version: 66.07.10.p01
glider: 574
mission: 8
dive: 421
start: 1 30 114 13 3 43
data:
$ID,574
$MISSION,8
$DIVE,421
$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,-102655.45
$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,69
$R_STBD_OVSHOOT,87
$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,400
$GPS1,300114,125704,-5359.372,-0.677,53,0.8,53,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-69.8
$GPS2,300114,130323,-5359.383,-0.623,18,0.8,18,-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,169.7,1328,-27.8,-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,-0.90,-63.1,0.0,0.0,0,32,0.00,0.00,-5.07,0.000,2,0.000,0.000,68,1856,488,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.3,-0.0,1,190,11.75,2.30,-136.32,0.000,4,0.252,0.060,2726,3256,2997,0,0,0,0,0,0
$GC,196,-0.90,-97.3,30.6,-15.8,27,200,0.00,2.00,0.00,0.000,6,0.000,0.024,2726,1932,2997,0,0,0,0,0,0
$GC,527,-0.90,-97.3,83.1,-16.4,58,531,0.00,2.10,0.00,0.000,4,0.000,0.041,2717,3265,2999,0,0,0,0,0,0
$GC,784,-0.90,-97.3,124.7,-15.7,73,790,0.05,2.10,0.00,0.000,6,0.190,0.028,2732,1912,2999,0,0,0,0,0,0
$GC,1100,-0.90,-97.3,175.2,-16.7,89,1104,0.00,1.67,0.00,0.000,4,0.000,0.036,2726,2993,2999,0,0,0,0,0,0
$GC,1252,-0.90,-97.3,199.5,-16.3,95,1256,0.00,1.65,0.00,0.000,6,0.000,0.029,2726,1896,2999,0,0,0,0,0,0
$GC,1567,-0.90,-97.3,248.2,-15.9,111,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1896,2999,0,0,0,0,0,0
$GC,1876,-0.90,-97.3,298.3,-16.7,126,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1895,3000,0,0,0,0,0,0
$GC,2186,-0.90,-97.3,347.4,-16.1,141,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1897,2999,0,0,0,0,0,0
$GC,2495,-0.90,-97.3,397.6,-15.8,156,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1896,2999,0,0,0,0,0,0
$GC,2804,-0.90,-97.3,447.7,-15.8,171,2808,0.00,0.38,0.00,0.000,4,0.000,0.034,2725,2204,2998,0,0,0,0,0,0
$GC,3061,-0.90,-97.3,489.1,-16.4,182,3066,0.05,0.45,0.00,0.000,6,0.238,0.034,2734,1875,2999,0,0,0,0,0,0
$GC,3383,-0.90,-97.3,540.1,-15.6,198,3386,0.00,0.43,0.00,0.000,4,0.000,0.034,2734,2206,2999,0,0,0,0,0,0
$GC,3634,-0.90,-97.3,580.6,-15.6,209,3638,0.00,0.40,0.00,0.000,6,0.000,0.037,2733,1912,2999,0,0,0,0,0,0
$STATE,3753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3753,begin apogee
$GC,3759,-0.16,0.0,600.1,16.6,215,3910,0.88,0.00,148.07,1.294,6,0.174,0.000,2970,1845,2600,0,0,0,0,0,0
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3911,begin climb
$GC,3913,0.90,97.3,577.8,0.0,222,4013,1.12,0.00,95.88,1.265,6,0.096,0.000,3312,1845,2203,0,0,0,0,0,0
$GC,4308,0.90,97.3,513.1,15.3,242,4312,0.00,1.15,0.00,0.000,4,0.000,0.049,3317,1143,2186,0,0,0,0,0,0
$GC,4566,0.90,97.3,471.6,16.5,253,4570,0.00,0.98,0.00,0.000,6,0.000,0.025,3317,1817,2185,0,0,0,0,0,0
$GC,4887,0.90,97.3,420.1,16.1,269,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1817,2184,0,0,0,0,0,0
$GC,5197,0.90,97.3,370.1,16.0,284,5200,0.00,0.57,0.00,0.000,4,0.000,0.042,3318,1444,2184,0,0,0,0,0,0
$GC,5454,0.90,97.3,328.3,16.3,295,5458,0.00,0.52,0.00,0.000,6,0.000,0.030,3318,1818,2184,0,0,0,0,0,0
$GC,5775,0.90,97.3,276.0,17.0,311,5779,0.00,0.57,0.00,0.000,4,0.000,0.041,3321,1447,2183,0,0,0,0,0,0
$GC,6033,0.90,97.3,234.6,16.0,322,6037,0.00,0.52,0.00,0.000,6,0.000,0.031,3320,1826,2184,0,0,0,0,0,0
$GC,6354,0.90,97.3,183.8,16.1,338,6358,0.00,1.27,0.00,0.000,4,0.000,0.045,3325,1036,2184,0,0,0,0,0,0
$GC,6606,0.90,97.3,143.2,16.7,349,6611,0.00,1.15,0.00,0.000,6,0.000,0.025,3325,1812,2184,0,0,0,0,0,0
$GC,6924,0.90,97.3,93.2,16.0,366,6928,0.00,1.30,0.00,0.000,4,0.000,0.045,3330,1009,2183,0,0,0,0,0,0
$GC,7182,0.90,97.3,52.3,14.7,389,7186,0.00,1.20,0.00,0.000,6,0.000,0.025,3330,1820,2184,0,0,0,0,0,0
$STATE,7490,end climb,SURFACE_DEPTH_REACHED
$STATE,7490,begin surface coast
$FINISH,0.0,1.027399
$STATE,7507,end surface coast,CONTROL_FINISHED_OK
$STATE,7508,begin surface
$SM_CCo,7510,590.30,1.033,3,0,395,540.63
$SM_GC,589.35,10.30,0.00,0.00,0.066,0.000,0.000,79,1911,366,-9.15,0.00,547.99
$IRIDIUM_FIX,-5339.63,0.00,300114,101025
$TT8_MAMPS,0.02247
$HUMID,80.95
$INTERNAL_PRESSURE,8.96966
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,21.3,121.463
$10V_AH,9.7,58.544
$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,24.150,22.875,243.950,590.300,0.000,23.298,18.578,211.348,0.000,0.000,21.368,1120.789,5044.831,981.149,1331.975,126.319,0.000,1541.679,0.000,1049.298,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,113.985,1294.380,1032.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.882,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354816
$DATA_FILE_SIZE,20253,430
$CAP_FILE_SIZE,73027,6
$CFSIZE,2097086464,2046623744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,300114,152212,-5400.176,-1.177,48,1.3,48,-20.4