version: 66.07.10.p01
glider: 574
mission: 8
dive: 414
start: 1 29 114 19 49 49
data:
$ID,574
$MISSION,8
$DIVE,414
$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,-102630.92
$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,52
$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,393
$GPS1,290114,194242,-5400.837,-4.638,16,1.0,16,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-70.5
$GPS2,290114,194929,-5400.833,-4.638,16,0.9,17,-20.4
$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,93.4,5279,-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,-5.30,0.000,2,0.000,0.000,67,1894,494,0,0,0,0,0,0
$GC,34,-0.73,-97.3,4.5,-0.0,1,190,10.95,2.28,-138.30,0.000,4,0.218,0.057,2782,3301,2998,0,0,0,0,0,0
$GC,438,-0.73,-97.3,69.4,-15.7,48,443,0.00,2.12,0.00,0.000,6,0.000,0.028,2782,1905,3000,0,0,0,0,0,0
$GC,759,-0.73,-97.3,121.5,-16.8,72,761,0.03,0.00,0.00,0.000,6,0.287,0.000,2789,1905,3000,0,0,0,0,0,0
$GC,1069,-0.73,-97.3,171.7,-16.7,87,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1905,3000,0,0,0,0,0,0
$GC,1378,-0.73,-97.3,222.0,-16.7,102,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1905,3000,0,0,0,0,0,0
$GC,1687,-0.73,-97.3,271.2,-15.7,117,1691,0.00,0.62,0.00,0.000,4,0.000,0.044,2790,1481,3001,0,0,0,0,0,0
$GC,1759,-0.73,-97.3,282.9,-15.6,120,1763,0.00,0.65,0.00,0.000,6,0.000,0.029,2789,1938,3000,0,0,0,0,0,0
$GC,2086,-0.73,-97.3,333.7,-15.8,136,2090,0.00,0.52,0.00,0.000,4,0.000,0.037,2786,2327,3000,0,0,0,0,0,0
$GC,2344,-0.73,-97.3,375.6,-16.1,147,2348,0.00,0.65,0.00,0.000,6,0.000,0.034,2786,1888,2999,0,0,0,0,0,0
$GC,2665,-0.73,-97.3,427.0,-16.2,163,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1888,2999,0,0,0,0,0,0
$GC,2975,-0.73,-97.3,476.5,-16.5,178,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1888,2999,0,0,0,0,0,0
$GC,3284,-0.73,-97.3,526.2,-16.3,193,3288,0.00,0.55,0.00,0.000,4,0.000,0.031,2784,2294,2999,0,0,0,0,0,0
$GC,3435,-0.73,-97.3,550.6,-16.2,199,3440,0.00,0.55,0.00,0.000,6,0.000,0.034,2784,1902,2999,0,0,0,0,0,0
$STATE,3751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3751,begin apogee
$GC,3756,-0.16,0.0,601.4,16.0,215,3850,0.68,0.00,90.10,1.285,6,0.158,0.000,2974,1830,2600,0,0,0,0,0,0
$STATE,3851,end apogee,CONTROL_FINISHED_OK
$STATE,3851,begin climb
$GC,3853,0.73,97.3,584.8,0.0,220,3954,0.90,0.00,92.75,1.209,6,0.099,0.000,3258,1830,2201,0,0,0,0,0,0
$GC,4264,0.73,97.3,520.1,15.8,240,4267,0.00,0.90,0.00,0.000,4,0.000,0.047,3262,1265,2185,0,0,0,0,0,0
$GC,4476,0.73,97.3,485.6,16.2,249,4480,0.00,0.82,0.00,0.000,6,0.000,0.023,3262,1814,2184,0,0,0,0,0,0
$GC,4798,0.73,97.3,434.8,15.8,265,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1814,2182,0,0,0,0,0,0
$GC,5107,0.73,97.3,385.2,16.1,280,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1814,2182,0,0,0,0,0,0
$GC,5417,0.73,97.3,336.0,15.5,295,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1814,2182,0,0,0,0,0,0
$GC,5726,0.73,97.3,288.2,14.9,310,5729,0.00,0.75,0.00,0.000,4,0.000,0.043,3264,1337,2182,0,0,0,0,0,0
$GC,5865,0.73,97.3,265.4,16.4,316,5869,0.00,0.73,0.00,0.000,6,0.000,0.025,3264,1846,2182,0,0,0,0,0,0
$GC,6192,0.73,97.3,213.9,16.3,332,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1846,2181,0,0,0,0,0,0
$GC,6502,0.73,97.3,164.3,16.3,347,6505,0.00,0.77,0.00,0.000,4,0.000,0.042,3267,1356,2181,0,0,0,0,0,0
$GC,6759,0.73,97.3,123.0,15.1,358,6763,0.00,0.68,0.00,0.000,6,0.000,0.028,3267,1839,2181,0,0,0,0,0,0
$GC,7087,0.73,97.3,71.2,16.8,382,7090,0.00,0.57,0.00,0.000,4,0.000,0.041,3268,1464,2181,0,0,0,0,0,0
$GC,7345,0.73,97.3,30.1,15.7,405,7349,0.00,0.45,0.00,0.000,6,0.000,0.031,3268,1799,2181,0,0,0,0,0,0
$STATE,7516,end climb,SURFACE_DEPTH_REACHED
$STATE,7516,begin surface coast
$FINISH,0.0,1.027290
$STATE,7532,end surface coast,CONTROL_FINISHED_OK
$STATE,7532,begin surface
$SM_CCo,7535,582.12,0.960,2,0,396,540.63
$SM_GC,-40.02,9.62,0.00,0.00,0.042,0.000,0.000,87,1939,367,-9.16,0.79,547.75
$IRIDIUM_FIX,-5339.63,-7.32,290114,171734
$TT8_MAMPS,0.02247
$HUMID,82.01
$INTERNAL_PRESSURE,8.9599
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.5,119.792
$10V_AH,9.8,58.261
$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,22.175,13.800,182.850,582.125,0.000,30.172,46.193,206.226,0.000,0.000,20.183,1102.412,5279.833,885.308,1254.366,122.791,0.000,1415.118,0.000,948.915,0.000,1.006,0.000
$DEVICE_MAMPS,286.875,112.455,1285.200,960.075,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354856
$DATA_FILE_SIZE,23595,433
$CAP_FILE_SIZE,71139,34
$CFSIZE,2097086464,2047311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,290114,220854,-5400.593,-3.457,74,0.9,74,-20.4