version: 66.07.10.p01
glider: 574
mission: 18
dive: 292
start: 5 2 112 8 13 46
data:
$ID,574
$MISSION,18
$DIVE,292
$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,-2353031.8
$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,27
$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,291
$GPS1,030216,190921,-4457.793,635.377,43,1.6,43,-24.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-78.3
$GPS2,030216,192312,-4457.806,635.319,4,0.8,5,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,RECOVER
$TGT_LATLONG,-4500.000,630.000
$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,269.8,8065,-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,-48.7,0.0,0.0,0,59,0.00,0.00,-32.75,0.000,2,0.000,0.000,131,2251,2553,0,0,0,0,0,0
$GC,61,-0.65,-48.7,3.0,-1.1,4,89,10.45,2.35,-9.70,0.000,4,0.234,0.060,2649,851,2849,0,0,0,0,0,0
$GC,309,-0.65,-48.7,44.3,-18.2,43,316,0.00,2.30,0.00,0.000,6,0.000,0.045,2640,2267,2851,0,0,0,0,0,0
$GC,659,-0.65,-48.7,110.1,-17.9,99,663,0.00,2.22,0.00,0.000,4,0.000,0.052,2629,3679,2851,0,0,0,0,0,0
$GC,702,-0.65,-48.7,119.2,-18.8,102,711,0.08,2.28,0.00,0.000,6,0.180,0.038,2652,2259,2850,0,0,0,0,0,0
$GC,1030,-0.65,-48.7,172.1,-15.2,133,1034,0.00,2.28,0.00,0.000,4,0.000,0.054,2643,3679,2851,0,0,0,0,0,0
$GC,1091,-0.65,-48.7,181.6,-14.6,138,1095,0.00,2.22,0.00,0.000,6,0.000,0.041,2644,2259,2851,0,0,0,0,0,0
$GC,1415,-0.65,-48.7,229.3,-15.1,168,1422,0.00,2.22,0.00,0.000,4,0.000,0.048,2644,849,2851,0,0,0,0,0,0
$GC,1452,-0.65,-48.7,234.7,-15.6,171,1456,0.00,2.25,0.00,0.000,6,0.000,0.045,2635,2270,2851,0,0,0,0,0,0
$GC,1779,-0.65,-48.7,282.3,-14.1,201,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2270,2851,0,0,0,0,0,0
$GC,2095,-0.65,-48.7,326.6,-13.8,231,2099,0.00,2.20,0.00,0.000,4,0.000,0.054,2624,3671,2851,0,0,0,0,0,0
$GC,2203,-0.65,-48.7,342.9,-15.3,240,2208,0.15,2.22,0.00,0.000,6,0.187,0.043,2660,2252,2851,0,0,0,0,0,0
$GC,2527,-0.65,-48.7,385.5,-12.9,270,2531,0.00,2.25,0.00,0.000,4,0.000,0.054,2651,3673,2851,0,0,0,0,0,0
$GC,2582,-0.65,-48.7,393.0,-13.2,274,2591,0.00,2.28,0.00,0.000,6,0.000,0.044,2658,2260,2851,0,0,0,0,0,0
$GC,2911,-0.65,-48.7,435.6,-12.9,293,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2255,2851,0,0,0,0,0,0
$GC,3219,-0.65,-48.7,476.8,-13.5,308,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2255,2851,0,0,0,0,0,0
$GC,3529,-0.65,-48.7,518.8,-13.9,323,3533,0.00,2.25,0.00,0.000,4,0.000,0.058,2648,3678,2850,0,0,0,0,0,0
$GC,3668,-0.65,-48.7,539.2,-14.8,329,3672,0.00,2.28,0.00,0.000,6,0.000,0.047,2649,2261,2850,0,0,0,0,0,0
$GC,3990,-0.65,-48.7,584.3,-13.8,345,3994,0.00,2.25,0.00,0.000,4,0.000,0.058,2638,3675,2850,0,0,0,0,0,0
$GC,4038,-0.65,-48.7,591.5,-14.6,347,4043,0.00,2.28,0.00,0.000,6,0.000,0.049,2639,2268,2850,0,0,0,0,0,0
$GC,4362,-0.65,-48.7,635.2,-13.8,363,4366,0.00,2.22,0.00,0.000,4,0.000,0.060,2630,3666,2849,0,0,0,0,0,0
$GC,4405,-0.65,-48.7,641.6,-13.7,365,4410,0.08,2.28,0.00,0.000,6,0.179,0.049,2653,2259,2849,0,0,0,0,0,0
$GC,4733,-0.65,-48.7,682.3,-12.1,381,4737,0.00,2.25,0.00,0.000,4,0.000,0.061,2644,3667,2849,0,0,0,0,0,0
$GC,4760,-0.65,-48.7,686.0,-13.4,382,4764,0.00,2.28,0.00,0.000,6,0.000,0.050,2644,2260,2849,0,0,0,0,0,0
$GC,5082,-0.65,-48.7,722.9,-11.1,398,5087,0.00,2.25,0.00,0.000,4,0.000,0.060,2635,3668,2849,0,0,0,0,0,0
$GC,5126,-0.65,-48.7,728.3,-12.5,400,5130,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2262,2848,0,0,0,0,0,0
$GC,5454,-0.65,-48.7,764.2,-10.9,416,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,2848,0,0,0,0,0,0
$GC,5763,-0.65,-48.7,798.1,-11.2,431,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,2848,0,0,0,0,0,0
$GC,6074,-0.65,-48.7,832.0,-11.0,446,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,2848,0,0,0,0,0,0
$GC,6381,-0.65,-48.7,866.6,-11.4,461,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,2848,0,0,0,0,0,0
$GC,6691,-0.65,-48.7,903.7,-12.2,476,6695,0.00,2.25,0.00,0.000,4,0.000,0.063,2625,3665,2848,0,0,0,0,0,0
$GC,6723,-0.65,-48.7,908.0,-13.0,477,6731,0.10,2.28,0.00,0.000,6,0.175,0.053,2653,2259,2847,0,0,0,0,0,0
$GC,7040,-0.65,-48.7,943.5,-11.3,493,7044,0.00,2.28,0.00,0.000,4,0.000,0.058,2654,839,2847,0,0,0,0,0,0
$GC,7080,-0.65,-48.7,948.1,-11.4,495,7084,0.00,2.28,0.00,0.000,6,0.000,0.054,2645,2258,2847,0,0,0,0,0,0
$GC,7407,-0.65,-48.7,983.9,-10.9,511,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2258,2847,0,0,0,0,0,0
$STATE,7572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7572,begin apogee
$GC,7577,-0.11,0.0,1001.3,10.4,519,7620,0.65,0.00,39.72,1.281,6,0.164,0.000,2829,1980,2650,0,0,0,0,0,0
$STATE,7621,end apogee,CONTROL_FINISHED_OK
$STATE,7621,begin climb
$GC,7623,0.65,48.7,1003.4,0.0,521,7675,0.77,2.45,41.65,1.250,4,0.093,0.055,3092,586,2451,0,0,0,0,0,0
$GC,7691,0.67,65.9,999.5,8.3,524,7712,0.00,2.40,15.90,1.172,6,0.000,0.047,3089,1990,2380,0,0,0,0,0,0
$GC,8029,0.67,65.9,958.5,12.6,541,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1990,2378,0,0,0,0,0,0
$GC,8339,0.67,65.9,919.4,12.5,556,8343,0.00,2.33,0.00,0.000,4,0.000,0.055,3098,583,2377,0,0,0,0,0,0
$GC,8460,0.67,65.9,902.6,13.2,561,8468,0.00,2.33,0.00,0.000,6,0.000,0.048,3094,1992,2378,0,0,0,0,0,0
$GC,8776,0.67,65.9,861.8,12.7,577,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2378,0,0,0,0,0,0
$GC,9087,0.67,65.9,823.4,12.4,592,9092,0.00,2.30,0.00,0.000,4,0.000,0.054,3103,577,2378,0,0,0,0,0,0
$GC,9114,0.67,65.9,819.6,12.6,593,9119,0.00,2.33,0.00,0.000,6,0.000,0.048,3101,1991,2377,0,0,0,0,0,0
$GC,9436,0.67,65.9,782.1,11.2,609,9440,0.00,2.28,0.00,0.000,4,0.000,0.054,3110,583,2377,0,0,0,0,0,0
$GC,9478,0.67,65.9,777.0,11.6,611,9483,0.00,2.30,0.00,0.000,6,0.000,0.048,3104,1991,2377,0,0,0,0,0,0
$GC,9806,0.67,65.9,742.1,10.4,627,9811,0.00,2.28,0.00,0.000,4,0.000,0.054,3113,580,2377,0,0,0,0,0,0
$GC,9883,0.67,65.9,733.7,11.2,630,9892,0.00,2.30,0.00,0.000,6,0.000,0.047,3106,1991,2377,0,0,0,0,0,0
$GC,10200,0.67,65.9,702.3,10.2,646,10204,0.00,2.28,0.00,0.000,4,0.000,0.054,3115,580,2377,0,0,0,0,0,0
$GC,10265,0.67,65.9,694.8,11.1,649,10270,0.00,2.30,0.00,0.000,6,0.000,0.048,3111,1991,2376,0,0,0,0,0,0
$GC,10593,0.67,65.9,660.2,10.5,665,10597,0.00,2.25,0.00,0.000,4,0.000,0.057,3111,3411,2377,0,0,0,0,0,0
$GC,10636,0.67,65.9,655.0,11.5,667,10641,0.10,2.28,0.00,0.000,6,0.202,0.046,3094,1998,2376,0,0,0,0,0,0
$GC,10965,0.67,65.9,619.8,10.7,683,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1994,2376,0,0,0,0,0,0
$GC,11274,0.67,65.9,586.6,10.8,698,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1994,2376,0,0,0,0,0,0
$GC,11582,0.67,65.9,555.1,10.0,713,11586,0.00,2.28,0.00,0.000,4,0.000,0.056,3103,579,2376,0,0,0,0,0,0
$GC,11647,0.67,71.7,548.6,9.4,716,11658,0.00,2.28,5.53,0.746,6,0.000,0.046,3102,1986,2356,0,0,0,0,0,0
$GC,11973,0.67,71.7,516.3,10.1,732,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1987,2356,0,0,0,0,0,0
$GC,12283,0.68,75.9,486.3,9.6,747,12290,0.00,0.00,4.85,0.673,6,0.000,0.000,3103,1987,2339,0,0,0,0,0,0
$GC,12592,0.68,75.9,454.7,10.4,762,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1988,2340,0,0,0,0,0,0
$GC,12901,0.68,75.9,422.3,10.5,777,12905,0.00,2.28,0.00,0.000,4,0.000,0.055,3111,573,2339,0,0,0,0,0,0
$GC,12944,0.68,75.9,417.6,10.1,779,12949,0.00,2.30,0.00,0.000,6,0.000,0.047,3111,1989,2339,0,0,0,0,0,0
$GC,13269,0.68,75.9,384.0,10.8,801,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1991,2340,0,0,0,0,0,0
$GC,13594,0.68,76.3,351.0,9.9,832,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1991,2340,0,0,0,0,0,0
$GC,13913,0.68,78.2,318.6,9.8,862,13923,0.00,0.00,3.53,0.473,6,0.000,0.000,3111,1991,2330,0,0,0,0,0,0
$GC,14244,0.68,78.2,284.3,10.3,893,14248,0.00,2.28,0.00,0.000,4,0.000,0.054,3122,572,2331,0,0,0,0,0,0
$GC,14317,0.68,78.2,275.8,11.9,899,14322,0.12,2.25,0.00,0.000,6,0.197,0.047,3094,1992,2331,0,0,0,0,0,0
$GC,14645,0.69,87.5,244.2,9.1,929,14656,0.00,0.00,8.88,0.725,6,0.000,0.000,3094,1991,2292,0,0,0,0,0,0
$GC,14970,0.70,91.2,212.6,9.6,960,14983,0.00,0.00,4.45,0.588,6,0.000,0.000,3093,1992,2279,0,0,0,0,0,0
$GC,15300,0.70,92.7,180.9,9.8,991,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1991,2279,0,0,0,0,0,0
$GC,15621,0.72,108.5,152.6,8.4,1021,15640,0.00,0.00,15.57,0.730,6,0.000,0.000,3094,1991,2205,0,0,0,0,0,0
$GC,15960,0.73,115.1,123.4,9.3,1053,15973,0.00,2.33,6.70,0.609,4,0.000,0.055,3093,3409,2179,0,0,0,0,0,0
$GC,16009,0.73,115.1,118.2,10.8,1057,16013,0.00,2.25,0.00,0.000,6,0.000,0.047,3102,1987,2180,0,0,0,0,0,0
$GC,16345,0.73,115.1,77.5,10.4,1103,16352,0.00,2.28,0.00,0.000,4,0.000,0.054,3102,3406,2178,0,0,0,0,0,0
$GC,16440,0.73,115.1,67.5,10.7,1119,16449,0.00,2.28,0.00,0.000,6,0.000,0.047,3112,1996,2178,0,0,0,0,0,0
$GC,16799,0.73,115.1,32.7,10.1,1180,16808,0.00,2.28,0.00,0.000,4,0.000,0.053,3112,3402,2178,0,0,0,0,0,0
$GC,16924,0.73,115.1,16.7,12.1,1200,16933,0.00,2.30,0.00,0.000,6,0.000,0.047,3123,1980,2179,0,0,0,0,0,0
$GC,16984,0.73,115.1,9.1,12.3,1209,16992,0.00,2.30,0.00,0.000,4,0.000,0.058,3134,582,2178,0,0,0,0,0,0
$GC,17007,0.73,115.1,5.2,15.9,1212,17016,0.00,2.28,0.00,0.000,6,0.000,0.047,3134,1980,2177,0,0,0,0,0,0
$STATE,17022,end climb,SURFACE_DEPTH_REACHED
$STATE,17022,begin surface coast
$FINISH,1.6,1.026404
$STATE,17043,end surface coast,CONTROL_FINISHED_OK
$STATE,17043,begin surface
$SM_CCo,17059,44.65,0.054,0,0,1752,220.03
$SM_GC,2.03,0.00,0.00,44.65,0.000,0.000,0.054,143,2285,1752,-8.53,0.71,220.03
$IRIDIUM_FIX,-4441.36,627.47,301108,030347
$TT8_MAMPS,0.026215
$HUMID,49.21
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.40
$XPDR_PINGS,0
$24V_AH,23.8,35.178
$10V_AH,10.1,38.678
$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,20.775,123.975,146.775,44.650,0.000,30.094,19.587,616.556,24.750,0.000,8.775,3245.917,10787.664,355.667,3299.845,241.032,0.000,1430.092,0.000,2566.105,0.000,148.908,0.000
$DEVICE_MAMPS,234.090,62.730,1280.610,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.865,844.493,79.249,854.548,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354636
$DATA_FILE_SIZE,70097,1217
$CAP_FILE_SIZE,165603,0
$CFSIZE,2097086464,2057764864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.057, 73.7,1
$GPS,040216,001151,-4458.178,634.163,139,0.9,139,-24.4