version: 66.07.10.p01
glider: 574
mission: 18
dive: 64
start: 3 15 112 7 39 27
data:
$ID,574
$MISSION,18
$DIVE,64
$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,-2331137
$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,19
$R_STBD_OVSHOOT,27
$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,63
$GPS1,171215,183251,-4502.405,628.636,77,1.0,78,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-76.3
$GPS2,171215,184551,-4502.250,628.936,5,1.3,5,-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,266.5,7225,-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,-0.67,-48.7,0.0,0.0,0,74,0.00,0.00,-45.22,0.000,6,0.000,0.000,143,2288,2848,0,0,0,0,0,0
$GC,76,-0.67,-48.7,3.1,-1.8,6,94,10.77,2.25,0.00,0.000,4,0.256,0.041,2634,3705,2849,0,0,0,0,0,0
$GC,375,-0.67,-48.7,57.2,-18.7,55,382,0.00,2.25,0.00,0.000,6,0.000,0.041,2642,2274,2850,0,0,0,0,0,0
$GC,721,-0.67,-48.7,119.8,-15.7,106,726,0.00,2.22,0.00,0.000,4,0.000,0.047,2644,856,2850,0,0,0,0,0,0
$GC,918,-0.67,-48.7,152.0,-16.7,123,926,0.00,2.30,0.00,0.000,6,0.000,0.047,2636,2273,2850,0,0,0,0,0,0
$GC,1244,-0.67,-48.7,201.7,-15.4,154,1248,0.00,2.25,0.00,0.000,4,0.000,0.056,2624,3701,2850,0,0,0,0,0,0
$GC,1299,-0.67,-48.7,210.6,-16.0,158,1306,0.00,2.25,0.00,0.000,6,0.000,0.041,2632,2281,2849,0,0,0,0,0,0
$GC,1627,-0.67,-48.7,259.8,-15.4,189,1631,0.00,2.22,0.00,0.000,4,0.000,0.056,2622,3693,2850,0,0,0,0,0,0
$GC,1649,-0.67,-48.7,263.7,-15.7,191,1653,0.00,2.20,0.00,0.000,6,0.000,0.042,2627,2276,2850,0,0,0,0,0,0
$GC,1976,-0.67,-48.7,313.8,-15.5,221,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2272,2850,0,0,0,0,0,0
$GC,2292,-0.67,-48.7,361.2,-14.1,251,2296,0.00,2.25,0.00,0.000,4,0.000,0.056,2618,3704,2849,0,0,0,0,0,0
$GC,2585,-0.67,-48.7,405.7,-15.6,275,2590,0.12,2.22,0.00,0.000,6,0.223,0.044,2648,2270,2849,0,0,0,0,0,0
$GC,2911,-0.67,-48.7,449.3,-13.5,291,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2266,2850,0,0,0,0,0,0
$GC,3221,-0.67,-48.7,491.1,-13.6,306,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2266,2850,0,0,0,0,0,0
$GC,3532,-0.67,-48.7,531.6,-12.5,321,3536,0.00,2.25,0.00,0.000,4,0.000,0.060,2638,3690,2849,0,0,0,0,0,0
$GC,3585,-0.67,-48.7,539.2,-13.4,323,3594,0.00,2.25,0.00,0.000,6,0.000,0.047,2644,2279,2849,0,0,0,0,0,0
$GC,3903,-0.67,-48.7,580.3,-12.9,339,3907,0.00,2.22,0.00,0.000,4,0.000,0.054,2645,857,2848,0,0,0,0,0,0
$GC,3964,-0.67,-48.7,588.3,-12.2,342,3968,0.00,2.25,0.00,0.000,6,0.000,0.051,2635,2279,2849,0,0,0,0,0,0
$GC,4290,-0.67,-48.7,629.2,-12.4,358,4294,0.00,2.25,0.00,0.000,4,0.000,0.062,2624,3691,2848,0,0,0,0,0,0
$GC,4405,-0.67,-48.7,645.1,-13.7,363,4410,0.00,2.25,0.00,0.000,6,0.000,0.050,2630,2284,2848,0,0,0,0,0,0
$GC,4727,-0.67,-48.7,685.4,-12.1,379,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2280,2848,0,0,0,0,0,0
$GC,5036,-0.67,-48.7,723.0,-12.2,394,5040,0.00,2.28,0.00,0.000,4,0.000,0.063,2622,3700,2848,0,0,0,0,0,0
$GC,5067,-0.67,-48.7,727.2,-13.1,395,5076,0.00,2.28,0.00,0.000,6,0.000,0.050,2629,2274,2847,0,0,0,0,0,0
$GC,5385,-0.67,-48.7,765.8,-12.1,411,5389,0.00,2.22,0.00,0.000,4,0.000,0.057,2632,858,2847,0,0,0,0,0,0
$GC,5438,-0.67,-48.7,772.5,-11.8,413,5447,0.08,2.30,0.00,0.000,6,0.206,0.053,2642,2279,2847,0,0,0,0,0,0
$GC,5756,-0.67,-48.7,805.9,-10.3,429,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2279,2847,0,0,0,0,0,0
$GC,6064,-0.67,-48.7,837.6,-10.7,444,6068,0.00,2.25,0.00,0.000,4,0.000,0.065,2633,3700,2846,0,0,0,0,0,0
$GC,6129,-0.67,-48.7,844.8,-11.1,447,6134,0.00,2.28,0.00,0.000,6,0.000,0.053,2637,2280,2847,0,0,0,0,0,0
$GC,6456,-0.67,-48.7,879.0,-10.4,463,6460,0.00,2.22,0.00,0.000,4,0.000,0.059,2644,868,2846,0,0,0,0,0,0
$GC,6496,-0.67,-48.7,883.2,-10.7,465,6500,0.00,2.25,0.00,0.000,6,0.000,0.056,2635,2281,2846,0,0,0,0,0,0
$GC,6822,-0.67,-48.7,916.5,-10.1,481,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2281,2845,0,0,0,0,0,0
$GC,7131,-0.67,-48.7,948.8,-10.4,496,7135,0.00,2.25,0.00,0.000,4,0.000,0.067,2624,3700,2845,0,0,0,0,0,0
$GC,7252,-0.67,-48.7,961.9,-10.9,501,7260,0.00,2.30,0.00,0.000,6,0.000,0.056,2629,2274,2846,0,0,0,0,0,0
$GC,7570,-0.67,-48.7,994.7,-10.3,517,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2272,2846,0,0,0,0,0,0
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7633,-0.12,0.0,1000.8,9.9,520,7676,0.68,0.00,39.50,1.284,6,0.178,0.000,2824,2002,2649,0,0,0,0,0,0
$STATE,7677,end apogee,CONTROL_FINISHED_OK
$STATE,7677,begin climb
$GC,7678,0.67,48.7,1002.6,0.0,522,7726,0.80,2.40,41.47,1.252,4,0.109,0.057,3089,613,2450,0,0,0,0,0,0
$GC,7760,0.67,48.7,996.8,11.2,526,7764,0.00,2.38,0.00,0.000,6,0.000,0.053,3089,2020,2449,0,0,0,0,0,0
$GC,8088,0.67,48.7,957.2,12.7,542,8092,0.00,2.33,0.00,0.000,4,0.000,0.063,3089,3439,2448,0,0,0,0,0,0
$GC,8120,0.67,48.7,952.3,14.8,543,8127,0.00,2.33,0.00,0.000,6,0.000,0.051,3099,2014,2449,0,0,0,0,0,0
$GC,8435,0.67,48.7,911.2,13.1,559,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2012,2448,0,0,0,0,0,0
$GC,8744,0.67,48.7,871.7,12.6,574,8748,0.00,2.28,0.00,0.000,4,0.000,0.061,3110,609,2448,0,0,0,0,0,0
$GC,8860,0.67,48.7,856.4,12.7,579,8865,0.00,2.33,0.00,0.000,6,0.000,0.051,3103,2020,2448,0,0,0,0,0,0
$GC,9182,0.67,48.7,816.5,12.0,595,9186,0.00,2.28,0.00,0.000,4,0.000,0.057,3112,609,2447,0,0,0,0,0,0
$GC,9213,0.67,48.7,812.3,13.3,596,9222,0.00,2.33,0.00,0.000,6,0.000,0.052,3111,2027,2447,0,0,0,0,0,0
$GC,9529,0.67,48.7,772.9,12.3,612,9533,0.00,2.28,0.00,0.000,4,0.000,0.057,3120,610,2447,0,0,0,0,0,0
$GC,9585,0.67,48.7,765.9,12.9,614,9592,0.00,2.25,0.00,0.000,6,0.000,0.051,3115,2024,2447,0,0,0,0,0,0
$GC,9900,0.67,48.7,729.9,11.2,630,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2026,2447,0,0,0,0,0,0
$GC,10209,0.67,48.7,696.4,10.6,645,10214,0.00,2.22,0.00,0.000,4,0.000,0.059,3115,3431,2447,0,0,0,0,0,0
$GC,10226,0.67,48.7,694.6,10.5,646,10231,0.15,2.22,0.00,0.000,6,0.240,0.050,3093,2015,2447,0,0,0,0,0,0
$GC,10552,0.69,61.4,664.8,8.7,662,10565,0.00,0.00,11.10,0.968,6,0.000,0.000,3093,2012,2398,0,0,0,0,0,0
$GC,10861,0.69,61.4,632.9,10.5,677,10865,0.00,2.25,0.00,0.000,4,0.000,0.059,3102,610,2397,0,0,0,0,0,0
$GC,10903,0.69,61.4,628.1,11.0,679,10908,0.00,2.30,0.00,0.000,6,0.000,0.050,3102,2017,2398,0,0,0,0,0,0
$GC,11230,0.69,61.4,590.0,11.4,695,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2019,2397,0,0,0,0,0,0
$GC,11541,0.69,61.4,554.0,12.2,710,11545,0.00,2.25,0.00,0.000,4,0.000,0.057,3112,610,2397,0,0,0,0,0,0
$GC,11590,0.69,61.4,547.6,12.0,712,11595,0.00,2.30,0.00,0.000,6,0.000,0.050,3112,2023,2397,0,0,0,0,0,0
$GC,11912,0.69,61.4,508.6,11.5,728,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2025,2397,0,0,0,0,0,0
$GC,12221,0.69,61.4,474.0,11.4,743,12225,0.00,2.22,0.00,0.000,4,0.000,0.059,3113,3432,2397,0,0,0,0,0,0
$GC,12319,0.69,61.4,462.5,11.2,747,12327,0.00,2.25,0.00,0.000,6,0.000,0.047,3123,2021,2397,0,0,0,0,0,0
$GC,12635,0.69,61.4,427.4,11.4,763,12639,0.00,2.25,0.00,0.000,4,0.000,0.059,3134,603,2397,0,0,0,0,0,0
$GC,12863,0.69,61.4,400.8,11.3,773,12869,0.12,2.30,0.00,0.000,6,0.200,0.050,3100,2026,2397,0,0,0,0,0,0
$GC,13194,0.69,65.6,368.8,9.6,804,13210,0.00,2.33,4.78,0.627,4,0.000,0.057,3108,610,2382,0,0,0,0,0,0
$GC,13222,0.70,73.7,366.3,9.2,806,13235,0.00,2.25,7.90,0.757,6,0.000,0.050,3109,2031,2348,0,0,0,0,0,0
$GC,13555,0.70,73.7,329.7,11.4,837,13559,0.00,2.20,0.00,0.000,4,0.000,0.058,3108,3427,2348,0,0,0,0,0,0
$GC,13597,0.70,73.7,323.8,11.0,840,13609,0.00,2.25,0.00,0.000,6,0.000,0.048,3119,2026,2348,0,0,0,0,0,0
$GC,13923,0.70,73.7,284.9,12.3,871,13927,0.00,2.28,0.00,0.000,4,0.000,0.057,3130,598,2348,0,0,0,0,0,0
$GC,13973,0.70,73.7,278.3,13.5,875,13978,0.12,2.25,0.00,0.000,6,0.208,0.050,3103,2018,2349,0,0,0,0,0,0
$GC,14300,0.70,73.7,239.6,11.7,905,14304,0.00,2.25,0.00,0.000,4,0.000,0.056,3111,607,2348,0,0,0,0,0,0
$GC,14412,0.70,73.7,225.1,12.9,914,14420,0.00,2.30,0.00,0.000,6,0.000,0.049,3111,2025,2348,0,0,0,0,0,0
$GC,14742,0.70,73.7,186.5,11.3,945,14746,0.00,2.22,0.00,0.000,4,0.000,0.058,3111,3439,2348,0,0,0,0,0,0
$GC,14910,0.70,73.7,166.2,10.8,959,14918,0.00,2.28,0.00,0.000,6,0.000,0.048,3122,2016,2349,0,0,0,0,0,0
$GC,15236,0.72,89.0,135.3,8.5,990,15259,0.00,2.35,12.88,0.716,4,0.000,0.058,3133,600,2286,0,0,0,0,0,0
$GC,15831,0.72,89.0,76.5,10.0,1063,15838,0.00,2.25,0.00,0.000,6,0.000,0.050,3133,2020,2285,0,0,0,0,0,0
$GC,16179,0.72,89.0,40.4,11.4,1124,16187,0.00,2.30,0.00,0.000,4,0.000,0.056,3144,603,2285,0,0,0,0,0,0
$GC,16345,0.72,89.0,20.8,13.2,1151,16354,0.12,2.30,0.00,0.000,6,0.182,0.050,3108,2025,2285,0,0,0,0,0,0
$STATE,16500,end climb,SURFACE_DEPTH_REACHED
$STATE,16500,begin surface coast
$FINISH,1.1,1.013967
$STATE,16532,end surface coast,CONTROL_FINISHED_OK
$STATE,16533,begin surface
$SM_CCo,16547,55.33,0.052,0,0,1751,220.03
$SM_GC,2.91,0.00,0.00,55.33,0.000,0.000,0.052,137,2290,1751,-8.55,0.28,220.03
$IRIDIUM_FIX,-4444.39,624.79,131008,030328
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.00
$XPDR_PINGS,0
$24V_AH,23.8,14.518
$10V_AH,10.3,9.984
$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,20.900,136.875,117.625,55.325,0.000,32.751,34.346,594.599,24.750,0.000,8.742,3174.902,10294.104,359.017,3436.194,123.313,0.000,1483.580,0.000,2686.117,0.000,148.104,0.000
$DEVICE_MAMPS,256.275,66.555,1283.670,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.137,809.913,82.749,842.119,0.000,0.000,0.000,0.000,0.000,0.000
$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,66903,1181
$CAP_FILE_SIZE,166078,0
$CFSIZE,2097086464,2087649280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.088, 49.5,1
$GPS,171215,232428,-4502.142,628.245,39,0.8,39,-24.4