version: 66.07.10.p01
glider: 574
mission: 18
dive: 60
start: 3 14 112 12 20 4
data:
$ID,574
$MISSION,18
$DIVE,60
$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,-2330823.2
$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,22
$R_STBD_OVSHOOT,25
$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,59
$GPS1,161215,231357,-4502.970,630.572,49,0.8,49,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-76.8
$GPS2,161215,232624,-4502.884,630.922,13,0.8,13,-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,282.6,9287,-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,22,begin dive
$GC,23,-0.70,-48.7,0.0,0.0,0,74,0.00,0.00,-45.17,0.000,6,0.000,0.000,139,2307,2869,0,0,0,0,0,0
$GC,76,-0.70,-48.7,3.2,-2.2,6,94,10.75,2.25,0.00,0.000,4,0.258,0.041,2624,3723,2871,0,0,0,0,0,0
$GC,175,-0.70,-48.7,23.4,-19.2,21,184,0.00,2.30,0.00,0.000,6,0.000,0.041,2632,2302,2870,0,0,0,0,0,0
$GC,328,-0.70,-48.7,52.7,-19.1,46,334,0.00,2.28,0.00,0.000,4,0.000,0.047,2632,878,2871,0,0,0,0,0,0
$GC,352,-0.70,-48.7,58.0,-20.4,50,359,0.00,2.30,0.00,0.000,6,0.000,0.048,2622,2297,2871,0,0,0,0,0,0
$GC,696,-0.70,-48.7,122.0,-17.9,100,700,0.00,2.25,0.00,0.000,4,0.000,0.055,2611,3716,2871,0,0,0,0,0,0
$GC,853,-0.70,-48.7,150.9,-20.4,113,857,0.00,2.22,0.00,0.000,6,0.000,0.041,2617,2290,2871,0,0,0,0,0,0
$GC,1178,-0.70,-48.7,210.4,-17.0,143,1182,0.00,2.28,0.00,0.000,4,0.000,0.057,2608,3718,2871,0,0,0,0,0,0
$GC,1278,-0.70,-48.7,227.5,-17.3,151,1287,0.10,2.25,0.00,0.000,6,0.200,0.043,2635,2300,2872,0,0,0,0,0,0
$GC,1604,-0.70,-48.7,279.3,-16.3,182,1608,0.00,2.22,0.00,0.000,4,0.000,0.050,2645,878,2871,0,0,0,0,0,0
$GC,1625,-0.70,-48.7,282.9,-16.5,184,1630,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2307,2871,0,0,0,0,0,0
$GC,1949,-0.70,-48.7,336.0,-16.3,214,1953,0.00,2.22,0.00,0.000,4,0.000,0.058,2624,3719,2871,0,0,0,0,0,0
$GC,1966,-0.70,-48.7,338.7,-16.4,215,1970,0.00,2.22,0.00,0.000,6,0.000,0.044,2627,2300,2871,0,0,0,0,0,0
$GC,2295,-0.70,-48.7,393.6,-16.8,246,2300,0.00,2.25,0.00,0.000,4,0.000,0.057,2617,3719,2871,0,0,0,0,0,0
$GC,2323,-0.70,-48.7,398.3,-17.4,248,2327,0.00,2.22,0.00,0.000,6,0.000,0.046,2619,2293,2871,0,0,0,0,0,0
$GC,2650,-0.70,-48.7,452.4,-16.3,264,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2289,2871,0,0,0,0,0,0
$GC,2960,-0.70,-48.7,502.9,-16.4,279,2961,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2289,2871,0,0,0,0,0,0
$GC,3267,-0.70,-48.7,548.8,-14.3,294,3271,0.00,2.25,0.00,0.000,4,0.000,0.060,2611,3710,2871,0,0,0,0,0,0
$GC,3288,-0.70,-48.7,552.1,-15.5,295,3293,0.08,2.25,0.00,0.000,6,0.203,0.048,2633,2300,2871,0,0,0,0,0,0
$GC,3614,-0.70,-48.7,598.5,-14.4,311,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2297,2871,0,0,0,0,0,0
$GC,3926,-0.70,-48.7,640.7,-12.8,326,3930,0.00,2.25,0.00,0.000,4,0.000,0.062,2623,3713,2870,0,0,0,0,0,0
$GC,3951,-0.70,-48.7,644.5,-12.8,327,3957,0.00,2.28,0.00,0.000,6,0.000,0.050,2625,2293,2870,0,0,0,0,0,0
$GC,4273,-0.70,-48.7,684.0,-12.5,343,4277,0.00,2.25,0.00,0.000,4,0.000,0.063,2616,3709,2870,0,0,0,0,0,0
$GC,4312,-0.70,-48.7,689.2,-13.4,345,4316,0.00,2.22,0.00,0.000,6,0.000,0.052,2619,2290,2870,0,0,0,0,0,0
$GC,4640,-0.70,-48.7,730.7,-12.3,361,4644,0.00,2.28,0.00,0.000,4,0.000,0.064,2610,3715,2869,0,0,0,0,0,0
$GC,4679,-0.70,-48.7,736.2,-13.0,363,4684,0.12,2.22,0.00,0.000,6,0.215,0.053,2638,2300,2869,0,0,0,0,0,0
$GC,5005,-0.70,-48.7,773.4,-10.9,379,5009,0.00,2.22,0.00,0.000,4,0.000,0.060,2644,887,2869,0,0,0,0,0,0
$GC,5036,-0.70,-48.7,777.0,-11.8,380,5045,0.00,2.30,0.00,0.000,6,0.000,0.054,2635,2298,2869,0,0,0,0,0,0
$GC,5352,-0.70,-48.7,809.8,-10.2,396,5359,0.00,2.25,0.00,0.000,4,0.000,0.059,2635,883,2869,0,0,0,0,0,0
$GC,5380,-0.70,-48.7,812.9,-10.7,397,5385,0.00,2.30,0.00,0.000,6,0.000,0.055,2625,2295,2869,0,0,0,0,0,0
$GC,5708,-0.70,-48.7,848.9,-10.9,413,5712,0.00,2.25,0.00,0.000,4,0.000,0.064,2614,3717,2868,0,0,0,0,0,0
$GC,5841,-0.70,-48.7,864.8,-10.9,419,5846,0.00,2.30,0.00,0.000,6,0.000,0.055,2617,2295,2868,0,0,0,0,0,0
$GC,6170,-0.70,-48.7,900.6,-10.9,435,6174,0.00,2.28,0.00,0.000,4,0.000,0.067,2608,3712,2868,0,0,0,0,0,0
$GC,6202,-0.70,-48.7,904.6,-12.4,436,6211,0.12,2.22,0.00,0.000,6,0.214,0.055,2636,2298,2868,0,0,0,0,0,0
$GC,6518,-0.70,-48.7,935.1,-9.7,452,6522,0.00,2.28,0.00,0.000,4,0.000,0.067,2627,3716,2868,0,0,0,0,0,0
$GC,6537,-0.70,-48.7,937.3,-10.0,453,6543,0.00,2.30,0.00,0.000,6,0.000,0.057,2630,2292,2868,0,0,0,0,0,0
$GC,6866,-0.70,-48.7,968.8,-9.6,469,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2289,2868,0,0,0,0,0,0
$GC,7175,-0.70,-48.7,998.4,-9.5,484,7179,0.00,2.30,0.00,0.000,4,0.000,0.069,2621,3722,2867,0,0,0,0,0,0
$STATE,7192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7193,begin apogee
$GC,7198,-0.12,0.0,1000.2,9.9,485,7241,0.70,0.00,39.78,1.299,6,0.174,0.000,2822,2050,2670,0,0,0,0,0,0
$STATE,7242,end apogee,CONTROL_FINISHED_OK
$STATE,7242,begin climb
$GC,7243,0.70,48.7,1002.4,0.0,487,7293,0.88,0.00,42.15,1.263,6,0.113,0.000,3094,2049,2469,0,0,0,0,0,0
$GC,7601,0.70,48.7,962.2,12.2,505,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2049,2469,0,0,0,0,0,0
$GC,7910,0.70,48.7,924.9,11.6,520,7914,0.00,2.28,0.00,0.000,4,0.000,0.058,3104,649,2469,0,0,0,0,0,0
$GC,7980,0.70,48.7,916.0,12.5,523,7986,0.00,2.35,0.00,0.000,6,0.000,0.051,3102,2067,2470,0,0,0,0,0,0
$GC,8302,0.70,48.7,878.1,11.8,539,8306,0.00,2.28,0.00,0.000,4,0.000,0.063,3102,3479,2470,0,0,0,0,0,0
$GC,8364,0.70,48.7,870.3,12.6,542,8368,0.00,2.28,0.00,0.000,6,0.000,0.050,3111,2050,2469,0,0,0,0,0,0
$GC,8690,0.70,48.7,831.2,11.7,558,8694,0.00,2.25,0.00,0.000,4,0.000,0.060,3122,648,2470,0,0,0,0,0,0
$GC,8796,0.70,48.7,818.8,11.7,563,8800,0.00,2.28,0.00,0.000,6,0.000,0.053,3116,2065,2471,0,0,0,0,0,0
$GC,9121,0.70,48.7,783.8,10.5,579,9125,0.00,2.30,0.00,0.000,4,0.000,0.057,3125,645,2471,0,0,0,0,0,0
$GC,9147,0.70,48.7,780.9,11.0,580,9153,0.00,2.30,0.00,0.000,6,0.000,0.051,3123,2058,2471,0,0,0,0,0,0
$GC,9469,0.70,48.7,748.2,10.1,596,9473,0.00,2.25,0.00,0.000,4,0.000,0.057,3132,652,2471,0,0,0,0,0,0
$GC,9826,0.70,48.7,709.5,10.8,612,9831,0.00,2.30,0.00,0.000,6,0.000,0.051,3126,2065,2472,0,0,0,0,0,0
$GC,10155,0.70,48.8,676.1,9.9,628,10159,0.00,2.22,0.00,0.000,4,0.000,0.060,3126,3475,2473,0,0,0,0,0,0
$GC,10217,0.70,48.8,669.3,11.2,631,10222,0.15,2.22,0.00,0.000,6,0.249,0.049,3104,2054,2473,0,0,0,0,0,0
$GC,10543,0.71,55.6,638.4,9.3,647,10553,0.00,0.00,7.80,0.895,6,0.000,0.000,3104,2051,2443,0,0,0,0,0,0
$GC,10852,0.71,55.6,606.9,10.0,662,10856,0.00,2.22,0.00,0.000,4,0.000,0.059,3114,653,2443,0,0,0,0,0,0
$GC,10928,0.72,59.5,599.3,9.6,665,10939,0.00,2.30,4.93,0.722,6,0.000,0.051,3114,2071,2426,0,0,0,0,0,0
$GC,11266,0.72,59.5,564.4,10.2,682,11270,0.00,2.22,0.00,0.000,4,0.000,0.060,3113,3473,2426,0,0,0,0,0,0
$GC,11305,0.72,59.5,560.1,10.8,684,11310,0.00,2.22,0.00,0.000,6,0.000,0.049,3123,2056,2426,0,0,0,0,0,0
$GC,11631,0.72,59.5,525.9,10.1,700,11635,0.00,2.25,0.00,0.000,4,0.000,0.060,3134,643,2426,0,0,0,0,0,0
$GC,11820,0.72,59.5,506.0,10.5,708,11830,0.10,2.30,0.00,0.000,6,0.211,0.050,3106,2066,2426,0,0,0,0,0,0
$GC,12137,0.73,73.2,477.4,8.6,724,12160,0.00,2.35,12.05,0.894,4,0.000,0.057,3116,652,2371,0,0,0,0,0,0
$GC,12227,0.73,73.2,468.5,10.4,728,12231,0.00,2.25,0.00,0.000,6,0.000,0.050,3116,2062,2371,0,0,0,0,0,0
$GC,12553,0.73,73.2,432.0,11.1,744,12557,0.00,2.25,0.00,0.000,4,0.000,0.057,3126,651,2370,0,0,0,0,0,0
$GC,12595,0.73,73.2,426.7,11.4,746,12600,0.00,2.30,0.00,0.000,6,0.000,0.050,3126,2066,2371,0,0,0,0,0,0
$GC,12915,0.73,73.2,388.7,11.5,766,12919,0.00,2.22,0.00,0.000,4,0.000,0.058,3126,3475,2370,0,0,0,0,0,0
$GC,12943,0.73,73.2,385.4,11.7,768,12947,0.00,2.22,0.00,0.000,6,0.000,0.047,3136,2053,2370,0,0,0,0,0,0
$GC,13267,0.73,73.2,346.3,12.5,798,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2049,2370,0,0,0,0,0,0
$GC,13586,0.73,73.2,308.2,11.2,828,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2049,2370,0,0,0,0,0,0
$GC,13905,0.73,73.2,270.0,12.1,858,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2049,2370,0,0,0,0,0,0
$GC,14224,0.73,73.2,231.6,12.2,888,14228,0.00,2.22,0.00,0.000,4,0.000,0.057,3148,645,2370,0,0,0,0,0,0
$GC,14263,0.73,73.2,226.6,11.8,891,14268,0.15,2.25,0.00,0.000,6,0.208,0.050,3114,2068,2371,0,0,0,0,0,0
$GC,14590,0.73,73.2,191.6,10.2,921,14594,0.00,2.25,0.00,0.000,4,0.000,0.057,3122,651,2370,0,0,0,0,0,0
$GC,14652,0.74,77.3,184.9,9.6,926,14664,0.00,2.22,4.82,0.562,6,0.000,0.050,3122,2063,2353,0,0,0,0,0,0
$GC,14985,0.74,77.3,150.7,11.0,957,14989,0.00,2.22,0.00,0.000,4,0.000,0.057,3122,3483,2353,0,0,0,0,0,0
$GC,15360,0.74,78.6,108.9,9.8,989,15368,0.00,2.28,0.00,0.000,6,0.000,0.048,3133,2058,2354,0,0,0,0,0,0
$GC,15701,0.78,107.7,80.0,7.2,1041,15731,0.00,2.35,24.40,0.718,4,0.000,0.057,3144,646,2230,0,0,0,0,0,0
$GC,16173,0.78,107.7,25.4,11.5,1121,16182,0.00,2.30,0.00,0.000,6,0.000,0.050,3144,2061,2225,0,0,0,0,0,0
$GC,16328,0.78,107.7,7.4,13.5,1146,16337,0.00,2.28,0.00,0.000,4,0.000,0.058,3144,3470,2226,0,0,0,0,0,0
$STATE,16362,end climb,SURFACE_DEPTH_REACHED
$STATE,16362,begin surface coast
$FINISH,1.0,1.015975
$STATE,16382,end surface coast,CONTROL_FINISHED_OK
$STATE,16382,begin surface
$SM_CCo,16398,47.25,0.054,0,0,1773,220.03
$SM_GC,3.02,0.00,0.00,47.25,0.000,0.000,0.054,138,2290,1773,-8.54,-0.25,220.03
$IRIDIUM_FIX,-4444.39,627.81,121008,121258
$TT8_MAMPS,0.026215
$HUMID,47.87
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.8,14.162
$10V_AH,10.3,9.502
$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,21.400,153.950,135.925,47.250,0.000,31.899,19.052,563.354,24.750,0.000,16.812,3134.497,10246.439,360.966,3332.746,123.607,0.000,1481.537,0.000,2615.864,0.000,148.852,0.000
$DEVICE_MAMPS,257.805,68.850,1298.970,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.451,790.532,77.659,792.576,0.000,0.000,0.000,0.000,0.000,0.000
$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,66802,1154
$CAP_FILE_SIZE,169587,0
$CFSIZE,2097086464,2088173568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.089, 85.2,1
$GPS,171215,040240,-4502.936,630.256,54,0.8,54,-24.4