version: 66.07.10.p01
glider: 574
mission: 18
dive: 24
start: 3 8 112 7 19 28
data:
$ID,574
$MISSION,18
$DIVE,24
$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,150
$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,-2327889.8
$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,25
$R_STBD_OVSHOOT,13
$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,3000
$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,23
$GPS1,101215,182113,-4504.001,623.018,3,0.9,3,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-72.2
$GPS2,101215,182541,-4504.017,622.993,5,0.9,6,-24.3
$SPEED_LIMITS,0.172,0.260
$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,133.7,1317,-27.8,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.79,-62.6,0.0,0.0,0,130,0.00,0.00,-104.05,0.000,2,0.000,0.000,140,2295,3211,0,0,0,0,0,0
$GC,132,-0.87,-125.9,3.4,-3.2,13,158,10.48,2.30,-5.85,0.000,4,0.262,0.060,2572,3730,3513,0,0,0,0,0,0
$GC,285,-0.87,-125.9,54.0,-25.7,37,292,0.00,2.28,0.00,0.000,6,0.000,0.047,2577,2302,3515,0,0,0,0,0,0
$GC,628,-0.87,-125.9,173.2,-34.8,80,632,0.00,2.25,0.00,0.000,4,0.000,0.054,2577,884,3515,0,0,0,0,0,0
$GC,659,-0.87,-125.9,185.7,-34.7,82,667,0.00,2.33,0.00,0.000,6,0.000,0.050,2568,2312,3515,0,0,0,0,0,0
$GC,987,-0.87,-125.9,293.9,-32.8,113,991,0.00,2.20,0.00,0.000,4,0.000,0.056,2557,3719,3514,0,0,0,0,0,0
$GC,1043,-0.87,-125.9,312.3,-29.4,117,1051,0.00,2.28,0.00,0.000,6,0.000,0.049,2563,2300,3515,0,0,0,0,0,0
$GC,1368,-0.87,-125.9,416.0,-31.3,146,1372,0.00,2.22,0.00,0.000,4,0.000,0.059,2554,3710,3515,0,0,0,0,0,0
$GC,1385,-0.87,-125.9,421.5,-32.1,147,1390,0.15,2.20,0.00,0.000,6,0.213,0.049,2587,2298,3515,0,0,0,0,0,0
$GC,1710,-0.87,-125.9,517.1,-28.6,163,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2294,3515,0,0,0,0,0,0
$GC,2020,-0.87,-125.9,606.5,-29.0,178,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2293,3514,0,0,0,0,0,0
$GC,2330,-0.87,-125.9,694.5,-28.7,193,2334,0.00,2.25,0.00,0.000,4,0.000,0.064,2579,3710,3514,0,0,0,0,0,0
$GC,2350,-0.87,-125.9,701.1,-28.9,194,2355,0.00,2.25,0.00,0.000,6,0.000,0.054,2580,2303,3514,0,0,0,0,0,0
$GC,2679,-0.87,-125.9,794.0,-28.4,210,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2299,3514,0,0,0,0,0,0
$GC,2988,-0.87,-125.9,880.8,-27.5,225,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2299,3513,0,0,0,0,0,0
$GC,3297,-0.87,-125.9,963.6,-26.4,240,3302,0.00,2.25,0.00,0.000,4,0.000,0.069,2573,3707,3512,0,0,0,0,0,0
$GC,3324,-0.87,-125.9,971.2,-26.7,241,3329,0.00,2.28,0.00,0.000,6,0.000,0.060,2576,2300,3512,0,0,0,0,0,0
$STATE,3439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3439,begin apogee
$GC,3442,-0.13,0.0,1001.3,26.8,247,3548,0.88,0.00,102.05,1.278,6,0.181,0.000,2825,2044,3000,0,0,0,0,0,0
$STATE,3549,end apogee,CONTROL_FINISHED_OK
$STATE,3549,begin climb
$GC,3550,0.87,125.9,1008.5,0.0,252,3666,1.02,2.47,105.72,1.245,4,0.089,0.056,3149,3474,2485,0,0,0,0,0,0
$GC,3704,0.87,125.9,1008.1,11.3,259,3713,0.00,2.40,0.00,0.000,6,0.000,0.046,3159,2056,2485,0,0,0,0,0,0
$GC,4020,0.87,125.9,963.9,14.2,275,4024,0.00,2.30,0.00,0.000,4,0.000,0.057,3170,646,2483,0,0,0,0,0,0
$GC,4119,0.87,125.9,949.6,14.2,279,4128,0.00,2.33,0.00,0.000,6,0.000,0.047,3165,2061,2483,0,0,0,0,0,0
$GC,4435,0.87,125.9,905.3,14.1,295,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2061,2482,0,0,0,0,0,0
$GC,4744,0.87,125.9,863.4,13.6,310,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2061,2482,0,0,0,0,0,0
$GC,5054,0.87,125.9,822.1,13.3,325,5058,0.00,2.22,0.00,0.000,4,0.000,0.051,3174,652,2481,0,0,0,0,0,0
$GC,5074,0.87,125.9,819.1,13.3,326,5079,0.00,2.28,0.00,0.000,6,0.000,0.045,3170,2064,2481,0,0,0,0,0,0
$GC,5401,0.87,125.9,777.0,12.9,342,5405,0.00,2.22,0.00,0.000,4,0.000,0.050,3179,650,2481,0,0,0,0,0,0
$GC,5472,0.87,125.9,767.4,12.8,345,5477,0.00,2.25,0.00,0.000,6,0.000,0.045,3177,2058,2481,0,0,0,0,0,0
$GC,5794,0.87,125.9,727.7,11.7,361,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2060,2480,0,0,0,0,0,0
$GC,6103,0.87,125.9,691.9,11.3,376,6107,0.00,2.20,0.00,0.000,4,0.000,0.051,3186,650,2480,0,0,0,0,0,0
$GC,6113,0.87,125.9,690.6,11.3,376,6121,0.10,2.25,0.00,0.000,6,0.232,0.045,3157,2064,2480,0,0,0,0,0,0
$GC,6429,0.87,125.9,658.1,10.0,392,6433,0.00,2.22,0.00,0.000,4,0.000,0.050,3167,640,2480,0,0,0,0,0,0
$GC,6447,0.87,126.6,656.5,9.9,393,6452,0.00,2.22,0.00,0.000,6,0.000,0.046,3167,2063,2480,0,0,0,0,0,0
$GC,6773,0.87,126.6,622.7,10.2,409,6777,0.00,2.22,0.00,0.000,4,0.000,0.050,3177,641,2480,0,0,0,0,0,0
$GC,6816,0.87,126.6,618.0,10.8,411,6821,0.00,2.25,0.00,0.000,6,0.000,0.046,3177,2055,2480,0,0,0,0,0,0
$GC,7145,0.87,126.6,584.9,10.2,427,7149,0.00,2.20,0.00,0.000,4,0.000,0.050,3186,646,2480,0,0,0,0,0,0
$GC,7188,0.87,127.5,580.5,9.9,429,7193,0.10,2.25,0.00,0.000,6,0.235,0.044,3158,2063,2480,0,0,0,0,0,0
$GC,7515,0.89,140.7,551.7,8.5,445,7536,0.00,2.30,11.80,0.911,4,0.000,0.050,3168,650,2425,0,0,0,0,0,0
$GC,7603,0.89,140.7,542.6,11.0,449,7607,0.00,2.22,0.00,0.000,6,0.000,0.046,3168,2069,2425,0,0,0,0,0,0
$GC,7928,0.89,140.7,506.1,11.3,465,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2072,2424,0,0,0,0,0,0
$GC,8238,0.89,140.7,471.2,11.2,480,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2071,2424,0,0,0,0,0,0
$GC,8547,0.89,140.7,438.0,10.5,495,8551,0.00,2.22,0.00,0.000,4,0.000,0.050,3178,647,2424,0,0,0,0,0,0
$GC,8564,0.89,140.7,436.3,10.5,496,8568,0.00,2.22,0.00,0.000,6,0.000,0.045,3178,2076,2425,0,0,0,0,0,0
$GC,8891,0.89,140.7,401.7,10.5,512,8895,0.00,2.22,0.00,0.000,4,0.000,0.050,3188,650,2424,0,0,0,0,0,0
$GC,8908,0.89,140.7,399.7,10.7,513,8912,0.00,2.20,0.00,0.000,6,0.000,0.045,3186,2066,2424,0,0,0,0,0,0
$GC,9232,0.89,140.7,365.9,10.3,543,9236,0.00,2.22,0.00,0.000,4,0.000,0.050,3195,639,2424,0,0,0,0,0,0
$GC,9248,0.89,140.7,364.2,10.6,544,9253,0.15,2.22,0.00,0.000,6,0.244,0.046,3164,2070,2424,0,0,0,0,0,0
$GC,9573,0.89,144.9,332.2,9.5,574,9585,0.00,2.20,4.55,0.585,4,0.000,0.054,3163,3480,2410,0,0,0,0,0,0
$GC,9746,0.89,144.9,314.2,10.8,589,9750,0.00,2.20,0.00,0.000,6,0.000,0.044,3173,2046,2410,0,0,0,0,0,0
$GC,10070,0.89,144.9,280.5,10.7,619,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2043,2410,0,0,0,0,0,0
$GC,10391,0.89,144.9,247.2,10.5,649,10395,0.00,2.15,0.00,0.000,4,0.000,0.051,3183,654,2410,0,0,0,0,0,0
$GC,10490,0.89,144.9,236.0,11.7,657,10498,0.00,2.22,0.00,0.000,6,0.000,0.045,3183,2057,2410,0,0,0,0,0,0
$GC,10816,0.89,144.9,201.3,10.6,688,10820,0.00,2.17,0.00,0.000,4,0.000,0.050,3193,655,2410,0,0,0,0,0,0
$GC,10979,0.89,144.9,183.9,10.5,702,10984,0.15,2.20,0.00,0.000,6,0.234,0.045,3161,2075,2410,0,0,0,0,0,0
$GC,11304,0.91,159.2,153.9,8.4,732,11321,0.00,2.20,12.55,0.708,4,0.000,0.054,3161,3478,2349,0,0,0,0,0,0
$GC,11489,0.92,163.8,135.4,9.5,748,11500,0.00,2.22,4.88,0.527,6,0.000,0.044,3170,2065,2331,0,0,0,0,0,0
$GC,11814,0.92,163.8,103.0,10.5,779,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2063,2331,0,0,0,0,0,0
$GC,12153,0.92,163.8,65.6,10.8,836,12160,0.00,2.20,0.00,0.000,4,0.000,0.051,3181,650,2332,0,0,0,0,0,0
$GC,12276,0.92,163.8,53.0,10.2,857,12283,0.00,2.20,0.00,0.000,6,0.000,0.045,3181,2066,2331,0,0,0,0,0,0
$GC,12639,0.92,163.8,16.5,12.0,918,12648,0.00,2.25,0.00,0.000,4,0.000,0.051,3191,652,2332,0,0,0,0,0,0
$GC,12698,0.92,163.8,9.6,11.5,927,12708,0.00,2.25,0.00,0.000,6,0.000,0.047,3191,2062,2332,0,0,0,0,0,0
$GC,12757,0.92,163.8,3.5,10.1,936,12766,0.00,2.20,0.00,0.000,4,0.000,0.050,3191,3469,2332,0,0,0,0,0,0
$STATE,12773,end climb,SURFACE_DEPTH_REACHED
$STATE,12773,begin surface coast
$FINISH,1.0,1.026656
$STATE,12787,end surface coast,CONTROL_FINISHED_OK
$STATE,12787,begin surface
$SM_CCo,12804,57.53,0.054,0,0,1775,300.24
$SM_GC,2.78,0.00,0.00,57.53,0.000,0.000,0.054,143,2287,1775,-8.53,-0.34,300.24
$IRIDIUM_FIX,-4447.43,621.76,061008,070704
$TT8_MAMPS,0.026215
$HUMID,47.95
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.3,10.531
$10V_AH,10.3,5.613
$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,21.550,112.150,241.550,57.525,0.000,0.000,0.000,0.000,24.750,0.000,8.950,2487.729,7770.228,475.057,2111.946,83.433,0.000,1370.098,0.000,2051.318,0.000,149.224,0.000
$DEVICE_MAMPS,262.395,69.615,1278.315,54.315,0.000,0.000,0.000,0.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.754,641.969,70.693,726.447,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,53616,940
$CAP_FILE_SIZE,148698,0
$CFSIZE,2097086464,2092957696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.058, 92.2,1
$GPS,101215,220221,-4504.565,625.101,78,0.8,78,-24.4