version: 66.07.10.p01
glider: 574
mission: 18
dive: 221
start: 4 17 112 6 32 4
data:
$ID,574
$MISSION,18
$DIVE,221
$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,-2345700
$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,27
$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,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,220
$GPS1,190116,172730,-4503.979,635.955,101,1.9,101,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-77.8
$GPS2,190116,174031,-4503.869,636.147,17,1.8,17,-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,297.0,15891,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.65,-48.7,0.0,0.0,0,66,0.00,0.00,-40.08,0.000,2,0.000,0.000,136,2267,2753,0,0,0,0,0,0
$GC,68,-0.65,-48.7,3.2,-1.9,5,95,10.75,2.33,-2.62,0.000,4,0.249,0.057,2643,3689,2852,0,0,0,0,0,0
$GC,188,-0.65,-48.7,24.3,-17.0,23,198,0.00,2.33,0.00,0.000,6,0.000,0.039,2643,2253,2853,0,0,0,0,0,0
$GC,341,-0.65,-48.7,52.0,-17.5,48,350,0.00,2.28,0.00,0.000,4,0.000,0.045,2643,846,2853,0,0,0,0,0,0
$GC,379,-0.65,-48.7,59.4,-18.8,54,392,0.08,2.30,0.00,0.000,6,0.197,0.044,2654,2257,2853,0,0,0,0,0,0
$GC,729,-0.65,-48.7,119.5,-14.9,104,733,0.00,2.22,0.00,0.000,4,0.000,0.053,2644,3669,2853,0,0,0,0,0,0
$GC,766,-0.65,-48.7,125.6,-15.3,107,775,0.00,2.25,0.00,0.000,6,0.000,0.037,2644,2259,2853,0,0,0,0,0,0
$GC,1091,-0.65,-48.7,172.2,-14.3,138,1095,0.00,2.22,0.00,0.000,4,0.000,0.051,2635,3670,2853,0,0,0,0,0,0
$GC,1169,-0.65,-48.7,183.8,-14.7,144,1178,0.00,2.25,0.00,0.000,6,0.000,0.038,2635,2254,2853,0,0,0,0,0,0
$GC,1494,-0.65,-48.7,231.4,-14.1,175,1498,0.00,2.20,0.00,0.000,4,0.000,0.044,2635,840,2853,0,0,0,0,0,0
$GC,1537,-0.65,-48.7,237.9,-14.0,178,1546,0.10,2.28,0.00,0.000,6,0.190,0.044,2653,2259,2854,0,0,0,0,0,0
$GC,1866,-0.65,-48.7,280.4,-13.4,209,1870,0.00,2.20,0.00,0.000,4,0.000,0.054,2643,3665,2853,0,0,0,0,0,0
$GC,1943,-0.65,-48.7,291.9,-14.3,215,1952,0.00,2.22,0.00,0.000,6,0.000,0.038,2643,2257,2853,0,0,0,0,0,0
$GC,2269,-0.65,-48.7,337.5,-13.8,246,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2254,2853,0,0,0,0,0,0
$GC,2588,-0.65,-48.7,382.3,-14.0,276,2592,0.00,2.22,0.00,0.000,4,0.000,0.054,2634,3672,2853,0,0,0,0,0,0
$GC,2606,-0.65,-48.7,384.8,-14.6,277,2610,0.00,2.20,0.00,0.000,6,0.000,0.039,2634,2250,2853,0,0,0,0,0,0
$GC,2925,-0.65,-48.7,430.5,-14.2,297,2929,0.00,2.22,0.00,0.000,4,0.000,0.054,2624,3665,2853,0,0,0,0,0,0
$GC,3001,-0.65,-48.7,442.1,-14.7,300,3010,0.10,2.22,0.00,0.000,6,0.181,0.039,2653,2256,2853,0,0,0,0,0,0
$GC,3319,-0.65,-48.7,482.8,-12.7,316,3323,0.00,2.22,0.00,0.000,4,0.000,0.054,2643,3671,2852,0,0,0,0,0,0
$GC,3389,-0.65,-48.7,492.7,-13.8,319,3394,0.00,2.22,0.00,0.000,6,0.000,0.041,2643,2265,2853,0,0,0,0,0,0
$GC,3711,-0.65,-48.7,535.3,-13.7,335,3715,0.00,2.20,0.00,0.000,4,0.000,0.054,2634,3664,2852,0,0,0,0,0,0
$GC,3755,-0.65,-48.7,541.7,-14.0,337,3759,0.00,2.22,0.00,0.000,6,0.000,0.041,2635,2261,2852,0,0,0,0,0,0
$GC,4083,-0.65,-48.7,585.4,-13.4,353,4087,0.00,2.22,0.00,0.000,4,0.000,0.055,2624,3673,2852,0,0,0,0,0,0
$GC,4115,-0.65,-48.7,590.1,-14.6,354,4123,0.15,2.20,0.00,0.000,6,0.194,0.042,2660,2256,2852,0,0,0,0,0,0
$GC,4433,-0.65,-48.7,628.7,-12.1,370,4437,0.00,2.20,0.00,0.000,4,0.000,0.049,2660,847,2852,0,0,0,0,0,0
$GC,4453,-0.65,-48.7,631.7,-11.6,371,4458,0.00,2.25,0.00,0.000,6,0.000,0.047,2651,2247,2851,0,0,0,0,0,0
$GC,4784,-0.65,-48.7,670.2,-12.1,387,4788,0.00,2.25,0.00,0.000,4,0.000,0.057,2640,3680,2851,0,0,0,0,0,0
$GC,4855,-0.65,-48.7,679.9,-12.7,390,4863,0.00,2.25,0.00,0.000,6,0.000,0.042,2640,2263,2851,0,0,0,0,0,0
$GC,5179,-0.65,-48.7,719.9,-12.4,406,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2260,2851,0,0,0,0,0,0
$GC,5489,-0.65,-48.7,757.7,-12.3,421,5493,0.00,2.25,0.00,0.000,4,0.000,0.057,2630,3671,2850,0,0,0,0,0,0
$GC,5510,-0.65,-48.7,760.9,-13.4,422,5516,0.08,2.25,0.00,0.000,6,0.184,0.044,2652,2260,2850,0,0,0,0,0,0
$GC,5838,-0.65,-48.7,800.0,-11.7,438,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2257,2850,0,0,0,0,0,0
$GC,6147,-0.65,-48.7,836.6,-11.8,453,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2257,2850,0,0,0,0,0,0
$GC,6457,-0.65,-48.7,874.6,-12.3,468,6461,0.00,2.25,0.00,0.000,4,0.000,0.057,2642,3680,2849,0,0,0,0,0,0
$GC,6533,-0.65,-48.7,884.8,-13.3,471,6542,0.00,2.28,0.00,0.000,6,0.000,0.046,2643,2257,2849,0,0,0,0,0,0
$GC,6852,-0.65,-48.7,922.3,-11.8,487,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2257,2849,0,0,0,0,0,0
$GC,7159,-0.65,-48.7,957.5,-11.1,502,7163,0.00,2.25,0.00,0.000,4,0.000,0.058,2633,3681,2848,0,0,0,0,0,0
$GC,7224,-0.65,-48.7,965.4,-12.0,505,7229,0.00,2.28,0.00,0.000,6,0.000,0.047,2632,2257,2849,0,0,0,0,0,0
$STATE,7533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7533,begin apogee
$GC,7537,-0.11,0.0,1000.9,11.6,520,7580,0.70,0.00,39.92,1.284,6,0.175,0.000,2828,1978,2649,0,0,0,0,0,0
$STATE,7581,end apogee,CONTROL_FINISHED_OK
$STATE,7581,begin climb
$GC,7583,0.65,48.7,1003.5,0.0,522,7632,0.77,0.00,41.53,1.250,6,0.102,0.000,3076,1978,2451,0,0,0,0,0,0
$GC,7941,0.65,52.6,973.2,9.6,540,7948,0.00,0.00,4.78,0.817,6,0.000,0.000,3076,1978,2434,0,0,0,0,0,0
$GC,8249,0.65,52.6,940.8,10.8,555,8254,0.00,2.30,0.00,0.000,4,0.000,0.058,3075,3401,2434,0,0,0,0,0,0
$GC,8293,0.65,52.6,935.7,11.3,557,8297,0.00,2.30,0.00,0.000,6,0.000,0.047,3085,1998,2434,0,0,0,0,0,0
$GC,8622,0.65,52.6,897.9,11.7,573,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1994,2434,0,0,0,0,0,0
$GC,8932,0.65,52.6,863.3,10.9,588,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1994,2434,0,0,0,0,0,0
$GC,9240,0.65,52.6,830.5,10.4,603,9244,0.00,2.30,0.00,0.000,4,0.000,0.056,3097,572,2434,0,0,0,0,0,0
$GC,9274,0.65,52.6,826.8,10.5,604,9281,0.00,2.28,0.00,0.000,6,0.000,0.049,3088,1992,2434,0,0,0,0,0,0
$GC,9589,0.65,52.6,794.8,10.1,620,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1994,2433,0,0,0,0,0,0
$GC,9899,0.66,63.9,766.5,8.9,635,9914,0.00,2.30,10.20,0.999,4,0.000,0.054,3098,578,2388,0,0,0,0,0,0
$GC,10016,0.67,67.1,755.1,9.6,639,10029,0.00,2.28,4.38,0.760,6,0.000,0.049,3093,1996,2375,0,0,0,0,0,0
$GC,10337,0.67,70.2,723.4,9.7,655,10343,0.00,0.00,4.28,0.685,6,0.000,0.000,3093,1997,2363,0,0,0,0,0,0
$GC,10646,0.68,78.9,694.9,9.1,670,10656,0.00,0.00,8.65,0.952,6,0.000,0.000,3093,1997,2327,0,0,0,0,0,0
$GC,10955,0.68,78.9,663.3,10.5,685,10959,0.00,2.33,0.00,0.000,4,0.000,0.056,3102,573,2326,0,0,0,0,0,0
$GC,10975,0.68,78.9,661.0,11.4,686,10980,0.00,2.30,0.00,0.000,6,0.000,0.048,3102,1982,2327,0,0,0,0,0,0
$GC,11303,0.68,78.9,623.8,11.6,702,11307,0.00,2.28,0.00,0.000,4,0.000,0.056,3111,574,2327,0,0,0,0,0,0
$GC,11319,0.68,78.9,621.9,11.7,703,11323,0.00,2.30,0.00,0.000,6,0.000,0.049,3111,1998,2326,0,0,0,0,0,0
$GC,11645,0.68,78.9,582.8,12.2,719,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2002,2326,0,0,0,0,0,0
$GC,11954,0.68,78.9,545.6,11.8,734,11958,0.00,2.30,0.00,0.000,4,0.000,0.055,3122,568,2327,0,0,0,0,0,0
$GC,12008,0.68,78.9,539.0,11.4,736,12016,0.00,2.30,0.00,0.000,6,0.000,0.047,3121,1986,2326,0,0,0,0,0,0
$GC,12325,0.68,78.9,500.0,12.1,752,12329,0.00,2.22,0.00,0.000,4,0.000,0.056,3121,3401,2326,0,0,0,0,0,0
$GC,12364,0.68,78.9,494.9,13.2,754,12369,0.15,2.22,0.00,0.000,6,0.224,0.047,3098,1985,2326,0,0,0,0,0,0
$GC,12690,0.68,78.9,459.3,10.4,770,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1981,2327,0,0,0,0,0,0
$GC,13001,0.68,80.1,428.8,9.8,785,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1981,2326,0,0,0,0,0,0
$GC,13311,0.68,80.1,396.5,10.3,801,13315,0.00,2.22,0.00,0.000,4,0.000,0.054,3107,582,2326,0,0,0,0,0,0
$GC,13388,0.68,80.1,388.0,11.3,807,13397,0.00,2.28,0.00,0.000,6,0.000,0.046,3107,1995,2326,0,0,0,0,0,0
$GC,13714,0.68,80.1,352.7,11.0,838,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1997,2326,0,0,0,0,0,0
$GC,14034,0.68,80.1,318.6,10.9,868,14038,0.00,2.20,0.00,0.000,4,0.000,0.054,3107,3402,2326,0,0,0,0,0,0
$GC,14067,0.68,80.1,314.6,11.2,870,14074,0.00,2.20,0.00,0.000,6,0.000,0.045,3117,1988,2326,0,0,0,0,0,0
$GC,14394,0.68,80.1,279.7,10.8,901,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1984,2326,0,0,0,0,0,0
$GC,14711,0.69,83.0,247.4,9.7,931,14722,0.00,0.00,4.72,0.575,6,0.000,0.000,3117,1984,2310,0,0,0,0,0,0
$GC,15039,0.69,83.0,212.4,11.1,962,15043,0.00,2.22,0.00,0.000,4,0.000,0.054,3129,583,2310,0,0,0,0,0,0
$GC,15292,0.69,83.0,183.1,11.4,984,15296,0.12,2.22,0.00,0.000,6,0.197,0.046,3100,1996,2310,0,0,0,0,0,0
$GC,15616,0.70,95.1,151.6,8.8,1014,15632,0.00,2.28,11.05,0.695,4,0.000,0.052,3109,579,2260,0,0,0,0,0,0
$GC,15728,0.71,96.9,140.5,9.8,1023,15736,0.00,2.25,0.00,0.000,6,0.000,0.045,3109,2002,2260,0,0,0,0,0,0
$GC,16053,0.73,116.0,110.0,8.1,1054,16077,0.00,2.38,17.55,0.699,4,0.000,0.054,3120,582,2176,0,0,0,0,0,0
$GC,16091,0.74,128.8,106.7,8.7,1057,16108,0.00,2.25,11.62,0.675,6,0.000,0.046,3120,1993,2125,0,0,0,0,0,0
$GC,16448,0.74,128.8,61.5,13.3,1114,16455,0.00,2.22,0.00,0.000,4,0.000,0.054,3120,3401,2121,0,0,0,0,0,0
$GC,16572,0.74,128.8,44.0,13.8,1135,16579,0.00,2.22,0.00,0.000,6,0.000,0.046,3130,1992,2121,0,0,0,0,0,0
$STATE,16897,end climb,SURFACE_DEPTH_REACHED
$STATE,16897,begin surface coast
$FINISH,1.5,1.026438
$STATE,16924,end surface coast,CONTROL_FINISHED_OK
$STATE,16924,begin surface
$SM_CCo,16939,38.88,0.053,0,0,1751,220.03
$SM_GC,2.69,0.00,0.00,38.88,0.000,0.000,0.053,141,2282,1751,-8.53,0.62,220.03
$IRIDIUM_FIX,-4444.39,633.87,151108,010104
$TT8_MAMPS,0.026215
$HUMID,49.44
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,9.40
$XPDR_PINGS,0
$24V_AH,23.9,28.593
$10V_AH,10.2,29.667
$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,21.175,131.575,158.675,38.875,0.000,24.713,41.527,548.437,24.750,0.000,21.568,3184.554,10737.106,388.546,3242.850,207.702,0.000,1460.223,0.000,2534.142,0.000,148.114,0.000
$DEVICE_MAMPS,249.390,58.140,1283.670,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.329,829.827,75.128,818.182,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,70142,1193
$CAP_FILE_SIZE,165925,0
$CFSIZE,2097086464,2067070976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.094, 97.8,1
$GPS,190116,222527,-4503.799,635.379,39,1.6,39,-24.4