version: 66.07.10.p01
glider: 574
mission: 8
dive: 422
start: 1 30 114 15 28 31
data:
$ID,574
$MISSION,8
$DIVE,422
$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,-102658.87
$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,40
$R_STBD_OVSHOOT,54
$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,401
$GPS1,300114,152212,-5400.176,-1.177,48,1.3,48,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1305.79
$_SM_ANGLEo,-70.9
$GPS2,300114,152811,-5400.094,-1.077,17,1.0,17,-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,101.9,1185,-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,-5.12,0.000,2,0.000,0.000,65,1913,491,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.1,-0.0,1,186,11.77,2.33,-130.27,0.000,4,0.249,0.061,2732,509,2997,0,0,0,0,0,0
$GC,400,-0.90,-97.3,63.3,-15.1,45,405,0.08,2.12,0.00,0.000,6,0.236,0.027,2736,1914,2999,0,0,0,0,0,0
$GC,732,-0.90,-97.3,117.2,-16.4,71,736,0.00,2.08,0.00,0.000,4,0.000,0.045,2727,3240,2999,0,0,0,0,0,0
$GC,961,-0.90,-97.3,154.1,-16.2,81,966,0.00,2.08,0.00,0.000,6,0.000,0.029,2727,1908,3000,0,0,0,0,0,0
$GC,1283,-0.90,-97.3,204.6,-15.8,97,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1908,3000,0,0,0,0,0,0
$GC,1593,-0.90,-97.3,253.8,-16.2,112,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1907,3000,0,0,0,0,0,0
$GC,1902,-0.90,-97.3,303.1,-15.8,127,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1907,2999,0,0,0,0,0,0
$GC,2211,-0.90,-97.3,352.7,-15.5,142,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1907,2999,0,0,0,0,0,0
$GC,2521,-0.90,-97.3,402.7,-15.8,157,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1907,2998,0,0,0,0,0,0
$GC,2830,-0.90,-97.3,452.4,-16.1,172,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1907,2999,0,0,0,0,0,0
$GC,3139,-0.90,-97.3,501.5,-16.0,187,3143,0.00,0.47,0.00,0.000,4,0.000,0.034,2726,2262,2998,0,0,0,0,0,0
$GC,3396,-0.90,-97.3,543.6,-16.1,198,3401,0.00,0.55,0.00,0.000,6,0.000,0.034,2726,1877,2998,0,0,0,0,0,0
$GC,3718,-0.90,-97.3,595.1,-15.8,214,3723,0.03,0.52,0.00,0.000,4,0.282,0.034,2733,2256,2999,0,0,0,0,0,0
$STATE,3748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3748,begin apogee
$GC,3753,-0.16,0.0,600.5,16.6,215,3926,0.85,0.00,168.75,1.280,6,0.174,0.000,2968,1830,2599,0,0,0,0,0,0
$STATE,3927,end apogee,CONTROL_FINISHED_OK
$STATE,3927,begin climb
$GC,3929,0.90,97.3,572.6,0.0,224,4063,1.15,1.05,126.50,1.229,4,0.094,0.047,3319,1274,2196,0,0,0,0,0,0
$GC,4317,0.90,97.3,510.1,15.6,242,4321,0.00,0.85,0.00,0.000,6,0.000,0.024,3319,1827,2172,0,0,0,0,0,0
$GC,4650,0.90,97.3,458.0,15.5,258,4653,0.00,0.45,0.00,0.000,4,0.000,0.040,3320,1526,2170,0,0,0,0,0,0
$GC,4907,0.90,97.3,416.3,16.0,269,4911,0.00,0.45,0.00,0.000,6,0.000,0.031,3320,1855,2169,0,0,0,0,0,0
$GC,5228,0.90,97.3,364.2,16.0,285,5232,0.00,0.70,0.00,0.000,4,0.000,0.041,3322,1405,2168,0,0,0,0,0,0
$GC,5485,0.90,97.3,322.7,15.6,296,5490,0.00,0.60,0.00,0.000,6,0.000,0.028,3322,1836,2168,0,0,0,0,0,0
$GC,5807,0.90,97.3,271.8,16.4,312,5811,0.00,0.85,0.00,0.000,4,0.000,0.044,3325,1303,2168,0,0,0,0,0,0
$GC,6064,0.90,97.3,230.3,16.6,323,6069,0.00,0.75,0.00,0.000,6,0.000,0.027,3325,1821,2168,0,0,0,0,0,0
$GC,6386,0.90,97.3,179.1,16.2,339,6390,0.00,0.57,0.00,0.000,4,0.000,0.043,3326,1449,2168,0,0,0,0,0,0
$GC,6549,0.90,97.3,152.8,16.8,346,6553,0.00,0.50,0.00,0.000,6,0.000,0.031,3326,1824,2168,0,0,0,0,0,0
$GC,6876,0.90,97.3,100.1,16.4,362,6879,0.00,0.75,0.00,0.000,4,0.000,0.042,3329,1350,2168,0,0,0,0,0,0
$GC,7134,0.90,97.3,58.8,15.5,384,7138,0.00,0.65,0.00,0.000,6,0.000,0.029,3329,1823,2168,0,0,0,0,0,0
$GC,7463,0.90,97.3,6.2,15.8,422,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1823,2168,0,0,0,0,0,0
$STATE,7484,end climb,SURFACE_DEPTH_REACHED
$STATE,7484,begin surface coast
$FINISH,0.0,1.027395
$STATE,7502,end surface coast,CONTROL_FINISHED_OK
$STATE,7502,begin surface
$SM_CCo,7504,552.12,1.034,5,0,395,540.63
$SM_GC,596.28,10.30,0.00,0.00,0.065,0.000,0.000,76,1834,382,-9.16,-2.15,544.07
$IRIDIUM_FIX,-5339.63,0.00,300114,121240
$TT8_MAMPS,0.021721
$HUMID,81.46
$INTERNAL_PRESSURE,8.96966
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.2,121.739
$10V_AH,9.7,58.584
$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,24.175,18.950,295.250,552.125,0.000,22.549,18.667,192.232,0.000,0.000,21.015,1110.498,5019.008,963.621,1330.487,127.975,0.000,1556.011,0.000,1068.581,0.000,1.008,0.000
$DEVICE_MAMPS,281.520,61.200,1279.845,1034.280,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20197,429
$CAP_FILE_SIZE,73999,12
$CFSIZE,2097086464,2046525440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,300114,174728,-5400.212,-0.023,110,0.8,110,-20.4