version: 66.07.10.p01
glider: 574
mission: 18
dive: 279
start: 4 29 112 14 12 18
data:
$ID,574
$MISSION,18
$DIVE,279
$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,-2351659.8
$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,25
$R_STBD_OVSHOOT,38
$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,278
$GPS1,010216,010725,-4458.272,624.809,56,5.8,75,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-80.3
$GPS2,010216,012133,-4458.277,624.718,34,0.9,34,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,357.1,4320,-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,23,begin dive
$GC,24,-0.65,-48.7,0.0,0.0,0,67,0.00,0.00,-40.20,0.000,2,0.000,0.000,136,2283,2740,0,0,0,0,0,0
$GC,69,-0.65,-48.7,3.2,-1.5,5,96,10.57,2.35,-3.03,0.000,4,0.242,0.054,2645,851,2852,0,0,0,0,0,0
$GC,110,-0.65,-48.7,9.9,-15.7,10,119,0.00,2.28,0.00,0.000,6,0.000,0.042,2636,2239,2853,0,0,0,0,0,0
$GC,170,-0.65,-48.7,21.1,-19.6,19,179,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2238,2852,0,0,0,0,0,0
$GC,324,-0.65,-48.7,52.4,-19.7,44,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2239,2853,0,0,0,0,0,0
$GC,669,-0.65,-48.7,111.6,-17.6,99,673,0.00,2.25,0.00,0.000,4,0.000,0.052,2625,3665,2853,0,0,0,0,0,0
$GC,848,-0.65,-48.7,142.4,-16.1,114,856,0.10,2.25,0.00,0.000,6,0.181,0.040,2653,2258,2853,0,0,0,0,0,0
$GC,1176,-0.65,-48.7,189.9,-15.2,145,1180,0.00,2.22,0.00,0.000,4,0.000,0.052,2644,3665,2853,0,0,0,0,0,0
$GC,1303,-0.65,-48.7,209.6,-15.3,156,1313,0.00,2.25,0.00,0.000,6,0.000,0.042,2644,2256,2853,0,0,0,0,0,0
$GC,1627,-0.65,-48.7,256.7,-14.3,187,1631,0.00,2.22,0.00,0.000,4,0.000,0.053,2635,3668,2853,0,0,0,0,0,0
$GC,1703,-0.65,-48.7,268.0,-15.1,193,1707,0.00,2.20,0.00,0.000,6,0.000,0.043,2635,2262,2853,0,0,0,0,0,0
$GC,2027,-0.65,-48.7,314.6,-14.3,223,2031,0.00,2.22,0.00,0.000,4,0.000,0.054,2625,3666,2853,0,0,0,0,0,0
$GC,2103,-0.65,-48.7,326.1,-14.3,229,2112,0.10,2.25,0.00,0.000,6,0.179,0.043,2654,2262,2853,0,0,0,0,0,0
$GC,2430,-0.65,-48.7,368.0,-12.8,260,2434,0.00,2.22,0.00,0.000,4,0.000,0.056,2645,3662,2853,0,0,0,0,0,0
$GC,2482,-0.65,-48.7,374.9,-13.8,264,2486,0.00,2.20,0.00,0.000,6,0.000,0.044,2645,2261,2854,0,0,0,0,0,0
$GC,2803,-0.65,-48.7,417.7,-13.6,288,2807,0.00,2.22,0.00,0.000,4,0.000,0.056,2635,3663,2853,0,0,0,0,0,0
$GC,2892,-0.65,-48.7,430.4,-14.4,292,2896,0.00,2.22,0.00,0.000,6,0.000,0.046,2635,2253,2853,0,0,0,0,0,0
$GC,3214,-0.65,-48.7,476.2,-14.2,308,3217,0.00,2.25,0.00,0.000,4,0.000,0.055,2625,3665,2853,0,0,0,0,0,0
$GC,3281,-0.65,-48.7,486.5,-14.7,311,3286,0.12,2.22,0.00,0.000,6,0.198,0.046,2655,2252,2853,0,0,0,0,0,0
$GC,3608,-0.65,-48.7,530.5,-13.2,327,3612,0.00,2.25,0.00,0.000,4,0.000,0.057,2646,3668,2852,0,0,0,0,0,0
$GC,3670,-0.65,-48.7,539.2,-14.1,330,3674,0.00,2.22,0.00,0.000,6,0.000,0.048,2646,2260,2852,0,0,0,0,0,0
$GC,3998,-0.65,-48.7,582.4,-13.3,346,4002,0.00,2.25,0.00,0.000,4,0.000,0.057,2636,3674,2852,0,0,0,0,0,0
$GC,4104,-0.65,-48.7,597.5,-13.6,351,4108,0.00,2.25,0.00,0.000,6,0.000,0.049,2636,2261,2852,0,0,0,0,0,0
$GC,4439,-0.65,-48.7,641.6,-12.8,367,4443,0.00,2.25,0.00,0.000,4,0.000,0.060,2626,3671,2851,0,0,0,0,0,0
$GC,4487,-0.65,-48.7,648.9,-12.9,369,4493,0.10,2.28,0.00,0.000,6,0.177,0.049,2655,2261,2852,0,0,0,0,0,0
$GC,4810,-0.65,-48.7,686.7,-11.6,385,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2257,2851,0,0,0,0,0,0
$GC,5121,-0.65,-48.7,721.4,-11.2,400,5125,0.00,2.25,0.00,0.000,4,0.000,0.062,2646,3664,2850,0,0,0,0,0,0
$GC,5165,-0.65,-48.7,726.8,-11.3,402,5169,0.00,2.28,0.00,0.000,6,0.000,0.051,2646,2259,2851,0,0,0,0,0,0
$GC,5493,-0.65,-48.7,764.0,-11.4,418,5497,0.00,2.25,0.00,0.000,4,0.000,0.061,2636,3661,2850,0,0,0,0,0,0
$GC,5532,-0.65,-48.7,768.6,-12.2,420,5536,0.00,2.22,0.00,0.000,6,0.000,0.050,2636,2259,2850,0,0,0,0,0,0
$GC,5860,-0.65,-48.7,805.9,-11.0,436,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2255,2850,0,0,0,0,0,0
$GC,6170,-0.65,-48.7,840.3,-11.4,451,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2255,2849,0,0,0,0,0,0
$GC,6477,-0.65,-48.7,875.2,-11.1,466,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2255,2849,0,0,0,0,0,0
$GC,6789,-0.65,-48.7,910.2,-11.6,481,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2256,2849,0,0,0,0,0,0
$GC,7097,-0.65,-48.7,946.0,-11.4,496,7101,0.00,2.25,0.00,0.000,4,0.000,0.063,2626,3660,2848,0,0,0,0,0,0
$GC,7190,-0.65,-48.7,957.7,-12.1,500,7196,0.10,2.28,0.00,0.000,6,0.177,0.053,2655,2261,2848,0,0,0,0,0,0
$GC,7514,-0.65,-48.7,992.0,-10.1,516,7518,0.00,2.28,0.00,0.000,4,0.000,0.065,2646,3668,2848,0,0,0,0,0,0
$GC,7570,-0.65,-48.7,998.2,-11.0,518,7576,0.00,2.25,0.00,0.000,6,0.000,0.054,2646,2260,2848,0,0,0,0,0,0
$STATE,7596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7596,begin apogee
$GC,7601,-0.11,0.0,1000.8,10.6,520,7644,0.65,0.00,40.00,1.286,6,0.170,0.000,2828,1973,2649,0,0,0,0,0,0
$STATE,7644,end apogee,CONTROL_FINISHED_OK
$STATE,7645,begin climb
$GC,7646,0.65,48.7,1002.8,0.0,522,7694,0.77,2.40,41.70,1.257,4,0.095,0.054,3089,578,2450,0,0,0,0,0,0
$GC,7705,0.69,85.6,1000.0,6.4,524,7743,0.00,2.40,32.65,1.241,6,0.000,0.047,3086,1979,2299,0,0,0,0,0,0
$GC,8064,0.69,85.6,952.7,13.4,542,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1980,2294,0,0,0,0,0,0
$GC,8375,0.69,85.6,909.1,14.2,557,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1980,2293,0,0,0,0,0,0
$GC,8685,0.69,85.6,867.7,13.0,572,8689,0.00,2.28,0.00,0.000,4,0.000,0.055,3096,581,2292,0,0,0,0,0,0
$GC,8724,0.69,85.6,862.3,14.3,574,8728,0.00,2.28,0.00,0.000,6,0.000,0.047,3092,1997,2292,0,0,0,0,0,0
$GC,9050,0.69,85.6,818.9,13.9,590,9054,0.00,2.30,0.00,0.000,4,0.000,0.055,3100,581,2292,0,0,0,0,0,0
$GC,9089,0.69,85.6,813.3,14.4,592,9093,0.00,2.25,0.00,0.000,6,0.000,0.047,3098,1990,2291,0,0,0,0,0,0
$GC,9418,0.69,85.6,767.3,13.7,608,9422,0.00,2.30,0.00,0.000,4,0.000,0.054,3107,572,2291,0,0,0,0,0,0
$GC,9517,0.69,85.6,752.4,14.6,612,9525,0.00,2.30,0.00,0.000,6,0.000,0.047,3102,1983,2291,0,0,0,0,0,0
$GC,9834,0.69,85.6,708.4,13.9,628,9838,0.00,2.28,0.00,0.000,4,0.000,0.054,3111,579,2290,0,0,0,0,0,0
$GC,9850,0.69,85.6,705.9,14.2,629,9854,0.00,2.28,0.00,0.000,6,0.000,0.048,3107,2001,2290,0,0,0,0,0,0
$GC,10177,0.69,85.6,661.6,12.9,645,10181,0.00,2.30,0.00,0.000,4,0.000,0.054,3117,582,2290,0,0,0,0,0,0
$GC,10233,0.69,85.6,654.4,13.4,647,10240,0.00,2.25,0.00,0.000,6,0.000,0.047,3108,1994,2290,0,0,0,0,0,0
$GC,10548,0.69,85.6,617.0,11.3,663,10552,0.00,2.30,0.00,0.000,4,0.000,0.054,3117,576,2290,0,0,0,0,0,0
$GC,10602,0.69,85.6,610.5,11.5,665,10610,0.00,2.30,0.00,0.000,6,0.000,0.047,3112,1992,2290,0,0,0,0,0,0
$GC,10918,0.69,85.6,574.7,11.3,681,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1994,2290,0,0,0,0,0,0
$GC,11228,0.69,85.6,538.2,12.0,696,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1994,2290,0,0,0,0,0,0
$GC,11537,0.69,85.6,501.8,11.8,711,11541,0.00,2.28,0.00,0.000,4,0.000,0.054,3121,582,2290,0,0,0,0,0,0
$GC,11647,0.69,85.6,487.6,12.3,716,11652,0.00,2.28,0.00,0.000,6,0.000,0.047,3120,1987,2290,0,0,0,0,0,0
$GC,11977,0.69,85.6,451.2,11.3,732,11981,0.00,2.28,0.00,0.000,4,0.000,0.054,3129,577,2290,0,0,0,0,0,0
$GC,12354,0.69,85.6,406.6,11.3,749,12359,0.12,2.28,0.00,0.000,6,0.207,0.047,3100,2001,2290,0,0,0,0,0,0
$GC,12677,0.70,89.8,374.0,9.6,776,12682,0.00,2.30,0.00,0.000,4,0.000,0.054,3109,576,2289,0,0,0,0,0,0
$GC,12969,0.70,89.8,346.0,10.1,801,12973,0.00,2.25,0.00,0.000,6,0.000,0.047,3110,1996,2290,0,0,0,0,0,0
$GC,13294,0.70,91.7,313.9,9.8,831,13307,0.00,2.30,4.70,0.597,4,0.000,0.054,3120,569,2276,0,0,0,0,0,0
$GC,13491,0.70,91.7,291.7,11.8,848,13501,0.00,2.30,0.00,0.000,6,0.000,0.046,3119,1994,2276,0,0,0,0,0,0
$GC,13816,0.70,91.7,254.2,11.8,879,13820,0.00,2.28,0.00,0.000,4,0.000,0.054,3129,575,2276,0,0,0,0,0,0
$GC,13927,0.70,91.7,240.7,11.5,888,13937,0.10,2.28,0.00,0.000,6,0.177,0.045,3101,1986,2276,0,0,0,0,0,0
$GC,14252,0.70,91.8,207.4,9.9,919,14256,0.00,2.25,0.00,0.000,4,0.000,0.054,3110,580,2276,0,0,0,0,0,0
$GC,14347,0.70,91.8,197.7,10.0,927,14351,0.00,2.22,0.00,0.000,6,0.000,0.045,3110,1990,2276,0,0,0,0,0,0
$GC,14676,0.71,97.3,167.4,9.4,957,14688,0.00,2.22,6.12,0.611,4,0.000,0.053,3109,3406,2253,0,0,0,0,0,0
$GC,14757,0.71,97.3,158.7,10.5,964,14761,0.00,2.22,0.00,0.000,6,0.000,0.045,3120,1987,2252,0,0,0,0,0,0
$GC,15082,0.73,116.8,126.8,8.1,994,15106,0.00,2.35,17.15,0.728,4,0.000,0.056,3131,579,2172,0,0,0,0,0,0
$GC,15155,0.73,116.8,118.5,12.7,1000,15165,0.00,2.28,0.00,0.000,6,0.000,0.044,3132,1980,2170,0,0,0,0,0,0
$GC,15492,0.73,116.8,80.9,10.9,1046,15498,0.00,2.25,0.00,0.000,4,0.000,0.054,3141,582,2169,0,0,0,0,0,0
$GC,16078,0.73,116.8,16.5,12.7,1147,16089,0.12,2.28,0.00,0.000,6,0.174,0.047,3106,1982,2168,0,0,0,0,0,0
$GC,16139,0.73,116.8,10.1,10.8,1156,16148,0.00,2.28,0.00,0.000,4,0.000,0.053,3115,587,2168,0,0,0,0,0,0
$STATE,16191,end climb,SURFACE_DEPTH_REACHED
$STATE,16191,begin surface coast
$FINISH,1.5,1.026558
$STATE,16217,end surface coast,CONTROL_FINISHED_OK
$STATE,16217,begin surface
$SM_CCo,16235,44.20,0.054,0,0,1752,220.03
$SM_GC,2.34,0.00,0.00,44.20,0.000,0.000,0.054,143,2276,1752,-8.53,0.45,220.03
$IRIDIUM_FIX,-4441.36,624.45,271108,090931
$TT8_MAMPS,0.025466
$HUMID,49.56
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,23.6,33.956
$10V_AH,10.1,37.028
$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,20.900,145.925,142.325,44.200,0.000,23.632,44.155,586.740,24.750,0.000,38.783,3157.578,9905.944,356.202,3487.271,216.748,0.000,1515.555,0.000,2709.834,0.000,148.876,0.000
$DEVICE_MAMPS,241.740,65.025,1285.965,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.432,804.816,78.625,838.542,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354168
$DATA_FILE_SIZE,66967,1168
$CAP_FILE_SIZE,168586,0
$CFSIZE,2097086464,2059468800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.047, 29.2,1
$GPS,010216,055603,-4456.541,624.544,114,1.1,114,-24.4