version: 66.07.10.p01
glider: 574
mission: 8
dive: 462
start: 2 3 114 14 50 53
data:
$ID,574
$MISSION,8
$DIVE,462
$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,-102786.34
$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,52
$R_STBD_OVSHOOT,62
$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,441
$GPS1,030214,144356,-5359.516,-0.505,24,0.8,25,-20.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-25.22
$_SM_ANGLEo,-63.9
$GPS2,030214,145033,-5359.452,-0.975,20,1.2,28,-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,154.1,1469,-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,-4.90,0.000,2,0.000,0.000,66,1909,630,0,0,0,0,0,0
$GC,34,-0.90,-97.3,4.1,-0.0,1,186,11.88,1.35,-133.27,0.000,4,0.252,0.057,2729,2777,2997,0,0,0,0,0,0
$GC,416,-0.90,-97.3,66.3,-15.9,46,421,0.00,1.30,0.00,0.000,6,0.000,0.025,2729,1928,2998,0,0,0,0,0,0
$GC,738,-0.90,-97.3,117.9,-16.2,72,742,0.00,0.57,0.00,0.000,4,0.000,0.042,2729,1529,2999,0,0,0,0,0,0
$GC,907,-0.90,-97.3,145.2,-16.0,79,910,0.00,0.55,0.00,0.000,6,0.000,0.031,2727,1931,2998,0,0,0,0,0,0
$GC,1228,-0.90,-97.3,196.6,-15.7,95,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1931,2999,0,0,0,0,0,0
$GC,1537,-0.90,-97.3,246.8,-16.4,110,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1931,2999,0,0,0,0,0,0
$GC,1847,-0.90,-97.3,295.9,-15.9,125,1850,0.00,0.62,0.00,0.000,4,0.000,0.036,2724,2380,2998,0,0,0,0,0,0
$GC,2104,-0.90,-97.3,337.5,-16.2,136,2109,0.08,0.73,0.00,0.000,6,0.216,0.030,2738,1876,2998,0,0,0,0,0,0
$GC,2425,-0.90,-97.3,386.3,-14.5,152,2429,0.00,0.38,0.00,0.000,4,0.000,0.034,2738,2184,2998,0,0,0,0,0,0
$GC,2682,-0.90,-97.3,428.2,-15.8,163,2686,0.00,0.38,0.00,0.000,6,0.000,0.036,2738,1904,2998,0,0,0,0,0,0
$GC,3004,-0.90,-97.3,478.7,-16.5,179,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1904,2998,0,0,0,0,0,0
$GC,3314,-0.90,-97.3,527.5,-15.2,194,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1904,2999,0,0,0,0,0,0
$GC,3623,-0.90,-97.3,577.4,-16.2,209,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1904,2999,0,0,0,0,0,0
$STATE,3786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3786,begin apogee
$GC,3791,-0.16,0.0,602.7,15.7,217,3881,0.88,0.00,86.18,1.345,6,0.175,0.000,2970,1843,2599,0,0,0,0,0,0
$STATE,3882,end apogee,CONTROL_FINISHED_OK
$STATE,3882,begin climb
$GC,3884,0.90,97.3,590.0,0.0,221,3984,1.10,0.75,92.93,1.267,4,0.094,0.044,3317,1425,2203,0,0,0,0,0,0
$GC,4228,0.90,97.3,532.0,15.9,237,4231,0.00,0.55,0.00,0.000,6,0.000,0.026,3318,1819,2191,0,0,0,0,0,0
$GC,4549,0.90,97.3,481.7,16.2,253,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1819,2189,0,0,0,0,0,0
$GC,4858,0.90,97.3,432.9,15.9,268,4862,0.00,0.70,0.00,0.000,4,0.000,0.041,3320,1374,2189,0,0,0,0,0,0
$GC,5115,0.90,97.3,391.5,15.8,279,5120,0.00,0.65,0.00,0.000,6,0.000,0.025,3320,1825,2189,0,0,0,0,0,0
$GC,5437,0.90,97.3,339.9,16.0,295,5441,0.00,0.85,0.00,0.000,4,0.000,0.040,3322,1288,2189,0,0,0,0,0,0
$GC,5633,0.90,97.3,308.3,15.6,303,5639,0.00,0.77,0.00,0.000,6,0.000,0.023,3322,1815,2188,0,0,0,0,0,0
$GC,5949,0.90,97.3,257.8,15.7,319,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1815,2188,0,0,0,0,0,0
$GC,6259,0.90,97.3,208.0,16.0,334,6262,0.00,0.43,0.00,0.000,4,0.000,0.041,3324,1531,2188,0,0,0,0,0,0
$GC,6516,0.90,97.3,167.0,16.2,345,6520,0.00,0.40,0.00,0.000,6,0.000,0.031,3324,1817,2188,0,0,0,0,0,0
$GC,6838,0.90,97.3,115.5,16.3,361,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1817,2188,0,0,0,0,0,0
$GC,7153,0.90,97.3,65.5,16.2,386,7157,0.00,0.47,0.00,0.000,4,0.000,0.037,3324,2175,2188,0,0,0,0,0,0
$GC,7244,0.90,97.3,50.8,16.3,394,7247,0.00,0.52,0.00,0.000,6,0.000,0.037,3324,1811,2189,0,0,0,0,0,0
$STATE,7540,end climb,SURFACE_DEPTH_REACHED
$STATE,7541,begin surface coast
$FINISH,0.0,1.027436
$STATE,7558,end surface coast,CONTROL_FINISHED_OK
$STATE,7558,begin surface
$SM_CCo,7577,406.35,0.976,1,0,520,510.22
$SM_GC,-25.23,0.00,0.00,406.35,0.000,0.000,0.976,68,1951,520,-9.24,1.16,510.22
$IRIDIUM_FIX,-5339.63,0.00,030214,121251
$TT8_MAMPS,0.02247
$HUMID,77.52
$INTERNAL_PRESSURE,8.97943
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.7,130.435
$10V_AH,9.7,60.120
$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,23.900,12.125,179.100,406.350,0.000,29.847,22.625,204.522,0.000,0.000,31.461,1121.998,5111.196,711.051,1306.821,137.863,0.000,1258.017,0.000,1017.215,0.000,1.007,0.000
$DEVICE_MAMPS,251.685,143.055,1344.870,976.140,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354832
$DATA_FILE_SIZE,23552,434
$CAP_FILE_SIZE,70070,1
$CFSIZE,2097086464,2042593280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,030214,170534,-5359.810,-1.013,53,0.8,53,-20.4