version: 66.07.10.p01
glider: 574
mission: 8
dive: 331
start: 1 18 114 23 46 38
data:
$ID,574
$MISSION,8
$DIVE,331
$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,-101223.64
$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,81
$R_STBD_OVSHOOT,36
$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,310
$GPS1,180114,233641,-5415.027,-120.474,18,0.9,18,-19.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-40.02
$_SM_ANGLEo,-70.3
$GPS2,180114,234618,-5414.988,-120.419,17,2.0,18,-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,112.5,454,-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,-63.1,0.0,0.0,0,33,0.00,0.00,-5.90,0.000,2,0.000,0.000,66,1908,648,0,0,0,0,0,0
$GC,35,-0.90,-97.3,4.1,-0.0,1,187,12.25,2.25,-130.05,0.000,4,0.260,0.065,2734,551,2998,0,0,0,0,0,0
$GC,371,-0.90,-97.3,58.6,-16.5,42,377,0.05,2.10,0.00,0.000,6,0.258,0.030,2733,1921,3000,0,0,0,0,0,0
$GC,706,-0.90,-97.3,111.1,-15.9,71,709,0.00,1.52,0.00,0.000,4,0.000,0.043,2727,2893,3000,0,0,0,0,0,0
$GC,828,-0.90,-97.3,131.2,-15.5,76,832,0.00,1.45,0.00,0.000,6,0.000,0.029,2727,1949,3000,0,0,0,0,0,0
$GC,1150,-0.90,-97.3,182.5,-16.0,92,1153,0.00,0.43,0.00,0.000,4,0.000,0.037,2726,2273,3000,0,0,0,0,0,0
$GC,1277,-0.90,-97.3,203.4,-16.0,97,1283,0.00,0.57,0.00,0.000,6,0.000,0.036,2726,1878,3000,0,0,0,0,0,0
$GC,1593,-0.90,-97.3,253.9,-16.0,113,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1878,3000,0,0,0,0,0,0
$GC,1903,-0.90,-97.3,302.5,-15.2,128,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1878,2999,0,0,0,0,0,0
$GC,2212,-0.90,-97.3,351.9,-16.2,143,2215,0.00,0.88,0.00,0.000,4,0.000,0.034,2723,2468,2999,0,0,0,0,0,0
$GC,2459,-0.90,-97.3,391.5,-16.7,154,2464,0.03,0.82,0.00,0.000,6,0.218,0.034,2730,1901,2999,0,0,0,0,0,0
$GC,2792,-0.90,-97.3,444.3,-16.3,170,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,2999,0,0,0,0,0,0
$GC,3101,-0.90,-97.3,494.5,-16.3,185,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,2999,0,0,0,0,0,0
$GC,3410,-0.90,-97.3,545.3,-16.4,200,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,2999,0,0,0,0,0,0
$GC,3719,-0.90,-97.3,594.3,-16.1,215,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1901,2999,0,0,0,0,0,0
$STATE,3759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3759,begin apogee
$GC,3764,-0.16,0.0,601.0,16.1,217,3907,0.90,0.00,139.18,1.285,6,0.176,0.000,2972,1829,2600,0,0,0,0,0,0
$STATE,3908,end apogee,CONTROL_FINISHED_OK
$STATE,3908,begin climb
$GC,3910,0.90,97.3,578.6,0.0,224,4010,1.15,0.00,96.03,1.239,6,0.096,0.000,3318,1829,2203,0,0,0,0,0,0
$GC,4310,0.90,97.3,513.3,15.8,244,4314,0.00,0.82,0.00,0.000,4,0.000,0.053,3321,1322,2189,0,0,0,0,0,0
$GC,4567,0.90,97.3,472.1,15.6,255,4572,0.00,0.77,0.00,0.000,6,0.000,0.026,3321,1828,2187,0,0,0,0,0,0
$GC,4889,0.90,97.3,420.3,16.1,271,4893,0.00,0.80,0.00,0.000,4,0.000,0.044,3324,1323,2187,0,0,0,0,0,0
$GC,5141,0.90,97.3,379.8,15.8,282,5145,0.00,0.75,0.00,0.000,6,0.000,0.028,3324,1845,2186,0,0,0,0,0,0
$GC,5468,0.90,97.3,328.0,16.3,298,5472,0.00,0.85,0.00,0.000,4,0.000,0.044,3327,1307,2186,0,0,0,0,0,0
$GC,5725,0.90,97.3,285.5,16.0,309,5730,0.00,0.75,0.00,0.000,6,0.000,0.028,3327,1822,2186,0,0,0,0,0,0
$GC,6049,0.90,97.3,233.9,16.2,325,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1822,2186,0,0,0,0,0,0
$GC,6356,0.90,97.3,185.0,15.7,340,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1822,2186,0,0,0,0,0,0
$GC,6666,0.90,97.3,135.4,16.0,355,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1822,2186,0,0,0,0,0,0
$GC,6978,0.90,97.3,85.6,16.3,374,6981,0.00,2.12,0.00,0.000,4,0.000,0.054,3336,509,2186,0,0,0,0,0,0
$GC,7223,0.90,97.3,45.6,17.0,395,7229,0.00,1.95,0.00,0.000,6,0.000,0.027,3336,1801,2186,0,0,0,0,0,0
$STATE,7494,end climb,SURFACE_DEPTH_REACHED
$STATE,7494,begin surface coast
$FINISH,0.0,1.027248
$STATE,7511,end surface coast,CONTROL_FINISHED_OK
$STATE,7511,begin surface
$SM_CCo,7529,447.02,0.999,5,0,519,510.22
$SM_GC,-25.34,0.00,0.00,447.02,0.000,0.000,0.999,68,1973,519,-9.21,1.78,510.22
$IRIDIUM_FIX,-5354.23,-120.96,180114,232319
$TT8_MAMPS,0.02247
$HUMID,64.33
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,21.5,100.145
$10V_AH,9.8,54.780
$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,24.250,19.075,235.200,447.025,0.000,55.490,40.072,322.645,0.000,0.000,20.804,1097.776,5062.872,835.730,1394.561,182.768,0.000,1499.539,0.000,989.334,0.000,1.007,0.000
$DEVICE_MAMPS,260.100,114.750,1285.200,999.090,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354848
$DATA_FILE_SIZE,23486,433
$CAP_FILE_SIZE,211745,1862
$CFSIZE,2097086464,2055634944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,190114,020104,-5414.909,-119.000,29,1.2,29,-19.8