version: 66.07.10.p01
glider: 574
mission: 18
dive: 296
start: 5 3 112 4 45 32
data:
$ID,574
$MISSION,18
$DIVE,296
$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,-2353482
$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,26
$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,295
$GPS1,040216,153603,-4459.154,631.070,66,1.3,66,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-77.7
$GPS2,040216,155458,-4459.285,631.058,6,0.7,6,-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,257.2,1916,-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,24,-0.68,-48.7,0.0,0.0,0,51,0.00,0.00,-24.95,0.000,2,0.000,0.000,131,2275,2354,0,0,0,0,0,0
$GC,54,-0.68,-48.7,3.0,-2.5,3,89,10.55,2.33,-18.45,0.000,4,0.239,0.064,2631,3673,2850,0,0,0,0,0,0
$GC,379,-0.68,-48.7,56.3,-20.1,55,386,0.00,2.25,0.00,0.000,6,0.000,0.041,2631,2253,2850,0,0,0,0,0,0
$GC,722,-0.68,-48.7,118.6,-17.4,106,726,0.00,2.25,0.00,0.000,4,0.000,0.051,2622,3672,2851,0,0,0,0,0,0
$GC,1016,-0.68,-48.7,166.8,-15.6,131,1024,0.00,2.25,0.00,0.000,6,0.000,0.040,2622,2262,2851,0,0,0,0,0,0
$GC,1342,-0.68,-48.7,220.2,-17.2,162,1346,0.00,2.22,0.00,0.000,4,0.000,0.052,2612,3673,2852,0,0,0,0,0,0
$GC,1392,-0.68,-48.7,228.9,-17.3,166,1397,0.15,2.22,0.00,0.000,6,0.194,0.041,2650,2252,2852,0,0,0,0,0,0
$GC,1717,-0.68,-48.7,275.3,-14.4,196,1721,0.00,2.25,0.00,0.000,4,0.000,0.053,2641,3677,2852,0,0,0,0,0,0
$GC,1794,-0.68,-48.7,286.9,-14.2,202,1802,0.00,2.28,0.00,0.000,6,0.000,0.041,2643,2254,2852,0,0,0,0,0,0
$GC,2122,-0.68,-48.7,334.7,-14.6,233,2126,0.00,2.25,0.00,0.000,4,0.000,0.054,2635,3679,2852,0,0,0,0,0,0
$GC,2161,-0.68,-48.7,341.0,-15.2,236,2165,0.00,2.22,0.00,0.000,6,0.000,0.042,2634,2257,2851,0,0,0,0,0,0
$GC,2487,-0.68,-48.7,390.2,-14.7,266,2491,0.00,2.25,0.00,0.000,4,0.000,0.054,2625,3680,2851,0,0,0,0,0,0
$GC,2563,-0.68,-48.7,402.8,-15.7,271,2572,0.00,2.28,0.00,0.000,6,0.000,0.043,2625,2260,2851,0,0,0,0,0,0
$GC,2883,-0.68,-48.7,451.3,-15.5,287,2887,0.00,2.22,0.00,0.000,4,0.000,0.054,2615,3671,2851,0,0,0,0,0,0
$GC,2900,-0.68,-48.7,454.5,-15.1,288,2905,0.12,2.22,0.00,0.000,6,0.200,0.044,2645,2253,2850,0,0,0,0,0,0
$GC,3227,-0.68,-48.7,500.4,-14.0,304,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2250,2850,0,0,0,0,0,0
$GC,3538,-0.68,-48.7,542.5,-13.3,319,3542,0.00,2.25,0.00,0.000,4,0.000,0.055,2635,3676,2850,0,0,0,0,0,0
$GC,3599,-0.68,-48.7,551.1,-13.8,322,3603,0.00,2.22,0.00,0.000,6,0.000,0.047,2635,2261,2849,0,0,0,0,0,0
$GC,3927,-0.68,-48.7,594.2,-13.2,338,3931,0.00,2.25,0.00,0.000,4,0.000,0.057,2625,3679,2850,0,0,0,0,0,0
$GC,3975,-0.68,-48.7,601.2,-13.7,340,3980,0.00,2.28,0.00,0.000,6,0.000,0.046,2625,2263,2850,0,0,0,0,0,0
$GC,4300,-0.68,-48.7,643.4,-13.2,356,4304,0.00,2.25,0.00,0.000,4,0.000,0.058,2616,3681,2849,0,0,0,0,0,0
$GC,4430,-0.68,-48.7,662.3,-14.1,362,4434,0.12,2.25,0.00,0.000,6,0.199,0.047,2644,2252,2849,0,0,0,0,0,0
$GC,4756,-0.68,-48.7,702.5,-12.4,378,4760,0.00,2.25,0.00,0.000,4,0.000,0.057,2635,3668,2849,0,0,0,0,0,0
$GC,4796,-0.68,-48.7,707.4,-12.4,380,4800,0.00,2.22,0.00,0.000,6,0.000,0.048,2635,2259,2849,0,0,0,0,0,0
$GC,5124,-0.68,-48.7,747.5,-12.0,396,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2255,2849,0,0,0,0,0,0
$GC,5431,-0.68,-48.7,784.7,-11.7,411,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2255,2848,0,0,0,0,0,0
$GC,5741,-0.68,-48.7,820.0,-11.4,426,5748,0.00,2.25,0.00,0.000,4,0.000,0.055,2635,840,2848,0,0,0,0,0,0
$GC,5802,-0.68,-48.7,827.5,-12.0,428,5810,0.00,2.30,0.00,0.000,6,0.000,0.050,2625,2256,2848,0,0,0,0,0,0
$GC,6119,-0.68,-48.7,863.9,-11.5,444,6123,0.00,2.25,0.00,0.000,4,0.000,0.055,2625,848,2848,0,0,0,0,0,0
$GC,6158,-0.68,-48.7,868.7,-11.8,446,6163,0.15,2.25,0.00,0.000,6,0.206,0.050,2649,2263,2848,0,0,0,0,0,0
$GC,6484,-0.68,-48.7,903.9,-10.6,462,6488,0.00,2.25,0.00,0.000,4,0.000,0.060,2639,3680,2848,0,0,0,0,0,0
$GC,6524,-0.68,-48.7,908.4,-11.5,464,6528,0.00,2.25,0.00,0.000,6,0.000,0.050,2639,2259,2847,0,0,0,0,0,0
$GC,6852,-0.68,-48.7,946.4,-11.4,480,6856,0.00,2.25,0.00,0.000,4,0.000,0.058,2639,849,2847,0,0,0,0,0,0
$GC,6946,-0.68,-48.7,958.3,-13.1,484,6951,0.00,2.30,0.00,0.000,6,0.000,0.051,2630,2260,2847,0,0,0,0,0,0
$GC,7269,-0.68,-48.7,996.6,-11.9,500,7273,0.00,2.30,0.00,0.000,4,0.000,0.058,2630,841,2846,0,0,0,0,0,0
$GC,7289,-0.68,-48.7,999.4,-12.2,501,7294,0.08,2.33,0.00,0.000,6,0.194,0.053,2640,2263,2847,0,0,0,0,0,0
$STATE,7299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7299,begin apogee
$GC,7304,-0.11,0.0,1000.7,11.2,501,7352,0.65,0.00,39.92,1.289,6,0.169,0.000,2827,1981,2649,0,0,0,0,0,0
$STATE,7353,end apogee,CONTROL_FINISHED_OK
$STATE,7353,begin climb
$GC,7355,0.68,48.7,1003.0,0.0,504,7403,0.77,2.40,41.12,1.256,4,0.096,0.053,3095,582,2452,0,0,0,0,0,0
$GC,7416,0.72,81.6,1000.4,6.4,507,7452,0.00,2.38,29.77,1.235,6,0.000,0.047,3093,1996,2316,0,0,0,0,0,0
$GC,7769,0.72,81.6,955.0,13.3,524,7773,0.00,2.35,0.00,0.000,4,0.000,0.054,3102,579,2312,0,0,0,0,0,0
$GC,7795,0.72,81.6,951.1,13.5,525,7800,0.00,2.35,0.00,0.000,6,0.000,0.047,3102,1987,2310,0,0,0,0,0,0
$GC,8124,0.72,81.6,904.6,14.7,541,8128,0.00,2.30,0.00,0.000,4,0.000,0.055,3111,582,2310,0,0,0,0,0,0
$GC,8209,0.72,81.6,891.4,16.1,545,8213,0.00,2.28,0.00,0.000,6,0.000,0.047,3110,1990,2309,0,0,0,0,0,0
$GC,8535,0.72,81.6,842.4,14.2,561,8539,0.00,2.30,0.00,0.000,4,0.000,0.054,3121,582,2309,0,0,0,0,0,0
$GC,8574,0.72,81.6,836.5,15.4,563,8578,0.00,2.28,0.00,0.000,6,0.000,0.047,3113,1995,2308,0,0,0,0,0,0
$GC,8901,0.72,81.6,791.5,13.6,579,8906,0.00,2.30,0.00,0.000,4,0.000,0.054,3123,583,2308,0,0,0,0,0,0
$GC,9012,0.72,81.6,776.0,14.0,584,9017,0.00,2.30,0.00,0.000,6,0.000,0.047,3115,1990,2308,0,0,0,0,0,0
$GC,9342,0.72,81.6,734.2,13.0,600,9346,0.00,2.30,0.00,0.000,4,0.000,0.054,3125,573,2308,0,0,0,0,0,0
$GC,9362,0.72,81.6,731.0,12.9,601,9366,0.00,2.30,0.00,0.000,6,0.000,0.047,3123,1986,2308,0,0,0,0,0,0
$GC,9691,0.72,81.6,687.8,13.7,617,9695,0.00,2.28,0.00,0.000,4,0.000,0.054,3132,583,2308,0,0,0,0,0,0
$GC,9745,0.72,81.6,679.6,14.6,619,9754,0.00,2.30,0.00,0.000,6,0.000,0.047,3123,1990,2307,0,0,0,0,0,0
$GC,10061,0.72,81.6,635.8,14.0,635,10065,0.00,2.25,0.00,0.000,4,0.000,0.056,3123,3405,2307,0,0,0,0,0,0
$GC,10079,0.72,81.6,633.5,14.3,636,10083,0.00,2.22,0.00,0.000,6,0.000,0.046,3133,1992,2307,0,0,0,0,0,0
$GC,10405,0.72,81.6,585.5,14.6,652,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1989,2307,0,0,0,0,0,0
$GC,10714,0.72,81.6,540.7,14.3,667,10718,0.00,2.28,0.00,0.000,4,0.000,0.056,3143,582,2307,0,0,0,0,0,0
$GC,10754,0.72,81.6,535.2,14.8,669,10759,0.12,2.25,0.00,0.000,6,0.219,0.046,3110,1996,2307,0,0,0,0,0,0
$GC,11080,0.72,81.6,494.0,12.2,685,11084,0.00,2.30,0.00,0.000,4,0.000,0.054,3119,576,2307,0,0,0,0,0,0
$GC,11100,0.72,81.6,491.3,11.7,686,11105,0.00,2.30,0.00,0.000,6,0.000,0.046,3119,1990,2306,0,0,0,0,0,0
$GC,11428,0.72,81.6,452.9,11.7,702,11432,0.00,2.28,0.00,0.000,4,0.000,0.054,3130,582,2307,0,0,0,0,0,0
$GC,11454,0.72,81.6,449.6,12.0,703,11459,0.00,2.28,0.00,0.000,6,0.000,0.046,3130,1985,2306,0,0,0,0,0,0
$GC,11776,0.72,81.6,411.5,12.2,719,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1988,2307,0,0,0,0,0,0
$GC,12092,0.72,81.6,375.0,11.0,744,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1988,2306,0,0,0,0,0,0
$GC,12411,0.72,81.6,338.3,11.6,774,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1988,2306,0,0,0,0,0,0
$GC,12730,0.72,81.6,302.0,11.6,804,12731,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1988,2306,0,0,0,0,0,0
$GC,13048,0.72,81.6,265.6,10.9,834,13052,0.00,2.28,0.00,0.000,4,0.000,0.054,3140,574,2306,0,0,0,0,0,0
$GC,13113,0.72,81.6,258.1,11.1,839,13122,0.10,2.30,0.00,0.000,6,0.187,0.046,3112,1993,2306,0,0,0,0,0,0
$GC,13439,0.72,83.0,226.8,9.8,870,13443,0.00,2.22,0.00,0.000,4,0.000,0.054,3112,3409,2306,0,0,0,0,0,0
$GC,13456,0.73,87.4,225.1,9.5,871,13469,0.00,2.22,4.50,0.554,6,0.000,0.046,3121,1986,2292,0,0,0,0,0,0
$GC,13785,0.73,87.4,190.6,10.5,902,13789,0.00,2.25,0.00,0.000,4,0.000,0.055,3132,582,2292,0,0,0,0,0,0
$GC,13860,0.73,87.5,183.2,9.9,908,13864,0.00,2.25,0.00,0.000,6,0.000,0.046,3132,2002,2292,0,0,0,0,0,0
$GC,14184,0.73,87.5,149.9,10.1,938,14188,0.00,2.20,0.00,0.000,4,0.000,0.055,3131,3404,2292,0,0,0,0,0,0
$GC,14330,0.73,87.5,133.5,11.9,950,14338,0.15,2.22,0.00,0.000,6,0.221,0.046,3106,1986,2293,0,0,0,0,0,0
$GC,14657,0.74,98.3,105.8,8.8,981,14672,0.00,2.25,10.05,0.664,4,0.000,0.054,3117,582,2248,0,0,0,0,0,0
$GC,14946,0.75,108.9,77.7,8.8,1026,14962,0.00,2.28,9.95,0.642,6,0.000,0.047,3117,1986,2204,0,0,0,0,0,0
$GC,15309,0.77,125.2,46.7,8.2,1088,15330,0.00,2.28,14.52,0.675,4,0.000,0.053,3117,3416,2137,0,0,0,0,0,0
$GC,15475,0.77,125.2,28.4,11.6,1115,15485,0.00,2.30,0.00,0.000,6,0.000,0.047,3127,1998,2136,0,0,0,0,0,0
$GC,15632,0.77,125.2,10.8,11.5,1140,15641,0.00,2.35,0.00,0.000,4,0.000,0.055,3138,574,2134,0,0,0,0,0,0
$GC,15679,0.77,125.2,4.7,13.1,1147,15689,0.00,2.33,0.00,0.000,6,0.000,0.047,3138,1998,2135,0,0,0,0,0,0
$STATE,15695,end climb,SURFACE_DEPTH_REACHED
$STATE,15695,begin surface coast
$FINISH,1.5,1.025979
$STATE,15721,end surface coast,CONTROL_FINISHED_OK
$STATE,15721,begin surface
$SM_CCo,15738,39.72,0.055,0,0,1753,220.03
$SM_GC,2.33,0.00,0.00,39.72,0.000,0.000,0.055,142,2273,1753,-8.53,0.37,220.03
$IRIDIUM_FIX,-4441.36,627.47,011208,050520
$TT8_MAMPS,0.026215
$HUMID,50.03
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,23.6,35.587
$10V_AH,10.0,39.194
$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,21.150,155.350,149.850,39.725,0.000,65.399,89.075,729.961,24.750,0.000,10.589,3099.222,9641.098,348.720,3568.334,255.315,0.000,1446.770,0.000,2594.942,0.000,148.921,0.000
$DEVICE_MAMPS,239.445,64.260,1289.025,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.060,792.226,83.077,861.352,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,66792,1153
$CAP_FILE_SIZE,170232,0
$CFSIZE,2097086464,2057240576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.049, 60.8,1
$GPS,040216,202133,-4459.688,629.966,138,0.8,138,-24.4