version: 66.07.10.p01
glider: 574
mission: 18
dive: 54
start: 3 13 112 7 43 3
data:
$ID,574
$MISSION,18
$DIVE,54
$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,-2330359
$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,23
$R_STBD_OVSHOOT,27
$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,53
$GPS1,151215,182104,-4503.530,634.472,55,0.9,55,-24.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-75.1
$GPS2,151215,184920,-4503.083,634.824,6,1.0,6,-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,280.2,14260,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.70,-48.7,0.0,0.0,0,74,0.00,0.00,-44.20,0.000,6,0.000,0.000,143,2314,2865,0,0,0,0,0,0
$GC,76,-0.70,-48.7,3.0,-1.9,6,93,11.02,0.00,0.00,0.000,6,0.266,0.000,2635,2315,2867,0,0,0,0,0,0
$GC,143,-0.70,-48.7,16.1,-17.6,16,152,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2315,2867,0,0,0,0,0,0
$GC,202,-0.70,-48.7,26.4,-17.2,25,210,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2315,2867,0,0,0,0,0,0
$GC,352,-0.70,-48.7,53.4,-19.2,50,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2314,2867,0,0,0,0,0,0
$GC,695,-0.70,-48.7,115.9,-18.0,103,699,0.00,2.28,0.00,0.000,4,0.000,0.048,2639,879,2867,0,0,0,0,0,0
$GC,717,-0.70,-48.7,120.1,-19.6,104,727,0.00,2.33,0.00,0.000,6,0.000,0.049,2629,2296,2867,0,0,0,0,0,0
$GC,1040,-0.70,-48.7,179.5,-17.5,135,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2296,2867,0,0,0,0,0,0
$GC,1362,-0.70,-48.7,231.5,-15.6,165,1367,0.00,2.25,0.00,0.000,4,0.000,0.050,2631,874,2868,0,0,0,0,0,0
$GC,1484,-0.70,-48.7,251.2,-15.7,175,1488,0.00,2.28,0.00,0.000,6,0.000,0.050,2622,2301,2868,0,0,0,0,0,0
$GC,1811,-0.70,-48.7,306.3,-17.1,205,1815,0.00,2.22,0.00,0.000,4,0.000,0.058,2611,3713,2868,0,0,0,0,0,0
$GC,1827,-0.70,-48.7,309.6,-17.4,206,1834,0.00,2.22,0.00,0.000,6,0.000,0.044,2618,2285,2867,0,0,0,0,0,0
$GC,2161,-0.70,-48.7,365.6,-16.4,237,2165,0.00,2.28,0.00,0.000,4,0.000,0.060,2610,3715,2867,0,0,0,0,0,0
$GC,2200,-0.70,-48.7,372.7,-17.6,240,2205,0.12,2.22,0.00,0.000,6,0.217,0.047,2639,2296,2867,0,0,0,0,0,0
$GC,2532,-0.70,-48.7,422.8,-14.9,264,2536,0.00,2.25,0.00,0.000,4,0.000,0.062,2630,3711,2867,0,0,0,0,0,0
$GC,2552,-0.70,-48.7,426.3,-14.5,265,2557,0.00,2.25,0.00,0.000,6,0.000,0.049,2631,2305,2866,0,0,0,0,0,0
$GC,2880,-0.70,-48.7,476.3,-15.2,281,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2302,2867,0,0,0,0,0,0
$GC,3189,-0.70,-48.7,514.1,-12.1,296,3193,0.00,2.25,0.00,0.000,4,0.000,0.064,2622,3712,2866,0,0,0,0,0,0
$GC,3468,-0.70,-48.7,552.0,-13.7,308,3477,0.00,2.28,0.00,0.000,6,0.000,0.053,2626,2299,2866,0,0,0,0,0,0
$GC,3785,-0.70,-48.7,592.7,-13.5,324,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2299,2866,0,0,0,0,0,0
$GC,4094,-0.70,-48.7,632.5,-12.7,339,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2299,2866,0,0,0,0,0,0
$GC,4404,-0.70,-48.7,673.6,-13.5,354,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2299,2866,0,0,0,0,0,0
$GC,4712,-0.70,-48.7,713.5,-12.5,369,4716,0.00,2.28,0.00,0.000,4,0.000,0.060,2631,880,2865,0,0,0,0,0,0
$GC,4744,-0.70,-48.7,717.9,-13.1,370,4752,0.00,2.30,0.00,0.000,6,0.000,0.056,2622,2292,2865,0,0,0,0,0,0
$GC,5060,-0.70,-48.7,758.4,-13.0,386,5064,0.00,2.25,0.00,0.000,4,0.000,0.065,2611,3711,2865,0,0,0,0,0,0
$GC,5079,-0.70,-48.7,760.7,-13.2,387,5083,0.00,2.22,0.00,0.000,6,0.000,0.054,2616,2298,2865,0,0,0,0,0,0
$GC,5405,-0.70,-48.7,803.3,-12.6,403,5409,0.00,2.25,0.00,0.000,4,0.000,0.060,2619,877,2865,0,0,0,0,0,0
$GC,5425,-0.70,-48.7,806.3,-13.2,404,5431,0.10,2.33,0.00,0.000,6,0.203,0.057,2637,2301,2865,0,0,0,0,0,0
$GC,5752,-0.70,-48.7,842.4,-10.5,420,5756,0.00,2.25,0.00,0.000,4,0.000,0.070,2627,3711,2864,0,0,0,0,0,0
$GC,5806,-0.70,-48.7,848.8,-11.2,422,5815,0.00,2.28,0.00,0.000,6,0.000,0.057,2631,2298,2864,0,0,0,0,0,0
$GC,6123,-0.70,-48.7,883.0,-10.8,438,6127,0.00,2.28,0.00,0.000,4,0.000,0.067,2623,3713,2864,0,0,0,0,0,0
$GC,6184,-0.70,-48.7,889.6,-11.5,441,6191,0.00,2.25,0.00,0.000,6,0.000,0.059,2625,2299,2864,0,0,0,0,0,0
$GC,6518,-0.70,-48.7,925.1,-10.6,457,6522,0.00,2.25,0.00,0.000,4,0.000,0.065,2630,885,2864,0,0,0,0,0,0
$GC,6560,-0.70,-48.7,930.0,-10.7,459,6568,0.00,2.33,0.00,0.000,6,0.000,0.060,2620,2298,2863,0,0,0,0,0,0
$GC,6889,-0.70,-48.7,965.6,-11.0,475,6893,0.00,2.28,0.00,0.000,4,0.000,0.065,2620,881,2863,0,0,0,0,0,0
$GC,6921,-0.70,-48.7,969.5,-11.8,476,6931,0.10,2.33,0.00,0.000,6,0.199,0.060,2637,2296,2863,0,0,0,0,0,0
$STATE,7239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7239,begin apogee
$GC,7243,-0.12,0.0,1001.8,10.3,492,7285,0.65,0.00,38.95,1.296,6,0.177,0.000,2824,2050,2670,0,0,0,0,0,0
$STATE,7285,end apogee,CONTROL_FINISHED_OK
$STATE,7285,begin climb
$GC,7287,0.70,48.7,1003.9,0.0,494,7337,0.82,2.55,41.75,1.262,4,0.110,0.064,3087,3481,2471,0,0,0,0,0,0
$GC,7351,0.70,48.7,999.6,10.3,497,7357,0.00,2.42,0.00,0.000,6,0.000,0.052,3098,2068,2470,0,0,0,0,0,0
$GC,7680,0.70,48.7,962.2,11.0,513,7684,0.00,2.35,0.00,0.000,4,0.000,0.061,3109,643,2469,0,0,0,0,0,0
$GC,7840,0.70,48.7,943.8,11.3,520,7845,0.00,2.38,0.00,0.000,6,0.000,0.054,3104,2067,2469,0,0,0,0,0,0
$GC,8162,0.70,48.7,907.8,11.4,536,8166,0.00,2.33,0.00,0.000,4,0.000,0.059,3113,642,2468,0,0,0,0,0,0
$GC,8339,0.70,48.7,886.2,12.7,544,8344,0.00,2.35,0.00,0.000,6,0.000,0.054,3106,2065,2468,0,0,0,0,0,0
$GC,8666,0.70,48.7,848.3,11.3,560,8671,0.00,2.28,0.00,0.000,4,0.000,0.063,3106,3483,2467,0,0,0,0,0,0
$GC,8715,0.70,48.7,842.1,12.7,562,8720,0.00,2.30,0.00,0.000,6,0.000,0.049,3115,2063,2467,0,0,0,0,0,0
$GC,9037,0.70,48.7,804.1,11.7,578,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2060,2467,0,0,0,0,0,0
$GC,9348,0.70,48.7,768.9,11.0,593,9352,0.00,2.28,0.00,0.000,4,0.000,0.059,3126,644,2467,0,0,0,0,0,0
$GC,9396,0.70,48.7,763.3,11.5,595,9401,0.00,2.33,0.00,0.000,6,0.000,0.054,3126,2063,2467,0,0,0,0,0,0
$GC,9718,0.70,48.7,727.7,11.2,611,9722,0.00,2.28,0.00,0.000,4,0.000,0.057,3135,645,2467,0,0,0,0,0,0
$GC,9788,0.70,48.7,719.8,11.1,614,9793,0.10,2.30,0.00,0.000,6,0.210,0.051,3102,2060,2467,0,0,0,0,0,0
$GC,10110,0.71,53.5,688.9,9.5,630,10116,0.00,0.00,4.90,0.757,6,0.000,0.000,3101,2061,2450,0,0,0,0,0,0
$GC,10420,0.71,55.4,658.3,9.8,645,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2061,2451,0,0,0,0,0,0
$GC,10728,0.71,55.4,626.6,10.7,660,10732,0.00,2.25,0.00,0.000,4,0.000,0.060,3101,3484,2451,0,0,0,0,0,0
$GC,10745,0.71,55.4,624.8,10.7,661,10749,0.00,2.25,0.00,0.000,6,0.000,0.049,3110,2049,2450,0,0,0,0,0,0
$GC,11070,0.71,55.4,590.6,10.7,677,11074,0.00,2.22,0.00,0.000,4,0.000,0.059,3121,648,2451,0,0,0,0,0,0
$GC,11416,0.71,55.4,552.1,10.8,692,11426,0.00,2.30,0.00,0.000,6,0.000,0.051,3119,2069,2451,0,0,0,0,0,0
$GC,11732,0.71,55.4,519.2,10.8,708,11737,0.00,2.25,0.00,0.000,4,0.000,0.057,3128,651,2451,0,0,0,0,0,0
$GC,11899,0.71,55.4,501.7,10.0,715,11907,0.00,2.28,0.00,0.000,6,0.000,0.050,3126,2059,2451,0,0,0,0,0,0
$GC,12216,0.72,58.8,470.8,9.6,731,12226,0.00,2.25,5.72,0.734,4,0.000,0.059,3125,3476,2429,0,0,0,0,0,0
$GC,12263,0.72,58.8,465.6,10.7,733,12269,0.10,2.28,0.00,0.000,6,0.225,0.048,3110,2057,2430,0,0,0,0,0,0
$GC,12587,0.73,67.9,435.6,9.1,749,12601,0.00,2.30,8.62,0.845,4,0.000,0.059,3119,656,2392,0,0,0,0,0,0
$GC,12691,0.73,67.9,424.6,10.7,753,12699,0.00,2.30,0.00,0.000,6,0.000,0.051,3118,2065,2392,0,0,0,0,0,0
$GC,13009,0.73,67.9,391.6,10.6,772,13013,0.00,2.28,0.00,0.000,4,0.000,0.057,3127,644,2392,0,0,0,0,0,0
$GC,13053,0.73,67.9,386.7,12.0,775,13061,0.00,2.30,0.00,0.000,6,0.000,0.050,3127,2059,2392,0,0,0,0,0,0
$GC,13378,0.73,71.2,352.8,9.6,806,13391,0.00,2.30,4.45,0.591,4,0.000,0.057,3138,649,2379,0,0,0,0,0,0
$GC,13471,0.73,71.2,342.8,10.6,814,13476,0.12,2.25,0.00,0.000,6,0.216,0.050,3110,2063,2379,0,0,0,0,0,0
$GC,13795,0.73,71.2,308.6,10.5,844,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2065,2379,0,0,0,0,0,0
$GC,14114,0.73,71.2,275.3,10.1,874,14118,0.00,2.25,0.00,0.000,4,0.000,0.056,3119,650,2378,0,0,0,0,0,0
$GC,14176,0.73,71.2,269.1,10.2,879,14180,0.00,2.25,0.00,0.000,6,0.000,0.050,3120,2068,2379,0,0,0,0,0,0
$GC,14503,0.73,71.2,234.5,10.3,909,14507,0.00,2.25,0.00,0.000,4,0.000,0.057,3130,652,2378,0,0,0,0,0,0
$GC,14541,0.73,71.2,230.1,10.6,912,14546,0.00,2.25,0.00,0.000,6,0.000,0.051,3131,2072,2379,0,0,0,0,0,0
$GC,14866,0.73,71.8,196.6,9.9,942,14870,0.00,2.20,0.00,0.000,4,0.000,0.058,3130,3472,2379,0,0,0,0,0,0
$GC,15080,0.73,74.4,174.2,9.7,960,15093,0.10,2.25,4.20,0.509,6,0.224,0.047,3115,2056,2366,0,0,0,0,0,0
$GC,15407,0.74,80.4,143.9,9.4,991,15420,0.00,2.25,6.28,0.654,4,0.000,0.057,3125,652,2341,0,0,0,0,0,0
$GC,15941,0.74,80.4,89.5,10.7,1046,15948,0.00,2.25,0.00,0.000,6,0.000,0.050,3125,2060,2341,0,0,0,0,0,0
$GC,16290,0.76,95.0,58.8,8.6,1107,16312,0.00,2.33,12.52,0.671,4,0.000,0.056,3135,652,2281,0,0,0,0,0,0
$GC,16427,0.76,95.0,44.2,11.4,1130,16433,0.00,2.25,0.00,0.000,6,0.000,0.050,3135,2066,2280,0,0,0,0,0,0
$STATE,16770,end climb,SURFACE_DEPTH_REACHED
$STATE,16770,begin surface coast
$FINISH,1.2,1.012916
$STATE,16796,end surface coast,CONTROL_FINISHED_OK
$STATE,16796,begin surface
$SM_CCo,16811,52.58,0.052,0,0,1771,220.03
$SM_GC,2.79,0.00,0.00,52.58,0.000,0.000,0.052,141,2323,1771,-8.53,0.68,220.03
$IRIDIUM_FIX,-4444.39,636.90,111008,070739
$TT8_MAMPS,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.8,13.652
$10V_AH,10.2,8.787
$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,21.375,142.175,127.400,52.575,0.000,128.868,184.442,997.109,24.750,0.000,8.920,3234.767,10561.595,375.612,4255.167,136.408,0.000,1552.475,0.000,2777.805,0.000,148.770,0.000
$DEVICE_MAMPS,266.220,70.380,1295.910,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.735,812.204,81.158,841.939,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,70235,1191
$CAP_FILE_SIZE,181943,0
$CFSIZE,2097086464,2088960000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.055, 88.9,1
$GPS,151215,233257,-4503.262,633.783,78,0.8,78,-24.4