version: 66.07.10.p01
glider: 574
mission: 18
dive: 61
start: 3 14 112 17 15 24
data:
$ID,574
$MISSION,18
$DIVE,61
$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,-2330892.8
$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,27
$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,60
$GPS1,171215,040240,-4502.936,630.256,54,0.8,54,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.5
$GPS2,171215,042147,-4502.627,630.716,5,1.2,6,-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,283.8,9145,-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,-45.12,0.000,6,0.000,0.000,138,2289,2869,0,0,0,0,0,0
$GC,76,-0.70,-48.7,3.2,-2.3,6,93,10.57,2.25,0.00,0.000,4,0.251,0.035,2632,872,2871,0,0,0,0,0,0
$GC,108,-0.70,-48.7,11.5,-21.4,10,116,0.00,2.38,0.00,0.000,6,0.000,0.047,2622,2301,2871,0,0,0,0,0,0
$GC,167,-0.70,-48.7,25.5,-21.0,19,175,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2305,2871,0,0,0,0,0,0
$GC,316,-0.70,-48.7,59.9,-22.4,44,324,0.00,2.28,0.00,0.000,4,0.000,0.054,2612,3717,2871,0,0,0,0,0,0
$GC,341,-0.70,-48.7,64.4,-18.0,48,351,0.08,2.28,0.00,0.000,6,0.207,0.040,2632,2302,2870,0,0,0,0,0,0
$GC,683,-0.70,-48.7,122.4,-15.0,96,687,0.00,2.25,0.00,0.000,4,0.000,0.046,2632,875,2871,0,0,0,0,0,0
$GC,748,-0.70,-48.7,132.8,-14.8,101,757,0.00,2.33,0.00,0.000,6,0.000,0.047,2623,2304,2871,0,0,0,0,0,0
$GC,1073,-0.70,-48.7,184.8,-16.6,132,1077,0.00,2.22,0.00,0.000,4,0.000,0.056,2612,3712,2871,0,0,0,0,0,0
$GC,1107,-0.70,-48.7,190.5,-17.4,134,1114,0.12,2.20,0.00,0.000,6,0.213,0.041,2640,2296,2871,0,0,0,0,0,0
$GC,1434,-0.70,-48.7,240.4,-15.1,165,1438,0.00,2.20,0.00,0.000,4,0.000,0.049,2645,888,2871,0,0,0,0,0,0
$GC,1461,-0.70,-48.7,245.2,-15.7,167,1465,0.00,2.25,0.00,0.000,6,0.000,0.049,2635,2305,2871,0,0,0,0,0,0
$GC,1787,-0.70,-48.7,295.6,-15.4,197,1792,0.00,2.22,0.00,0.000,4,0.000,0.058,2624,3716,2871,0,0,0,0,0,0
$GC,1877,-0.70,-48.7,310.8,-16.6,204,1886,0.00,2.25,0.00,0.000,6,0.000,0.044,2624,2303,2871,0,0,0,0,0,0
$GC,2201,-0.70,-48.7,363.1,-16.4,235,2205,0.00,2.25,0.00,0.000,4,0.000,0.057,2615,3709,2871,0,0,0,0,0,0
$GC,2221,-0.70,-48.7,366.8,-16.4,236,2232,0.00,2.25,0.00,0.000,6,0.000,0.044,2619,2286,2871,0,0,0,0,0,0
$GC,2557,-0.70,-48.7,420.6,-16.1,262,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2285,2871,0,0,0,0,0,0
$GC,2863,-0.70,-48.7,469.5,-15.7,277,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2285,2871,0,0,0,0,0,0
$GC,3173,-0.70,-48.7,516.6,-15.5,292,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2285,2871,0,0,0,0,0,0
$GC,3482,-0.70,-48.7,564.8,-15.7,307,3486,0.00,2.20,0.00,0.000,4,0.000,0.054,2619,884,2870,0,0,0,0,0,0
$GC,3502,-0.70,-48.7,568.3,-16.2,308,3508,0.10,2.28,0.00,0.000,6,0.201,0.052,2636,2290,2870,0,0,0,0,0,0
$GC,3829,-0.70,-48.7,614.0,-13.4,324,3833,0.00,2.25,0.00,0.000,4,0.000,0.061,2626,3718,2870,0,0,0,0,0,0
$GC,3962,-0.70,-48.7,633.4,-14.3,330,3967,0.00,2.28,0.00,0.000,6,0.000,0.051,2626,2299,2870,0,0,0,0,0,0
$GC,4290,-0.70,-48.7,677.5,-13.1,346,4294,0.00,2.22,0.00,0.000,4,0.000,0.057,2627,883,2870,0,0,0,0,0,0
$GC,4321,-0.70,-48.7,682.2,-14.0,347,4329,0.00,2.28,0.00,0.000,6,0.000,0.053,2618,2292,2870,0,0,0,0,0,0
$GC,4637,-0.70,-48.7,723.3,-13.3,363,4641,0.00,2.25,0.00,0.000,4,0.000,0.062,2607,3721,2869,0,0,0,0,0,0
$GC,4657,-0.70,-48.7,726.3,-13.7,364,4663,0.10,2.28,0.00,0.000,6,0.194,0.049,2635,2295,2869,0,0,0,0,0,0
$GC,4985,-0.70,-48.7,765.8,-12.1,380,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2291,2869,0,0,0,0,0,0
$GC,5294,-0.70,-48.7,803.1,-11.8,395,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2291,2868,0,0,0,0,0,0
$GC,5603,-0.70,-48.7,837.6,-10.9,410,5607,0.00,2.28,0.00,0.000,4,0.000,0.065,2626,3721,2868,0,0,0,0,0,0
$GC,5642,-0.70,-48.7,842.4,-12.6,412,5647,0.00,2.25,0.00,0.000,6,0.000,0.056,2625,2296,2868,0,0,0,0,0,0
$GC,5969,-0.70,-48.7,882.5,-12.4,428,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2292,2868,0,0,0,0,0,0
$GC,6280,-0.70,-48.7,921.1,-12.1,443,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2291,2869,0,0,0,0,0,0
$GC,6587,-0.70,-48.7,958.6,-11.9,458,6592,0.00,2.28,0.00,0.000,4,0.000,0.067,2616,3715,2868,0,0,0,0,0,0
$GC,6683,-0.70,-48.7,970.2,-12.2,462,6687,0.00,2.25,0.00,0.000,6,0.000,0.058,2619,2296,2868,0,0,0,0,0,0
$STATE,6937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6937,begin apogee
$GC,6941,-0.12,0.0,1000.8,11.8,474,6984,0.70,0.00,39.83,1.303,6,0.171,0.000,2822,2054,2670,0,0,0,0,0,0
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6986,0.70,48.7,1003.4,0.0,476,7031,0.85,0.00,41.65,1.258,6,0.112,0.000,3093,2054,2470,0,0,0,0,0,0
$GC,7336,0.70,48.7,966.8,12.3,493,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2053,2470,0,0,0,0,0,0
$GC,7645,0.70,48.7,929.1,12.5,508,7650,0.00,2.33,0.00,0.000,4,0.000,0.062,3093,3483,2468,0,0,0,0,0,0
$GC,7729,0.70,48.7,917.9,14.1,512,7734,0.00,2.28,0.00,0.000,6,0.000,0.050,3103,2064,2468,0,0,0,0,0,0
$GC,8055,0.70,48.7,874.9,12.7,528,8059,0.00,2.28,0.00,0.000,4,0.000,0.060,3114,653,2468,0,0,0,0,0,0
$GC,8139,0.70,48.7,863.8,13.1,532,8143,0.00,2.28,0.00,0.000,6,0.000,0.053,3110,2065,2468,0,0,0,0,0,0
$GC,8464,0.70,48.7,820.4,13.6,548,8468,0.00,2.25,0.00,0.000,4,0.000,0.060,3110,3476,2467,0,0,0,0,0,0
$GC,8481,0.70,48.7,818.2,12.5,549,8485,0.00,2.25,0.00,0.000,6,0.000,0.049,3120,2052,2468,0,0,0,0,0,0
$GC,8806,0.70,48.7,778.8,11.7,565,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2050,2468,0,0,0,0,0,0
$GC,9115,0.70,48.7,743.6,11.2,580,9119,0.00,2.22,0.00,0.000,4,0.000,0.058,3131,653,2468,0,0,0,0,0,0
$GC,9214,0.70,48.7,732.2,11.3,584,9223,0.08,2.28,0.00,0.000,6,0.213,0.050,3105,2057,2467,0,0,0,0,0,0
$GC,9531,0.71,51.8,701.1,9.7,600,9540,0.00,2.30,3.62,0.600,4,0.000,0.057,3115,659,2457,0,0,0,0,0,0
$GC,9606,0.71,53.3,693.1,9.8,603,9611,0.00,2.30,0.00,0.000,6,0.000,0.052,3111,2067,2458,0,0,0,0,0,0
$GC,9928,0.71,54.7,661.4,9.8,619,9937,0.00,2.33,4.07,0.650,4,0.000,0.057,3121,657,2446,0,0,0,0,0,0
$GC,10032,0.71,54.7,650.1,10.9,623,10041,0.00,2.28,0.00,0.000,6,0.000,0.051,3118,2059,2446,0,0,0,0,0,0
$GC,10349,0.71,54.7,617.6,10.1,639,10353,0.00,2.28,0.00,0.000,4,0.000,0.057,3127,650,2446,0,0,0,0,0,0
$GC,10382,0.71,54.7,613.9,10.9,640,10389,0.00,2.25,0.00,0.000,6,0.000,0.051,3126,2068,2447,0,0,0,0,0,0
$GC,10696,0.71,54.7,581.1,10.5,656,10701,0.00,2.22,0.00,0.000,4,0.000,0.060,3126,3479,2446,0,0,0,0,0,0
$GC,10736,0.71,54.7,576.7,11.0,658,10741,0.15,2.22,0.00,0.000,6,0.242,0.048,3103,2057,2446,0,0,0,0,0,0
$GC,11063,0.72,58.4,545.5,9.6,674,11072,0.00,2.28,4.53,0.669,4,0.000,0.059,3113,650,2432,0,0,0,0,0,0
$GC,11122,0.72,58.4,539.4,10.1,676,11129,0.00,2.25,0.00,0.000,6,0.000,0.050,3112,2066,2433,0,0,0,0,0,0
$GC,11438,0.72,59.1,507.6,9.9,692,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2069,2432,0,0,0,0,0,0
$GC,11747,0.72,59.1,476.9,10.0,707,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2069,2432,0,0,0,0,0,0
$GC,12058,0.72,63.3,446.9,9.5,722,12066,0.00,0.00,5.80,0.724,6,0.000,0.000,3112,2069,2411,0,0,0,0,0,0
$GC,12366,0.72,66.1,416.8,9.7,737,12375,0.00,2.33,3.97,0.622,4,0.000,0.057,3121,654,2399,0,0,0,0,0,0
$GC,12479,0.72,66.1,405.3,10.0,742,12483,0.00,2.25,0.00,0.000,6,0.000,0.051,3121,2071,2400,0,0,0,0,0,0
$GC,12803,0.73,69.5,372.9,9.6,770,12815,0.00,2.33,4.47,0.653,4,0.000,0.057,3132,646,2386,0,0,0,0,0,0
$GC,12853,0.73,69.5,367.6,10.5,774,12861,0.00,2.30,0.00,0.000,6,0.000,0.050,3132,2067,2386,0,0,0,0,0,0
$GC,13181,0.73,69.5,333.8,10.2,805,13185,0.00,2.25,0.00,0.000,4,0.000,0.057,3141,652,2386,0,0,0,0,0,0
$GC,13198,0.73,69.5,331.9,10.2,806,13203,0.15,2.25,0.00,0.000,6,0.216,0.050,3108,2070,2386,0,0,0,0,0,0
$GC,13522,0.74,75.4,300.5,9.4,836,13537,0.00,2.28,6.45,0.686,4,0.000,0.057,3103,3475,2362,0,0,0,0,0,0
$GC,13604,0.74,75.4,291.8,11.6,843,13608,0.00,2.22,0.00,0.000,6,0.000,0.048,3112,2057,2362,0,0,0,0,0,0
$GC,13931,0.74,75.4,257.2,10.7,873,13935,0.00,2.22,0.00,0.000,4,0.000,0.058,3123,652,2361,0,0,0,0,0,0
$GC,13985,0.74,75.4,250.5,11.3,877,13994,0.00,2.28,0.00,0.000,6,0.000,0.049,3123,2061,2361,0,0,0,0,0,0
$GC,14311,0.74,75.4,214.6,11.4,908,14315,0.00,2.25,0.00,0.000,4,0.000,0.056,3134,646,2362,0,0,0,0,0,0
$GC,14439,0.74,75.4,200.9,10.2,919,14443,0.00,2.25,0.00,0.000,6,0.000,0.050,3134,2066,2361,0,0,0,0,0,0
$GC,14767,0.74,77.3,167.7,9.8,949,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2066,2362,0,0,0,0,0,0
$GC,15092,0.77,99.6,137.9,7.8,980,15119,0.00,2.35,19.77,0.757,4,0.000,0.056,3144,652,2262,0,0,0,0,0,0
$GC,15155,0.77,104.1,132.4,9.5,985,15168,0.00,2.25,4.97,0.578,6,0.000,0.050,3144,2061,2244,0,0,0,0,0,0
$GC,15488,0.77,104.1,93.4,11.5,1020,15496,0.00,2.30,0.00,0.000,4,0.000,0.056,3154,653,2242,0,0,0,0,0,0
$GC,15756,0.77,104.1,58.2,13.5,1066,15763,0.15,2.25,0.00,0.000,6,0.208,0.049,3120,2070,2241,0,0,0,0,0,0
$GC,16116,0.77,104.1,14.4,12.0,1127,16125,0.00,2.30,0.00,0.000,4,0.000,0.057,3130,656,2242,0,0,0,0,0,0
$STATE,16210,end climb,SURFACE_DEPTH_REACHED
$STATE,16210,begin surface coast
$FINISH,1.1,1.026519
$STATE,16242,end surface coast,CONTROL_FINISHED_OK
$STATE,16242,begin surface
$SM_CCo,16259,49.08,0.053,0,0,1771,220.03
$SM_GC,3.06,0.00,0.00,49.08,0.000,0.000,0.053,147,2301,1771,-8.51,0.06,220.03
$IRIDIUM_FIX,-4447.43,708.26,121008,171722
$TT8_MAMPS,0.026215
$HUMID,47.83
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.00
$XPDR_PINGS,0
$24V_AH,23.8,14.263
$10V_AH,10.2,9.622
$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,21.200,141.225,139.150,49.075,0.000,65.486,141.139,741.799,24.750,0.000,10.086,3080.036,10351.018,374.954,3525.463,126.516,0.000,1447.708,0.000,2479.801,0.000,148.472,0.000
$DEVICE_MAMPS,250.920,67.320,1302.795,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.434,792.335,70.671,785.897,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,66876,1147
$CAP_FILE_SIZE,169552,0
$CFSIZE,2097086464,2088042496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.088, 43.8,1
$GPS,171215,085528,-4502.166,629.655,38,0.9,38,-24.4