version: 66.07.10.p01
glider: 574
mission: 8
dive: 405
start: 1 28 114 21 57 20
data:
$ID,574
$MISSION,8
$DIVE,405
$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,-102596.48
$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,41
$R_STBD_OVSHOOT,76
$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,384
$GPS1,280114,215022,-5403.507,-11.692,133,0.8,133,-20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-72.7
$GPS2,280114,215700,-5403.482,-11.712,20,0.8,20,-20.3
$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,83.5,14288,-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,-5.30,0.000,2,0.000,0.000,67,1841,510,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.4,-0.0,1,190,11.75,2.15,-137.73,0.000,4,0.246,0.057,2790,503,2996,0,0,0,0,0,0
$GC,349,-0.73,-97.3,54.5,-16.1,40,353,0.00,2.10,0.00,0.000,6,0.000,0.025,2782,1878,2999,0,0,0,0,0,0
$GC,684,-0.73,-97.3,107.8,-15.8,69,687,0.00,1.23,0.00,0.000,4,0.000,0.038,2777,2677,2999,0,0,0,0,0,0
$GC,819,-0.73,-97.3,129.8,-16.7,75,823,0.05,1.17,0.00,0.000,6,0.190,0.031,2790,1905,2999,0,0,0,0,0,0
$GC,1151,-0.73,-97.3,182.1,-15.7,91,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1905,2999,0,0,0,0,0,0
$GC,1460,-0.73,-97.3,230.8,-15.7,106,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1905,3000,0,0,0,0,0,0
$GC,1769,-0.73,-97.3,280.7,-16.4,121,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1905,3000,0,0,0,0,0,0
$GC,2079,-0.73,-97.3,329.5,-15.4,136,2082,0.00,0.60,0.00,0.000,4,0.000,0.033,2789,2334,2999,0,0,0,0,0,0
$GC,2173,-0.73,-97.3,344.7,-16.3,140,2177,0.00,0.65,0.00,0.000,6,0.000,0.033,2789,1891,2998,0,0,0,0,0,0
$GC,2500,-0.73,-97.3,396.5,-15.7,156,2504,0.00,0.55,0.00,0.000,4,0.000,0.046,2789,1510,2999,0,0,0,0,0,0
$GC,2628,-0.73,-97.3,417.4,-15.8,161,2634,0.00,0.62,0.00,0.000,6,0.000,0.029,2787,1956,2998,0,0,0,0,0,0
$GC,2944,-0.73,-97.3,467.0,-15.8,177,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1956,2998,0,0,0,0,0,0
$GC,3254,-0.73,-97.3,516.7,-16.7,192,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1957,2998,0,0,0,0,0,0
$GC,3563,-0.73,-97.3,566.5,-15.8,207,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1957,2998,0,0,0,0,0,0
$STATE,3788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3788,begin apogee
$GC,3793,-0.16,0.0,602.5,15.7,218,3950,0.68,0.00,153.23,1.186,6,0.160,0.000,2976,1809,2600,0,0,0,0,0,0
$STATE,3951,end apogee,CONTROL_FINISHED_OK
$STATE,3951,begin climb
$GC,3953,0.73,97.3,577.4,0.0,226,4051,0.93,0.85,91.95,1.125,4,0.094,0.047,3262,1348,2202,0,0,0,0,0,0
$GC,4304,0.73,97.3,520.1,16.8,242,4308,0.00,0.70,0.00,0.000,6,0.000,0.024,3262,1797,2188,0,0,0,0,0,0
$GC,4631,0.73,97.3,468.4,15.6,258,4635,0.00,0.70,0.00,0.000,4,0.000,0.044,3264,1357,2185,0,0,0,0,0,0
$GC,4887,0.73,97.3,427.1,16.2,269,4892,0.00,0.70,0.00,0.000,6,0.000,0.027,3264,1850,2185,0,0,0,0,0,0
$GC,5209,0.73,97.3,375.5,16.1,285,5213,0.00,1.15,0.00,0.000,4,0.000,0.045,3268,1136,2184,0,0,0,0,0,0
$GC,5461,0.73,97.3,334.6,16.8,296,5466,0.00,1.00,0.00,0.000,6,0.000,0.024,3268,1817,2184,0,0,0,0,0,0
$GC,5788,0.73,97.3,282.4,15.7,312,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1817,2184,0,0,0,0,0,0
$GC,6098,0.73,97.3,232.3,16.4,327,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1817,2184,0,0,0,0,0,0
$GC,6407,0.73,97.3,183.6,15.7,342,6411,0.00,1.20,0.00,0.000,4,0.000,0.046,3272,1074,2183,0,0,0,0,0,0
$GC,6542,0.73,97.3,161.8,16.1,348,6546,0.00,1.08,0.00,0.000,6,0.000,0.025,3272,1808,2183,0,0,0,0,0,0
$GC,6875,0.73,97.3,108.3,16.2,364,6878,0.00,0.52,0.00,0.000,4,0.000,0.042,3274,1461,2183,0,0,0,0,0,0
$GC,7133,0.73,97.3,67.0,16.2,384,7137,0.00,0.50,0.00,0.000,6,0.000,0.032,3274,1845,2183,0,0,0,0,0,0
$GC,7459,0.73,97.3,15.7,15.7,416,7464,0.00,1.40,0.00,0.000,4,0.000,0.048,3279,987,2183,0,0,0,0,0,0
$STATE,7543,end climb,SURFACE_DEPTH_REACHED
$STATE,7543,begin surface coast
$FINISH,0.0,1.027403
$STATE,7560,end surface coast,CONTROL_FINISHED_OK
$STATE,7560,begin surface
$SM_CCo,7562,591.15,0.988,2,0,395,540.63
$SM_GC,550.05,10.02,0.00,0.00,0.062,0.000,0.000,93,1898,365,-9.14,-0.34,547.99
$IRIDIUM_FIX,-5343.28,-10.99,280114,191901
$TT8_MAMPS,0.023968
$HUMID,83.19
$INTERNAL_PRESSURE,8.9599
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.4,117.615
$10V_AH,9.7,57.904
$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,23.425,20.575,245.175,591.150,0.000,27.534,39.944,203.551,0.000,0.000,22.544,1105.540,5207.658,963.955,1270.129,125.128,0.000,1514.741,0.000,975.045,0.000,1.007,0.000
$DEVICE_MAMPS,245.565,57.375,1185.750,988.380,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354872
$DATA_FILE_SIZE,23568,434
$CAP_FILE_SIZE,81397,149
$CFSIZE,2097086464,2048196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,290114,001653,-5403.173,-10.707,64,1.2,64,-20.3