version: 66.07.10.p01
glider: 574
mission: 8
dive: 442
start: 2 1 114 15 39 51
data:
$ID,574
$MISSION,8
$DIVE,442
$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,-102723.87
$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,48
$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,421
$GPS1,010214,153249,-5400.015,-0.110,21,0.7,22,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.36
$_SM_ANGLEo,-68.9
$GPS2,010214,153931,-5400.057,-0.366,21,0.7,21,-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,95.7,412,-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,23,begin dive
$GC,25,-0.90,-63.1,0.0,0.0,0,32,0.00,0.00,-4.88,0.000,2,0.000,0.000,66,1940,627,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.4,-0.0,1,181,11.65,2.15,-128.23,0.000,4,0.246,0.054,2728,3284,2997,0,0,0,0,0,0
$GC,433,-0.90,-97.3,68.9,-16.2,47,439,0.00,2.12,0.00,0.000,6,0.000,0.028,2728,1922,2998,0,0,0,0,0,0
$GC,755,-0.90,-97.3,119.6,-15.6,72,758,0.00,0.80,0.00,0.000,4,0.000,0.031,2725,2468,2998,0,0,0,0,0,0
$GC,961,-0.90,-97.3,153.1,-16.4,81,966,0.05,0.88,0.00,0.000,6,0.250,0.030,2733,1885,2999,0,0,0,0,0,0
$GC,1288,-0.90,-97.3,204.6,-15.8,97,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1885,2999,0,0,0,0,0,0
$GC,1597,-0.90,-97.3,254.4,-16.6,112,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1885,3000,0,0,0,0,0,0
$GC,1906,-0.90,-97.3,304.2,-16.1,127,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1886,2999,0,0,0,0,0,0
$GC,2216,-0.90,-97.3,353.9,-16.2,142,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1885,2998,0,0,0,0,0,0
$GC,2525,-0.90,-97.3,403.2,-16.0,157,2529,0.00,0.47,0.00,0.000,4,0.000,0.033,2733,2243,2998,0,0,0,0,0,0
$GC,2782,-0.90,-97.3,444.3,-15.7,168,2786,0.00,0.50,0.00,0.000,6,0.000,0.034,2733,1893,2998,0,0,0,0,0,0
$GC,3104,-0.90,-97.3,494.6,-15.6,184,3108,0.00,0.50,0.00,0.000,4,0.000,0.031,2732,2266,2997,0,0,0,0,0,0
$GC,3356,-0.90,-97.3,535.3,-16.0,195,3360,0.00,0.52,0.00,0.000,6,0.000,0.034,2732,1899,2998,0,0,0,0,0,0
$GC,3683,-0.90,-97.3,586.8,-15.3,211,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1899,2997,0,0,0,0,0,0
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3764,begin apogee
$GC,3769,-0.16,0.0,600.0,15.9,215,3927,0.90,0.00,154.70,1.255,6,0.173,0.000,2974,1830,2600,0,0,0,0,0,0
$STATE,3928,end apogee,CONTROL_FINISHED_OK
$STATE,3928,begin climb
$GC,3930,0.90,97.3,574.9,0.0,223,4028,1.12,0.00,94.32,1.250,6,0.093,0.000,3314,1830,2203,0,0,0,0,0,0
$GC,4336,0.90,97.3,509.8,16.0,243,4340,0.00,1.02,0.00,0.000,4,0.000,0.048,3319,1200,2190,0,0,0,0,0,0
$GC,4594,0.90,97.3,468.0,16.0,254,4598,0.00,0.90,0.00,0.000,6,0.000,0.024,3319,1815,2188,0,0,0,0,0,0
$GC,4915,0.90,97.3,417.4,15.6,270,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1815,2187,0,0,0,0,0,0
$GC,5225,0.90,97.3,367.9,16.4,285,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1815,2187,0,0,0,0,0,0
$GC,5534,0.90,97.3,318.5,16.4,300,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1815,2187,0,0,0,0,0,0
$GC,5843,0.90,97.3,268.6,16.2,315,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1815,2187,0,0,0,0,0,0
$GC,6153,0.90,97.3,219.5,16.5,330,6156,0.00,0.68,0.00,0.000,4,0.000,0.043,3321,1384,2187,0,0,0,0,0,0
$GC,6410,0.90,97.3,178.5,16.7,341,6414,0.00,0.65,0.00,0.000,6,0.000,0.027,3321,1846,2187,0,0,0,0,0,0
$GC,6732,0.90,97.3,128.5,15.5,357,6735,0.00,0.73,0.00,0.000,4,0.000,0.041,3324,1381,2187,0,0,0,0,0,0
$GC,6991,0.90,97.3,86.8,16.2,372,6994,0.00,0.60,0.00,0.000,6,0.000,0.028,3323,1832,2186,0,0,0,0,0,0
$GC,7321,0.90,97.3,33.4,16.2,403,7325,0.00,1.25,0.00,0.000,4,0.000,0.044,3328,1056,2187,0,0,0,0,0,0
$GC,7462,0.90,97.3,10.9,15.9,420,7467,0.00,1.10,0.00,0.000,6,0.000,0.025,3328,1804,2186,0,0,0,0,0,0
$STATE,7513,end climb,SURFACE_DEPTH_REACHED
$STATE,7513,begin surface coast
$FINISH,0.0,1.027289
$STATE,7530,end surface coast,CONTROL_FINISHED_OK
$STATE,7530,begin surface
$SM_CCo,7548,442.42,1.003,4,0,520,510.22
$SM_GC,-23.41,0.00,0.00,442.42,0.000,0.000,1.003,66,1939,520,-9.21,0.82,510.22
$IRIDIUM_FIX,-5343.28,-223.00,010214,131352
$TT8_MAMPS,0.02247
$HUMID,78.15
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.4,126.416
$10V_AH,9.7,59.365
$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,23.625,15.050,249.025,442.425,0.000,25.332,49.542,197.200,0.000,0.000,24.756,1103.765,5082.858,832.158,1268.974,128.416,0.000,1352.690,0.000,970.960,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,113.985,1255.365,1002.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354792
$DATA_FILE_SIZE,23651,432
$CAP_FILE_SIZE,68558,4
$CFSIZE,2097086464,2044559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,010214,175434,-5359.958,0.238,34,0.8,34,-20.4