version: 66.07.10.p01
glider: 574
mission: 18
dive: 58
start: 3 14 112 2 54 21
data:
$ID,574
$MISSION,18
$DIVE,58
$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,-2330697.2
$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,28
$R_STBD_OVSHOOT,19
$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,57
$GPS1,161215,134704,-4503.116,631.985,58,0.9,58,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-78.5
$GPS2,161215,140041,-4502.931,632.141,5,1.0,5,-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,278.9,10832,-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,-48.7,0.0,0.0,0,73,0.00,0.00,-45.15,0.000,6,0.000,0.000,133,2304,2869,0,0,0,0,0,0
$GC,75,-0.70,-48.7,2.9,-1.8,6,93,10.62,2.28,0.00,0.000,4,0.252,0.044,2624,3729,2871,0,0,0,0,0,0
$GC,149,-0.70,-48.7,17.8,-21.5,17,158,0.00,2.33,0.00,0.000,6,0.000,0.042,2632,2297,2871,0,0,0,0,0,0
$GC,210,-0.70,-48.7,29.0,-18.4,26,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2294,2871,0,0,0,0,0,0
$GC,362,-0.70,-48.7,58.2,-19.3,51,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2294,2871,0,0,0,0,0,0
$GC,706,-0.70,-48.7,118.5,-16.9,102,710,0.00,2.22,0.00,0.000,4,0.000,0.047,2632,880,2872,0,0,0,0,0,0
$GC,800,-0.70,-48.7,134.6,-17.7,110,804,0.00,2.28,0.00,0.000,6,0.000,0.048,2622,2306,2872,0,0,0,0,0,0
$GC,1125,-0.70,-48.7,191.6,-17.5,140,1129,0.00,2.22,0.00,0.000,4,0.000,0.057,2612,3712,2872,0,0,0,0,0,0
$GC,1224,-0.70,-48.7,209.5,-18.0,148,1235,0.00,2.25,0.00,0.000,6,0.000,0.042,2620,2295,2872,0,0,0,0,0,0
$GC,1549,-0.70,-48.7,264.2,-16.3,179,1553,0.00,2.25,0.00,0.000,4,0.000,0.056,2611,3716,2872,0,0,0,0,0,0
$GC,1611,-0.70,-48.7,274.8,-16.6,184,1615,0.00,2.20,0.00,0.000,6,0.000,0.043,2616,2299,2871,0,0,0,0,0,0
$GC,1935,-0.70,-48.7,330.0,-17.0,214,1939,0.00,2.25,0.00,0.000,4,0.000,0.057,2607,3720,2871,0,0,0,0,0,0
$GC,1989,-0.70,-48.7,339.8,-17.3,218,1999,0.10,2.25,0.00,0.000,6,0.209,0.044,2634,2304,2872,0,0,0,0,0,0
$GC,2317,-0.70,-48.7,392.2,-16.0,249,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2301,2872,0,0,0,0,0,0
$GC,2636,-0.70,-48.7,442.3,-15.7,267,2641,0.00,2.22,0.00,0.000,4,0.000,0.060,2625,3709,2871,0,0,0,0,0,0
$GC,2729,-0.70,-48.7,457.7,-15.8,271,2735,0.00,2.25,0.00,0.000,6,0.000,0.047,2631,2298,2872,0,0,0,0,0,0
$GC,3052,-0.70,-48.7,504.9,-14.0,287,3056,0.00,2.22,0.00,0.000,4,0.000,0.054,2631,879,2871,0,0,0,0,0,0
$GC,3069,-0.70,-48.7,507.5,-14.3,288,3073,0.00,2.25,0.00,0.000,6,0.000,0.051,2622,2297,2871,0,0,0,0,0,0
$GC,3395,-0.70,-48.7,554.8,-14.9,304,3399,0.00,2.22,0.00,0.000,4,0.000,0.060,2611,3711,2870,0,0,0,0,0,0
$GC,3465,-0.70,-48.7,565.8,-14.8,307,3470,0.00,2.25,0.00,0.000,6,0.000,0.048,2618,2302,2871,0,0,0,0,0,0
$GC,3788,-0.70,-48.7,611.8,-14.4,323,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2299,2871,0,0,0,0,0,0
$GC,4097,-0.70,-48.7,654.9,-13.6,338,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2299,2870,0,0,0,0,0,0
$GC,4406,-0.70,-48.7,697.8,-14.0,353,4410,0.00,2.28,0.00,0.000,4,0.000,0.062,2608,3721,2870,0,0,0,0,0,0
$GC,4444,-0.70,-48.7,703.3,-14.2,355,4449,0.12,2.22,0.00,0.000,6,0.217,0.049,2642,2297,2870,0,0,0,0,0,0
$GC,4769,-0.70,-48.7,745.3,-12.6,371,4773,0.00,2.25,0.00,0.000,4,0.000,0.063,2633,3710,2870,0,0,0,0,0,0
$GC,4840,-0.70,-48.7,754.7,-13.0,374,4845,0.00,2.25,0.00,0.000,6,0.000,0.052,2633,2306,2870,0,0,0,0,0,0
$GC,5162,-0.70,-48.7,794.4,-12.3,390,5166,0.00,2.25,0.00,0.000,4,0.000,0.058,2633,880,2869,0,0,0,0,0,0
$GC,5227,-0.70,-48.7,802.5,-11.6,393,5232,0.00,2.30,0.00,0.000,6,0.000,0.054,2622,2294,2869,0,0,0,0,0,0
$GC,5557,-0.70,-48.7,841.2,-12.0,409,5561,0.00,2.25,0.00,0.000,4,0.000,0.064,2612,3715,2869,0,0,0,0,0,0
$GC,5701,-0.70,-48.7,860.6,-13.4,415,5709,0.00,2.25,0.00,0.000,6,0.000,0.054,2616,2286,2869,0,0,0,0,0,0
$GC,6019,-0.70,-48.7,900.5,-12.5,431,6023,0.00,2.28,0.00,0.000,4,0.000,0.066,2607,3709,2869,0,0,0,0,0,0
$GC,6061,-0.70,-48.7,906.7,-14.0,433,6067,0.10,2.25,0.00,0.000,6,0.198,0.054,2635,2307,2869,0,0,0,0,0,0
$GC,6388,-0.70,-48.7,945.2,-11.5,449,6392,0.00,2.25,0.00,0.000,4,0.000,0.062,2638,885,2868,0,0,0,0,0,0
$GC,6450,-0.70,-48.7,952.4,-11.2,452,6454,0.00,2.28,0.00,0.000,6,0.000,0.058,2628,2308,2869,0,0,0,0,0,0
$GC,6778,-0.70,-48.7,989.2,-11.1,468,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2308,2869,0,0,0,0,0,0
$STATE,6878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6878,begin apogee
$GC,6882,-0.12,0.0,1000.2,10.8,473,6925,0.70,0.00,40.03,1.294,6,0.177,0.000,2828,2045,2670,0,0,0,0,0,0
$STATE,6926,end apogee,CONTROL_FINISHED_OK
$STATE,6926,begin climb
$GC,6927,0.70,48.7,1002.4,0.0,475,6976,0.80,2.40,41.78,1.266,4,0.106,0.057,3097,654,2470,0,0,0,0,0,0
$GC,7035,0.70,48.7,993.7,10.4,480,7041,0.00,2.40,0.00,0.000,6,0.000,0.052,3096,2057,2469,0,0,0,0,0,0
$GC,7364,0.70,48.7,957.4,10.8,496,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2059,2468,0,0,0,0,0,0
$GC,7673,0.71,50.9,926.3,9.7,511,7677,0.00,2.30,0.00,0.000,4,0.000,0.059,3104,647,2468,0,0,0,0,0,0
$GC,7781,0.71,50.9,915.5,10.7,516,7785,0.00,2.30,0.00,0.000,6,0.000,0.053,3101,2066,2469,0,0,0,0,0,0
$GC,8107,0.71,50.9,881.2,10.4,532,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2069,2468,0,0,0,0,0,0
$GC,8416,0.72,58.8,851.3,9.2,547,8427,0.00,0.00,9.20,1.027,6,0.000,0.000,3101,2069,2428,0,0,0,0,0,0
$GC,8725,0.72,58.8,820.0,10.4,562,8729,0.00,2.28,0.00,0.000,4,0.000,0.062,3101,3472,2429,0,0,0,0,0,0
$GC,8817,0.72,58.8,809.3,11.2,566,8822,0.00,2.28,0.00,0.000,6,0.000,0.048,3110,2063,2429,0,0,0,0,0,0
$GC,9139,0.72,58.8,773.9,10.9,582,9143,0.00,2.30,0.00,0.000,4,0.000,0.060,3121,643,2429,0,0,0,0,0,0
$GC,9273,0.72,58.8,758.4,12.6,588,9277,0.00,2.28,0.00,0.000,6,0.000,0.053,3115,2063,2430,0,0,0,0,0,0
$GC,9600,0.72,58.8,721.4,11.4,604,9604,0.00,2.25,0.00,0.000,4,0.000,0.060,3115,3480,2429,0,0,0,0,0,0
$GC,9706,0.72,58.8,707.7,13.4,609,9710,0.00,2.25,0.00,0.000,6,0.000,0.050,3124,2053,2429,0,0,0,0,0,0
$GC,10032,0.72,58.8,668.3,12.3,625,10036,0.00,2.22,0.00,0.000,4,0.000,0.059,3136,652,2429,0,0,0,0,0,0
$GC,10131,0.72,58.8,655.1,13.3,629,10139,0.08,2.30,0.00,0.000,6,0.213,0.052,3111,2063,2429,0,0,0,0,0,0
$GC,10447,0.72,58.8,616.6,12.0,645,10451,0.00,2.25,0.00,0.000,4,0.000,0.057,3120,650,2429,0,0,0,0,0,0
$GC,10519,0.72,58.8,607.8,12.3,648,10523,0.00,2.25,0.00,0.000,6,0.000,0.051,3118,2065,2429,0,0,0,0,0,0
$GC,10833,0.72,58.8,572.0,11.1,663,10837,0.00,2.25,0.00,0.000,4,0.000,0.057,3128,651,2429,0,0,0,0,0,0
$GC,10956,0.72,58.8,558.5,11.2,668,10963,0.00,2.25,0.00,0.000,6,0.000,0.050,3125,2074,2429,0,0,0,0,0,0
$GC,11272,0.72,61.5,526.5,9.7,684,11281,0.00,2.35,3.72,0.565,4,0.000,0.058,3135,648,2419,0,0,0,0,0,0
$GC,11332,0.72,64.0,520.4,9.7,686,11343,0.12,2.25,3.70,0.619,6,0.226,0.051,3108,2064,2408,0,0,0,0,0,0
$GC,11670,0.74,74.5,488.9,8.9,703,11684,0.00,2.30,9.98,0.869,4,0.000,0.057,3117,647,2365,0,0,0,0,0,0
$GC,11752,0.74,79.4,481.0,9.5,706,11763,0.00,2.28,5.57,0.759,6,0.000,0.050,3117,2072,2345,0,0,0,0,0,0
$GC,12078,0.74,79.4,448.0,10.0,722,12079,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2074,2344,0,0,0,0,0,0
$GC,12387,0.74,79.4,416.4,10.3,737,12391,0.00,2.22,0.00,0.000,4,0.000,0.060,3117,3475,2344,0,0,0,0,0,0
$GC,12470,0.74,79.4,406.9,10.9,741,12474,0.00,2.22,0.00,0.000,6,0.000,0.048,3127,2059,2344,0,0,0,0,0,0
$GC,12794,0.74,79.4,370.3,11.8,768,12795,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2056,2344,0,0,0,0,0,0
$GC,13112,0.74,79.4,331.6,12.3,798,13116,0.00,2.25,0.00,0.000,4,0.000,0.058,3139,643,2344,0,0,0,0,0,0
$GC,13275,0.74,79.4,310.7,13.5,812,13279,0.00,2.25,0.00,0.000,6,0.000,0.050,3139,2062,2344,0,0,0,0,0,0
$GC,13599,0.74,79.4,267.8,13.1,842,13600,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2063,2344,0,0,0,0,0,0
$GC,13919,0.74,79.4,227.4,13.0,872,13923,0.00,2.22,0.00,0.000,4,0.000,0.058,3139,3478,2344,0,0,0,0,0,0
$GC,13995,0.74,79.4,216.8,13.3,878,14004,0.12,2.25,0.00,0.000,6,0.221,0.047,3117,2067,2344,0,0,0,0,0,0
$GC,14324,0.74,79.4,180.8,10.0,909,14328,0.00,2.25,0.00,0.000,4,0.000,0.057,3127,643,2344,0,0,0,0,0,0
$GC,14385,0.74,79.4,174.0,10.7,914,14389,0.00,2.25,0.00,0.000,6,0.000,0.050,3127,2066,2345,0,0,0,0,0,0
$GC,14710,0.74,79.4,140.3,10.4,944,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2065,2344,0,0,0,0,0,0
$GC,15029,0.76,92.2,112.5,8.7,974,15042,0.00,0.00,11.05,0.692,6,0.000,0.000,3127,2065,2293,0,0,0,0,0,0
$GC,15375,0.76,92.2,76.7,10.6,1024,15382,0.00,2.25,0.00,0.000,4,0.000,0.057,3137,650,2293,0,0,0,0,0,0
$GC,15464,0.76,92.2,66.8,10.7,1039,15471,0.00,2.25,0.00,0.000,6,0.000,0.050,3137,2073,2293,0,0,0,0,0,0
$GC,15819,0.76,92.2,27.0,12.1,1100,15828,0.00,2.30,0.00,0.000,4,0.000,0.057,3148,653,2293,0,0,0,0,0,0
$GC,15860,0.76,92.2,22.2,11.8,1106,15869,0.00,2.28,0.00,0.000,6,0.000,0.050,3147,2061,2293,0,0,0,0,0,0
$GC,16015,0.76,92.2,3.7,11.6,1131,16025,0.12,2.28,0.00,0.000,4,0.230,0.056,3112,3476,2293,0,0,0,0,0,0
$STATE,16032,end climb,SURFACE_DEPTH_REACHED
$STATE,16032,begin surface coast
$FINISH,1.1,1.013922
$STATE,16058,end surface coast,CONTROL_FINISHED_OK
$STATE,16058,begin surface
$SM_CCo,16074,53.53,0.052,0,0,1772,220.03
$SM_GC,2.92,0.00,0.00,53.53,0.000,0.000,0.052,138,2292,1772,-8.55,-0.20,220.03
$IRIDIUM_FIX,-4444.39,630.84,121008,030302
$TT8_MAMPS,0.026215
$HUMID,47.79
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.7,13.996
$10V_AH,10.3,9.265
$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,20.875,140.350,125.025,53.525,0.000,29.661,46.395,623.765,24.750,0.000,8.793,3099.506,9995.672,345.761,3389.022,119.529,0.000,1460.910,0.000,2601.312,0.000,149.373,0.000
$DEVICE_MAMPS,252.450,65.790,1293.615,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.957,780.030,77.674,802.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,67035,1137
$CAP_FILE_SIZE,167503,0
$CFSIZE,2097086464,2088435712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.099, 57.5,1
$GPS,161215,183122,-4502.685,631.391,37,1.0,37,-24.4