version: 66.07.10.p01
glider: 574
mission: 18
dive: 309
start: 5 5 112 18 11 21
data:
$ID,574
$MISSION,18
$DIVE,309
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,160
$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,60
$T_MISSION,65
$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,-2354979
$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,34
$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,308
$GPS1,070216,051630,-4458.489,632.803,4,0.9,4,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-77.7
$GPS2,070216,052116,-4458.512,632.804,5,0.9,6,-24.4
$SPEED_LIMITS,0.144,0.145
$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,279.0,4591,-27.5,-8.333
$D_GRID,150
$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,25,-0.67,-48.7,0.0,0.0,0,67,0.00,0.00,-40.15,0.000,2,0.000,0.000,138,2275,2771,0,0,0,0,0,0
$GC,69,-0.67,-48.7,3.0,-1.7,5,88,10.45,2.28,-2.20,0.000,4,0.240,0.058,2633,3671,2851,0,0,0,0,0,0
$GC,325,-0.67,-48.7,49.8,-18.9,46,335,0.00,2.22,0.00,0.000,6,0.000,0.039,2634,2255,2852,0,0,0,0,0,0
$GC,675,-0.67,-48.7,109.0,-15.6,102,679,0.00,2.22,0.00,0.000,4,0.000,0.045,2633,838,2851,0,0,0,0,0,0
$GC,725,-0.67,-48.7,116.3,-13.6,106,730,0.12,2.25,0.00,0.000,6,0.203,0.044,2650,2265,2852,0,0,0,0,0,0
$STATE,977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,977,begin apogee
$GC,981,-0.11,0.0,150.1,13.2,129,1022,0.60,0.00,37.65,0.736,6,0.172,0.000,2823,1971,2649,0,0,0,0,0,0
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1025,0.67,48.7,153.9,0.0,133,1073,0.77,2.35,37.47,0.718,4,0.104,0.050,3088,591,2450,0,0,0,0,0,0
$GC,1175,0.70,72.9,146.8,5.6,146,1200,0.00,2.28,19.35,0.695,6,0.000,0.044,3083,1989,2352,0,0,0,0,0,0
$GC,1515,0.71,80.1,120.1,7.5,178,1528,0.00,2.33,6.78,0.593,4,0.000,0.052,3083,3402,2323,0,0,0,0,0,0
$GC,1622,0.71,80.1,110.6,9.7,187,1631,0.00,2.28,0.00,0.000,6,0.000,0.044,3092,1997,2322,0,0,0,0,0,0
$GC,1963,0.71,82.0,83.5,8.1,236,1969,0.00,2.28,0.00,0.000,4,0.000,0.053,3103,580,2322,0,0,0,0,0,0
$GC,2403,0.73,98.1,51.9,6.5,313,2425,0.00,2.22,14.82,0.649,6,0.000,0.044,3103,1992,2249,0,0,0,0,0,0
$GC,2778,0.73,98.1,19.8,9.6,376,2787,0.00,2.33,0.00,0.000,4,0.000,0.053,3113,579,2248,0,0,0,0,0,0
$GC,2813,0.73,98.1,16.3,9.8,381,2822,0.00,2.28,0.00,0.000,6,0.000,0.045,3114,1987,2248,0,0,0,0,0,0
$GC,2873,0.73,98.1,11.3,8.4,390,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1990,2248,0,0,0,0,0,0
$GC,2931,0.75,111.1,7.0,6.8,399,2942,0.00,2.30,5.53,0.450,4,0.000,0.052,3114,3400,2195,0,0,0,0,0,0
$STATE,2973,end climb,SURFACE_DEPTH_REACHED
$STATE,2973,begin surface coast
$FINISH,1.5,1.026402
$STATE,2980,end surface coast,CONTROL_FINISHED_OK
$STATE,2980,begin surface
$SM_CCo,2998,45.40,0.052,0,0,1752,220.03
$SM_GC,2.88,0.00,0.00,45.40,0.000,0.000,0.052,134,2249,1752,-8.56,-0.34,220.03
$IRIDIUM_FIX,-4438.33,633.52,031208,181839
$TT8_MAMPS,0.026215
$HUMID,47.20
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,24.5,36.869
$10V_AH,10.1,40.716
$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,20.100,31.875,121.600,45.400,0.000,0.000,0.000,0.000,3.500,0.000,9.934,1037.182,744.966,225.199,1053.339,49.938,0.000,593.463,0.000,1049.767,0.000,21.783,0.000
$DEVICE_MAMPS,240.210,58.140,735.930,52.020,0.000,0.000,0.000,0.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.985,219.834,95.494,649.669,0.000,0.000,0.000,0.000,0.000,0.000
$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,23657,406
$CAP_FILE_SIZE,68064,0
$CFSIZE,2097086464,2055733248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.138, 56.1,1
$GPS,070216,061332,-4458.391,632.799,32,1.2,32,-24.4