version: 66.07.10.p01
glider: 574
mission: 18
dive: 57
start: 3 13 112 22 14 59
data:
$ID,574
$MISSION,18
$DIVE,57
$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,-2330624.2
$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,21
$R_STBD_OVSHOOT,24
$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,56
$GPS1,161215,090727,-4503.165,632.220,82,0.9,82,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-74.7
$GPS2,161215,092117,-4503.304,632.689,13,0.8,13,-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,284.8,11439,-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,-44.92,0.000,6,0.000,0.000,143,2304,2869,0,0,0,0,0,0
$GC,76,-0.70,-48.7,3.0,-2.0,6,93,10.77,2.28,0.00,0.000,4,0.259,0.044,2625,3725,2870,0,0,0,0,0,0
$GC,379,-0.70,-48.7,65.6,-18.2,56,386,0.00,2.28,0.00,0.000,6,0.000,0.042,2632,2283,2870,0,0,0,0,0,0
$GC,721,-0.70,-48.7,124.5,-18.3,104,725,0.00,2.28,0.00,0.000,4,0.000,0.055,2622,3709,2871,0,0,0,0,0,0
$GC,749,-0.70,-48.7,129.8,-18.5,106,753,0.00,2.22,0.00,0.000,6,0.000,0.043,2631,2299,2871,0,0,0,0,0,0
$GC,1081,-0.70,-48.7,186.1,-15.5,137,1085,0.00,2.25,0.00,0.000,4,0.000,0.056,2622,3712,2871,0,0,0,0,0,0
$GC,1097,-0.70,-48.7,189.2,-16.0,138,1104,0.00,2.22,0.00,0.000,6,0.000,0.043,2631,2289,2871,0,0,0,0,0,0
$GC,1432,-0.70,-48.7,240.1,-15.4,169,1436,0.00,2.20,0.00,0.000,4,0.000,0.052,2632,887,2871,0,0,0,0,0,0
$GC,1470,-0.70,-48.7,246.9,-15.9,172,1474,0.00,2.25,0.00,0.000,6,0.000,0.050,2622,2300,2871,0,0,0,0,0,0
$GC,1795,-0.70,-48.7,300.4,-16.1,202,1799,0.00,2.22,0.00,0.000,4,0.000,0.059,2612,3710,2871,0,0,0,0,0,0
$GC,1845,-0.70,-48.7,309.0,-17.0,206,1849,0.00,2.20,0.00,0.000,6,0.000,0.044,2619,2299,2871,0,0,0,0,0,0
$GC,2170,-0.70,-48.7,360.0,-15.0,236,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2296,2871,0,0,0,0,0,0
$GC,2499,-0.70,-48.7,410.6,-15.9,264,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2296,2870,0,0,0,0,0,0
$GC,2806,-0.70,-48.7,459.0,-16.0,279,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2296,2870,0,0,0,0,0,0
$GC,3115,-0.70,-48.7,507.2,-15.2,294,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2296,2870,0,0,0,0,0,0
$GC,3425,-0.70,-48.7,553.6,-14.8,309,3429,0.00,2.25,0.00,0.000,4,0.000,0.060,2610,3715,2870,0,0,0,0,0,0
$GC,3446,-0.70,-48.7,557.1,-15.6,310,3451,0.08,2.25,0.00,0.000,6,0.216,0.047,2633,2304,2870,0,0,0,0,0,0
$GC,3773,-0.70,-48.7,604.7,-14.4,326,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2300,2870,0,0,0,0,0,0
$GC,4083,-0.70,-48.7,647.2,-13.7,341,4087,0.00,2.22,0.00,0.000,4,0.000,0.057,2634,885,2870,0,0,0,0,0,0
$GC,4100,-0.70,-48.7,649.7,-13.5,342,4107,0.00,2.25,0.00,0.000,6,0.000,0.054,2624,2301,2869,0,0,0,0,0,0
$GC,4433,-0.70,-48.7,694.2,-13.4,358,4437,0.00,2.22,0.00,0.000,4,0.000,0.063,2613,3709,2869,0,0,0,0,0,0
$GC,4464,-0.70,-48.7,698.8,-14.6,359,4472,0.00,2.25,0.00,0.000,6,0.000,0.050,2620,2305,2869,0,0,0,0,0,0
$GC,4781,-0.70,-48.7,741.1,-13.1,375,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2302,2869,0,0,0,0,0,0
$GC,5092,-0.70,-48.7,781.1,-12.7,390,5096,0.00,2.25,0.00,0.000,4,0.000,0.059,2620,878,2869,0,0,0,0,0,0
$GC,5134,-0.70,-48.7,787.2,-12.7,392,5140,0.10,2.30,0.00,0.000,6,0.203,0.054,2637,2297,2869,0,0,0,0,0,0
$GC,5461,-0.70,-48.7,827.3,-12.1,408,5466,0.00,2.25,0.00,0.000,4,0.000,0.065,2627,3716,2868,0,0,0,0,0,0
$GC,5571,-0.70,-48.7,841.7,-12.6,413,5576,0.00,2.28,0.00,0.000,6,0.000,0.054,2631,2303,2868,0,0,0,0,0,0
$GC,5901,-0.70,-48.7,880.6,-11.7,429,5905,0.00,2.28,0.00,0.000,4,0.000,0.061,2632,880,2868,0,0,0,0,0,0
$GC,5943,-0.70,-48.7,886.3,-11.7,431,5948,0.00,2.33,0.00,0.000,6,0.000,0.056,2623,2304,2868,0,0,0,0,0,0
$GC,6271,-0.70,-48.7,924.8,-11.4,447,6275,0.00,2.25,0.00,0.000,4,0.000,0.067,2612,3719,2868,0,0,0,0,0,0
$GC,6314,-0.70,-48.7,930.1,-12.2,449,6319,0.00,2.30,0.00,0.000,6,0.000,0.056,2616,2293,2868,0,0,0,0,0,0
$GC,6641,-0.70,-48.7,968.6,-11.7,465,6646,0.00,2.28,0.00,0.000,4,0.000,0.067,2607,3711,2867,0,0,0,0,0,0
$GC,6680,-0.70,-48.7,973.5,-12.9,467,6685,0.15,2.25,0.00,0.000,6,0.214,0.057,2642,2288,2868,0,0,0,0,0,0
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6927,-0.12,0.0,1001.6,11.2,479,6970,0.62,0.00,39.78,1.289,6,0.174,0.000,2823,2048,2669,0,0,0,0,0,0
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6972,0.70,48.7,1004.0,0.0,481,7023,0.82,2.55,41.78,1.263,4,0.111,0.063,3088,3480,2469,0,0,0,0,0,0
$GC,7038,0.72,63.1,1000.5,8.6,484,7058,0.00,2.42,13.62,1.164,6,0.000,0.052,3098,2061,2411,0,0,0,0,0,0
$GC,7364,0.72,63.1,962.1,12.2,500,7368,0.00,2.35,0.00,0.000,4,0.000,0.063,3109,645,2409,0,0,0,0,0,0
$GC,7403,0.72,63.1,957.0,13.3,502,7407,0.00,2.35,0.00,0.000,6,0.000,0.053,3103,2073,2409,0,0,0,0,0,0
$GC,7730,0.72,63.1,916.0,12.7,518,7734,0.00,2.28,0.00,0.000,4,0.000,0.063,3103,3478,2409,0,0,0,0,0,0
$GC,7778,0.72,63.1,909.1,13.5,520,7783,0.00,2.33,0.00,0.000,6,0.000,0.050,3112,2057,2409,0,0,0,0,0,0
$GC,8100,0.72,63.1,867.4,13.1,536,8104,0.00,2.30,0.00,0.000,4,0.000,0.061,3123,646,2408,0,0,0,0,0,0
$GC,8210,0.72,63.1,852.2,13.5,541,8215,0.00,2.33,0.00,0.000,6,0.000,0.052,3116,2060,2408,0,0,0,0,0,0
$GC,8538,0.72,63.1,808.3,13.8,557,8542,0.00,2.30,0.00,0.000,4,0.000,0.061,3116,3485,2408,0,0,0,0,0,0
$GC,8586,0.72,63.1,800.7,15.2,559,8591,0.00,2.30,0.00,0.000,6,0.000,0.049,3126,2057,2408,0,0,0,0,0,0
$GC,8908,0.72,63.1,754.1,14.4,575,8912,0.00,2.25,0.00,0.000,4,0.000,0.059,3137,652,2408,0,0,0,0,0,0
$GC,8968,0.72,63.1,745.3,13.5,578,8972,0.00,2.28,0.00,0.000,6,0.000,0.052,3131,2075,2408,0,0,0,0,0,0
$GC,9294,0.72,63.1,698.2,14.4,594,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2078,2408,0,0,0,0,0,0
$GC,9604,0.72,63.1,655.1,13.7,609,9608,0.00,2.30,0.00,0.000,4,0.000,0.059,3140,644,2408,0,0,0,0,0,0
$GC,9831,0.72,63.1,624.2,12.6,619,9837,0.10,2.30,0.00,0.000,6,0.212,0.050,3111,2059,2407,0,0,0,0,0,0
$GC,10152,0.72,63.1,588.6,10.5,635,10157,0.00,2.25,0.00,0.000,4,0.000,0.057,3121,646,2407,0,0,0,0,0,0
$GC,10201,0.72,63.1,583.3,10.5,637,10206,0.00,2.30,0.00,0.000,6,0.000,0.050,3121,2062,2407,0,0,0,0,0,0
$GC,10523,0.72,63.1,549.0,10.8,653,10527,0.00,2.28,0.00,0.000,4,0.000,0.057,3132,645,2407,0,0,0,0,0,0
$GC,10562,0.72,63.1,544.7,11.0,655,10567,0.00,2.25,0.00,0.000,6,0.000,0.050,3131,2067,2407,0,0,0,0,0,0
$GC,10888,0.72,63.1,509.2,10.9,671,10892,0.00,2.22,0.00,0.000,4,0.000,0.059,3131,3483,2407,0,0,0,0,0,0
$GC,11004,0.72,63.1,495.0,11.6,676,11009,0.12,2.28,0.00,0.000,6,0.229,0.048,3110,2058,2407,0,0,0,0,0,0
$GC,11326,0.72,63.1,462.1,10.2,692,11330,0.00,2.22,0.00,0.000,4,0.000,0.058,3119,651,2407,0,0,0,0,0,0
$GC,11434,0.72,63.1,451.1,10.6,697,11438,0.00,2.22,0.00,0.000,6,0.000,0.050,3117,2062,2407,0,0,0,0,0,0
$GC,11760,0.73,66.4,419.6,9.6,713,11764,0.00,2.25,0.00,0.000,4,0.000,0.057,3126,645,2407,0,0,0,0,0,0
$GC,11786,0.73,70.8,417.0,9.5,714,11800,0.00,2.30,6.78,0.757,6,0.000,0.050,3126,2069,2380,0,0,0,0,0,0
$GC,12114,0.73,70.8,382.3,10.7,737,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2069,2381,0,0,0,0,0,0
$GC,12430,0.73,70.8,348.0,10.7,767,12434,0.00,2.22,0.00,0.000,4,0.000,0.057,3127,3482,2380,0,0,0,0,0,0
$GC,12460,0.73,70.8,344.5,12.3,769,12464,0.00,2.22,0.00,0.000,6,0.000,0.049,3136,2056,2380,0,0,0,0,0,0
$GC,12784,0.73,70.8,307.2,11.3,799,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2054,2380,0,0,0,0,0,0
$GC,13106,0.73,70.8,271.0,12.1,829,13110,0.00,2.22,0.00,0.000,4,0.000,0.057,3136,3471,2380,0,0,0,0,0,0
$GC,13171,0.73,70.8,262.2,12.6,834,13180,0.12,2.25,0.00,0.000,6,0.218,0.048,3114,2058,2380,0,0,0,0,0,0
$GC,13500,0.73,70.8,227.0,10.7,865,13504,0.00,2.22,0.00,0.000,4,0.000,0.057,3124,649,2380,0,0,0,0,0,0
$GC,13529,0.73,70.8,223.8,10.1,867,13533,0.00,2.22,0.00,0.000,6,0.000,0.050,3124,2060,2381,0,0,0,0,0,0
$GC,13856,0.73,70.8,188.5,10.9,897,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2060,2380,0,0,0,0,0,0
$GC,14172,0.74,79.5,158.7,9.1,927,14185,0.00,2.30,8.02,0.671,4,0.000,0.057,3124,3474,2345,0,0,0,0,0,0
$GC,14336,0.74,82.3,141.9,9.7,941,14349,0.00,2.20,3.83,0.516,6,0.000,0.047,3134,2058,2334,0,0,0,0,0,0
$GC,14665,0.74,82.3,106.1,10.0,972,14669,0.00,2.22,0.00,0.000,4,0.000,0.057,3145,653,2334,0,0,0,0,0,0
$GC,15240,0.74,82.3,49.4,10.1,1067,15247,0.12,2.22,0.00,0.000,6,0.210,0.050,3117,2064,2335,0,0,0,0,0,0
$GC,15604,0.74,82.3,13.6,10.0,1128,15613,0.00,2.28,0.00,0.000,4,0.000,0.058,3127,661,2335,0,0,0,0,0,0
$STATE,15716,end climb,SURFACE_DEPTH_REACHED
$STATE,15717,begin surface coast
$FINISH,1.1,1.026669
$STATE,15737,end surface coast,CONTROL_FINISHED_OK
$STATE,15737,begin surface
$SM_CCo,15754,57.88,0.053,0,0,1772,220.03
$SM_GC,2.63,0.00,0.00,57.88,0.000,0.000,0.053,134,2303,1772,-8.56,0.11,220.03
$IRIDIUM_FIX,-4444.39,634.22,111008,222225
$TT8_MAMPS,0.026215
$HUMID,47.99
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.80
$XPDR_PINGS,0
$24V_AH,23.8,13.909
$10V_AH,10.3,9.145
$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,21.075,141.450,113.800,57.875,0.000,30.973,44.057,626.624,24.750,0.000,16.968,3105.074,9732.988,322.683,3369.508,119.028,0.000,1390.039,0.000,2573.311,0.000,148.808,0.000
$DEVICE_MAMPS,258.570,69.615,1289.025,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.566,778.980,85.302,858.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,66847,1149
$CAP_FILE_SIZE,161675,0
$CFSIZE,2097086464,2088599552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.095, 70.1,1
$GPS,161215,134704,-4503.116,631.985,58,0.9,58,-24.4