version: 66.07.10.p01
glider: 574
mission: 18
dive: 63
start: 3 15 112 2 54 38
data:
$ID,574
$MISSION,18
$DIVE,63
$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,-2331045
$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,43
$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,2280
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$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,2650
$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,62
$GPS1,171215,134533,-4502.302,629.156,83,0.9,83,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-76.7
$GPS2,171215,140102,-4502.397,629.231,6,0.8,6,-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,269.9,7459,-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,-0.67,-48.7,0.0,0.0,0,73,0.00,0.00,-44.92,0.000,6,0.000,0.000,139,2322,2850,0,0,0,0,0,0
$GC,75,-0.67,-48.7,2.9,-1.6,6,92,10.82,2.33,0.00,0.000,4,0.258,0.034,2653,854,2851,0,0,0,0,0,0
$GC,155,-0.67,-48.7,17.0,-16.8,18,163,0.00,2.33,0.00,0.000,6,0.000,0.047,2644,2264,2852,0,0,0,0,0,0
$GC,214,-0.67,-48.7,27.2,-17.5,27,223,0.00,2.33,0.00,0.000,4,0.000,0.054,2633,3684,2851,0,0,0,0,0,0
$GC,249,-0.67,-48.7,33.6,-18.3,32,259,0.00,2.28,0.00,0.000,6,0.000,0.039,2633,2272,2851,0,0,0,0,0,0
$GC,401,-0.67,-48.7,63.1,-19.2,57,410,0.00,2.30,0.00,0.000,4,0.000,0.054,2623,3679,2851,0,0,0,0,0,0
$GC,694,-0.67,-48.7,120.2,-16.9,98,701,0.00,2.22,0.00,0.000,6,0.000,0.038,2631,2277,2852,0,0,0,0,0,0
$GC,1021,-0.67,-48.7,172.1,-16.4,129,1025,0.00,2.20,0.00,0.000,4,0.000,0.046,2632,864,2852,0,0,0,0,0,0
$GC,1060,-0.67,-48.7,178.9,-16.3,132,1065,0.12,2.25,0.00,0.000,6,0.218,0.047,2648,2285,2852,0,0,0,0,0,0
$GC,1384,-0.67,-48.7,226.2,-14.4,162,1388,0.00,2.22,0.00,0.000,4,0.000,0.056,2640,3698,2852,0,0,0,0,0,0
$GC,1471,-0.67,-48.7,239.1,-15.4,169,1476,0.00,2.20,0.00,0.000,6,0.000,0.040,2645,2279,2852,0,0,0,0,0,0
$GC,1800,-0.67,-48.7,287.3,-14.1,200,1804,0.00,2.22,0.00,0.000,4,0.000,0.055,2635,3690,2852,0,0,0,0,0,0
$GC,1820,-0.67,-48.7,289.9,-14.4,201,1826,0.00,2.20,0.00,0.000,6,0.000,0.041,2642,2268,2852,0,0,0,0,0,0
$GC,2151,-0.67,-48.7,339.8,-15.1,232,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2265,2852,0,0,0,0,0,0
$GC,2469,-0.67,-48.7,388.5,-14.8,262,2473,0.00,2.25,0.00,0.000,4,0.000,0.057,2633,3691,2852,0,0,0,0,0,0
$GC,2543,-0.67,-48.7,399.9,-15.2,268,2550,0.00,2.20,0.00,0.000,6,0.000,0.044,2633,2275,2852,0,0,0,0,0,0
$GC,2865,-0.67,-48.7,449.5,-15.0,284,2870,0.00,2.20,0.00,0.000,4,0.000,0.049,2633,857,2852,0,0,0,0,0,0
$GC,2888,-0.67,-48.7,452.9,-15.6,285,2892,0.12,2.28,0.00,0.000,6,0.223,0.049,2649,2290,2852,0,0,0,0,0,0
$GC,3214,-0.67,-48.7,499.0,-14.4,301,3218,0.00,2.20,0.00,0.000,4,0.000,0.058,2640,3691,2851,0,0,0,0,0,0
$GC,3262,-0.67,-48.7,505.9,-13.1,303,3267,0.00,2.22,0.00,0.000,6,0.000,0.044,2644,2281,2851,0,0,0,0,0,0
$GC,3584,-0.67,-48.7,547.4,-12.9,319,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2277,2851,0,0,0,0,0,0
$GC,3893,-0.67,-48.7,587.9,-12.9,334,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2278,2850,0,0,0,0,0,0
$GC,4203,-0.67,-48.7,626.3,-12.4,349,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2278,2851,0,0,0,0,0,0
$GC,4512,-0.67,-48.7,665.6,-12.6,364,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2278,2850,0,0,0,0,0,0
$GC,4821,-0.67,-48.7,702.4,-11.6,379,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2278,2850,0,0,0,0,0,0
$GC,5130,-0.67,-48.7,737.1,-11.1,394,5134,0.00,2.22,0.00,0.000,4,0.000,0.060,2635,3687,2850,0,0,0,0,0,0
$GC,5162,-0.67,-48.7,741.0,-11.7,395,5170,0.00,2.22,0.00,0.000,6,0.000,0.047,2637,2283,2850,0,0,0,0,0,0
$GC,5478,-0.67,-48.7,775.5,-10.8,411,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2281,2850,0,0,0,0,0,0
$GC,5788,-0.67,-48.7,808.8,-10.8,426,5792,0.00,2.25,0.00,0.000,4,0.000,0.061,2628,3690,2850,0,0,0,0,0,0
$GC,5830,-0.67,-48.7,813.8,-11.6,428,5835,0.00,2.25,0.00,0.000,6,0.000,0.049,2631,2280,2849,0,0,0,0,0,0
$GC,6157,-0.67,-48.7,849.9,-11.1,444,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2276,2850,0,0,0,0,0,0
$GC,6467,-0.67,-48.7,884.2,-11.0,459,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2276,2849,0,0,0,0,0,0
$GC,6776,-0.67,-48.7,917.8,-10.9,474,6780,0.00,2.22,0.00,0.000,4,0.000,0.062,2623,3686,2849,0,0,0,0,0,0
$GC,6792,-0.67,-48.7,919.5,-10.6,475,6796,0.00,2.20,0.00,0.000,6,0.000,0.050,2625,2278,2849,0,0,0,0,0,0
$GC,7123,-0.67,-48.7,957.0,-11.0,491,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2275,2849,0,0,0,0,0,0
$GC,7434,-0.67,-48.7,990.1,-10.6,506,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2275,2849,0,0,0,0,0,0
$STATE,7535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7535,begin apogee
$GC,7539,-0.12,0.0,1000.5,10.1,511,7582,0.70,0.00,40.03,1.291,6,0.175,0.000,2827,2010,2649,0,0,0,0,0,0
$STATE,7583,end apogee,CONTROL_FINISHED_OK
$STATE,7583,begin climb
$GC,7584,0.67,48.7,1002.6,0.0,513,7632,0.80,2.40,41.47,1.255,4,0.110,0.056,3093,617,2450,0,0,0,0,0,0
$GC,7648,0.70,67.1,998.5,8.2,516,7671,0.00,2.40,17.20,1.177,6,0.000,0.052,3093,2010,2376,0,0,0,0,0,0
$GC,7998,0.70,67.1,952.1,13.5,533,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2011,2373,0,0,0,0,0,0
$GC,8308,0.70,67.1,911.6,13.1,548,8312,0.00,2.28,0.00,0.000,4,0.000,0.058,3103,616,2372,0,0,0,0,0,0
$GC,8369,0.70,67.1,903.2,13.4,551,8373,0.00,2.28,0.00,0.000,6,0.000,0.052,3102,2020,2372,0,0,0,0,0,0
$GC,8695,0.70,67.1,860.2,12.9,567,8699,0.00,2.28,0.00,0.000,4,0.000,0.057,3111,616,2371,0,0,0,0,0,0
$GC,8726,0.70,67.1,855.7,14.1,568,8735,0.00,2.30,0.00,0.000,6,0.000,0.051,3111,2016,2371,0,0,0,0,0,0
$GC,9042,0.70,67.1,812.0,14.1,584,9046,0.00,2.25,0.00,0.000,4,0.000,0.057,3121,615,2371,0,0,0,0,0,0
$GC,9062,0.70,67.1,809.0,13.5,585,9067,0.00,2.30,0.00,0.000,6,0.000,0.051,3116,2018,2371,0,0,0,0,0,0
$GC,9390,0.70,67.1,761.1,14.8,601,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2021,2370,0,0,0,0,0,0
$GC,9699,0.70,67.1,718.0,13.4,616,9703,0.00,2.25,0.00,0.000,4,0.000,0.057,3125,616,2370,0,0,0,0,0,0
$GC,9809,0.70,67.1,702.8,12.9,621,9814,0.00,2.30,0.00,0.000,6,0.000,0.051,3124,2026,2371,0,0,0,0,0,0
$GC,10137,0.70,67.1,656.9,13.5,637,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2029,2370,0,0,0,0,0,0
$GC,10446,0.70,67.1,616.0,13.4,652,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2029,2370,0,0,0,0,0,0
$GC,10755,0.70,67.1,575.9,12.4,667,10759,0.00,2.28,0.00,0.000,4,0.000,0.058,3133,605,2370,0,0,0,0,0,0
$GC,10797,0.70,67.1,570.4,12.9,669,10802,0.10,2.30,0.00,0.000,6,0.203,0.049,3104,2026,2370,0,0,0,0,0,0
$GC,11125,0.70,67.1,533.0,11.6,685,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2026,2370,0,0,0,0,0,0
$GC,11433,0.70,67.1,499.3,10.6,700,11438,0.00,2.25,0.00,0.000,4,0.000,0.057,3113,614,2370,0,0,0,0,0,0
$GC,11465,0.70,67.1,495.9,10.7,701,11473,0.00,2.28,0.00,0.000,6,0.000,0.050,3113,2016,2370,0,0,0,0,0,0
$GC,11782,0.70,68.7,463.7,9.8,717,11786,0.00,2.22,0.00,0.000,4,0.000,0.057,3123,614,2370,0,0,0,0,0,0
$GC,11813,0.70,71.1,460.3,9.7,718,11822,0.00,2.28,3.88,0.567,6,0.000,0.050,3124,2024,2359,0,0,0,0,0,0
$GC,12129,0.70,71.1,426.7,11.2,734,12130,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2026,2359,0,0,0,0,0,0
$GC,12440,0.70,72.2,394.3,9.8,751,12444,0.00,2.22,0.00,0.000,4,0.000,0.057,3123,3440,2359,0,0,0,0,0,0
$GC,12471,0.70,72.2,391.2,10.9,753,12476,0.15,2.22,0.00,0.000,6,0.233,0.048,3101,2016,2359,0,0,0,0,0,0
$GC,12795,0.71,78.9,360.4,9.3,783,12807,0.00,0.00,7.53,0.750,6,0.000,0.000,3102,2012,2327,0,0,0,0,0,0
$GC,13124,0.71,78.9,327.3,10.4,814,13128,0.00,2.25,0.00,0.000,4,0.000,0.058,3111,602,2327,0,0,0,0,0,0
$GC,13197,0.71,78.9,319.5,10.6,820,13201,0.00,2.25,0.00,0.000,6,0.000,0.050,3111,2020,2327,0,0,0,0,0,0
$GC,13521,0.71,78.9,283.1,10.8,850,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2021,2327,0,0,0,0,0,0
$GC,13840,0.71,78.9,247.7,11.0,880,13844,0.00,2.25,0.00,0.000,4,0.000,0.058,3111,3438,2327,0,0,0,0,0,0
$GC,13894,0.71,78.9,241.0,11.9,884,13905,0.00,2.25,0.00,0.000,6,0.000,0.048,3121,2023,2328,0,0,0,0,0,0
$GC,14219,0.71,78.9,202.9,11.6,915,14223,0.00,2.25,0.00,0.000,4,0.000,0.057,3133,601,2327,0,0,0,0,0,0
$GC,14251,0.71,78.9,198.9,12.1,917,14260,0.00,2.30,0.00,0.000,6,0.000,0.049,3132,2025,2327,0,0,0,0,0,0
$GC,14577,0.71,78.9,161.6,11.5,948,14579,0.12,0.00,0.00,0.000,6,0.226,0.000,3106,2029,2327,0,0,0,0,0,0
$GC,14896,0.71,82.1,129.8,9.6,978,14908,0.00,2.28,4.25,0.493,4,0.000,0.057,3116,607,2315,0,0,0,0,0,0
$GC,15367,0.72,87.6,79.1,9.4,1035,15383,0.00,2.28,5.95,0.563,6,0.000,0.050,3115,2019,2292,0,0,0,0,0,0
$GC,15726,0.74,99.3,43.7,8.8,1097,15741,0.00,2.30,10.57,0.660,4,0.000,0.055,3115,3431,2245,0,0,0,0,0,0
$GC,15832,0.74,99.3,31.6,12.6,1114,15841,0.00,2.25,0.00,0.000,6,0.000,0.049,3126,2026,2244,0,0,0,0,0,0
$GC,15987,0.74,99.3,12.9,11.2,1139,15996,0.00,2.30,0.00,0.000,4,0.000,0.057,3137,606,2242,0,0,0,0,0,0
$STATE,16063,end climb,SURFACE_DEPTH_REACHED
$STATE,16063,begin surface coast
$FINISH,1.2,1.026524
$STATE,16089,end surface coast,CONTROL_FINISHED_OK
$STATE,16089,begin surface
$SM_CCo,16105,51.15,0.053,0,0,1752,220.03
$SM_GC,2.83,0.00,0.00,51.15,0.000,0.000,0.053,143,2288,1752,-8.53,0.23,220.03
$IRIDIUM_FIX,-4441.36,627.47,131008,030312
$TT8_MAMPS,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.8,14.436
$10V_AH,10.2,9.861
$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,20.950,122.925,130.875,51.150,0.000,67.494,42.250,612.113,24.750,0.000,9.803,3066.912,10295.144,338.705,3265.652,122.073,0.000,1374.520,0.000,2439.545,0.000,148.442,0.000
$DEVICE_MAMPS,257.805,61.965,1290.555,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.765,788.198,76.397,818.874,0.000,0.000,0.000,0.000,0.000,0.000
$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,66814,1155
$CAP_FILE_SIZE,159574,0
$CFSIZE,2097086464,2087813120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.108, 61.3,1
$GPS,171215,183251,-4502.405,628.636,77,1.0,78,-24.4