version: 66.07.10.p01
glider: 574
mission: 8
dive: 437
start: 2 1 114 3 51 24
data:
$ID,574
$MISSION,8
$DIVE,437
$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,-102708.38
$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,45
$R_STBD_OVSHOOT,98
$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,416
$GPS1,010214,034417,-5400.243,-1.278,17,1.0,17,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-20.38
$_SM_ANGLEo,-72.4
$GPS2,010214,035104,-5400.257,-1.316,24,1.0,25,-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,92.0,1510,-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,-5.22,0.000,2,0.000,0.000,66,1951,634,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.4,-0.0,1,186,12.27,2.10,-132.32,0.000,4,0.263,0.058,2737,3258,2997,0,0,0,0,0,0
$GC,389,-0.90,-97.3,62.1,-15.2,44,393,0.00,2.08,0.00,0.000,6,0.000,0.029,2737,1906,2998,0,0,0,0,0,0
$GC,719,-0.90,-97.3,114.1,-16.0,71,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1906,2998,0,0,0,0,0,0
$GC,1026,-0.90,-97.3,163.4,-15.9,86,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1906,2998,0,0,0,0,0,0
$GC,1335,-0.90,-97.3,213.0,-15.9,101,1339,0.00,0.40,0.00,0.000,4,0.000,0.048,2737,1614,2998,0,0,0,0,0,0
$GC,1390,-0.90,-97.3,222.2,-17.0,103,1394,0.00,0.38,0.00,0.000,6,0.000,0.034,2737,1900,2998,0,0,0,0,0,0
$GC,1712,-0.90,-97.3,273.4,-16.4,119,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1900,2998,0,0,0,0,0,0
$GC,2021,-0.90,-97.3,323.3,-16.0,134,2024,0.00,0.88,0.00,0.000,4,0.000,0.036,2733,2500,2997,0,0,0,0,0,0
$GC,2278,-0.90,-97.3,364.4,-15.6,145,2283,0.00,0.93,0.00,0.000,6,0.000,0.031,2733,1893,2997,0,0,0,0,0,0
$GC,2600,-0.90,-97.3,414.5,-16.1,161,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1893,2997,0,0,0,0,0,0
$GC,2909,-0.90,-97.3,463.7,-15.6,176,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1893,2997,0,0,0,0,0,0
$GC,3219,-0.90,-97.3,513.4,-16.6,191,3222,0.00,0.40,0.00,0.000,4,0.000,0.035,2731,2211,2997,0,0,0,0,0,0
$GC,3341,-0.90,-97.3,533.8,-16.9,196,3345,0.00,0.45,0.00,0.000,6,0.000,0.035,2732,1892,2997,0,0,0,0,0,0
$GC,3663,-0.90,-97.3,584.9,-15.9,212,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1892,2997,0,0,0,0,0,0
$STATE,3764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3764,begin apogee
$GC,3769,-0.16,0.0,601.3,15.9,217,3933,0.90,0.00,160.57,1.251,6,0.177,0.000,2970,1840,2600,0,0,0,0,0,0
$STATE,3934,end apogee,CONTROL_FINISHED_OK
$STATE,3934,begin climb
$GC,3936,0.90,97.3,576.1,0.0,225,4035,1.15,0.00,95.07,1.252,6,0.095,0.000,3315,1840,2202,0,0,0,0,0,0
$GC,4337,0.90,97.3,510.2,16.1,245,4340,0.00,1.00,0.00,0.000,4,0.000,0.049,3320,1226,2189,0,0,0,0,0,0
$GC,4594,0.90,97.3,468.5,16.3,256,4598,0.00,0.85,0.00,0.000,6,0.000,0.024,3320,1797,2187,0,0,0,0,0,0
$GC,4916,0.90,97.3,418.1,15.6,272,4920,0.00,0.60,0.00,0.000,4,0.000,0.041,3321,1407,2186,0,0,0,0,0,0
$GC,5173,0.90,97.3,376.3,15.6,283,5177,0.00,0.62,0.00,0.000,6,0.000,0.028,3321,1857,2185,0,0,0,0,0,0
$GC,5495,0.90,97.3,324.0,16.1,299,5499,0.00,0.93,0.00,0.000,4,0.000,0.042,3325,1275,2185,0,0,0,0,0,0
$GC,5720,0.90,97.3,287.6,15.6,309,5724,0.00,0.75,0.00,0.000,6,0.000,0.026,3325,1795,2185,0,0,0,0,0,0
$GC,6053,0.90,97.3,234.1,16.1,325,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1794,2185,0,0,0,0,0,0
$GC,6362,0.90,97.3,183.3,16.5,340,6365,0.00,0.80,0.00,0.000,4,0.000,0.044,3327,1294,2185,0,0,0,0,0,0
$GC,6619,0.90,97.3,142.0,15.9,351,6624,0.00,0.77,0.00,0.000,6,0.000,0.026,3327,1830,2185,0,0,0,0,0,0
$GC,6943,0.90,97.3,92.2,15.8,369,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1830,2185,0,0,0,0,0,0
$GC,7262,0.90,97.3,41.5,16.2,399,7266,0.00,0.68,0.00,0.000,4,0.000,0.041,3329,1396,2185,0,0,0,0,0,0
$STATE,7502,end climb,SURFACE_DEPTH_REACHED
$STATE,7502,begin surface coast
$FINISH,0.0,1.027329
$STATE,7520,end surface coast,CONTROL_FINISHED_OK
$STATE,7520,begin surface
$SM_CCo,7539,440.88,1.007,4,0,520,510.22
$SM_GC,-21.51,0.00,0.00,440.88,0.000,0.000,1.007,67,1920,520,-9.23,0.31,510.22
$IRIDIUM_FIX,-5339.63,0.00,010214,010149
$TT8_MAMPS,0.02247
$HUMID,77.91
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.3,125.289
$10V_AH,9.9,59.172
$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,24.200,15.400,255.650,440.875,0.000,30.786,44.405,197.967,0.000,0.000,28.114,1105.605,5062.093,839.500,1272.771,130.148,0.000,1361.806,0.000,969.964,0.000,1.009,0.000
$DEVICE_MAMPS,263.160,147.645,1251.540,1006.740,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23646,433
$CAP_FILE_SIZE,68285,4
$CFSIZE,2097086464,2045050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,010214,060558,-5400.146,-0.777,37,0.9,37,-20.4