version: 66.07.10.p01
glider: 574
mission: 18
dive: 109
start: 3 24 112 18 58 47
data:
$ID,574
$MISSION,18
$DIVE,109
$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,-2335585
$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,45
$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,2260
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$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,2650
$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,108
$GPS1,271215,055235,-4503.634,636.547,175,1.4,175,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-76.5
$GPS2,271215,060545,-4503.405,636.569,8,0.9,8,-24.4
$SPEED_LIMITS,0.172,0.182
$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,264.8,1330,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.68,-48.7,0.0,0.0,0,74,0.00,0.00,-44.53,0.000,6,0.000,0.000,135,2266,2848,0,0,0,0,0,0
$GC,76,-0.68,-48.7,3.6,-3.1,6,93,10.55,2.28,0.00,0.000,4,0.258,0.036,2645,825,2850,0,0,0,0,0,0
$GC,430,-0.68,-48.7,66.9,-18.3,65,436,0.00,2.30,0.00,0.000,6,0.000,0.047,2635,2266,2851,0,0,0,0,0,0
$GC,771,-0.68,-48.7,130.0,-16.4,112,778,0.00,2.25,0.00,0.000,4,0.000,0.046,2644,834,2851,0,0,0,0,0,0
$GC,1051,-0.68,-48.7,175.0,-16.8,136,1062,0.00,2.30,0.00,0.000,6,0.000,0.047,2634,2259,2852,0,0,0,0,0,0
$GC,1376,-0.68,-48.7,226.5,-15.1,167,1380,0.00,2.22,0.00,0.000,4,0.000,0.057,2623,3676,2852,0,0,0,0,0,0
$GC,1415,-0.68,-48.7,232.8,-15.8,170,1419,0.00,2.20,0.00,0.000,6,0.000,0.041,2631,2253,2852,0,0,0,0,0,0
$GC,1740,-0.68,-48.7,281.4,-15.0,200,1744,0.00,2.25,0.00,0.000,4,0.000,0.056,2622,3680,2852,0,0,0,0,0,0
$GC,1814,-0.68,-48.7,293.1,-16.4,206,1818,0.00,2.20,0.00,0.000,6,0.000,0.042,2630,2257,2852,0,0,0,0,0,0
$GC,2138,-0.68,-48.7,344.3,-15.9,236,2142,0.00,2.22,0.00,0.000,4,0.000,0.057,2621,3671,2852,0,0,0,0,0,0
$GC,2269,-0.68,-48.7,365.8,-16.3,247,2274,0.12,2.20,0.00,0.000,6,0.291,0.046,2647,2256,2851,0,0,0,0,0,0
$GC,2591,-0.68,-48.7,413.1,-14.3,273,2595,0.00,2.22,0.00,0.000,4,0.000,0.057,2639,3669,2851,0,0,0,0,0,0
$GC,2639,-0.68,-48.7,420.8,-15.6,275,2644,0.00,2.25,0.00,0.000,6,0.000,0.047,2644,2257,2851,0,0,0,0,0,0
$GC,2961,-0.68,-48.7,468.6,-14.7,291,2965,0.00,2.22,0.00,0.000,4,0.000,0.058,2635,3669,2851,0,0,0,0,0,0
$GC,2992,-0.68,-48.7,473.9,-15.4,292,3001,0.00,2.25,0.00,0.000,6,0.000,0.047,2641,2255,2851,0,0,0,0,0,0
$GC,3309,-0.68,-48.7,518.5,-13.9,308,3313,0.00,2.25,0.00,0.000,4,0.000,0.060,2631,3679,2850,0,0,0,0,0,0
$GC,3380,-0.68,-48.7,529.3,-14.4,311,3386,0.00,2.25,0.00,0.000,6,0.000,0.048,2632,2265,2850,0,0,0,0,0,0
$GC,3703,-0.68,-48.7,574.9,-14.0,327,3707,0.00,2.22,0.00,0.000,4,0.000,0.060,2622,3669,2850,0,0,0,0,0,0
$GC,3778,-0.68,-48.7,586.8,-15.0,330,3786,0.00,2.25,0.00,0.000,6,0.000,0.050,2626,2263,2850,0,0,0,0,0,0
$GC,4096,-0.68,-48.7,632.2,-14.5,346,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2259,2850,0,0,0,0,0,0
$GC,4404,-0.68,-48.7,675.2,-13.6,361,4408,0.00,2.22,0.00,0.000,4,0.000,0.057,2631,849,2850,0,0,0,0,0,0
$GC,4425,-0.68,-48.7,678.2,-13.1,362,4430,0.00,2.28,0.00,0.000,6,0.000,0.052,2622,2257,2850,0,0,0,0,0,0
$GC,4753,-0.68,-48.7,720.1,-12.4,378,4758,0.00,2.25,0.00,0.000,4,0.000,0.063,2611,3683,2849,0,0,0,0,0,0
$GC,4779,-0.68,-48.7,723.8,-13.0,379,4785,0.08,2.28,0.00,0.000,6,0.279,0.050,2639,2260,2849,0,0,0,0,0,0
$GC,5104,-0.68,-48.7,760.3,-11.3,395,5108,0.00,2.25,0.00,0.000,4,0.000,0.063,2630,3676,2849,0,0,0,0,0,0
$GC,5137,-0.68,-48.7,764.4,-11.2,396,5144,0.00,2.22,0.00,0.000,6,0.000,0.053,2631,2261,2849,0,0,0,0,0,0
$GC,5451,-0.68,-48.7,799.4,-10.8,412,5455,0.00,2.22,0.00,0.000,4,0.000,0.059,2632,849,2849,0,0,0,0,0,0
$GC,5491,-0.68,-48.7,803.8,-10.9,414,5495,0.00,2.25,0.00,0.000,6,0.000,0.054,2622,2267,2849,0,0,0,0,0,0
$GC,5817,-0.68,-48.7,839.4,-10.7,430,5821,0.00,2.22,0.00,0.000,4,0.000,0.064,2612,3677,2848,0,0,0,0,0,0
$GC,5904,-0.68,-48.7,849.9,-12.0,434,5913,0.08,2.28,0.00,0.000,6,0.278,0.053,2638,2256,2848,0,0,0,0,0,0
$GC,6234,-0.68,-48.7,884.0,-10.4,450,6238,0.00,2.25,0.00,0.000,4,0.000,0.065,2629,3669,2848,0,0,0,0,0,0
$GC,6254,-0.68,-48.7,886.4,-10.7,451,6259,0.00,2.25,0.00,0.000,6,0.000,0.054,2632,2272,2848,0,0,0,0,0,0
$GC,6584,-0.68,-48.7,920.0,-10.2,467,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2269,2848,0,0,0,0,0,0
$GC,6890,-0.68,-48.7,952.8,-10.4,482,6894,0.00,2.25,0.00,0.000,4,0.000,0.068,2623,3674,2848,0,0,0,0,0,0
$GC,6958,-0.68,-48.7,960.5,-11.6,485,6962,0.00,2.25,0.00,0.000,6,0.000,0.058,2625,2257,2848,0,0,0,0,0,0
$GC,7279,-0.68,-48.7,994.9,-10.5,501,7283,0.00,2.28,0.00,0.000,4,0.000,0.067,2616,3678,2848,0,0,0,0,0,0
$GC,7321,-0.68,-48.7,999.8,-11.0,503,7330,0.08,2.30,0.00,0.000,6,0.296,0.056,2641,2255,2848,0,0,0,0,0,0
$STATE,7333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7333,begin apogee
$GC,7337,-0.11,0.0,1001.4,11.3,503,7384,0.62,0.00,39.85,1.296,6,0.256,0.000,2821,1986,2650,0,0,0,0,0,0
$STATE,7384,end apogee,CONTROL_FINISHED_OK
$STATE,7385,begin climb
$GC,7386,0.68,48.7,1003.4,0.0,506,7434,0.82,2.42,41.55,1.265,4,0.197,0.059,3086,585,2450,0,0,0,0,0,0
$GC,7447,0.71,72.8,1000.2,7.4,509,7474,0.00,2.38,21.75,1.215,6,0.000,0.052,3086,1991,2352,0,0,0,0,0,0
$GC,7795,0.71,72.8,956.2,12.7,526,7799,0.00,2.33,0.00,0.000,4,0.000,0.063,3085,3409,2349,0,0,0,0,0,0
$GC,7834,0.71,72.8,951.0,13.6,528,7838,0.00,2.30,0.00,0.000,6,0.000,0.051,3095,1988,2349,0,0,0,0,0,0
$GC,8160,0.71,72.8,909.3,12.7,544,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1986,2348,0,0,0,0,0,0
$GC,8469,0.71,72.8,869.4,12.9,559,8473,0.00,2.28,0.00,0.000,4,0.000,0.060,3106,583,2347,0,0,0,0,0,0
$GC,8533,0.71,72.8,860.5,13.7,562,8538,0.00,2.30,0.00,0.000,6,0.000,0.051,3102,1988,2348,0,0,0,0,0,0
$GC,8861,0.71,72.8,818.0,13.3,578,8865,0.00,2.25,0.00,0.000,4,0.000,0.060,3101,3402,2347,0,0,0,0,0,0
$GC,8944,0.71,72.8,805.8,14.7,582,8948,0.00,2.22,0.00,0.000,6,0.000,0.050,3110,1991,2347,0,0,0,0,0,0
$GC,9270,0.71,72.8,760.4,13.8,598,9274,0.00,2.28,0.00,0.000,4,0.000,0.060,3122,576,2347,0,0,0,0,0,0
$GC,9346,0.71,72.8,749.5,14.0,601,9354,0.00,2.30,0.00,0.000,6,0.000,0.052,3116,1982,2347,0,0,0,0,0,0
$GC,9663,0.71,72.8,707.1,13.2,617,9667,0.00,2.25,0.00,0.000,4,0.000,0.060,3115,3403,2346,0,0,0,0,0,0
$GC,9724,0.71,72.8,698.1,14.1,620,9728,0.00,2.22,0.00,0.000,6,0.000,0.050,3125,1990,2346,0,0,0,0,0,0
$GC,10049,0.71,72.8,653.7,13.4,636,10054,0.00,2.25,0.00,0.000,4,0.000,0.060,3136,582,2347,0,0,0,0,0,0
$GC,10070,0.71,72.8,650.8,13.3,637,10075,0.10,2.30,0.00,0.000,6,0.300,0.050,3104,1997,2347,0,0,0,0,0,0
$GC,10398,0.71,72.8,612.2,11.7,653,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1999,2346,0,0,0,0,0,0
$GC,10707,0.71,72.8,575.1,11.8,668,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2000,2346,0,0,0,0,0,0
$GC,11016,0.71,72.8,538.9,11.8,683,11020,0.00,2.22,0.00,0.000,4,0.000,0.060,3104,3412,2346,0,0,0,0,0,0
$GC,11139,0.71,72.8,523.1,13.9,688,11146,0.00,2.25,0.00,0.000,6,0.000,0.049,3113,1984,2346,0,0,0,0,0,0
$GC,11453,0.71,72.8,485.1,11.7,704,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1980,2346,0,0,0,0,0,0
$GC,11763,0.71,72.8,448.6,11.6,719,11767,0.00,2.25,0.00,0.000,4,0.000,0.059,3124,574,2346,0,0,0,0,0,0
$GC,11783,0.71,72.8,446.0,11.9,720,11788,0.00,2.28,0.00,0.000,6,0.000,0.049,3124,1986,2346,0,0,0,0,0,0
$GC,12112,0.71,72.8,406.3,11.9,736,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1989,2345,0,0,0,0,0,0
$GC,12427,0.71,72.8,369.0,11.7,763,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1989,2345,0,0,0,0,0,0
$GC,12749,0.71,72.8,331.4,11.9,793,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1989,2345,0,0,0,0,0,0
$GC,13064,0.71,72.8,294.4,11.3,823,13068,0.00,2.22,0.00,0.000,4,0.000,0.057,3124,3402,2345,0,0,0,0,0,0
$GC,13153,0.71,72.8,283.0,12.5,830,13162,0.10,2.25,0.00,0.000,6,0.308,0.048,3108,1986,2345,0,0,0,0,0,0
$GC,13483,0.71,72.8,246.8,11.0,861,13489,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1983,2345,0,0,0,0,0,0
$GC,13807,0.71,72.8,211.9,10.8,892,13812,0.00,2.25,0.00,0.000,4,0.000,0.057,3108,3413,2346,0,0,0,0,0,0
$GC,13827,0.71,72.8,210.0,10.6,893,13831,0.00,2.22,0.00,0.000,6,0.000,0.049,3117,1982,2346,0,0,0,0,0,0
$GC,14151,0.71,73.5,174.2,9.9,923,14155,0.00,2.22,0.00,0.000,4,0.000,0.055,3114,3402,2346,0,0,0,0,0,0
$GC,14167,0.71,78.2,172.6,9.5,924,14183,0.00,2.20,4.65,0.552,6,0.000,0.048,3123,1981,2330,0,0,0,0,0,0
$GC,14497,0.71,78.2,138.0,10.8,955,14501,0.00,2.22,0.00,0.000,4,0.000,0.057,3135,578,2330,0,0,0,0,0,0
$GC,14527,0.71,78.2,134.9,11.2,957,14532,0.12,2.22,0.00,0.000,6,0.295,0.048,3108,1992,2331,0,0,0,0,0,0
$GC,14851,0.72,81.7,102.8,9.6,987,14864,0.00,2.25,4.57,0.513,4,0.000,0.057,3117,586,2315,0,0,0,0,0,0
$GC,14933,0.73,91.8,95.2,8.9,998,14949,0.00,2.22,9.38,0.681,6,0.000,0.048,3116,2002,2274,0,0,0,0,0,0
$GC,15294,0.74,97.7,61.4,9.3,1060,15302,0.00,0.00,6.18,0.605,6,0.000,0.000,3117,2002,2250,0,0,0,0,0,0
$GC,15654,0.74,97.7,20.4,13.2,1121,15662,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2003,2249,0,0,0,0,0,0
$STATE,15783,end climb,SURFACE_DEPTH_REACHED
$STATE,15783,begin surface coast
$FINISH,1.3,1.013172
$STATE,15809,end surface coast,CONTROL_FINISHED_OK
$STATE,15810,begin surface
$SM_CCo,15824,51.38,0.055,0,0,1752,220.03
$SM_GC,3.01,0.00,0.00,51.38,0.000,0.000,0.055,141,2272,1752,-8.54,0.34,220.03
$IRIDIUM_FIX,-4450.47,628.50,221008,191947
$TT8_MAMPS,0.026215
$HUMID,48.50
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.80
$XPDR_PINGS,0
$24V_AH,23.8,18.727
$10V_AH,10.2,15.628
$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,20.800,140.625,127.925,51.375,0.000,32.746,55.080,569.977,24.750,0.000,12.238,3080.893,9819.216,347.944,3283.278,138.168,0.000,1424.991,0.000,2540.691,0.000,148.529,0.000
$DEVICE_MAMPS,308.295,68.085,1295.910,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.150,786.905,80.841,832.153,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354132
$DATA_FILE_SIZE,66644,1146
$CAP_FILE_SIZE,163077,0
$CFSIZE,2097086464,2081783808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.099,117.7,1
$GPS,271215,103327,-4504.330,636.139,108,1.0,108,-24.4