version: 66.07.10.p01
glider: 574
mission: 8
dive: 328
start: 1 18 114 16 39 3
data:
$ID,574
$MISSION,8
$DIVE,328
$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,-101212.19
$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,47
$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,307
$GPS1,180114,163229,-5414.970,-120.993,83,1.0,83,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-31.04
$_SM_ANGLEo,-69.6
$GPS2,180114,163843,-5415.008,-120.954,18,1.1,19,-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,109.0,1032,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.90,-63.1,0.0,0.0,0,32,0.00,0.00,-5.62,0.000,2,0.000,0.000,65,1900,506,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.3,-0.0,1,196,11.23,2.20,-142.98,0.000,4,0.234,0.054,2734,506,2997,0,0,0,0,0,0
$GC,414,-0.90,-97.3,65.8,-16.0,46,420,0.00,2.15,0.00,0.000,6,0.000,0.027,2724,1907,2998,0,0,0,0,0,0
$GC,737,-0.90,-97.3,117.6,-16.1,72,739,0.05,0.00,0.00,0.000,6,0.262,0.000,2733,1907,2998,0,0,0,0,0,0
$GC,1046,-0.90,-97.3,165.3,-14.9,87,1050,0.00,1.42,0.00,0.000,4,0.000,0.041,2727,2825,2998,0,0,0,0,0,0
$GC,1230,-0.90,-97.3,194.7,-15.2,95,1235,0.00,1.40,0.00,0.000,6,0.000,0.030,2728,1910,2998,0,0,0,0,0,0
$GC,1558,-0.90,-97.3,247.1,-16.3,111,1561,0.00,0.68,0.00,0.000,4,0.000,0.044,2727,1453,2998,0,0,0,0,0,0
$GC,1719,-0.90,-97.3,273.3,-15.8,118,1724,0.05,0.70,0.00,0.000,6,0.254,0.029,2733,1940,2998,0,0,0,0,0,0
$GC,2046,-0.90,-97.3,325.5,-16.7,134,2050,0.00,0.50,0.00,0.000,4,0.000,0.039,2732,2317,2997,0,0,0,0,0,0
$GC,2303,-0.90,-97.3,367.3,-16.6,145,2307,0.00,0.62,0.00,0.000,6,0.000,0.034,2732,1888,2998,0,0,0,0,0,0
$GC,2624,-0.90,-97.3,418.5,-15.8,161,2628,0.00,0.52,0.00,0.000,4,0.000,0.033,2730,2271,2998,0,0,0,0,0,0
$GC,2882,-0.90,-97.3,459.7,-15.9,172,2886,0.00,0.52,0.00,0.000,6,0.000,0.035,2730,1903,2998,0,0,0,0,0,0
$GC,3203,-0.90,-97.3,510.7,-16.0,188,3207,0.00,0.90,0.00,0.000,4,0.000,0.033,2727,2509,2998,0,0,0,0,0,0
$GC,3428,-0.90,-97.3,546.5,-16.4,198,3432,0.00,0.88,0.00,0.000,6,0.000,0.033,2727,1917,2998,0,0,0,0,0,0
$STATE,3759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3759,begin apogee
$GC,3764,-0.16,0.0,600.8,15.4,214,3883,0.93,0.00,115.97,1.339,6,0.179,0.000,2974,1819,2600,0,0,0,0,0,0
$STATE,3884,end apogee,CONTROL_FINISHED_OK
$STATE,3884,begin climb
$GC,3886,0.90,97.3,582.0,0.0,220,3987,1.10,0.70,93.70,1.252,4,0.097,0.044,3315,1418,2201,0,0,0,0,0,0
$GC,4229,0.90,97.3,526.1,15.8,235,4235,0.00,0.60,0.00,0.000,6,0.000,0.026,3316,1819,2188,0,0,0,0,0,0
$GC,4545,0.90,97.3,475.9,16.2,251,4549,0.00,0.70,0.00,0.000,4,0.000,0.044,3318,1378,2186,0,0,0,0,0,0
$GC,4802,0.90,97.3,434.0,16.2,262,4806,0.00,0.65,0.00,0.000,6,0.000,0.028,3318,1829,2185,0,0,0,0,0,0
$GC,5124,0.90,97.3,382.7,15.8,278,5127,0.00,0.62,0.00,0.000,4,0.000,0.042,3320,1425,2183,0,0,0,0,0,0
$GC,5381,0.90,97.3,341.3,15.5,289,5385,0.00,0.57,0.00,0.000,6,0.000,0.029,3320,1846,2183,0,0,0,0,0,0
$GC,5702,0.90,97.3,289.8,16.3,305,5706,0.00,0.88,0.00,0.000,4,0.000,0.044,3323,1294,2183,0,0,0,0,0,0
$GC,5959,0.90,97.3,247.9,16.1,316,5964,0.00,0.75,0.00,0.000,6,0.000,0.028,3323,1819,2182,0,0,0,0,0,0
$GC,6283,0.90,97.3,194.5,16.1,332,6286,0.00,0.82,0.00,0.000,4,0.000,0.045,3326,1288,2182,0,0,0,0,0,0
$GC,6540,0.90,97.3,153.1,16.3,343,6544,0.00,0.77,0.00,0.000,6,0.000,0.028,3326,1821,2182,0,0,0,0,0,0
$GC,6863,0.90,97.3,101.2,16.2,359,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1821,2182,0,0,0,0,0,0
$GC,7180,0.90,97.3,50.1,16.1,388,7184,0.00,1.20,0.00,0.000,4,0.000,0.047,3330,1074,2182,0,0,0,0,0,0
$GC,7437,0.90,97.3,9.6,14.8,417,7442,0.00,1.10,0.00,0.000,6,0.000,0.027,3331,1821,2182,0,0,0,0,0,0
$STATE,7480,end climb,SURFACE_DEPTH_REACHED
$STATE,7480,begin surface coast
$FINISH,0.0,1.027287
$STATE,7497,end surface coast,CONTROL_FINISHED_OK
$STATE,7498,begin surface
$SM_CCo,7516,453.90,1.038,4,0,519,510.22
$SM_GC,-40.02,0.00,0.00,453.90,0.000,0.000,1.038,67,1932,519,-9.22,0.62,510.22
$IRIDIUM_FIX,-5354.23,-117.28,180114,141437
$TT8_MAMPS,0.053928
$HUMID,60.90
$INTERNAL_PRESSURE,8.96966
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.6,99.467
$10V_AH,9.8,54.654
$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,23.150,22.050,209.675,453.900,0.000,23.439,40.458,190.646,0.000,0.000,21.703,1142.500,4787.971,804.825,1444.450,188.299,0.000,1623.539,0.000,1227.635,0.000,1.007,0.000
$DEVICE_MAMPS,262.395,105.570,1338.750,1038.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354968
$DATA_FILE_SIZE,20315,428
$CAP_FILE_SIZE,249992,2299
$CFSIZE,2097086464,2055995392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,180114,185334,-5415.157,-119.762,45,0.9,45,-19.8