version: 66.07.10.p01
glider: 574
mission: 18
dive: 46
start: 3 11 112 20 48 14
data:
$ID,574
$MISSION,18
$DIVE,46
$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,75
$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,-2329255.5
$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,24
$R_STBD_OVSHOOT,29
$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,45
$GPS1,141215,074304,-4501.438,635.286,65,1.0,65,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.4
$GPS2,141215,075446,-4501.458,635.309,5,1.0,5,-24.4
$SPEED_LIMITS,0.172,0.187
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,202.5,4795,-25.8,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.75,-73.0,0.0,0.0,0,90,0.00,0.00,-61.12,0.000,6,0.000,0.000,137,2316,3028,0,0,0,0,0,0
$GC,92,-0.75,-73.0,3.4,-2.8,8,109,10.80,2.20,0.00,0.000,4,0.262,0.039,2610,3715,3029,0,0,0,0,0,0
$GC,400,-0.75,-73.0,82.0,-22.1,59,407,0.00,2.25,0.00,0.000,6,0.000,0.042,2619,2298,3028,0,0,0,0,0,0
$GC,738,-0.75,-73.0,157.5,-22.0,97,742,0.00,2.25,0.00,0.000,4,0.000,0.055,2610,3709,3029,0,0,0,0,0,0
$GC,766,-0.75,-73.0,164.2,-21.6,99,771,0.00,2.22,0.00,0.000,6,0.000,0.041,2616,2285,3029,0,0,0,0,0,0
$GC,1093,-0.75,-73.0,229.7,-19.4,129,1097,0.00,2.28,0.00,0.000,4,0.000,0.056,2608,3715,3029,0,0,0,0,0,0
$GC,1141,-0.75,-73.0,240.5,-21.3,133,1148,0.00,2.22,0.00,0.000,6,0.000,0.043,2608,2284,3030,0,0,0,0,0,0
$GC,1466,-0.75,-73.0,309.1,-21.1,164,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2282,3030,0,0,0,0,0,0
$GC,1784,-0.75,-73.0,373.9,-20.1,194,1788,0.00,2.25,0.00,0.000,4,0.000,0.057,2598,3705,3030,0,0,0,0,0,0
$GC,1826,-0.75,-73.0,382.2,-20.5,197,1830,0.12,2.20,0.00,0.000,6,0.214,0.044,2625,2290,3030,0,0,0,0,0,0
$GC,2143,-0.75,-73.0,443.4,-18.8,216,2147,0.00,2.25,0.00,0.000,4,0.000,0.058,2616,3709,3029,0,0,0,0,0,0
$GC,2176,-0.75,-73.0,450.0,-20.4,217,2183,0.00,2.25,0.00,0.000,6,0.000,0.047,2619,2300,3030,0,0,0,0,0,0
$GC,2492,-0.75,-73.0,509.2,-18.9,233,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2298,3029,0,0,0,0,0,0
$GC,2801,-0.75,-73.0,566.9,-18.5,248,2805,0.00,2.22,0.00,0.000,4,0.000,0.060,2611,3705,3029,0,0,0,0,0,0
$GC,2877,-0.75,-73.0,581.4,-18.4,251,2885,0.00,2.25,0.00,0.000,6,0.000,0.047,2613,2297,3029,0,0,0,0,0,0
$GC,3194,-0.75,-73.0,639.5,-18.6,267,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2293,3029,0,0,0,0,0,0
$GC,3503,-0.75,-73.0,694.3,-17.5,282,3507,0.00,2.22,0.00,0.000,4,0.000,0.056,2619,881,3029,0,0,0,0,0,0
$GC,3529,-0.75,-73.0,699.1,-17.3,283,3534,0.00,2.28,0.00,0.000,6,0.000,0.052,2610,2287,3029,0,0,0,0,0,0
$GC,3851,-0.75,-73.0,755.0,-17.2,299,3855,0.00,2.25,0.00,0.000,4,0.000,0.062,2599,3715,3028,0,0,0,0,0,0
$GC,3877,-0.75,-73.0,760.1,-18.3,300,3881,0.00,2.28,0.00,0.000,6,0.000,0.051,2603,2265,3028,0,0,0,0,0,0
$GC,4198,-0.75,-73.0,816.0,-17.3,316,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2262,3028,0,0,0,0,0,0
$GC,4508,-0.75,-73.0,868.8,-17.2,331,4512,0.00,2.33,0.00,0.000,4,0.000,0.065,2594,3723,3027,0,0,0,0,0,0
$GC,4592,-0.75,-73.0,884.1,-18.2,335,4597,0.12,2.28,0.00,0.000,6,0.211,0.054,2622,2290,3028,0,0,0,0,0,0
$GC,4918,-0.75,-73.0,936.3,-15.5,351,4922,0.00,2.28,0.00,0.000,4,0.000,0.067,2613,3710,3027,0,0,0,0,0,0
$GC,4939,-0.75,-73.0,939.8,-16.2,352,4944,0.00,2.22,0.00,0.000,6,0.000,0.056,2619,2302,3027,0,0,0,0,0,0
$GC,5268,-0.75,-73.0,990.7,-15.0,368,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2299,3027,0,0,0,0,0,0
$STATE,5327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5327,begin apogee
$GC,5331,-0.13,0.0,1000.1,15.4,371,5394,0.70,0.00,59.15,1.308,6,0.178,0.000,2820,2044,2730,0,0,0,0,0,0
$STATE,5394,end apogee,CONTROL_FINISHED_OK
$STATE,5394,begin climb
$GC,5396,0.75,73.0,1004.1,0.0,374,5465,0.90,2.42,62.33,1.272,4,0.109,0.056,3111,650,2431,0,0,0,0,0,0
$GC,5480,0.75,73.0,998.5,10.3,378,5486,0.00,2.45,0.00,0.000,6,0.000,0.050,3111,2060,2428,0,0,0,0,0,0
$GC,5808,0.75,73.0,954.6,13.2,394,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2063,2427,0,0,0,0,0,0
$GC,6117,0.75,73.0,912.4,14.0,409,6122,0.00,2.30,0.00,0.000,4,0.000,0.056,3121,649,2426,0,0,0,0,0,0
$GC,6188,0.75,73.0,902.1,13.8,412,6193,0.00,2.35,0.00,0.000,6,0.000,0.051,3118,2069,2427,0,0,0,0,0,0
$GC,6510,0.75,73.0,858.1,13.5,428,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2073,2426,0,0,0,0,0,0
$GC,6820,0.75,73.0,814.8,14.0,443,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2072,2426,0,0,0,0,0,0
$GC,7129,0.75,73.0,772.4,13.3,458,7133,0.00,2.30,0.00,0.000,4,0.000,0.057,3127,649,2425,0,0,0,0,0,0
$GC,7182,0.75,73.0,764.8,13.6,460,7191,0.00,2.30,0.00,0.000,6,0.000,0.051,3125,2060,2426,0,0,0,0,0,0
$GC,7499,0.75,73.0,723.0,12.9,476,7503,0.00,2.25,0.00,0.000,4,0.000,0.057,3135,653,2425,0,0,0,0,0,0
$GC,7537,0.75,73.0,717.9,13.6,478,7541,0.00,2.25,0.00,0.000,6,0.000,0.050,3130,2066,2425,0,0,0,0,0,0
$GC,7864,0.75,73.0,676.9,12.3,494,7868,0.00,2.25,0.00,0.000,4,0.000,0.057,3139,653,2425,0,0,0,0,0,0
$GC,7912,0.75,73.0,670.5,12.6,496,7917,0.00,2.30,0.00,0.000,6,0.000,0.050,3132,2066,2425,0,0,0,0,0,0
$GC,8234,0.75,73.0,631.0,11.7,512,8238,0.00,2.25,0.00,0.000,4,0.000,0.057,3141,652,2425,0,0,0,0,0,0
$GC,8343,0.75,73.0,617.3,12.7,517,8349,0.00,2.28,0.00,0.000,6,0.000,0.049,3137,2058,2425,0,0,0,0,0,0
$GC,8671,0.75,73.0,577.6,12.1,533,8675,0.00,2.28,0.00,0.000,4,0.000,0.056,3146,642,2425,0,0,0,0,0,0
$GC,8746,0.75,73.0,568.4,11.9,536,8754,0.00,2.30,0.00,0.000,6,0.000,0.050,3142,2065,2425,0,0,0,0,0,0
$GC,9063,0.75,73.0,534.3,10.4,552,9067,0.00,2.22,0.00,0.000,4,0.000,0.059,3142,3482,2424,0,0,0,0,0,0
$GC,9111,0.75,73.0,528.7,12.1,554,9117,0.12,2.28,0.00,0.000,6,0.231,0.047,3120,2054,2424,0,0,0,0,0,0
$GC,9433,0.76,83.5,497.9,9.0,570,9447,0.00,2.33,8.35,0.848,4,0.000,0.057,3120,3474,2388,0,0,0,0,0,0
$GC,9507,0.76,83.5,489.8,11.4,573,9513,0.00,2.25,0.00,0.000,6,0.000,0.047,3129,2067,2388,0,0,0,0,0,0
$GC,9829,0.76,83.5,454.9,11.0,589,9833,0.00,2.25,0.00,0.000,4,0.000,0.057,3140,649,2388,0,0,0,0,0,0
$GC,9939,0.76,83.5,442.3,11.1,594,9944,0.00,2.28,0.00,0.000,6,0.000,0.049,3139,2057,2388,0,0,0,0,0,0
$GC,10266,0.76,83.5,406.4,11.1,610,10271,0.00,2.25,0.00,0.000,4,0.000,0.056,3148,642,2388,0,0,0,0,0,0
$GC,10366,0.76,83.5,394.6,12.1,616,10377,0.10,2.30,0.00,0.000,6,0.204,0.050,3122,2063,2389,0,0,0,0,0,0
$GC,10691,0.76,83.5,360.9,10.4,647,10695,0.00,2.22,0.00,0.000,4,0.000,0.057,3117,3483,2388,0,0,0,0,0,0
$GC,10766,0.76,83.5,352.9,11.5,653,10770,0.00,2.22,0.00,0.000,6,0.000,0.048,3126,2056,2388,0,0,0,0,0,0
$GC,11091,0.77,85.2,319.5,9.8,683,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2053,2388,0,0,0,0,0,0
$GC,11411,0.77,90.7,290.0,9.4,713,11424,0.00,2.30,7.12,0.718,4,0.000,0.057,3137,653,2359,0,0,0,0,0,0
$GC,11495,0.77,90.7,281.5,10.4,720,11505,0.00,2.28,0.00,0.000,6,0.000,0.049,3137,2059,2359,0,0,0,0,0,0
$GC,11821,0.77,90.7,247.8,10.1,751,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2059,2359,0,0,0,0,0,0
$GC,12142,0.77,90.7,213.6,11.2,781,12146,0.00,2.22,0.00,0.000,4,0.000,0.055,3147,652,2359,0,0,0,0,0,0
$GC,12214,0.77,90.7,204.4,11.9,787,12218,0.00,2.22,0.00,0.000,6,0.000,0.049,3147,2065,2359,0,0,0,0,0,0
$GC,12540,0.77,90.7,166.1,10.4,817,12544,0.00,2.22,0.00,0.000,4,0.000,0.054,3158,653,2359,0,0,0,0,0,0
$GC,12614,0.77,90.7,157.7,12.0,823,12619,0.15,2.22,0.00,0.000,6,0.211,0.050,3124,2065,2359,0,0,0,0,0,0
$GC,12940,0.79,103.6,126.1,8.8,853,12956,0.00,2.28,11.27,0.707,4,0.000,0.054,3132,646,2306,0,0,0,0,0,0
$GC,12972,0.81,122.4,123.0,8.2,855,12994,0.00,2.30,16.15,0.736,6,0.000,0.049,3133,2066,2228,0,0,0,0,0,0
$GC,13320,0.81,122.4,78.7,12.9,901,13327,0.00,2.28,0.00,0.000,4,0.000,0.056,3143,646,2226,0,0,0,0,0,0
$GC,13350,0.81,122.4,74.5,13.2,906,13359,0.00,2.30,0.00,0.000,6,0.000,0.050,3143,2060,2225,0,0,0,0,0,0
$GC,13707,0.81,122.4,30.1,12.4,967,13715,0.00,2.28,0.00,0.000,4,0.000,0.057,3143,3474,2225,0,0,0,0,0,0
$STATE,13897,end climb,SURFACE_DEPTH_REACHED
$STATE,13897,begin surface coast
$FINISH,1.2,1.026560
$STATE,13922,end surface coast,CONTROL_FINISHED_OK
$STATE,13922,begin surface
$SM_CCo,13939,76.55,0.053,0,0,1505,300.24
$SM_GC,2.52,0.00,0.00,76.55,0.000,0.000,0.053,142,2288,1505,-8.53,-0.31,300.24
$IRIDIUM_FIX,-4444.39,634.22,091008,212158
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.20
$XPDR_PINGS,0
$24V_AH,23.5,12.833
$10V_AH,10.3,7.858
$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,21.325,127.050,164.375,76.550,0.000,28.708,43.599,514.519,24.750,0.000,8.937,2669.511,8659.310,388.846,2881.137,105.630,0.000,1346.599,0.000,2212.806,0.000,148.721,0.000
$DEVICE_MAMPS,261.630,66.555,1308.150,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.222,684.962,65.243,719.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,56875,1002
$CAP_FILE_SIZE,145999,0
$CFSIZE,2097086464,2090074112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.075, 76.1,1
$GPS,141215,115021,-4502.556,635.871,65,0.8,65,-24.4