version: 66.07.10.p01
glider: 574
mission: 8
dive: 394
start: 1 27 114 18 13 13
data:
$ID,574
$MISSION,8
$DIVE,394
$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,-102558.21
$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,36
$R_STBD_OVSHOOT,81
$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,373
$GPS1,270114,180624,-5407.101,-21.285,70,0.9,70,-20.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-40.02
$_SM_ANGLEo,-72.0
$GPS2,270114,181253,-5407.113,-21.302,18,0.9,19,-20.2
$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,80.6,26670,-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,25,-0.73,-97.3,0.0,0.0,0,32,0.00,0.00,-5.10,0.000,2,0.000,0.000,67,1945,493,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.1,-0.0,1,199,12.18,2.42,-144.05,0.000,4,0.255,0.067,2791,504,2997,0,0,0,0,0,0
$GC,355,-0.73,-97.3,56.5,-16.1,41,361,0.00,2.10,0.00,0.000,6,0.000,0.028,2783,1873,2997,0,0,0,0,0,0
$GC,682,-0.73,-97.3,107.8,-15.6,70,685,0.00,1.35,0.00,0.000,4,0.000,0.041,2777,2742,2998,0,0,0,0,0,0
$GC,782,-0.73,-97.3,124.4,-15.6,74,787,0.05,1.30,0.00,0.000,6,0.184,0.029,2791,1897,2997,0,0,0,0,0,0
$GC,1103,-0.73,-97.3,175.2,-16.1,90,1107,0.00,1.08,0.00,0.000,4,0.000,0.035,2788,2597,2998,0,0,0,0,0,0
$GC,1284,-0.73,-97.3,204.5,-15.4,98,1287,0.00,1.05,0.00,0.000,6,0.000,0.031,2788,1905,2998,0,0,0,0,0,0
$GC,1616,-0.73,-97.3,257.9,-15.8,114,1620,0.00,0.38,0.00,0.000,4,0.000,0.037,2787,2198,2998,0,0,0,0,0,0
$GC,1766,-0.73,-97.3,282.5,-17.0,120,1772,0.00,0.43,0.00,0.000,6,0.000,0.037,2787,1890,2998,0,0,0,0,0,0
$GC,2082,-0.73,-97.3,332.7,-15.6,136,2086,0.00,1.25,0.00,0.000,4,0.000,0.047,2787,1101,2998,0,0,0,0,0,0
$GC,2205,-0.73,-97.3,352.8,-16.2,141,2209,0.00,1.25,0.00,0.000,6,0.000,0.026,2783,1931,2998,0,0,0,0,0,0
$GC,2526,-0.73,-97.3,403.8,-16.3,157,2530,0.00,0.62,0.00,0.000,4,0.000,0.038,2780,2375,2998,0,0,0,0,0,0
$GC,2671,-0.73,-97.3,426.7,-14.3,163,2676,0.08,0.68,0.00,0.000,6,0.208,0.033,2794,1911,2998,0,0,0,0,0,0
$GC,2993,-0.73,-97.3,476.6,-15.8,179,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1911,2998,0,0,0,0,0,0
$GC,3304,-0.73,-97.3,525.2,-15.7,194,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1911,2998,0,0,0,0,0,0
$GC,3611,-0.73,-97.3,574.6,-16.1,209,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1911,2998,0,0,0,0,0,0
$STATE,3774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3775,begin apogee
$GC,3780,-0.16,0.0,601.4,16.5,217,3875,0.62,0.00,89.22,1.278,6,0.162,0.000,2971,1837,2598,0,0,0,0,0,0
$STATE,3876,end apogee,CONTROL_FINISHED_OK
$STATE,3876,begin climb
$GC,3878,0.73,97.3,585.8,0.0,222,3980,0.90,0.65,93.07,1.206,4,0.101,0.049,3258,1464,2201,0,0,0,0,0,0
$GC,4233,0.73,97.3,528.5,15.6,238,4237,0.00,0.55,0.00,0.000,6,0.000,0.028,3258,1837,2188,0,0,0,0,0,0
$GC,4562,0.73,97.3,476.3,16.0,254,4565,0.00,0.50,0.00,0.000,4,0.000,0.043,3259,1513,2186,0,0,0,0,0,0
$GC,4819,0.73,97.3,434.6,15.9,265,4823,0.00,0.45,0.00,0.000,6,0.000,0.031,3259,1830,2185,0,0,0,0,0,0
$GC,5140,0.73,97.3,384.1,15.1,281,5144,0.00,1.15,0.00,0.000,4,0.000,0.047,3263,1121,2184,0,0,0,0,0,0
$GC,5320,0.73,97.3,355.2,15.2,289,5324,0.00,1.02,0.00,0.000,6,0.000,0.026,3264,1820,2184,0,0,0,0,0,0
$GC,5653,0.73,97.3,301.3,16.4,305,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1820,2184,0,0,0,0,0,0
$GC,5964,0.73,97.3,251.4,16.0,320,5967,0.00,1.12,0.00,0.000,4,0.000,0.048,3267,1117,2184,0,0,0,0,0,0
$GC,6176,0.73,97.3,216.7,15.8,329,6180,0.00,1.05,0.00,0.000,6,0.000,0.025,3267,1819,2184,0,0,0,0,0,0
$GC,6498,0.73,97.3,165.5,16.2,345,6501,0.00,1.10,0.00,0.000,4,0.000,0.047,3271,1132,2184,0,0,0,0,0,0
$GC,6755,0.73,97.3,123.9,16.0,356,6759,0.00,1.02,0.00,0.000,6,0.000,0.025,3271,1825,2184,0,0,0,0,0,0
$GC,7082,0.73,97.3,72.1,17.3,380,7085,0.00,1.70,0.00,0.000,4,0.000,0.050,3278,769,2183,0,0,0,0,0,0
$GC,7285,0.73,97.3,40.0,16.2,398,7289,0.00,1.58,0.00,0.000,6,0.000,0.025,3278,1807,2183,0,0,0,0,0,0
$STATE,7517,end climb,SURFACE_DEPTH_REACHED
$STATE,7517,begin surface coast
$FINISH,0.0,1.027280
$STATE,7536,end surface coast,CONTROL_FINISHED_OK
$STATE,7536,begin surface
$SM_CCo,7554,456.60,0.976,7,0,519,510.22
$SM_GC,-40.02,0.00,0.00,456.60,0.000,0.000,0.976,68,1950,519,-9.21,1.13,510.22
$IRIDIUM_FIX,-5346.92,-22.01,270114,151508
$TT8_MAMPS,0.053179
$HUMID,76.34
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.5,115.023
$10V_AH,9.7,57.454
$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,23.375,26.000,182.300,456.600,0.000,23.578,47.656,191.785,0.000,0.000,22.203,1137.859,4950.354,799.781,1358.742,190.431,0.000,1529.196,0.000,1127.117,0.000,1.010,0.000
$DEVICE_MAMPS,254.745,107.865,1278.315,976.140,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354832
$DATA_FILE_SIZE,23551,432
$CAP_FILE_SIZE,199715,1673
$CFSIZE,2097086464,2049212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1
$GPS,270114,202834,-5407.009,-20.238,39,0.8,39,-20.3