version: 66.07.10.p01
glider: 574
mission: 18
dive: 126
start: 3 28 112 9 22 59
data:
$ID,574
$MISSION,18
$DIVE,126
$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,-2337527.2
$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,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,23
$R_STBD_OVSHOOT,27
$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,125
$GPS1,301215,200757,-4503.205,624.477,67,1.0,67,-24.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-78.0
$GPS2,301215,203011,-4503.190,624.568,4,1.1,4,-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,248.2,1674,-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,-48.7,0.0,0.0,0,73,0.00,0.00,-44.28,0.000,6,0.000,0.000,143,2273,2851,0,0,0,0,0,0
$GC,75,-0.68,-48.7,3.4,-2.0,6,92,10.75,0.00,0.00,0.000,6,0.271,0.000,2641,2273,2851,0,0,0,0,0,0
$GC,142,-0.68,-48.7,15.9,-18.0,16,151,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2273,2851,0,0,0,0,0,0
$GC,202,-0.68,-48.7,27.2,-19.0,25,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2273,2851,0,0,0,0,0,0
$GC,351,-0.68,-48.7,55.9,-17.6,50,358,0.00,2.25,0.00,0.000,4,0.000,0.053,2631,3681,2852,0,0,0,0,0,0
$GC,488,-0.68,-48.7,79.4,-17.1,73,498,0.00,2.22,0.00,0.000,6,0.000,0.037,2631,2253,2852,0,0,0,0,0,0
$GC,824,-0.68,-48.7,132.1,-15.2,114,828,0.00,2.25,0.00,0.000,4,0.000,0.052,2622,3669,2852,0,0,0,0,0,0
$GC,1005,-0.68,-48.7,161.8,-15.2,129,1013,0.00,2.22,0.00,0.000,6,0.000,0.037,2625,2263,2851,0,0,0,0,0,0
$GC,1330,-0.68,-48.7,212.5,-15.6,160,1334,0.00,2.22,0.00,0.000,4,0.000,0.054,2616,3671,2852,0,0,0,0,0,0
$GC,1672,-0.68,-48.7,268.6,-16.3,189,1677,0.12,2.22,0.00,0.000,6,0.302,0.041,2647,2253,2852,0,0,0,0,0,0
$GC,2002,-0.68,-48.7,316.1,-13.9,220,2006,0.00,2.25,0.00,0.000,4,0.000,0.054,2637,3681,2852,0,0,0,0,0,0
$GC,2307,-0.68,-48.7,360.0,-14.0,246,2311,0.00,2.20,0.00,0.000,6,0.000,0.041,2638,2260,2853,0,0,0,0,0,0
$GC,2641,-0.68,-48.7,403.4,-13.0,276,2645,0.00,2.22,0.00,0.000,4,0.000,0.056,2629,3672,2852,0,0,0,0,0,0
$GC,3018,-0.68,-48.7,452.4,-13.3,293,3022,0.00,2.20,0.00,0.000,6,0.000,0.044,2630,2259,2852,0,0,0,0,0,0
$GC,3344,-0.68,-48.7,492.6,-12.2,309,3348,0.00,2.22,0.00,0.000,4,0.000,0.057,2621,3668,2852,0,0,0,0,0,0
$GC,3893,-0.68,-48.7,566.6,-12.9,333,3901,0.00,2.25,0.00,0.000,6,0.000,0.046,2621,2256,2851,0,0,0,0,0,0
$GC,4210,-0.68,-48.7,605.7,-12.2,349,4215,0.12,2.25,0.00,0.000,4,0.317,0.057,2637,3669,2851,0,0,0,0,0,0
$GC,4496,-0.68,-48.7,640.4,-11.3,362,4500,0.00,2.20,0.00,0.000,6,0.000,0.048,2637,2263,2851,0,0,0,0,0,0
$GC,4824,-0.68,-48.7,679.9,-11.9,378,4828,0.00,2.25,0.00,0.000,4,0.000,0.060,2628,3666,2850,0,0,0,0,0,0
$GC,5085,-0.68,-48.7,714.0,-12.8,389,5093,0.00,2.25,0.00,0.000,6,0.000,0.050,2628,2262,2850,0,0,0,0,0,0
$GC,5402,-0.68,-48.7,752.9,-12.5,405,5406,0.00,2.25,0.00,0.000,4,0.000,0.062,2618,3665,2850,0,0,0,0,0,0
$GC,5725,-0.68,-48.7,793.9,-12.4,419,5733,0.08,2.25,0.00,0.000,6,0.256,0.051,2641,2258,2850,0,0,0,0,0,0
$GC,6043,-0.68,-48.7,827.2,-10.4,435,6047,0.00,2.25,0.00,0.000,4,0.000,0.062,2632,3673,2849,0,0,0,0,0,0
$GC,6310,-0.68,-48.7,857.7,-11.0,447,6315,0.00,2.28,0.00,0.000,6,0.000,0.053,2631,2261,2849,0,0,0,0,0,0
$GC,6638,-0.68,-48.7,892.7,-10.7,463,6642,0.00,2.25,0.00,0.000,4,0.000,0.063,2622,3671,2848,0,0,0,0,0,0
$GC,6933,-0.68,-48.7,926.9,-12.1,476,6938,0.00,2.28,0.00,0.000,6,0.000,0.054,2622,2258,2847,0,0,0,0,0,0
$GC,7257,-0.68,-48.7,961.2,-10.6,492,7261,0.00,2.25,0.00,0.000,4,0.000,0.064,2614,3666,2847,0,0,0,0,0,0
$STATE,7605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7605,begin apogee
$GC,7611,-0.11,0.0,1000.2,11.6,507,7658,0.73,0.00,39.83,1.282,6,0.220,0.000,2823,1975,2649,0,0,0,0,0,0
$STATE,7659,end apogee,CONTROL_FINISHED_OK
$STATE,7659,begin climb
$GC,7660,0.68,48.7,1002.8,0.0,510,7708,0.80,2.40,41.38,1.258,4,0.145,0.056,3089,580,2450,0,0,0,0,0,0
$GC,7892,0.68,51.3,982.8,9.7,520,7902,0.00,2.35,3.65,0.717,6,0.000,0.050,3084,1977,2439,0,0,0,0,0,0
$GC,8208,0.68,52.6,952.1,9.8,536,8212,0.00,2.30,0.00,0.000,4,0.000,0.057,3094,574,2439,0,0,0,0,0,0
$GC,8683,0.68,52.6,902.1,10.9,557,8688,0.00,2.33,0.00,0.000,6,0.000,0.050,3088,1985,2439,0,0,0,0,0,0
$GC,9006,0.68,52.6,869.8,10.1,573,9010,0.00,2.28,0.00,0.000,4,0.000,0.057,3097,579,2439,0,0,0,0,0,0
$GC,9531,0.68,52.6,815.2,10.0,596,9540,0.00,2.30,0.00,0.000,6,0.000,0.050,3094,1992,2439,0,0,0,0,0,0
$GC,9848,0.69,59.4,784.9,9.2,612,9862,0.00,2.35,7.85,0.951,4,0.000,0.055,3103,575,2406,0,0,0,0,0,0
$GC,10288,0.70,63.8,740.9,9.5,631,10299,0.00,2.30,4.93,0.763,6,0.000,0.050,3098,1988,2390,0,0,0,0,0,0
$GC,10626,0.70,63.8,706.2,10.4,648,10631,0.00,2.28,0.00,0.000,4,0.000,0.057,3107,575,2390,0,0,0,0,0,0
$GC,11119,0.70,63.8,654.0,10.4,670,11124,0.00,2.30,0.00,0.000,6,0.000,0.049,3102,1988,2389,0,0,0,0,0,0
$GC,11448,0.70,64.4,622.3,9.9,686,11452,0.00,2.30,0.00,0.000,4,0.000,0.057,3111,568,2389,0,0,0,0,0,0
$GC,12013,0.70,70.2,563.7,9.3,711,12027,0.00,2.30,6.90,0.819,6,0.000,0.050,3111,1988,2363,0,0,0,0,0,0
$GC,12334,0.70,70.2,529.0,11.0,727,12338,0.00,2.28,0.00,0.000,4,0.000,0.057,3121,568,2363,0,0,0,0,0,0
$GC,12844,0.70,70.2,471.5,11.5,750,12849,0.00,2.30,0.00,0.000,6,0.000,0.050,3121,2002,2362,0,0,0,0,0,0
$GC,13170,0.70,70.2,436.4,10.7,766,13174,0.00,2.28,0.00,0.000,4,0.000,0.057,3131,578,2362,0,0,0,0,0,0
$GC,13741,0.70,70.2,372.8,11.4,802,13745,0.12,2.25,0.00,0.000,6,0.279,0.049,3104,2000,2362,0,0,0,0,0,0
$GC,14065,0.72,79.1,342.9,9.0,832,14081,0.00,2.30,8.27,0.760,4,0.000,0.055,3113,578,2326,0,0,0,0,0,0
$GC,14641,0.72,79.1,283.8,10.1,882,14645,0.00,2.28,0.00,0.000,6,0.000,0.050,3113,1997,2327,0,0,0,0,0,0
$GC,14965,0.72,81.7,253.1,9.7,912,14981,0.00,2.35,3.88,0.495,4,0.000,0.056,3123,568,2316,0,0,0,0,0,0
$GC,15461,0.72,81.7,202.3,11.1,955,15465,0.00,2.28,0.00,0.000,6,0.000,0.050,3123,1992,2316,0,0,0,0,0,0
$GC,15787,0.72,81.7,167.9,11.0,985,15791,0.00,2.25,0.00,0.000,4,0.000,0.055,3134,577,2316,0,0,0,0,0,0
$GC,15907,0.72,86.1,156.0,9.5,995,15920,0.00,2.25,4.93,0.549,6,0.000,0.049,3134,2000,2299,0,0,0,0,0,0
$GC,16236,0.72,86.1,121.2,10.2,1026,16240,0.00,2.28,0.00,0.000,4,0.000,0.056,3144,573,2298,0,0,0,0,0,0
$GC,16802,0.73,88.1,66.2,9.7,1105,16809,0.15,2.25,0.00,0.000,6,0.265,0.049,3110,1997,2299,0,0,0,0,0,0
$GC,17154,0.75,105.6,36.8,8.1,1166,17180,0.00,2.33,16.42,0.676,4,0.000,0.054,3119,583,2218,0,0,0,0,0,0
$GC,17212,0.75,109.3,31.4,9.6,1174,17222,0.00,2.28,1.67,0.122,6,0.000,0.049,3119,1982,2204,0,0,0,0,0,0
$GC,17369,0.75,109.3,14.0,11.3,1199,17378,0.00,2.30,0.00,0.000,4,0.000,0.056,3129,580,2203,0,0,0,0,0,0
$GC,17452,0.75,109.3,4.2,12.4,1212,17461,0.00,2.28,0.00,0.000,6,0.000,0.047,3129,1984,2202,0,0,0,0,0,0
$STATE,17468,end climb,SURFACE_DEPTH_REACHED
$STATE,17468,begin surface coast
$FINISH,1.4,1.002440
$STATE,17494,end surface coast,CONTROL_FINISHED_OK
$STATE,17494,begin surface
$SM_CCo,17509,47.12,0.055,0,0,1752,220.03
$SM_GC,3.31,0.00,0.00,47.12,0.000,0.000,0.055,147,2273,1752,-8.51,0.37,220.03
$IRIDIUM_FIX,-4444.39,624.79,261008,090952
$TT8_MAMPS,0.026215
$HUMID,48.22
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.20
$XPDR_PINGS,0
$24V_AH,23.9,20.265
$10V_AH,10.2,17.797
$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,21.050,118.975,139.700,47.125,0.000,103.796,225.426,666.844,24.750,0.000,8.785,3484.597,9930.199,338.035,4977.477,163.974,0.000,1939.802,0.000,3832.120,0.000,148.122,0.000
$DEVICE_MAMPS,317.475,64.260,1282.140,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.610,827.578,82.132,868.600,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354164
$DATA_FILE_SIZE,70198,1218
$CAP_FILE_SIZE,196835,0
$CFSIZE,2097086464,2079490048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.077, 98.1,1
$GPS,311215,012527,-4503.313,623.867,81,1.0,82,-24.4