.00,0.000,6,0.000,0.026,3264,1811,2168,0,0,0,0,0,0
$GC,5027,0.73,97.3,397.4,15.8,278,5031,0.00,1.15,0.00,0.000,4,0.000,0.048,3269,1102,2167,0,0,0,0,0,0
$GC,5126,0.73,97.3,381.1,16.7,282,5131,0.00,1.10,0.00,0.000,6,0.000,0.027,3268,1830,2167,0,0,0,0,0,0
$GC,5448,0.73,97.3,329.8,16.3,298,5452,0.00,0.90,0.00,0.000,4,0.000,0.045,3272,1264,2167,0,0,0,0,0,0
$GC,5600,0.73,97.3,305.3,16.4,304,5605,0.00,0.82,0.00,0.000,6,0.000,0.028,3272,1823,2167,0,0,0,0,0,0
$GC,5915,0.73,97.3,254.9,16.2,320,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1823,2166,0,0,0,0,0,0
$GC,6224,0.73,97.3,205.2,15.9,335,6228,0.00,0.60,0.00,0.000,4,0.000,0.045,3273,1436,2166,0,0,0,0,0,0
$GC,6481,0.73,97.3,164.2,15.5,346,6486,0.00,0.57,0.00,0.000,6,0.000,0.031,3274,1847,2166,0,0,0,0,0,0
$GC,6803,0.73,97.3,113.1,16.4,362,6806,0.00,0.60,0.00,0.000,4,0.000,0.045,3275,1458,2166,0,0,0,0,0,0
$GC,7061,0.73,97.3,71.9,15.8,381,7064,0.00,0.47,0.00,0.000,6,0.000,0.034,3275,1820,2166,0,0,0,0,0,0
$GC,7391,0.73,97.3,18.6,15.7,412,7396,0.00,2.28,0.00,0.000,4,0.000,0.056,3285,421,2166,0,0,0,0,0,0
$STATE,7491,end climb,SURFACE_DEPTH_REACHED
$STATE,7491,begin surface coast
$FINISH,0.1,1.027158
$STATE,7511,end surface coast,CONTROL_FINISHED_OK
$STATE,7511,begin surface
$SM_CCo,7514,490.60,0.975,19,0,396,540.63
$SM_GC,1305.79,9.32,0.00,0.00,0.047,0.000,0.000,77,1868,380,-9.16,-1.16,544.56
$IRIDIUM_FIX,-5401.57,-22.13,130114,060617
$TT8_MAMPS,0.026964
$HUMID,65.59
$INTERNAL_PRESSURE,8.95013
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.6,91.191
$10V_AH,9.8,53.164
$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,22.525,27.650,294.800,490.600,0.000,30.056,19.189,193.809,0.000,0.000,21.069,1105.981,5166.128,1044.864,1282.237,99.135,0.000,1626.505,0.000,998.977,0.000,1.007,0.000
$DEVICE_MAMPS,231.795,81.090,1194.165,975.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354892
$DATA_FILE_SIZE,23589,433
$CAP_FILE_SIZE,76485,29
$CFSIZE,2097086464,2059698176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,29,1
$GPS,130114,135204,-5422.987,-50.075,24,1.0,24,-20.0