version: 66.07.10.p01
glider: 574
mission: 8
dive: 347
start: 1 22 114 21 41 31
data:
$ID,574
$MISSION,8
$DIVE,347
$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,-102386.89
$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,38
$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,326
$GPS1,220114,213435,-5409.356,-111.926,29,1.2,29,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-71.1
$GPS2,220114,214111,-5409.329,-111.853,17,1.5,18,-19.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WP1
$TGT_LATLONG,-5400.000,0.000
$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,97.4,80103,-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,23,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,-5.05,0.000,2,0.000,0.000,67,1907,487,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.2,-0.0,1,196,12.20,2.25,-141.48,0.000,4,0.256,0.062,2786,3291,2997,0,0,0,0,0,0
$GC,444,-0.73,-97.3,70.0,-15.9,49,448,0.00,2.12,0.00,0.000,6,0.000,0.033,2790,1910,2998,0,0,0,0,0,0
$GC,765,-0.73,-97.3,121.2,-15.9,73,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1909,2998,0,0,0,0,0,0
$GC,1074,-0.73,-97.3,171.6,-16.0,88,1078,0.00,0.57,0.00,0.000,4,0.000,0.036,2790,2318,2998,0,0,0,0,0,0
$GC,1142,-0.73,-97.3,182.5,-15.8,91,1146,0.00,0.62,0.00,0.000,6,0.000,0.037,2790,1890,2998,0,0,0,0,0,0
$GC,1474,-0.73,-97.3,235.8,-16.2,107,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1890,2999,0,0,0,0,0,0
$GC,1784,-0.73,-97.3,285.1,-15.7,122,1787,0.00,0.93,0.00,0.000,4,0.000,0.050,2790,1303,2999,0,0,0,0,0,0
$GC,1874,-0.73,-97.3,299.3,-16.5,126,1878,0.00,0.90,0.00,0.000,6,0.000,0.030,2787,1911,2999,0,0,0,0,0,0
$GC,2206,-0.73,-97.3,352.4,-14.9,142,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1912,2998,0,0,0,0,0,0
$GC,2516,-0.73,-97.3,402.3,-15.6,157,2519,0.00,0.45,0.00,0.000,4,0.000,0.041,2784,2251,2998,0,0,0,0,0,0
$GC,2651,-0.73,-97.3,424.0,-16.0,163,2654,0.00,0.50,0.00,0.000,6,0.000,0.040,2784,1905,2998,0,0,0,0,0,0
$GC,2983,-0.73,-97.3,478.0,-16.6,179,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1904,2998,0,0,0,0,0,0
$GC,3292,-0.73,-97.3,527.1,-15.8,194,3296,0.00,0.75,0.00,0.000,4,0.000,0.050,2784,1413,2998,0,0,0,0,0,0
$GC,3398,-0.73,-97.3,544.5,-16.4,198,3403,0.00,0.75,0.00,0.000,6,0.000,0.030,2781,1919,2998,0,0,0,0,0,0
$GC,3714,-0.73,-97.3,593.0,-15.2,214,3718,0.03,0.43,0.00,0.000,4,0.300,0.044,2788,2231,2998,0,0,0,0,0,0
$STATE,3757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3757,begin apogee
$GC,3762,-0.16,0.0,600.1,15.7,216,3854,0.68,0.00,88.55,1.277,6,0.166,0.000,2974,1819,2600,0,0,0,0,0,0
$STATE,3854,end apogee,CONTROL_FINISHED_OK
$STATE,3855,begin climb
$GC,3856,0.73,97.3,586.8,0.0,220,3954,0.93,0.00,93.65,1.164,6,0.105,0.000,3262,1819,2203,0,0,0,0,0,0
$GC,4253,0.73,97.3,520.3,16.4,240,4256,0.00,1.10,0.00,0.000,4,0.000,0.054,3267,1150,2185,0,0,0,0,0,0
$GC,4415,0.73,97.3,493.7,16.6,247,4419,0.00,1.00,0.00,0.000,6,0.000,0.028,3267,1820,2183,0,0,0,0,0,0
$GC,4742,0.73,97.3,443.1,14.9,263,4745,0.00,0.50,0.00,0.000,4,0.000,0.046,3268,1488,2182,0,0,0,0,0,0
$GC,4982,0.73,97.3,404.6,14.9,273,4988,0.00,0.47,0.00,0.000,6,0.000,0.032,3268,1821,2182,0,0,0,0,0,0
$GC,5298,0.73,97.3,353.8,16.2,289,5301,0.00,0.45,0.00,0.000,4,0.000,0.047,3269,1517,2181,0,0,0,0,0,0
$GC,5555,0.73,97.3,312.7,15.5,300,5559,0.00,0.43,0.00,0.000,6,0.000,0.034,3269,1818,2181,0,0,0,0,0,0
$GC,5876,0.73,97.3,261.0,15.9,316,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1818,2181,0,0,0,0,0,0
$GC,6186,0.73,97.3,211.9,16.2,331,6189,0.00,0.57,0.00,0.000,4,0.000,0.046,3271,1450,2181,0,0,0,0,0,0
$GC,6325,0.73,97.3,189.3,15.8,337,6329,0.00,0.55,0.00,0.000,6,0.000,0.031,3271,1837,2181,0,0,0,0,0,0
$GC,6653,0.73,97.3,137.0,16.2,353,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1837,2180,0,0,0,0,0,0
$GC,6963,0.73,97.3,88.7,16.3,371,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1837,2180,0,0,0,0,0,0
$GC,7283,0.73,97.3,38.1,15.6,401,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1837,2180,0,0,0,0,0,0
$STATE,7498,end climb,SURFACE_DEPTH_REACHED
$STATE,7498,begin surface coast
$FINISH,0.2,1.027194
$STATE,7516,end surface coast,CONTROL_FINISHED_OK
$STATE,7516,begin surface
$SM_CCo,7519,423.50,0.962,0,0,396,540.63
$SM_GC,1305.79,9.35,0.00,0.00,0.054,0.000,0.000,81,1849,380,-9.16,-1.72,544.31
$IRIDIUM_FIX,-5350.58,-109.85,220114,191924
$TT8_MAMPS,0.053179
$HUMID,78.11
$INTERNAL_PRESSURE,8.96966
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.7,104.063
$10V_AH,9.8,55.621
$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,23.175,15.975,182.200,423.500,0.000,27.264,48.265,201.461,0.000,0.000,21.411,1108.801,5377.207,744.052,1232.932,110.771,0.000,1253.768,0.000,930.496,0.000,1.007,0.000
$DEVICE_MAMPS,299.880,61.965,1276.785,961.605,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354852
$DATA_FILE_SIZE,23660,433
$CAP_FILE_SIZE,68885,0
$CFSIZE,2097086464,2053996544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,220114,235858,-5409.247,-110.126,38,1.0,38,-19.9