version: 66.07.10.p01
glider: 574
mission: 8
dive: 306
start: 1 14 114 18 15 37
data:
$ID,574
$MISSION,8
$DIVE,306
$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,-100179.51
$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,85
$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,3
$VBD_PUMP_AD_RATE_APOGEE,2
$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,285
$GPS1,140114,180852,-5419.632,-101.828,62,0.8,62,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-69.4
$GPS2,140114,181517,-5419.638,-101.778,44,0.8,44,-19.9
$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,313.4,21507,-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,-5.40,0.000,2,0.000,0.000,67,1932,489,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.3,-0.0,1,205,12.60,1.25,-150.68,0.000,4,0.264,0.070,2795,1163,2997,0,0,0,0,0,0
$GC,215,-0.73,-97.3,34.2,-16.5,28,221,0.00,1.10,0.00,0.000,6,0.000,0.025,2793,1888,2998,0,0,0,0,0,0
$GC,541,-0.73,-97.3,85.8,-16.0,59,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1889,2999,0,0,0,0,0,0
$GC,863,-0.73,-97.3,137.5,-15.9,79,867,0.00,1.10,0.00,0.000,4,0.000,0.041,2787,2611,2998,0,0,0,0,0,0
$GC,940,-0.73,-97.3,150.0,-16.1,82,944,0.00,1.10,0.00,0.000,6,0.000,0.033,2787,1908,2998,0,0,0,0,0,0
$GC,1262,-0.73,-97.3,201.4,-15.5,98,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1908,2999,0,0,0,0,0,0
$GC,1571,-0.73,-97.3,250.5,-15.8,113,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1908,2998,0,0,0,0,0,0
$GC,1880,-0.73,-97.3,299.3,-16.0,128,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1908,2999,0,0,0,0,0,0
$GC,2189,-0.73,-97.3,349.5,-15.8,143,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1908,2998,0,0,0,0,0,0
$GC,2499,-0.73,-97.3,398.4,-16.1,158,2502,0.00,2.08,0.00,0.000,4,0.000,0.051,2787,604,2998,0,0,0,0,0,0
$GC,2576,-0.73,-97.3,411.1,-16.2,161,2582,0.03,1.98,0.00,0.000,6,0.215,0.028,2786,1888,2998,0,0,0,0,0,0
$GC,2897,-0.73,-97.3,461.2,-15.7,177,2901,0.00,1.30,0.00,0.000,4,0.000,0.041,2782,2731,2998,0,0,0,0,0,0
$GC,2969,-0.73,-97.3,472.7,-15.8,180,2973,0.00,1.30,0.00,0.000,6,0.000,0.031,2781,1904,2997,0,0,0,0,0,0
$GC,3296,-0.73,-97.3,524.5,-15.9,196,3300,0.05,0.62,0.00,0.000,4,0.241,0.049,2791,1491,2998,0,0,0,0,0,0
$GC,3368,-0.73,-97.3,536.2,-16.3,199,3372,0.00,0.65,0.00,0.000,6,0.000,0.031,2791,1943,2998,0,0,0,0,0,0
$GC,3695,-0.73,-97.3,589.4,-16.4,215,3698,0.00,0.25,0.00,0.000,4,0.000,0.053,2789,2162,2998,0,0,0,0,0,0
$STATE,3761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3761,begin apogee
$GC,3766,-0.16,0.0,600.1,15.8,218,3932,0.68,0.00,162.50,1.190,6,0.163,0.000,2976,1802,2600,0,0,0,0,0,0
$STATE,3933,end apogee,CONTROL_FINISHED_OK
$STATE,3933,begin climb
$GC,3934,0.73,97.3,574.1,0.0,226,4033,0.95,0.47,91.68,1.115,4,0.096,0.028,3260,2109,2201,0,0,0,0,0,0
$GC,4083,0.73,97.3,548.2,15.6,233,4089,0.00,0.47,0.00,0.000,6,0.000,0.037,3261,1820,2192,0,0,0,0,0,0
$GC,4399,0.73,97.3,498.8,15.2,249,4402,0.00,1.40,0.00,0.000,4,0.000,0.054,3266,976,2185,0,0,0,0,0,0
$GC,4527,0.73,97.3,477.8,17.1,254,4532,0.00,1.27,0.00,0.000,6,0.000,0.026,3267,1807,2184,0,0,0,0,0,0
$GC,4843,0.73,97.3,428.0,16.3,270,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1807,2183,0,0,0,0,0,0
$GC,5152,0.73,97.3,378.6,16.0,285,5155,0.00,1.05,0.00,0.000,4,0.000,0.046,3270,1152,2182,0,0,0,0,0,0
$GC,5268,0.73,97.3,359.8,14.8,290,5273,0.00,1.02,0.00,0.000,6,0.000,0.027,3270,1837,2182,0,0,0,0,0,0
$GC,5596,0.73,97.3,306.8,16.1,306,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1837,2182,0,0,0,0,0,0
$GC,5905,0.73,97.3,256.1,16.1,321,5909,0.00,0.98,0.00,0.000,4,0.000,0.047,3274,1227,2183,0,0,0,0,0,0
$GC,5982,0.73,97.3,243.2,16.2,324,5987,0.00,0.88,0.00,0.000,6,0.000,0.028,3273,1824,2182,0,0,0,0,0,0
$GC,6304,0.73,97.3,192.2,15.8,340,6308,0.00,0.50,0.00,0.000,4,0.000,0.044,3275,1492,2182,0,0,0,0,0,0
$GC,6342,0.73,97.3,185.8,16.8,341,6348,0.00,0.47,0.00,0.000,6,0.000,0.034,3275,1847,2182,0,0,0,0,0,0
$GC,6658,0.73,97.3,134.9,15.7,357,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1847,2182,0,0,0,0,0,0
$GC,6970,0.73,97.3,83.4,15.7,376,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1847,2182,0,0,0,0,0,0
$GC,7289,0.73,97.3,32.1,16.4,406,7293,0.00,2.30,0.00,0.000,4,0.000,0.054,3284,422,2182,0,0,0,0,0,0
$STATE,7473,end climb,SURFACE_DEPTH_REACHED
$STATE,7473,begin surface coast
$FINISH,1.1,1.027178
$STATE,7485,end surface coast,CONTROL_FINISHED_OK
$STATE,7485,begin surface
$SM_CCo,7487,423.27,0.953,0,0,395,540.63
$SM_GC,1305.79,8.75,0.00,0.00,0.047,0.000,0.000,77,1880,377,-9.16,-0.85,545.29
$IRIDIUM_FIX,-5357.90,-59.01,140114,151526
$TT8_MAMPS,0.02247
$HUMID,67.72
$INTERNAL_PRESSURE,8.95013
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,21.7,94.166
$10V_AH,9.8,53.631
$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,23.050,26.325,254.175,423.275,0.000,25.462,30.037,187.202,0.000,0.000,47.704,1261.265,10433.946,815.832,1132.125,104.797,0.000,1401.673,0.000,835.567,0.000,1.008,0.000
$DEVICE_MAMPS,263.925,70.380,1190.340,953.190,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23607,434
$CAP_FILE_SIZE,83535,0
$CFSIZE,2097086464,2058518528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140114,215928,-5419.025,-102.090,38,1.0,38,-19.9