version: 66.07.10.p01
glider: 574
mission: 18
dive: 21
start: 3 7 112 22 28 49
data:
$ID,574
$MISSION,18
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,335
$T_MISSION,350
$T_ABORT,720
$T_TURN,500
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53452
$LENGTH,1.8
$NAV_MODE,2
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2327669
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2871
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2299
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.417881
$PRESSURE_SLOPE,0.0001171049
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,20
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,118
$DEVICE4,131
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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
$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,0
$GC_LAST_COLLECTION,20
$GPS1,101215,092321,-4503.569,624.402,99,0.9,99,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.7
$GPS2,101215,093458,-4503.428,624.682,5,1.1,5,-24.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,267.9,1385,-23.7,-9.950
$D_GRID,1000
$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,23,-0.71,-86.4,0.0,0.0,0,84,0.00,0.00,-58.25,0.000,2,0.000,0.000,144,2298,3195,0,0,0,0,0,0
$GC,86,-0.82,-170.4,3.6,-3.5,7,113,10.55,2.28,-8.07,0.000,4,0.257,0.064,2588,3717,3622,0,0,0,0,0,0
$GC,127,-0.82,-170.4,20.5,-38.1,12,136,0.00,2.25,0.00,0.000,6,0.000,0.038,2595,2304,3623,0,0,0,0,0,0
$GC,280,-0.82,-170.4,72.3,-33.5,37,288,0.00,2.28,0.00,0.000,4,0.000,0.052,2586,3724,3625,0,0,0,0,0,0
$GC,303,-0.82,-170.4,79.5,-33.5,40,310,0.00,2.25,0.00,0.000,6,0.000,0.041,2591,2288,3625,0,0,0,0,0,0
$GC,638,-0.82,-170.4,197.1,-34.4,76,642,0.00,2.20,0.00,0.000,4,0.000,0.049,2599,880,3625,0,0,0,0,0,0
$GC,669,-0.82,-170.4,207.6,-31.9,78,678,0.00,2.33,0.00,0.000,6,0.000,0.050,2590,2307,3626,0,0,0,0,0,0
$GC,998,-0.82,-170.4,312.9,-33.3,109,1002,0.00,2.20,0.00,0.000,4,0.000,0.056,2580,3711,3625,0,0,0,0,0,0
$GC,1095,-0.82,-170.4,341.2,-25.1,117,1099,0.00,2.22,0.00,0.000,6,0.000,0.050,2584,2298,3625,0,0,0,0,0,0
$GC,1416,-0.82,-170.4,442.0,-31.6,141,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2294,3626,0,0,0,0,0,0
$GC,1727,-0.82,-170.4,540.4,-31.4,156,1731,0.00,2.25,0.00,0.000,4,0.000,0.060,2576,3718,3625,0,0,0,0,0,0
$GC,1754,-0.82,-170.4,550.1,-33.2,157,1759,0.12,2.22,0.00,0.000,6,0.210,0.052,2605,2299,3625,0,0,0,0,0,0
$GC,2069,-0.82,-170.4,637.6,-28.3,172,2073,0.00,2.22,0.00,0.000,4,0.000,0.057,2614,881,3625,0,0,0,0,0,0
$GC,2086,-0.82,-170.4,642.3,-29.3,173,2090,0.00,2.25,0.00,0.000,6,0.000,0.053,2605,2300,3625,0,0,0,0,0,0
$GC,2414,-0.82,-170.4,734.1,-27.9,189,2418,0.00,2.22,0.00,0.000,4,0.000,0.065,2594,3709,3626,0,0,0,0,0,0
$GC,2502,-0.82,-170.4,756.5,-21.8,193,2507,0.00,2.28,0.00,0.000,6,0.000,0.057,2597,2300,3625,0,0,0,0,0,0
$GC,2832,-0.82,-170.4,843.5,-26.6,209,2836,0.00,2.25,0.00,0.000,4,0.000,0.067,2589,3708,3625,0,0,0,0,0,0
$GC,2851,-0.82,-170.4,849.9,-27.3,210,2860,0.00,2.28,0.00,0.000,6,0.000,0.055,2594,2295,3625,0,0,0,0,0,0
$GC,3181,-0.82,-170.4,936.4,-26.5,226,3185,0.00,2.25,0.00,0.000,4,0.000,0.063,2604,874,3625,0,0,0,0,0,0
$GC,3200,-0.82,-170.4,942.5,-26.7,227,3206,0.00,2.30,0.00,0.000,6,0.000,0.057,2595,2290,3625,0,0,0,0,0,0
$STATE,3425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3426,begin apogee
$GC,3429,-0.13,0.0,1000.4,26.6,238,3572,0.80,0.00,139.50,1.283,6,0.174,0.000,2824,2049,2928,0,0,0,0,0,0
$STATE,3573,end apogee,CONTROL_FINISHED_OK
$STATE,3573,begin climb
$GC,3574,0.82,170.4,1009.8,0.0,245,3726,0.93,2.53,143.43,1.256,4,0.076,0.054,3137,655,2233,0,0,0,0,0,0
$GC,4006,0.82,170.4,956.7,18.0,264,4011,0.00,2.38,0.00,0.000,6,0.000,0.047,3135,2070,2228,0,0,0,0,0,0
$GC,4328,0.82,170.4,897.9,18.3,280,4332,0.00,2.30,0.00,0.000,4,0.000,0.053,3145,653,2227,0,0,0,0,0,0
$GC,4382,0.82,170.4,887.7,18.3,282,4389,0.00,2.28,0.00,0.000,6,0.000,0.047,3139,2068,2227,0,0,0,0,0,0
$GC,4698,0.82,170.4,828.4,19.0,298,4702,0.00,2.28,0.00,0.000,4,0.000,0.053,3149,655,2226,0,0,0,0,0,0
$GC,4740,0.82,170.4,819.8,19.9,300,4745,0.00,2.30,0.00,0.000,6,0.000,0.046,3142,2069,2226,0,0,0,0,0,0
$GC,5068,0.82,170.4,758.1,18.9,316,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2072,2225,0,0,0,0,0,0
$GC,5377,0.82,170.4,700.7,18.2,331,5381,0.00,2.25,0.00,0.000,4,0.000,0.052,3152,655,2225,0,0,0,0,0,0
$GC,5394,0.82,170.4,697.7,18.5,332,5398,0.00,2.25,0.00,0.000,6,0.000,0.046,3147,2076,2224,0,0,0,0,0,0
$GC,5725,0.82,170.4,637.6,17.4,348,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2079,2225,0,0,0,0,0,0
$GC,6034,0.82,170.4,582.0,18.1,363,6038,0.00,2.25,0.00,0.000,4,0.000,0.051,3157,652,2225,0,0,0,0,0,0
$GC,6106,0.82,170.4,568.8,18.6,366,6110,0.00,2.22,0.00,0.000,6,0.000,0.046,3153,2071,2224,0,0,0,0,0,0
$GC,6421,0.82,170.4,514.3,17.4,381,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2073,2224,0,0,0,0,0,0
$GC,6730,0.82,170.4,461.8,16.9,396,6734,0.00,2.22,0.00,0.000,4,0.000,0.051,3163,654,2224,0,0,0,0,0,0
$GC,6836,0.82,170.4,443.8,17.5,401,6840,0.00,2.20,0.00,0.000,6,0.000,0.046,3156,2063,2224,0,0,0,0,0,0
$GC,7153,0.82,170.4,389.7,16.8,419,7157,0.00,2.22,0.00,0.000,4,0.000,0.050,3166,646,2224,0,0,0,0,0,0
$GC,7248,0.82,170.4,373.1,18.2,427,7253,0.12,2.22,0.00,0.000,6,0.226,0.046,3138,2075,2224,0,0,0,0,0,0
$GC,7576,0.82,170.4,321.9,15.8,457,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2075,2224,0,0,0,0,0,0
$GC,7891,0.82,170.4,271.2,16.1,487,7895,0.00,2.22,0.00,0.000,4,0.000,0.051,3148,654,2224,0,0,0,0,0,0
$GC,7910,0.82,170.4,267.8,16.1,488,7921,0.00,2.22,0.00,0.000,6,0.000,0.045,3148,2053,2224,0,0,0,0,0,0
$GC,8236,0.82,170.4,214.3,16.8,519,8240,0.00,2.20,0.00,0.000,4,0.000,0.051,3158,647,2224,0,0,0,0,0,0
$GC,8290,0.82,170.4,205.0,16.6,523,8298,0.00,2.25,0.00,0.000,6,0.000,0.046,3158,2060,2223,0,0,0,0,0,0
$GC,8616,0.82,170.4,148.2,16.2,554,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2060,2223,0,0,0,0,0,0
$GC,8934,0.82,170.4,101.5,14.8,584,8938,0.00,2.20,0.00,0.000,4,0.000,0.050,3168,650,2224,0,0,0,0,0,0
$GC,9130,0.82,170.4,72.8,15.1,616,9137,0.12,2.20,0.00,0.000,6,0.218,0.045,3141,2071,2223,0,0,0,0,0,0
$GC,9487,0.82,170.4,21.6,12.7,677,9497,0.00,2.25,0.00,0.000,4,0.000,0.050,3150,658,2224,0,0,0,0,0,0
$STATE,9629,end climb,SURFACE_DEPTH_REACHED
$STATE,9630,begin surface coast
$FINISH,1.0,1.026637
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9672,55.30,0.054,0,0,1704,300.24
$SM_GC,2.48,0.00,0.00,55.30,0.000,0.000,0.054,144,2309,1704,-8.52,0.31,300.24
$IRIDIUM_FIX,-4447.43,624.79,051008,222213
$TT8_MAMPS,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.0,9.971
$10V_AH,10.3,5.383
$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,20.975,90.975,282.925,55.300,0.000,31.585,43.508,510.306,24.750,0.000,8.939,1900.380,5716.120,440.939,2280.292,85.221,0.000,1158.327,0.000,1618.527,0.000,149.488,0.000
$DEVICE_MAMPS,257.040,67.320,1282.905,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.217,478.947,55.397,554.651,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,40201,704
$CAP_FILE_SIZE,109883,0
$CFSIZE,2097086464,2093285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.165, 65.0,1
$GPS,101215,121833,-4503.408,624.034,24,0.7,24,-24.4