version: 66.07.10.p01
glider: 574
mission: 18
dive: 59
start: 3 14 112 7 37 7
data:
$ID,574
$MISSION,18
$DIVE,59
$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,50
$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,220
$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,-2330750.5
$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,41
$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,26
$R_STBD_OVSHOOT,25
$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,2670
$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,58
$GPS1,161215,183122,-4502.685,631.391,37,1.0,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-78.4
$GPS2,161215,184327,-4502.664,631.294,6,1.0,6,-24.4
$SPEED_LIMITS,0.172,0.182
$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,270.3,9857,-26.4,-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,-0.70,-48.7,0.0,0.0,0,73,0.00,0.00,-45.33,0.000,6,0.000,0.000,137,2291,2869,0,0,0,0,0,0
$GC,75,-0.70,-48.7,3.0,-1.8,6,92,10.73,2.28,0.00,0.000,4,0.256,0.042,2621,3719,2870,0,0,0,0,0,0
$GC,270,-0.70,-48.7,42.2,-19.9,37,278,0.00,2.28,0.00,0.000,6,0.000,0.044,2630,2299,2871,0,0,0,0,0,0
$GC,618,-0.70,-48.7,112.3,-19.2,92,622,0.00,2.22,0.00,0.000,4,0.000,0.050,2631,888,2871,0,0,0,0,0,0
$GC,646,-0.70,-48.7,117.5,-18.5,94,650,0.00,2.28,0.00,0.000,6,0.000,0.049,2622,2297,2872,0,0,0,0,0,0
$GC,978,-0.70,-48.7,176.4,-17.2,125,982,0.00,2.25,0.00,0.000,4,0.000,0.049,2625,877,2871,0,0,0,0,0,0
$GC,1005,-0.70,-48.7,181.5,-17.8,127,1009,0.00,2.28,0.00,0.000,6,0.000,0.049,2616,2303,2872,0,0,0,0,0,0
$GC,1331,-0.70,-48.7,238.1,-17.5,157,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2303,2872,0,0,0,0,0,0
$GC,1647,-0.70,-48.7,292.2,-16.8,187,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2303,2872,0,0,0,0,0,0
$GC,1968,-0.70,-48.7,345.9,-16.4,217,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2303,2872,0,0,0,0,0,0
$GC,2285,-0.70,-48.7,398.8,-16.2,247,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2303,2872,0,0,0,0,0,0
$GC,2605,-0.70,-48.7,450.9,-16.2,263,2610,0.00,2.22,0.00,0.000,4,0.000,0.062,2604,3709,2872,0,0,0,0,0,0
$GC,2654,-0.70,-48.7,459.8,-17.0,265,2663,0.10,2.25,0.00,0.000,6,0.207,0.048,2633,2301,2871,0,0,0,0,0,0
$GC,2979,-0.70,-48.7,510.4,-15.4,281,2983,0.00,2.25,0.00,0.000,4,0.000,0.062,2623,3711,2871,0,0,0,0,0,0
$GC,3066,-0.70,-48.7,524.7,-15.8,285,3071,0.00,2.28,0.00,0.000,6,0.000,0.052,2631,2299,2871,0,0,0,0,0,0
$GC,3394,-0.70,-48.7,571.8,-14.3,301,3398,0.00,2.25,0.00,0.000,4,0.000,0.060,2631,878,2871,0,0,0,0,0,0
$GC,3415,-0.70,-48.7,575.4,-15.0,302,3420,0.00,2.30,0.00,0.000,6,0.000,0.054,2622,2292,2870,0,0,0,0,0,0
$GC,3744,-0.70,-48.7,623.0,-14.7,318,3748,0.00,2.25,0.00,0.000,4,0.000,0.063,2611,3711,2870,0,0,0,0,0,0
$GC,3830,-0.70,-48.7,636.7,-15.2,322,3836,0.08,2.28,0.00,0.000,6,0.207,0.053,2634,2299,2870,0,0,0,0,0,0
$GC,4159,-0.70,-48.7,681.1,-12.9,338,4163,0.00,2.25,0.00,0.000,4,0.000,0.060,2644,878,2870,0,0,0,0,0,0
$GC,4201,-0.70,-48.7,687.3,-13.0,340,4207,0.00,2.33,0.00,0.000,6,0.000,0.057,2634,2300,2870,0,0,0,0,0,0
$GC,4529,-0.70,-48.7,728.1,-12.4,356,4533,0.00,2.25,0.00,0.000,4,0.000,0.068,2624,3711,2870,0,0,0,0,0,0
$GC,4639,-0.70,-48.7,743.0,-13.5,361,4644,0.00,2.28,0.00,0.000,6,0.000,0.057,2625,2301,2870,0,0,0,0,0,0
$GC,4967,-0.70,-48.7,783.7,-12.0,377,4971,0.00,2.28,0.00,0.000,4,0.000,0.067,2616,3715,2869,0,0,0,0,0,0
$GC,4992,-0.70,-48.7,786.9,-11.8,378,4997,0.00,2.30,0.00,0.000,6,0.000,0.057,2619,2296,2869,0,0,0,0,0,0
$GC,5315,-0.70,-48.7,824.7,-11.7,394,5319,0.00,2.25,0.00,0.000,4,0.000,0.065,2620,883,2869,0,0,0,0,0,0
$GC,5331,-0.70,-48.7,826.7,-11.6,395,5336,0.12,2.30,0.00,0.000,6,0.222,0.060,2637,2312,2869,0,0,0,0,0,0
$GC,5659,-0.70,-48.7,860.5,-10.2,411,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2312,2869,0,0,0,0,0,0
$GC,5968,-0.70,-48.7,891.4,-9.8,426,5972,0.00,2.30,0.00,0.000,4,0.000,0.064,2638,880,2869,0,0,0,0,0,0
$GC,5984,-0.70,-48.7,893.2,-10.2,427,5988,0.00,2.30,0.00,0.000,6,0.000,0.060,2628,2301,2869,0,0,0,0,0,0
$GC,6315,-0.70,-48.7,927.3,-10.2,443,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2301,2869,0,0,0,0,0,0
$GC,6625,-0.70,-48.7,959.2,-10.0,458,6629,0.00,2.28,0.00,0.000,4,0.000,0.072,2618,3718,2868,0,0,0,0,0,0
$GC,6719,-0.70,-48.7,969.5,-10.9,462,6723,0.00,2.28,0.00,0.000,6,0.000,0.062,2619,2299,2868,0,0,0,0,0,0
$STATE,7034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7034,begin apogee
$GC,7038,-0.12,0.0,1001.2,10.2,477,7081,0.73,0.00,40.00,1.297,6,0.178,0.000,2827,2045,2669,0,0,0,0,0,0
$STATE,7082,end apogee,CONTROL_FINISHED_OK
$STATE,7082,begin climb
$GC,7083,0.70,48.7,1002.9,0.0,479,7138,0.85,2.47,41.80,1.266,4,0.108,0.059,3105,653,2470,0,0,0,0,0,0
$GC,7142,0.71,56.3,998.9,9.2,482,7160,0.00,2.45,8.12,1.053,6,0.000,0.053,3103,2067,2439,0,0,0,0,0,0
$GC,7468,0.71,56.3,955.5,13.5,498,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2067,2439,0,0,0,0,0,0
$GC,7777,0.71,56.3,915.9,12.9,513,7781,0.00,2.33,0.00,0.000,4,0.000,0.058,3113,645,2439,0,0,0,0,0,0
$GC,7815,0.71,56.3,911.1,12.7,515,7820,0.00,2.33,0.00,0.000,6,0.000,0.054,3111,2074,2440,0,0,0,0,0,0
$GC,8143,0.71,56.3,869.1,12.9,531,8147,0.00,2.33,0.00,0.000,4,0.000,0.059,3120,643,2439,0,0,0,0,0,0
$GC,8252,0.71,56.3,854.1,13.0,536,8258,0.00,2.33,0.00,0.000,6,0.000,0.053,3114,2058,2440,0,0,0,0,0,0
$GC,8580,0.71,56.3,812.4,12.6,552,8584,0.00,2.28,0.00,0.000,4,0.000,0.057,3124,645,2440,0,0,0,0,0,0
$GC,8641,0.71,56.3,804.9,12.7,555,8645,0.00,2.30,0.00,0.000,6,0.000,0.052,3116,2079,2441,0,0,0,0,0,0
$GC,8966,0.71,56.3,765.3,11.8,571,8970,0.00,2.30,0.00,0.000,4,0.000,0.057,3125,646,2441,0,0,0,0,0,0
$GC,9015,0.71,56.3,759.1,12.2,573,9020,0.00,2.30,0.00,0.000,6,0.000,0.050,3121,2056,2441,0,0,0,0,0,0
$GC,9337,0.71,56.3,721.5,11.7,589,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2059,2441,0,0,0,0,0,0
$GC,9646,0.71,56.3,685.1,11.7,604,9650,0.00,2.25,0.00,0.000,4,0.000,0.060,3122,3479,2442,0,0,0,0,0,0
$GC,9716,0.71,56.3,675.8,12.8,607,9722,0.10,2.28,0.00,0.000,6,0.228,0.049,3106,2062,2441,0,0,0,0,0,0
$GC,10039,0.71,56.3,639.9,11.1,623,10043,0.00,2.25,0.00,0.000,4,0.000,0.059,3116,648,2442,0,0,0,0,0,0
$GC,10078,0.71,56.3,635.4,11.5,625,10082,0.00,2.28,0.00,0.000,6,0.000,0.052,3116,2077,2442,0,0,0,0,0,0
$GC,10403,0.71,56.3,598.7,11.1,641,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2080,2442,0,0,0,0,0,0
$GC,10713,0.71,56.3,564.6,10.9,656,10717,0.00,2.28,0.00,0.000,4,0.000,0.058,3126,649,2443,0,0,0,0,0,0
$GC,10912,0.71,56.3,541.8,11.8,665,10917,0.00,2.28,0.00,0.000,6,0.000,0.049,3126,2058,2443,0,0,0,0,0,0
$GC,11241,0.71,58.0,508.3,9.8,681,11250,0.00,2.30,3.83,0.578,4,0.000,0.059,3126,3469,2433,0,0,0,0,0,0
$GC,11407,0.71,58.0,489.8,11.3,688,11413,0.10,2.25,0.00,0.000,6,0.219,0.048,3110,2059,2433,0,0,0,0,0,0
$GC,11729,0.72,60.5,458.3,9.7,704,11734,0.00,0.00,4.03,0.581,6,0.000,0.000,3109,2056,2422,0,0,0,0,0,0
$GC,12038,0.72,63.7,428.5,9.6,719,12047,0.00,2.30,4.35,0.607,4,0.000,0.059,3119,655,2410,0,0,0,0,0,0
$GC,12159,0.72,63.7,415.3,10.7,724,12163,0.00,2.28,0.00,0.000,6,0.000,0.050,3119,2060,2410,0,0,0,0,0,0
$GC,12486,0.72,63.7,379.3,10.9,748,12490,0.00,2.28,0.00,0.000,4,0.000,0.057,3130,648,2410,0,0,0,0,0,0
$GC,12569,0.72,63.7,370.0,10.9,755,12573,0.00,2.25,0.00,0.000,6,0.000,0.050,3130,2069,2411,0,0,0,0,0,0
$GC,12895,0.72,63.7,335.4,10.4,785,12899,0.00,2.25,0.00,0.000,4,0.000,0.057,3140,652,2410,0,0,0,0,0,0
$GC,12972,0.72,63.7,327.2,10.5,791,12981,0.10,2.28,0.00,0.000,6,0.197,0.049,3112,2062,2410,0,0,0,0,0,0
$GC,13298,0.74,77.0,297.5,8.7,822,13315,0.00,2.28,12.00,0.800,4,0.000,0.054,3121,649,2354,0,0,0,0,0,0
$GC,13421,0.74,77.0,284.2,11.8,832,13431,0.00,2.28,0.00,0.000,6,0.000,0.049,3121,2052,2354,0,0,0,0,0,0
$GC,13746,0.74,77.0,247.3,11.3,863,13750,0.00,2.25,0.00,0.000,4,0.000,0.056,3132,643,2353,0,0,0,0,0,0
$GC,13811,0.74,77.0,239.6,11.4,868,13822,0.00,2.30,0.00,0.000,6,0.000,0.050,3132,2059,2354,0,0,0,0,0,0
$GC,14137,0.74,77.0,204.4,10.1,899,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2059,2354,0,0,0,0,0,0
$GC,14458,0.74,82.5,173.7,9.4,929,14472,0.00,2.25,5.78,0.606,4,0.000,0.054,3142,651,2332,0,0,0,0,0,0
$GC,14476,0.75,88.5,171.6,9.4,930,14487,0.00,2.30,5.93,0.638,6,0.000,0.050,3142,2067,2309,0,0,0,0,0,0
$GC,14813,0.75,88.5,129.2,12.8,962,14817,0.00,2.22,0.00,0.000,4,0.000,0.058,3142,3477,2308,0,0,0,0,0,0
$GC,15081,0.75,88.8,99.5,9.9,985,15089,0.15,2.22,0.00,0.000,6,0.235,0.047,3120,2055,2309,0,0,0,0,0,0
$GC,15432,0.76,94.1,66.3,9.4,1046,15447,0.00,2.30,6.07,0.568,4,0.000,0.055,3115,3470,2285,0,0,0,0,0,0
$GC,15561,0.76,94.1,52.5,10.6,1068,15570,0.00,2.25,0.00,0.000,6,0.000,0.050,3125,2064,2285,0,0,0,0,0,0
$GC,15925,0.76,94.1,13.4,11.3,1129,15934,0.00,2.28,0.00,0.000,4,0.000,0.057,3136,653,2285,0,0,0,0,0,0
$STATE,16008,end climb,SURFACE_DEPTH_REACHED
$STATE,16008,begin surface coast
$FINISH,1.1,1.016814
$STATE,16034,end surface coast,CONTROL_FINISHED_OK
$STATE,16034,begin surface
$SM_CCo,16051,53.12,0.050,0,0,1772,220.03
$SM_GC,2.85,0.00,0.00,53.12,0.000,0.000,0.050,140,2307,1772,-8.54,0.23,220.03
$IRIDIUM_FIX,-4444.39,627.81,121008,070720
$TT8_MAMPS,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.7,14.078
$10V_AH,10.2,9.383
$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,21.225,142.200,131.900,53.125,0.000,29.350,21.484,552.272,24.750,0.000,9.711,3101.694,9974.117,351.498,3286.095,120.631,0.000,1447.314,0.000,2593.884,0.000,148.780,0.000
$DEVICE_MAMPS,256.275,71.910,1297.440,50.490,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.326,783.737,80.838,819.012,0.000,0.000,0.000,0.000,0.000,0.000
$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,66830,1146
$CAP_FILE_SIZE,165392,0
$CFSIZE,2097086464,2088304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.078, 79.6,1
$GPS,161215,231357,-4502.970,630.572,49,0.8,49,-24.4