version: 66.07.10.p01
glider: 574
mission: 18
dive: 49
start: 3 12 112 9 3 15
data:
$ID,574
$MISSION,18
$DIVE,49
$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,230
$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,-2329506.2
$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,30
$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,2700
$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,48
$GPS1,141215,195654,-4503.510,635.395,93,1.1,93,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-77.6
$GPS2,141215,200946,-4503.562,635.488,16,1.1,16,-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,186.3,1051,-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,21,begin dive
$GC,23,-0.79,-62.6,0.0,0.0,0,66,0.00,0.00,-40.78,0.000,2,0.000,0.000,145,2308,2763,0,0,0,0,0,0
$GC,68,-0.80,-73.0,3.1,-3.1,5,94,10.62,2.28,-5.50,0.000,4,0.259,0.059,2592,3704,2998,0,0,0,0,0,0
$GC,368,-0.80,-73.0,78.3,-22.7,54,376,0.00,2.25,0.00,0.000,6,0.000,0.040,2592,2301,3000,0,0,0,0,0,0
$GC,703,-0.80,-73.0,155.3,-22.5,93,707,0.00,2.22,0.00,0.000,4,0.000,0.053,2583,3706,3001,0,0,0,0,0,0
$GC,742,-0.80,-73.0,165.1,-23.3,96,746,0.00,2.20,0.00,0.000,6,0.000,0.039,2589,2290,3000,0,0,0,0,0,0
$GC,1066,-0.80,-73.0,236.0,-22.1,126,1070,0.00,2.25,0.00,0.000,4,0.000,0.054,2581,3711,3001,0,0,0,0,0,0
$GC,1098,-0.80,-73.0,243.5,-23.1,128,1109,0.00,2.22,0.00,0.000,6,0.000,0.039,2584,2306,3000,0,0,0,0,0,0
$GC,1423,-0.80,-73.0,312.8,-21.5,159,1427,0.00,2.22,0.00,0.000,4,0.000,0.054,2576,3716,3000,0,0,0,0,0,0
$GC,1453,-0.80,-73.0,318.5,-20.7,161,1458,0.12,2.22,0.00,0.000,6,0.222,0.041,2604,2289,3000,0,0,0,0,0,0
$GC,1782,-0.80,-73.0,385.6,-20.2,192,1786,0.00,2.25,0.00,0.000,4,0.000,0.056,2595,3711,3000,0,0,0,0,0,0
$GC,1802,-0.80,-73.0,389.1,-21.1,193,1808,0.00,2.20,0.00,0.000,6,0.000,0.041,2601,2289,3000,0,0,0,0,0,0
$GC,2125,-0.80,-73.0,454.0,-19.7,211,2129,0.00,2.25,0.00,0.000,4,0.000,0.056,2592,3712,3000,0,0,0,0,0,0
$GC,2142,-0.80,-73.0,457.2,-19.0,212,2146,0.00,2.20,0.00,0.000,6,0.000,0.043,2592,2293,3000,0,0,0,0,0,0
$GC,2468,-0.80,-73.0,522.6,-19.7,228,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2289,3000,0,0,0,0,0,0
$GC,2777,-0.80,-73.0,584.1,-19.5,243,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2289,3000,0,0,0,0,0,0
$GC,3088,-0.80,-73.0,645.4,-19.5,258,3092,0.00,2.22,0.00,0.000,4,0.000,0.058,2583,3704,3000,0,0,0,0,0,0
$GC,3109,-0.80,-73.0,650.2,-20.4,259,3113,0.00,2.22,0.00,0.000,6,0.000,0.045,2587,2303,3000,0,0,0,0,0,0
$GC,3435,-0.80,-73.0,714.7,-19.3,275,3439,0.00,2.22,0.00,0.000,4,0.000,0.058,2579,3712,2999,0,0,0,0,0,0
$GC,3506,-0.80,-73.0,728.8,-20.0,278,3511,0.08,2.25,0.00,0.000,6,0.199,0.047,2601,2298,2999,0,0,0,0,0,0
$GC,3828,-0.80,-73.0,784.1,-17.1,294,3832,0.00,2.22,0.00,0.000,4,0.000,0.054,2604,877,2999,0,0,0,0,0,0
$GC,3844,-0.80,-73.0,787.0,-17.3,295,3848,0.00,2.25,0.00,0.000,6,0.000,0.052,2595,2299,2999,0,0,0,0,0,0
$GC,4170,-0.80,-73.0,842.5,-17.0,311,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2300,2999,0,0,0,0,0,0
$GC,4479,-0.80,-73.0,895.2,-17.3,326,4483,0.00,2.22,0.00,0.000,4,0.000,0.062,2585,3711,2998,0,0,0,0,0,0
$GC,4555,-0.80,-73.0,909.0,-17.5,329,4563,0.00,2.25,0.00,0.000,6,0.000,0.049,2589,2299,2998,0,0,0,0,0,0
$GC,4873,-0.80,-73.0,961.8,-16.7,345,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2295,2999,0,0,0,0,0,0
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5123,-0.13,0.0,1002.4,16.3,357,5186,0.82,0.00,59.42,1.300,6,0.181,0.000,2824,2051,2699,0,0,0,0,0,0
$STATE,5186,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5188,0.80,73.0,1006.4,0.0,360,5257,0.95,2.42,62.30,1.268,4,0.109,0.055,3131,657,2400,0,0,0,0,0,0
$GC,5317,0.80,73.0,992.9,15.4,366,5322,0.00,2.42,0.00,0.000,6,0.000,0.051,3130,2066,2398,0,0,0,0,0,0
$GC,5645,0.80,73.0,943.2,15.0,382,5649,0.00,2.30,0.00,0.000,4,0.000,0.060,3130,3475,2396,0,0,0,0,0,0
$GC,5661,0.80,73.0,940.5,14.9,383,5665,0.00,2.28,0.00,0.000,6,0.000,0.049,3138,2067,2396,0,0,0,0,0,0
$GC,5986,0.80,73.0,890.3,14.9,399,5991,0.00,2.30,0.00,0.000,4,0.000,0.059,3150,650,2396,0,0,0,0,0,0
$GC,6102,0.80,73.0,872.3,15.9,404,6107,0.00,2.33,0.00,0.000,6,0.000,0.051,3146,2062,2396,0,0,0,0,0,0
$GC,6424,0.80,73.0,823.9,15.0,420,6428,0.00,2.25,0.00,0.000,4,0.000,0.060,3146,3474,2396,0,0,0,0,0,0
$GC,6472,0.80,73.0,815.8,16.4,422,6477,0.00,2.28,0.00,0.000,6,0.000,0.048,3154,2063,2395,0,0,0,0,0,0
$GC,6794,0.80,73.0,766.7,15.0,438,6798,0.00,2.30,0.00,0.000,4,0.000,0.059,3166,645,2395,0,0,0,0,0,0
$GC,6892,0.80,73.0,751.5,14.6,442,6901,0.08,2.33,0.00,0.000,6,0.207,0.050,3140,2068,2395,0,0,0,0,0,0
$GC,7209,0.80,73.0,706.8,14.0,458,7213,0.00,2.30,0.00,0.000,4,0.000,0.057,3149,647,2395,0,0,0,0,0,0
$GC,7234,0.80,73.0,703.0,13.6,459,7240,0.00,2.30,0.00,0.000,6,0.000,0.050,3143,2062,2395,0,0,0,0,0,0
$GC,7556,0.80,73.0,657.9,14.1,475,7560,0.00,2.25,0.00,0.000,4,0.000,0.060,3143,3484,2395,0,0,0,0,0,0
$GC,7564,0.80,73.0,656.5,14.0,475,7573,0.00,2.28,0.00,0.000,6,0.000,0.046,3152,2059,2395,0,0,0,0,0,0
$GC,7881,0.80,73.0,612.1,13.6,491,7885,0.00,2.25,0.00,0.000,4,0.000,0.058,3152,3473,2394,0,0,0,0,0,0
$GC,7906,0.80,73.0,608.3,14.7,492,7912,0.10,2.25,0.00,0.000,6,0.229,0.047,3138,2068,2394,0,0,0,0,0,0
$GC,8227,0.80,73.0,567.2,12.7,508,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2063,2394,0,0,0,0,0,0
$GC,8537,0.80,73.0,529.2,12.0,523,8541,0.00,2.25,0.00,0.000,4,0.000,0.057,3147,652,2394,0,0,0,0,0,0
$GC,8584,0.80,73.0,523.3,12.1,525,8589,0.00,2.28,0.00,0.000,6,0.000,0.049,3146,2061,2394,0,0,0,0,0,0
$GC,8906,0.80,73.0,484.2,11.9,541,8910,0.00,2.25,0.00,0.000,4,0.000,0.056,3155,650,2394,0,0,0,0,0,0
$GC,9006,0.80,73.0,471.6,12.4,545,9010,0.00,2.28,0.00,0.000,6,0.000,0.049,3155,2061,2394,0,0,0,0,0,0
$GC,9328,0.80,73.0,432.8,11.9,561,9332,0.00,2.25,0.00,0.000,4,0.000,0.055,3164,649,2394,0,0,0,0,0,0
$GC,9366,0.80,73.0,428.1,12.3,563,9371,0.15,2.25,0.00,0.000,6,0.234,0.050,3132,2074,2394,0,0,0,0,0,0
$GC,9688,0.80,73.0,392.8,11.0,581,9692,0.00,2.28,0.00,0.000,4,0.000,0.057,3141,648,2394,0,0,0,0,0,0
$GC,9740,0.80,73.0,386.8,11.1,585,9744,0.00,2.22,0.00,0.000,6,0.000,0.049,3141,2061,2394,0,0,0,0,0,0
$GC,10064,0.80,73.0,351.2,10.8,615,10068,0.00,2.22,0.00,0.000,4,0.000,0.057,3141,3476,2393,0,0,0,0,0,0
$GC,10127,0.80,73.0,344.1,11.9,620,10131,0.00,2.20,0.00,0.000,6,0.000,0.047,3151,2059,2393,0,0,0,0,0,0
$GC,10451,0.80,73.0,308.8,10.6,650,10455,0.00,2.22,0.00,0.000,4,0.000,0.057,3162,651,2394,0,0,0,0,0,0
$GC,10559,0.80,73.0,297.0,11.0,659,10563,0.12,2.22,0.00,0.000,6,0.226,0.050,3136,2068,2393,0,0,0,0,0,0
$GC,10887,0.81,77.1,265.0,9.5,689,10891,0.00,2.20,0.00,0.000,4,0.000,0.057,3132,3476,2393,0,0,0,0,0,0
$GC,10919,0.81,77.1,261.2,10.6,691,10926,0.00,2.20,0.00,0.000,6,0.000,0.048,3141,2062,2394,0,0,0,0,0,0
$GC,11244,0.81,81.0,229.8,9.5,722,11255,0.00,0.00,6.60,0.677,6,0.000,0.000,3141,2059,2368,0,0,0,0,0,0
$GC,11577,0.81,81.0,195.6,10.0,753,11581,0.00,2.22,0.00,0.000,4,0.000,0.057,3152,652,2368,0,0,0,0,0,0
$GC,11848,0.81,81.0,165.5,10.6,776,11859,0.00,2.28,0.00,0.000,6,0.000,0.049,3152,2062,2368,0,0,0,0,0,0
$GC,12173,0.82,88.2,133.4,9.2,807,12186,0.00,2.30,6.90,0.633,4,0.000,0.056,3152,3476,2339,0,0,0,0,0,0
$GC,12247,0.82,88.2,125.4,10.6,813,12255,0.00,2.25,0.00,0.000,6,0.000,0.047,3162,2062,2340,0,0,0,0,0,0
$GC,12580,0.82,88.2,91.4,10.1,851,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2059,2340,0,0,0,0,0,0
$GC,12927,0.87,125.7,53.1,6.0,912,12964,0.00,2.38,29.90,0.707,4,0.000,0.059,3163,3483,2186,0,0,0,0,0,0
$GC,13142,0.88,136.8,31.0,8.8,947,13152,0.00,2.30,5.20,0.549,6,0.000,0.047,3172,2059,2141,0,0,0,0,0,0
$GC,13299,0.88,136.8,7.7,12.3,972,13308,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2054,2138,0,0,0,0,0,0
$STATE,13326,end climb,SURFACE_DEPTH_REACHED
$STATE,13326,begin surface coast
$FINISH,0.9,1.011568
$STATE,13346,end surface coast,CONTROL_FINISHED_OK
$STATE,13346,begin surface
$SM_CCo,13361,39.65,0.050,0,0,1761,230.09
$SM_GC,1.97,0.00,0.00,39.65,0.000,0.000,0.050,142,2313,1761,-8.53,0.40,230.09
$IRIDIUM_FIX,-4444.39,636.90,101008,090950
$TT8_MAMPS,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.30
$XPDR_PINGS,0
$24V_AH,23.5,13.112
$10V_AH,10.3,8.174
$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,21.400,127.325,170.325,39.650,0.000,30.978,21.821,583.546,24.750,0.000,19.943,2621.701,8176.750,349.797,2909.017,104.318,0.000,1291.546,0.000,2173.560,0.000,148.120,0.000
$DEVICE_MAMPS,259.335,74.970,1299.735,50.490,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.832,668.571,65.568,722.995,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,56910,979
$CAP_FILE_SIZE,143691,0
$CFSIZE,2097086464,2089680896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.062, 86.5,1
$GPS,141215,235935,-4504.680,636.435,331,1.1,331,-24.4