version: 66.07.10.p01
glider: 574
mission: 8
dive: 326
start: 1 18 114 11 50 54
data:
$ID,574
$MISSION,8
$DIVE,326
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,3
$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,-101205.32
$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,64
$R_STBD_OVSHOOT,48
$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,305
$GPS1,180114,114404,-5414.342,-118.850,39,1.0,39,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,44.69
$_SM_ANGLEo,-68.0
$GPS2,180114,115035,-5414.329,-118.848,18,1.1,18,-19.8
$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,244.9,1760,-27.8,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.90,-63.1,0.0,0.0,0,32,0.00,0.00,-5.00,0.000,2,0.000,0.000,68,1978,627,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.0,-0.0,1,190,11.73,2.03,-135.27,0.000,4,0.246,0.053,2725,3223,2998,0,0,0,0,0,0
$GC,414,-0.90,-97.3,65.6,-16.4,46,420,0.00,2.03,0.00,0.000,6,0.000,0.030,2725,1928,2999,0,0,0,0,0,0
$GC,736,-0.90,-97.3,117.2,-15.9,72,741,0.05,0.38,0.00,0.000,4,0.265,0.038,2733,2216,2998,0,0,0,0,0,0
$GC,994,-0.90,-97.3,158.5,-16.9,83,998,0.00,0.47,0.00,0.000,6,0.000,0.035,2733,1882,2999,0,0,0,0,0,0
$GC,1315,-0.90,-97.3,208.4,-15.6,99,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1882,3000,0,0,0,0,0,0
$GC,1625,-0.90,-97.3,257.9,-16.2,114,1629,0.00,1.95,0.00,0.000,4,0.000,0.042,2726,3121,2999,0,0,0,0,0,0
$GC,1784,-0.90,-97.3,283.1,-15.9,121,1787,0.00,1.83,0.00,0.000,6,0.000,0.030,2726,1922,2999,0,0,0,0,0,0
$GC,2117,-0.90,-97.3,336.2,-16.4,137,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1922,2999,0,0,0,0,0,0
$GC,2425,-0.90,-97.3,385.9,-16.5,152,2429,0.03,0.85,0.00,0.000,4,0.292,0.034,2732,2484,2999,0,0,0,0,0,0
$GC,2681,-0.90,-97.3,427.3,-15.6,163,2686,0.00,0.90,0.00,0.000,6,0.000,0.033,2730,1892,2999,0,0,0,0,0,0
$GC,3003,-0.90,-97.3,479.4,-16.1,179,3007,0.00,1.12,0.00,0.000,4,0.000,0.033,2728,2630,2999,0,0,0,0,0,0
$GC,3260,-0.90,-97.3,521.1,-16.1,190,3265,0.00,1.12,0.00,0.000,6,0.000,0.032,2728,1905,2999,0,0,0,0,0,0
$GC,3582,-0.90,-97.3,571.5,-15.3,206,3586,0.00,0.82,0.00,0.000,4,0.000,0.033,2725,2465,2999,0,0,0,0,0,0
$STATE,3761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3761,begin apogee
$GC,3766,-0.16,0.0,600.5,16.2,214,3924,0.93,0.00,153.65,1.258,6,0.176,0.000,2973,1814,2600,0,0,0,0,0,0
$STATE,3925,end apogee,CONTROL_FINISHED_OK
$STATE,3925,begin climb
$GC,3927,0.90,97.3,575.4,0.0,222,4026,1.15,0.00,95.18,1.254,6,0.093,0.000,3319,1814,2203,0,0,0,0,0,0
$GC,4332,0.90,97.3,509.8,16.2,242,4336,0.00,2.12,0.00,0.000,4,0.000,0.055,3329,541,2190,0,0,0,0,0,0
$GC,4510,0.90,97.3,481.3,16.8,250,4514,0.00,1.98,0.00,0.000,6,0.000,0.024,3329,1820,2188,0,0,0,0,0,0
$GC,4837,0.90,97.3,429.4,15.6,266,4841,0.00,0.80,0.00,0.000,4,0.000,0.044,3331,1315,2187,0,0,0,0,0,0
$GC,5032,0.90,97.3,398.1,15.7,274,5038,0.00,0.77,0.00,0.000,6,0.000,0.025,3331,1834,2187,0,0,0,0,0,0
$GC,5349,0.90,97.3,347.9,15.8,290,5352,0.00,1.12,0.00,0.000,4,0.000,0.046,3335,1133,2188,0,0,0,0,0,0
$GC,5606,0.90,97.3,306.4,16.9,301,5610,0.00,1.02,0.00,0.000,6,0.000,0.024,3336,1830,2187,0,0,0,0,0,0
$GC,5928,0.90,97.3,255.9,15.9,317,5931,0.00,1.10,0.00,0.000,4,0.000,0.045,3339,1141,2187,0,0,0,0,0,0
$GC,6185,0.90,97.3,214.6,15.4,328,6190,0.08,1.00,0.00,0.000,6,0.203,0.024,3323,1827,2187,0,0,0,0,0,0
$GC,6506,0.90,97.3,162.8,16.7,344,6510,0.00,1.98,0.00,0.000,4,0.000,0.050,3331,598,2187,0,0,0,0,0,0
$GC,6667,0.90,97.3,136.6,15.5,351,6672,0.00,1.83,0.00,0.000,6,0.000,0.024,3331,1800,2187,0,0,0,0,0,0
$GC,6987,0.90,97.3,86.2,15.8,370,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1800,2187,0,0,0,0,0,0
$GC,7307,0.90,97.3,35.6,16.1,400,7310,0.00,0.52,0.00,0.000,4,0.000,0.045,3332,1460,2187,0,0,0,0,0,0
$STATE,7513,end climb,SURFACE_DEPTH_REACHED
$STATE,7513,begin surface coast
$FINISH,0.0,1.027301
$STATE,7530,end surface coast,CONTROL_FINISHED_OK
$STATE,7530,begin surface
$SM_CCo,7549,428.70,0.990,2,0,520,510.22
$SM_GC,42.52,0.00,0.00,428.70,0.000,0.000,0.990,69,1933,520,-9.21,0.68,510.22
$IRIDIUM_FIX,-5354.23,-117.36,180114,090909
$TT8_MAMPS,0.023219
$HUMID,63.90
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,21.4,98.968
$10V_AH,9.8,54.567
$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,23.775,29.425,248.825,428.700,0.000,30.985,49.904,186.066,0.000,0.000,20.885,1135.067,4886.253,824.058,1409.585,123.904,0.000,1445.682,0.000,1117.588,0.000,1.007,0.000
$DEVICE_MAMPS,292.230,55.080,1257.660,989.910,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354884
$DATA_FILE_SIZE,23619,431
$CAP_FILE_SIZE,114851,549
$CFSIZE,2097086464,2056323072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180114,140459,-5414.416,-120.026,20,1.0,20,-19.8