version: 66.07.10.p01
glider: 574
mission: 8
dive: 313
start: 1 15 114 16 27 30
data:
$ID,574
$MISSION,8
$DIVE,313
$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,-100204.2
$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,40
$R_STBD_OVSHOOT,58
$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,292
$GPS1,150114,161904,-5416.847,-108.428,33,0.8,33,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-70.1
$GPS2,150114,162711,-5416.850,-108.389,15,1.6,15,-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,305.2,13022,-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,23,begin dive
$GC,25,-0.73,-97.3,0.0,0.0,0,32,0.00,0.00,-5.00,0.000,2,0.000,0.000,68,1960,496,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.3,-0.0,1,201,11.95,1.60,-147.10,0.000,4,0.240,0.061,2792,971,2998,0,0,0,0,0,0
$GC,258,-0.73,-97.3,40.4,-15.6,33,262,0.00,1.42,0.00,0.000,6,0.000,0.028,2786,1903,2999,0,0,0,0,0,0
$GC,588,-0.73,-97.3,92.5,-15.5,64,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1904,2999,0,0,0,0,0,0
$GC,910,-0.73,-97.3,143.3,-16.0,82,913,0.00,0.60,0.00,0.000,4,0.000,0.039,2783,2333,2999,0,0,0,0,0,0
$GC,970,-0.73,-97.3,153.0,-16.1,84,975,0.00,0.65,0.00,0.000,6,0.000,0.034,2784,1888,2999,0,0,0,0,0,0
$GC,1286,-0.73,-97.3,203.4,-15.9,100,1289,0.00,0.70,0.00,0.000,4,0.000,0.046,2784,1420,2999,0,0,0,0,0,0
$GC,1331,-0.73,-97.3,210.7,-15.6,102,1335,0.00,0.73,0.00,0.000,6,0.000,0.032,2781,1918,2999,0,0,0,0,0,0
$GC,1663,-0.73,-97.3,263.0,-15.8,118,1667,0.05,1.50,0.00,0.000,4,0.253,0.043,2784,2863,2999,0,0,0,0,0,0
$GC,1740,-0.73,-97.3,275.4,-15.3,121,1745,0.00,1.45,0.00,0.000,6,0.000,0.030,2784,1932,2999,0,0,0,0,0,0
$GC,2062,-0.73,-97.3,327.4,-15.9,137,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1932,2998,0,0,0,0,0,0
$GC,2371,-0.73,-97.3,376.8,-16.3,152,2375,0.00,0.45,0.00,0.000,4,0.000,0.049,2784,1615,2999,0,0,0,0,0,0
$GC,2442,-0.73,-97.3,388.6,-15.7,155,2447,0.00,0.43,0.00,0.000,6,0.000,0.036,2783,1930,2999,0,0,0,0,0,0
$GC,2769,-0.73,-97.3,440.2,-15.8,171,2773,0.00,0.35,0.00,0.000,4,0.000,0.046,2781,2211,2998,0,0,0,0,0,0
$GC,2807,-0.73,-97.3,446.7,-16.6,172,2813,0.05,0.47,0.00,0.000,6,0.233,0.037,2790,1873,2999,0,0,0,0,0,0
$GC,3123,-0.73,-97.3,496.4,-16.1,188,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1873,2998,0,0,0,0,0,0
$GC,3432,-0.73,-97.3,545.6,-15.7,203,3436,0.00,0.50,0.00,0.000,4,0.000,0.050,2790,1530,2999,0,0,0,0,0,0
$GC,3487,-0.73,-97.3,554.6,-16.5,205,3491,0.00,0.52,0.00,0.000,6,0.000,0.032,2790,1901,2999,0,0,0,0,0,0
$STATE,3786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3786,begin apogee
$GC,3791,-0.16,0.0,602.4,15.7,220,3914,0.68,0.00,119.35,1.294,6,0.166,0.000,2976,1795,2599,0,0,0,0,0,0
$STATE,3915,end apogee,CONTROL_FINISHED_OK
$STATE,3915,begin climb
$GC,3917,0.73,97.3,583.0,0.0,226,4020,0.93,1.23,96.07,1.233,4,0.097,0.050,3266,1134,2202,0,0,0,0,0,0
$GC,4120,0.73,97.3,548.3,16.6,235,4126,0.00,1.10,0.00,0.000,6,0.000,0.024,3266,1815,2190,0,0,0,0,0,0
$GC,4436,0.73,97.3,497.8,17.1,251,4440,0.00,0.88,0.00,0.000,4,0.000,0.044,3268,1278,2184,0,0,0,0,0,0
$GC,4693,0.73,97.3,456.1,15.8,262,4698,0.00,0.82,0.00,0.000,6,0.000,0.026,3269,1824,2183,0,0,0,0,0,0
$GC,5015,0.73,97.3,405.1,15.9,278,5019,0.00,0.65,0.00,0.000,4,0.000,0.042,3271,1404,2182,0,0,0,0,0,0
$GC,5210,0.73,97.3,374.0,15.6,286,5216,0.00,0.62,0.00,0.000,6,0.000,0.028,3270,1843,2182,0,0,0,0,0,0
$GC,5526,0.73,97.3,323.5,16.6,302,5530,0.00,0.35,0.00,0.000,4,0.000,0.044,3271,1598,2182,0,0,0,0,0,0
$GC,5582,0.73,97.3,314.5,15.9,304,5586,0.00,0.28,0.00,0.000,6,0.000,0.039,3271,1813,2181,0,0,0,0,0,0
$GC,5903,0.73,97.3,264.3,15.5,320,5907,0.00,0.55,0.00,0.000,4,0.000,0.040,3271,2213,2181,0,0,0,0,0,0
$GC,6003,0.73,97.3,247.9,16.1,324,6007,0.00,0.52,0.00,0.000,6,0.000,0.038,3273,1855,2180,0,0,0,0,0,0
$GC,6324,0.73,97.3,196.3,16.1,340,6328,0.00,2.30,0.00,0.000,4,0.000,0.057,3283,435,2180,0,0,0,0,0,0
$GC,6458,0.73,97.3,174.6,16.2,346,6463,0.03,2.10,0.00,0.000,6,0.186,0.027,3275,1799,2180,0,0,0,0,0,0
$GC,6785,0.73,97.3,122.4,16.0,362,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1799,2180,0,0,0,0,0,0
$GC,7099,0.73,97.3,72.2,16.2,385,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1799,2180,0,0,0,0,0,0
$GC,7419,0.73,97.3,21.5,15.6,415,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1799,2180,0,0,0,0,0,0
$STATE,7533,end climb,SURFACE_DEPTH_REACHED
$STATE,7533,begin surface coast
$FINISH,0.0,1.027159
$STATE,7552,end surface coast,CONTROL_FINISHED_OK
$STATE,7552,begin surface
$SM_CCo,7555,579.95,1.011,2,0,395,540.63
$SM_GC,1305.79,8.75,0.00,0.00,0.049,0.000,0.000,80,1974,363,-9.16,1.81,548.73
$IRIDIUM_FIX,-5357.90,-110.00,150114,161641
$TT8_MAMPS,0.021721
$HUMID,67.16
$INTERNAL_PRESSURE,8.9599
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.6,95.818
$10V_AH,9.8,53.908
$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,22.425,22.975,215.425,579.950,0.000,61.196,123.634,182.276,0.000,0.000,17.988,1153.283,6433.830,933.726,1323.818,107.855,0.000,1491.577,0.000,928.004,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,94.095,1293.615,1010.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354920
$DATA_FILE_SIZE,23657,438
$CAP_FILE_SIZE,78419,2
$CFSIZE,2097086464,2057830400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,150114,190626,-5416.807,-109.722,39,1.0,39,-19.9