version: 66.07.10.p01
glider: 574
mission: 8
dive: 367
start: 1 25 114 0 12 43
data:
$ID,574
$MISSION,8
$DIVE,367
$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,-102457.95
$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,31
$R_STBD_OVSHOOT,63
$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,346
$GPS1,250114,000531,-5408.578,-46.533,16,0.7,17,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-68.7
$GPS2,250114,001223,-5408.629,-46.498,37,0.9,38,-20.1
$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,92.6,53079,-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,22,begin dive
$GC,24,-0.73,-97.3,0.0,0.0,0,32,0.00,0.00,-5.43,0.000,2,0.000,0.000,67,1938,504,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.3,-0.0,1,196,12.10,2.40,-141.43,0.000,4,0.249,0.070,2796,508,2997,0,0,0,0,0,0
$GC,332,-0.73,-97.3,52.0,-15.7,39,336,0.00,2.12,0.00,0.000,6,0.000,0.031,2788,1884,2998,0,0,0,0,0,0
$GC,657,-0.73,-97.3,104.2,-15.7,68,661,0.00,2.15,0.00,0.000,4,0.000,0.050,2778,3234,2998,0,0,0,0,0,0
$GC,854,-0.73,-97.3,135.4,-13.7,77,858,0.08,2.05,0.00,0.000,6,0.207,0.031,2792,1893,2998,0,0,0,0,0,0
$GC,1185,-0.73,-97.3,189.2,-16.5,93,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1892,2999,0,0,0,0,0,0
$GC,1495,-0.73,-97.3,238.0,-15.6,108,1498,0.00,0.98,0.00,0.000,4,0.000,0.047,2792,1271,2999,0,0,0,0,0,0
$GC,1585,-0.73,-97.3,252.5,-15.5,112,1589,0.00,0.98,0.00,0.000,6,0.000,0.030,2790,1922,2998,0,0,0,0,0,0
$GC,1917,-0.73,-97.3,304.8,-15.7,128,1921,0.00,0.47,0.00,0.000,4,0.000,0.042,2787,2274,2998,0,0,0,0,0,0
$GC,2157,-0.73,-97.3,343.7,-17.1,138,2163,0.00,0.57,0.00,0.000,6,0.000,0.037,2787,1884,2998,0,0,0,0,0,0
$GC,2473,-0.73,-97.3,393.9,-16.0,154,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1884,2998,0,0,0,0,0,0
$GC,2783,-0.73,-97.3,443.6,-16.1,169,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1884,2998,0,0,0,0,0,0
$GC,3092,-0.73,-97.3,492.3,-16.0,184,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1884,2998,0,0,0,0,0,0
$GC,3401,-0.73,-97.3,542.2,-15.9,199,3405,0.00,0.45,0.00,0.000,4,0.000,0.050,2788,1567,2998,0,0,0,0,0,0
$GC,3552,-0.73,-97.3,566.4,-16.6,205,3557,0.00,0.52,0.00,0.000,6,0.000,0.033,2786,1936,2997,0,0,0,0,0,0
$STATE,3783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3783,begin apogee
$GC,3789,-0.16,0.0,602.0,16.0,217,3885,0.68,0.00,89.88,1.280,6,0.163,0.000,2973,1797,2598,0,0,0,0,0,0
$STATE,3886,end apogee,CONTROL_FINISHED_OK
$STATE,3886,begin climb
$GC,3887,0.73,97.3,586.4,0.0,222,3986,0.95,0.00,94.72,1.185,6,0.101,0.000,3264,1797,2203,0,0,0,0,0,0
$GC,4296,0.73,97.3,520.8,16.2,242,4299,0.00,1.02,0.00,0.000,4,0.000,0.053,3269,1171,2187,0,0,0,0,0,0
$GC,4412,0.73,97.3,501.8,16.2,247,4417,0.00,0.98,0.00,0.000,6,0.000,0.027,3269,1820,2187,0,0,0,0,0,0
$GC,4740,0.73,97.3,449.7,15.5,263,4743,0.00,0.32,0.00,0.000,4,0.000,0.044,3269,2089,2185,0,0,0,0,0,0
$GC,4946,0.73,97.3,416.7,15.4,272,4950,0.00,0.35,0.00,0.000,6,0.000,0.042,3270,1850,2184,0,0,0,0,0,0
$GC,5275,0.73,97.3,365.1,15.9,288,5278,0.00,0.98,0.00,0.000,4,0.000,0.053,3274,1240,2183,0,0,0,0,0,0
$GC,5464,0.73,97.3,334.2,15.2,296,5469,0.00,0.85,0.00,0.000,6,0.000,0.027,3274,1815,2183,0,0,0,0,0,0
$GC,5786,0.73,97.3,282.4,16.6,312,5790,0.00,0.68,0.00,0.000,4,0.000,0.045,3276,1385,2182,0,0,0,0,0,0
$GC,5991,0.73,97.3,250.0,16.3,321,5994,0.00,0.62,0.00,0.000,6,0.000,0.031,3276,1840,2182,0,0,0,0,0,0
$GC,6324,0.73,97.3,196.5,16.0,337,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1841,2182,0,0,0,0,0,0
$GC,6632,0.73,97.3,147.4,15.4,352,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1840,2182,0,0,0,0,0,0
$GC,6941,0.73,97.3,97.6,16.4,367,6945,0.00,0.82,0.00,0.000,4,0.000,0.046,3278,1324,2182,0,0,0,0,0,0
$GC,7047,0.73,97.3,80.4,16.1,376,7053,0.00,0.73,0.00,0.000,6,0.000,0.029,3279,1827,2182,0,0,0,0,0,0
$GC,7372,0.73,97.3,28.1,16.4,407,7376,0.00,0.82,0.00,0.000,4,0.000,0.039,3279,2384,2181,0,0,0,0,0,0
$GC,7485,0.73,97.3,10.4,15.9,422,7491,0.03,0.85,0.00,0.000,6,0.206,0.037,3274,1824,2181,0,0,0,0,0,0
$STATE,7535,end climb,SURFACE_DEPTH_REACHED
$STATE,7535,begin surface coast
$FINISH,0.0,1.027264
$STATE,7552,end surface coast,CONTROL_FINISHED_OK
$STATE,7552,begin surface
$SM_CCo,7555,429.83,0.965,0,0,396,540.63
$SM_GC,1305.79,9.82,0.00,0.00,0.061,0.000,0.000,89,1824,384,-9.16,-2.46,543.33
$IRIDIUM_FIX,-5346.92,-44.07,240114,212106
$TT8_MAMPS,0.02247
$HUMID,80.99
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,21.7,108.635
$10V_AH,9.8,56.387
$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,23.650,21.875,184.600,429.825,0.000,30.165,41.444,199.477,0.000,0.000,40.800,1121.474,5239.458,762.093,1284.835,115.689,0.000,1293.068,0.000,966.981,0.000,1.007,0.000
$DEVICE_MAMPS,248.625,70.380,1279.845,965.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354792
$DATA_FILE_SIZE,23659,434
$CAP_FILE_SIZE,71575,0
$CFSIZE,2097086464,2052030464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250114,022948,-5408.408,-45.445,80,1.4,80,-20.1