version: 66.07.10.p01
glider: 574
mission: 18
dive: 35
start: 3 9 112 23 21 24
data:
$ID,574
$MISSION,18
$DIVE,35
$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,100
$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,-2328606.5
$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,22
$R_STBD_OVSHOOT,34
$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,2730
$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,34
$GPS1,121215,101703,-4456.546,627.614,64,0.9,65,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-75.8
$GPS2,121215,102747,-4456.420,627.820,5,0.9,5,-24.4
$SPEED_LIMITS,0.172,0.215
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,116.9,10752,-22.3,-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,-0.69,-97.3,0.0,0.0,0,84,0.00,0.00,-57.97,0.000,2,0.000,0.000,143,2312,2964,0,0,0,0,0,0
$GC,86,-0.69,-97.3,3.2,-2.2,7,106,10.82,2.35,-3.92,0.000,4,0.263,0.055,2645,873,3128,0,0,0,0,0,0
$GC,387,-0.69,-97.3,73.6,-22.4,57,396,0.00,2.33,0.00,0.000,6,0.000,0.050,2635,2290,3130,0,0,0,0,0,0
$GC,723,-0.69,-97.3,153.0,-22.0,97,727,0.00,2.25,0.00,0.000,4,0.000,0.055,2624,3719,3130,0,0,0,0,0,0
$GC,829,-0.69,-97.3,177.9,-22.0,106,833,0.00,2.22,0.00,0.000,6,0.000,0.044,2632,2291,3129,0,0,0,0,0,0
$GC,1153,-0.69,-97.3,245.7,-20.5,136,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2288,3130,0,0,0,0,0,0
$GC,1472,-0.69,-97.3,311.6,-21.3,166,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2288,3130,0,0,0,0,0,0
$GC,1790,-0.69,-97.3,377.8,-20.3,196,1794,0.00,2.25,0.00,0.000,4,0.000,0.058,2622,3712,3130,0,0,0,0,0,0
$GC,1845,-0.69,-97.3,389.5,-20.7,200,1856,0.00,2.25,0.00,0.000,6,0.000,0.049,2628,2303,3130,0,0,0,0,0,0
$GC,2174,-0.69,-97.3,455.1,-20.1,219,2178,0.00,2.22,0.00,0.000,4,0.000,0.060,2619,3711,3130,0,0,0,0,0,0
$GC,2194,-0.69,-97.3,459.8,-19.5,220,2202,0.00,2.25,0.00,0.000,6,0.000,0.049,2619,2300,3130,0,0,0,0,0,0
$GC,2523,-0.69,-97.3,525.5,-19.4,236,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2297,3130,0,0,0,0,0,0
$GC,2834,-0.69,-97.3,587.9,-20.1,251,2838,0.00,2.22,0.00,0.000,4,0.000,0.061,2611,3710,3129,0,0,0,0,0,0
$GC,2851,-0.69,-97.3,591.5,-19.7,252,2855,0.00,2.22,0.00,0.000,6,0.000,0.051,2618,2296,3129,0,0,0,0,0,0
$GC,3178,-0.69,-97.3,657.1,-19.9,268,3182,0.00,2.25,0.00,0.000,4,0.000,0.062,2610,3718,3129,0,0,0,0,0,0
$GC,3239,-0.69,-97.3,669.6,-19.6,271,3246,0.12,2.22,0.00,0.000,6,0.214,0.054,2646,2299,3128,0,0,0,0,0,0
$GC,3573,-0.69,-97.3,727.6,-16.9,287,3577,0.00,2.22,0.00,0.000,4,0.000,0.060,2656,887,3128,0,0,0,0,0,0
$GC,3590,-0.69,-97.3,730.2,-16.9,288,3595,0.00,2.25,0.00,0.000,6,0.000,0.056,2646,2301,3128,0,0,0,0,0,0
$GC,3917,-0.69,-97.3,785.7,-17.0,304,3921,0.00,2.25,0.00,0.000,4,0.000,0.067,2636,3722,3128,0,0,0,0,0,0
$GC,3955,-0.69,-97.3,792.2,-16.9,306,3959,0.00,2.25,0.00,0.000,6,0.000,0.057,2638,2298,3128,0,0,0,0,0,0
$GC,4280,-0.69,-97.3,847.4,-16.4,322,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2295,3128,0,0,0,0,0,0
$GC,4590,-0.69,-97.3,897.6,-15.8,337,4594,0.00,2.28,0.00,0.000,4,0.000,0.069,2629,3719,3127,0,0,0,0,0,0
$GC,4606,-0.69,-97.3,900.2,-16.0,338,4610,0.00,2.28,0.00,0.000,6,0.000,0.060,2631,2299,3127,0,0,0,0,0,0
$GC,4940,-0.69,-97.3,952.6,-15.7,354,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2296,3127,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5251,-0.13,0.0,1000.0,15.4,369,5333,0.68,0.00,78.75,1.291,6,0.176,0.000,2825,2055,2730,0,0,0,0,0,0
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5334,begin climb
$GC,5335,0.69,97.3,1003.7,0.0,373,5426,0.82,2.45,82.90,1.258,4,0.106,0.059,3093,656,2332,0,0,0,0,0,0
$GC,5452,0.69,97.3,992.6,14.5,378,5460,0.00,2.45,0.00,0.000,6,0.000,0.052,3094,2062,2329,0,0,0,0,0,0
$GC,5768,0.69,97.3,944.1,15.3,394,5773,0.00,2.33,0.00,0.000,4,0.000,0.058,3104,653,2326,0,0,0,0,0,0
$GC,5785,0.69,97.3,941.6,15.3,395,5789,0.00,2.33,0.00,0.000,6,0.000,0.051,3102,2071,2325,0,0,0,0,0,0
$GC,6110,0.69,97.3,891.8,15.5,411,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2074,2324,0,0,0,0,0,0
$GC,6420,0.69,97.3,845.3,15.0,426,6424,0.00,2.30,0.00,0.000,4,0.000,0.059,3111,653,2324,0,0,0,0,0,0
$GC,6451,0.69,97.3,840.3,14.9,427,6460,0.00,2.30,0.00,0.000,6,0.000,0.052,3111,2058,2324,0,0,0,0,0,0
$GC,6767,0.69,97.3,793.5,14.5,443,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2060,2324,0,0,0,0,0,0
$GC,7077,0.69,97.3,750.9,13.6,458,7081,0.00,2.28,0.00,0.000,4,0.000,0.057,3121,645,2323,0,0,0,0,0,0
$GC,7108,0.69,97.3,746.4,13.8,459,7117,0.00,2.30,0.00,0.000,6,0.000,0.051,3118,2061,2323,0,0,0,0,0,0
$GC,7424,0.69,97.3,702.2,13.8,475,7429,0.00,2.28,0.00,0.000,4,0.000,0.057,3128,642,2323,0,0,0,0,0,0
$GC,7480,0.69,97.3,694.4,14.4,477,7488,0.12,2.28,0.00,0.000,6,0.227,0.050,3098,2075,2323,0,0,0,0,0,0
$GC,7795,0.69,97.3,653.4,13.3,493,7799,0.00,2.28,0.00,0.000,4,0.000,0.057,3107,653,2323,0,0,0,0,0,0
$GC,7826,0.69,97.3,649.0,14.0,494,7834,0.00,2.28,0.00,0.000,6,0.000,0.051,3107,2055,2323,0,0,0,0,0,0
$GC,8142,0.69,97.3,605.6,14.0,510,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2057,2323,0,0,0,0,0,0
$GC,8451,0.69,97.3,563.6,13.1,525,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2058,2323,0,0,0,0,0,0
$GC,8763,0.69,97.3,526.2,11.9,540,8767,0.00,2.25,0.00,0.000,4,0.000,0.060,3107,3480,2322,0,0,0,0,0,0
$GC,8811,0.69,97.3,519.7,12.8,542,8816,0.00,2.25,0.00,0.000,6,0.000,0.049,3117,2067,2322,0,0,0,0,0,0
$GC,9133,0.69,97.3,478.3,13.0,558,9137,0.00,2.25,0.00,0.000,4,0.000,0.058,3128,650,2322,0,0,0,0,0,0
$GC,9197,0.69,97.3,469.6,13.1,561,9203,0.10,2.28,0.00,0.000,6,0.206,0.050,3101,2062,2322,0,0,0,0,0,0
$GC,9524,0.69,97.3,427.8,13.0,577,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2062,2323,0,0,0,0,0,0
$GC,9839,0.69,97.3,385.1,13.8,597,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2062,2322,0,0,0,0,0,0
$GC,10156,0.69,97.3,343.0,13.2,627,10160,0.00,2.25,0.00,0.000,4,0.000,0.057,3110,642,2322,0,0,0,0,0,0
$GC,10206,0.69,97.3,336.4,12.8,631,10210,0.00,2.25,0.00,0.000,6,0.000,0.050,3110,2074,2322,0,0,0,0,0,0
$GC,10532,0.69,97.3,294.9,12.6,661,10536,0.00,2.28,0.00,0.000,4,0.000,0.057,3121,641,2322,0,0,0,0,0,0
$GC,10540,0.69,97.3,293.4,12.3,661,10549,0.00,2.28,0.00,0.000,6,0.000,0.049,3121,2060,2322,0,0,0,0,0,0
$GC,10866,0.69,97.3,252.4,12.2,692,10870,0.00,2.22,0.00,0.000,4,0.000,0.057,3121,3483,2322,0,0,0,0,0,0
$GC,10894,0.69,97.3,248.6,13.1,694,10899,0.15,2.20,0.00,0.000,6,0.238,0.048,3099,2060,2321,0,0,0,0,0,0
$GC,11219,0.70,105.7,215.2,9.4,724,11232,0.00,0.00,6.28,0.647,6,0.000,0.000,3099,2058,2297,0,0,0,0,0,0
$GC,11546,0.70,105.7,180.6,10.7,755,11551,0.00,2.22,0.00,0.000,4,0.000,0.057,3108,649,2298,0,0,0,0,0,0
$GC,11586,0.70,105.7,176.3,11.6,758,11590,0.00,2.22,0.00,0.000,6,0.000,0.050,3109,2063,2297,0,0,0,0,0,0
$GC,11910,0.70,105.7,140.9,11.1,788,11914,0.00,2.25,0.00,0.000,4,0.000,0.057,3119,652,2298,0,0,0,0,0,0
$GC,12223,0.70,105.7,106.0,10.7,815,12232,0.00,2.28,0.00,0.000,6,0.000,0.050,3119,2068,2298,0,0,0,0,0,0
$GC,12569,0.70,105.7,68.7,10.5,871,12577,0.00,2.20,0.00,0.000,4,0.000,0.058,3119,3481,2299,0,0,0,0,0,0
$GC,12810,0.70,105.7,41.4,11.7,913,12818,0.12,2.20,0.00,0.000,6,0.237,0.050,3103,2062,2298,0,0,0,0,0,0
$GC,13179,0.70,105.7,5.8,10.8,974,13188,0.00,2.25,0.00,0.000,4,0.000,0.057,3103,3470,2299,0,0,0,0,0,0
$STATE,13207,end climb,SURFACE_DEPTH_REACHED
$STATE,13207,begin surface coast
$FINISH,1.0,1.026556
$STATE,13238,end surface coast,CONTROL_FINISHED_OK
$STATE,13239,begin surface
$SM_CCo,13255,84.10,0.057,0,0,1504,300.24
$SM_GC,2.68,0.00,0.00,84.10,0.000,0.000,0.057,139,2281,1504,-8.54,-0.51,300.24
$IRIDIUM_FIX,-4441.36,627.47,071008,232355
$TT8_MAMPS,0.026215
$HUMID,47.32
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.4,11.780
$10V_AH,10.3,6.684
$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,21.075,108.775,167.925,84.100,0.000,30.061,20.317,482.295,24.750,0.000,8.946,2578.322,8144.885,400.242,2749.742,100.863,0.000,1290.753,0.000,2141.103,0.000,149.086,0.000
$DEVICE_MAMPS,263.160,70.380,1291.320,56.610,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.096,670.514,82.125,785.926,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,57066,983
$CAP_FILE_SIZE,135500,0
$CFSIZE,2097086464,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.083, 37.7,1
$GPS,121215,141133,-4456.129,630.271,30,1.0,30,-24.4