version: 66.07.10.p01
glider: 574
mission: 18
dive: 53
start: 3 13 112 2 36 41
data:
$ID,574
$MISSION,18
$DIVE,53
$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,-2330288.5
$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,41
$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,2299
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,28
$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,2670
$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,52
$GPS1,151215,132833,-4504.016,635.007,152,1.1,152,-24.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-76.5
$GPS2,151215,134257,-4504.104,635.238,5,1.2,5,-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,301.6,14700,-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,23,-0.70,-48.7,0.0,0.0,0,74,0.00,0.00,-44.22,0.000,6,0.000,0.000,140,2309,2864,0,0,0,0,0,0
$GC,75,-0.70,-48.7,3.2,-2.0,6,94,10.73,2.22,0.00,0.000,4,0.256,0.031,2624,3719,2865,0,0,0,0,0,0
$GC,224,-0.70,-48.7,33.0,-18.4,29,233,0.00,2.33,0.00,0.000,6,0.000,0.049,2632,2303,2865,0,0,0,0,0,0
$GC,373,-0.70,-48.7,61.2,-19.5,54,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2300,2866,0,0,0,0,0,0
$GC,720,-0.70,-48.7,126.2,-18.1,102,724,0.00,2.25,0.00,0.000,4,0.000,0.059,2622,3705,2866,0,0,0,0,0,0
$GC,865,-0.70,-48.7,153.8,-19.1,114,874,0.00,2.28,0.00,0.000,6,0.000,0.047,2631,2299,2866,0,0,0,0,0,0
$GC,1193,-0.70,-48.7,212.3,-17.7,145,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2295,2866,0,0,0,0,0,0
$GC,1510,-0.70,-48.7,265.0,-16.5,175,1514,0.00,2.25,0.00,0.000,4,0.000,0.057,2631,880,2866,0,0,0,0,0,0
$GC,1575,-0.70,-48.7,276.3,-16.7,180,1585,0.00,2.30,0.00,0.000,6,0.000,0.052,2622,2292,2866,0,0,0,0,0,0
$GC,1901,-0.70,-48.7,330.5,-17.2,211,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2291,2866,0,0,0,0,0,0
$GC,2222,-0.70,-48.7,381.4,-15.7,241,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2291,2866,0,0,0,0,0,0
$GC,2532,-0.70,-48.7,430.8,-15.6,262,2536,0.00,2.25,0.00,0.000,4,0.000,0.062,2611,3711,2865,0,0,0,0,0,0
$GC,2661,-0.70,-48.7,451.8,-16.2,268,2665,0.00,2.22,0.00,0.000,6,0.000,0.052,2619,2298,2866,0,0,0,0,0,0
$GC,2987,-0.70,-48.7,502.4,-15.4,284,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2294,2866,0,0,0,0,0,0
$GC,3296,-0.70,-48.7,549.7,-15.1,299,3301,0.00,2.25,0.00,0.000,4,0.000,0.060,2619,879,2865,0,0,0,0,0,0
$GC,3312,-0.70,-48.7,552.1,-14.9,299,3319,0.12,2.28,0.00,0.000,6,0.225,0.056,2637,2304,2865,0,0,0,0,0,0
$GC,3628,-0.70,-48.7,594.9,-13.8,315,3632,0.00,2.25,0.00,0.000,4,0.000,0.067,2627,3712,2865,0,0,0,0,0,0
$GC,3712,-0.70,-48.7,607.3,-15.0,319,3716,0.00,2.25,0.00,0.000,6,0.000,0.057,2631,2296,2865,0,0,0,0,0,0
$GC,4039,-0.70,-48.7,651.5,-13.2,335,4043,0.00,2.28,0.00,0.000,4,0.000,0.067,2622,3711,2864,0,0,0,0,0,0
$GC,4055,-0.70,-48.7,653.8,-13.7,336,4059,0.00,2.25,0.00,0.000,6,0.000,0.057,2627,2295,2864,0,0,0,0,0,0
$GC,4381,-0.70,-48.7,695.3,-12.2,352,4385,0.00,2.25,0.00,0.000,4,0.000,0.064,2631,882,2864,0,0,0,0,0,0
$GC,4412,-0.70,-48.7,699.5,-12.3,353,4421,0.00,2.33,0.00,0.000,6,0.000,0.059,2622,2299,2864,0,0,0,0,0,0
$GC,4728,-0.70,-48.7,737.7,-12.1,369,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2299,2864,0,0,0,0,0,0
$GC,5038,-0.70,-48.7,774.4,-11.8,384,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2298,2864,0,0,0,0,0,0
$GC,5350,-0.70,-48.7,810.4,-11.6,399,5354,0.00,2.28,0.00,0.000,4,0.000,0.071,2611,3715,2864,0,0,0,0,0,0
$GC,5434,-0.70,-48.7,821.5,-12.8,403,5439,0.00,2.28,0.00,0.000,6,0.000,0.062,2618,2292,2863,0,0,0,0,0,0
$GC,5761,-0.70,-48.7,859.6,-11.5,419,5768,0.00,2.28,0.00,0.000,4,0.000,0.070,2619,875,2863,0,0,0,0,0,0
$GC,5777,-0.70,-48.7,861.9,-11.4,419,5786,0.10,2.35,0.00,0.000,6,0.205,0.061,2636,2303,2863,0,0,0,0,0,0
$GC,6096,-0.70,-48.7,895.3,-10.6,435,6100,0.00,2.30,0.00,0.000,4,0.000,0.067,2638,878,2863,0,0,0,0,0,0
$GC,6128,-0.70,-48.7,899.3,-12.2,436,6135,0.00,2.30,0.00,0.000,6,0.000,0.062,2629,2305,2863,0,0,0,0,0,0
$GC,6443,-0.70,-48.7,934.5,-11.4,452,6447,0.00,2.28,0.00,0.000,4,0.000,0.074,2618,3716,2863,0,0,0,0,0,0
$GC,6497,-0.70,-48.7,941.2,-13.1,454,6507,0.00,2.33,0.00,0.000,6,0.000,0.063,2620,2295,2863,0,0,0,0,0,0
$GC,6814,-0.70,-48.7,975.4,-10.6,470,6818,0.00,2.28,0.00,0.000,4,0.000,0.067,2620,880,2862,0,0,0,0,0,0
$GC,6831,-0.70,-48.7,977.3,-10.9,471,6836,0.12,2.30,0.00,0.000,6,0.222,0.063,2637,2303,2862,0,0,0,0,0,0
$STATE,7054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7054,begin apogee
$GC,7058,-0.12,0.0,1000.1,10.0,482,7100,0.65,0.00,38.95,1.297,6,0.175,0.000,2824,2046,2669,0,0,0,0,0,0
$STATE,7101,end apogee,CONTROL_FINISHED_OK
$STATE,7101,begin climb
$GC,7102,0.70,48.7,1002.1,0.0,484,7151,0.82,2.42,41.55,1.263,4,0.110,0.060,3099,649,2470,0,0,0,0,0,0
$GC,7188,0.70,48.7,995.4,11.4,488,7193,0.00,2.45,0.00,0.000,6,0.000,0.054,3098,2066,2470,0,0,0,0,0,0
$GC,7517,0.70,48.7,956.1,12.0,504,7521,0.00,2.33,0.00,0.000,4,0.000,0.059,3107,653,2469,0,0,0,0,0,0
$GC,7601,0.70,48.7,945.8,12.5,508,7606,0.00,2.33,0.00,0.000,6,0.000,0.054,3102,2072,2469,0,0,0,0,0,0
$GC,7927,0.70,48.7,907.8,11.5,524,7931,0.00,2.28,0.00,0.000,4,0.000,0.064,3102,3476,2469,0,0,0,0,0,0
$GC,7949,0.70,48.7,905.2,11.8,525,7953,0.00,2.28,0.00,0.000,6,0.000,0.051,3111,2054,2468,0,0,0,0,0,0
$GC,8270,0.70,48.7,867.2,11.5,541,8274,0.00,2.28,0.00,0.000,4,0.000,0.061,3123,649,2468,0,0,0,0,0,0
$GC,8421,0.70,48.7,849.2,12.4,548,8425,0.00,2.30,0.00,0.000,6,0.000,0.054,3119,2063,2468,0,0,0,0,0,0
$GC,8749,0.70,48.7,811.3,11.4,564,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2066,2468,0,0,0,0,0,0
$GC,9058,0.70,48.7,776.4,11.2,579,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2067,2467,0,0,0,0,0,0
$GC,9367,0.70,48.7,742.9,10.3,594,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2067,2468,0,0,0,0,0,0
$GC,9675,0.70,48.7,710.9,10.3,609,9679,0.00,2.28,0.00,0.000,4,0.000,0.057,3128,643,2467,0,0,0,0,0,0
$GC,9859,0.71,51.6,691.7,9.7,617,9863,0.00,2.30,0.00,0.000,6,0.000,0.051,3126,2058,2467,0,0,0,0,0,0
$GC,10180,0.72,62.5,660.9,8.9,633,10202,0.00,2.35,11.48,0.981,4,0.000,0.057,3135,652,2416,0,0,0,0,0,0
$GC,10233,0.72,62.5,655.7,10.0,635,10238,0.00,2.30,0.00,0.000,6,0.000,0.051,3132,2058,2416,0,0,0,0,0,0
$GC,10556,0.72,62.5,619.7,11.3,651,10559,0.00,2.28,0.00,0.000,4,0.000,0.057,3141,652,2415,0,0,0,0,0,0
$GC,10587,0.72,62.5,615.9,11.0,652,10593,0.12,2.30,0.00,0.000,6,0.213,0.050,3106,2063,2415,0,0,0,0,0,0
$GC,10909,0.72,64.2,583.9,9.8,668,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2063,2414,0,0,0,0,0,0
$GC,11218,0.72,64.2,552.1,10.2,683,11222,0.00,2.25,0.00,0.000,4,0.000,0.060,3106,3483,2415,0,0,0,0,0,0
$GC,11274,0.72,64.2,545.8,11.9,685,11281,0.00,2.25,0.00,0.000,6,0.000,0.049,3115,2052,2414,0,0,0,0,0,0
$GC,11589,0.72,64.2,511.8,10.7,701,11593,0.00,2.22,0.00,0.000,4,0.000,0.058,3127,652,2414,0,0,0,0,0,0
$GC,11695,0.72,64.2,500.4,10.6,706,11699,0.00,2.25,0.00,0.000,6,0.000,0.050,3126,2071,2415,0,0,0,0,0,0
$GC,12022,0.72,64.2,467.6,10.1,722,12026,0.00,2.28,0.00,0.000,4,0.000,0.057,3135,645,2415,0,0,0,0,0,0
$GC,12042,0.72,64.2,465.2,10.1,723,12047,0.10,2.30,0.00,0.000,6,0.212,0.050,3108,2065,2414,0,0,0,0,0,0
$GC,12371,0.73,68.6,433.9,9.5,739,12382,0.00,2.28,6.28,0.744,4,0.000,0.055,3118,649,2390,0,0,0,0,0,0
$GC,12459,0.73,68.6,424.5,10.7,743,12464,0.00,2.28,0.00,0.000,6,0.000,0.050,3118,2051,2391,0,0,0,0,0,0
$GC,12778,0.73,68.6,391.5,10.1,762,12779,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2054,2391,0,0,0,0,0,0
$GC,13097,0.73,68.6,357.9,10.5,792,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2053,2391,0,0,0,0,0,0
$GC,13416,0.73,73.3,325.9,9.5,822,13429,0.00,2.28,5.65,0.666,4,0.000,0.057,3119,3484,2370,0,0,0,0,0,0
$GC,13467,0.73,73.3,320.5,10.4,826,13476,0.00,2.28,0.00,0.000,6,0.000,0.048,3129,2069,2371,0,0,0,0,0,0
$GC,13795,0.73,73.3,286.0,10.6,857,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2066,2371,0,0,0,0,0,0
$GC,14112,0.73,73.3,250.6,11.4,887,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2066,2370,0,0,0,0,0,0
$GC,14433,0.73,73.3,213.4,11.4,917,14437,0.00,2.25,0.00,0.000,4,0.000,0.057,3139,646,2370,0,0,0,0,0,0
$GC,14575,0.73,73.3,196.7,11.8,929,14580,0.12,2.25,0.00,0.000,6,0.211,0.050,3112,2071,2371,0,0,0,0,0,0
$GC,14899,0.75,86.1,166.6,8.7,959,14916,0.00,2.30,11.57,0.728,4,0.000,0.055,3121,643,2316,0,0,0,0,0,0
$GC,15266,0.75,86.1,130.1,10.0,991,15270,0.00,2.25,0.00,0.000,6,0.000,0.050,3121,2060,2315,0,0,0,0,0,0
$GC,15593,0.75,86.1,94.6,10.3,1025,15600,0.00,2.25,0.00,0.000,4,0.000,0.056,3132,646,2315,0,0,0,0,0,0
$GC,15813,0.75,88.4,72.8,9.7,1063,15820,0.00,2.25,0.00,0.000,6,0.000,0.050,3132,2067,2315,0,0,0,0,0,0
$GC,16162,0.75,89.7,39.3,9.8,1124,16172,0.00,2.35,3.97,0.502,4,0.000,0.056,3142,643,2303,0,0,0,0,0,0
$GC,16319,0.75,89.7,23.8,12.5,1149,16327,0.00,2.28,0.00,0.000,6,0.000,0.049,3142,2057,2302,0,0,0,0,0,0
$STATE,16466,end climb,SURFACE_DEPTH_REACHED
$STATE,16466,begin surface coast
$FINISH,1.3,1.026673
$STATE,16487,end surface coast,CONTROL_FINISHED_OK
$STATE,16487,begin surface
$SM_CCo,16501,54.60,0.052,0,0,1772,220.03
$SM_GC,2.79,0.00,0.00,54.60,0.000,0.000,0.052,144,2315,1772,-8.53,0.45,220.03
$IRIDIUM_FIX,-4447.43,637.25,111008,020233
$TT8_MAMPS,0.026215
$HUMID,47.51
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.8,13.534
$10V_AH,10.3,8.653
$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,21.300,133.275,119.450,54.600,0.000,30.337,40.730,670.456,24.750,0.000,9.257,3160.731,10345.240,344.911,3453.390,119.184,0.000,1449.939,0.000,2619.779,0.000,149.994,0.000
$DEVICE_MAMPS,256.275,74.205,1296.675,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.993,800.422,77.337,825.546,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,66878,1176
$CAP_FILE_SIZE,165593,0
$CFSIZE,2097086464,2089091072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.087, 67.5,1
$GPS,151215,182104,-4503.530,634.472,55,0.9,55,-24.4