version: 66.07.10.p01
glider: 574
mission: 18
dive: 66
start: 3 15 112 17 28 5
data:
$ID,574
$MISSION,18
$DIVE,66
$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,-2331287.2
$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,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,32
$R_STBD_OVSHOOT,23
$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,65
$GPS1,181215,042127,-4502.238,627.929,80,0.8,80,-24.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-73.4
$GPS2,181215,043431,-4502.281,627.895,6,0.8,6,-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,265.3,6007,-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,24,-0.67,-48.7,0.0,0.0,0,74,0.00,0.00,-45.05,0.000,6,0.000,0.000,140,2268,2850,0,0,0,0,0,0
$GC,76,-0.67,-48.7,3.0,-1.8,6,93,10.77,2.28,0.00,0.000,4,0.256,0.041,2634,3701,2851,0,0,0,0,0,0
$GC,156,-0.67,-48.7,19.2,-20.3,18,168,0.00,2.30,0.00,0.000,6,0.000,0.040,2642,2280,2851,0,0,0,0,0,0
$GC,218,-0.67,-48.7,30.4,-17.9,27,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2278,2852,0,0,0,0,0,0
$GC,368,-0.67,-48.7,58.8,-19.2,52,377,0.00,2.28,0.00,0.000,4,0.000,0.054,2633,3694,2852,0,0,0,0,0,0
$GC,446,-0.67,-48.7,74.7,-21.3,65,453,0.00,2.22,0.00,0.000,6,0.000,0.041,2634,2280,2851,0,0,0,0,0,0
$GC,787,-0.67,-48.7,136.9,-16.3,107,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2276,2852,0,0,0,0,0,0
$GC,1109,-0.67,-48.7,191.6,-15.4,137,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2276,2853,0,0,0,0,0,0
$GC,1433,-0.67,-48.7,242.1,-15.6,168,1437,0.00,2.25,0.00,0.000,4,0.000,0.056,2624,3701,2853,0,0,0,0,0,0
$GC,1461,-0.67,-48.7,246.5,-15.9,170,1465,0.00,2.22,0.00,0.000,6,0.000,0.041,2631,2280,2853,0,0,0,0,0,0
$GC,1793,-0.67,-48.7,297.2,-14.4,201,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2276,2854,0,0,0,0,0,0
$GC,2109,-0.67,-48.7,344.5,-14.8,231,2113,0.00,2.20,0.00,0.000,4,0.000,0.050,2632,868,2853,0,0,0,0,0,0
$GC,2129,-0.67,-48.7,347.7,-14.7,232,2141,0.08,2.28,0.00,0.000,6,0.206,0.048,2643,2282,2854,0,0,0,0,0,0
$GC,2454,-0.67,-48.7,392.0,-13.8,263,2459,0.00,2.22,0.00,0.000,4,0.000,0.058,2633,3695,2853,0,0,0,0,0,0
$GC,2485,-0.67,-48.7,396.0,-14.6,265,2489,0.00,2.22,0.00,0.000,6,0.000,0.044,2642,2275,2853,0,0,0,0,0,0
$GC,2808,-0.67,-48.7,442.4,-14.3,282,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2271,2853,0,0,0,0,0,0
$GC,3115,-0.67,-48.7,486.1,-14.2,297,3119,0.00,2.25,0.00,0.000,4,0.000,0.058,2632,3696,2853,0,0,0,0,0,0
$GC,3191,-0.67,-48.7,497.7,-15.0,300,3200,0.00,2.25,0.00,0.000,6,0.000,0.046,2632,2282,2852,0,0,0,0,0,0
$GC,3508,-0.67,-48.7,544.3,-15.0,316,3512,0.00,2.25,0.00,0.000,4,0.000,0.054,2632,862,2852,0,0,0,0,0,0
$GC,3525,-0.67,-48.7,546.8,-15.1,317,3530,0.12,2.25,0.00,0.000,6,0.222,0.050,2649,2285,2852,0,0,0,0,0,0
$GC,3852,-0.67,-48.7,591.1,-13.2,333,3856,0.00,2.22,0.00,0.000,4,0.000,0.061,2639,3700,2851,0,0,0,0,0,0
$GC,3919,-0.67,-48.7,600.4,-13.3,336,3923,0.00,2.22,0.00,0.000,6,0.000,0.047,2645,2277,2851,0,0,0,0,0,0
$GC,4241,-0.67,-48.7,641.6,-12.3,352,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2273,2851,0,0,0,0,0,0
$GC,4548,-0.67,-48.7,679.9,-12.3,367,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2274,2851,0,0,0,0,0,0
$GC,4859,-0.67,-48.7,718.1,-12.5,382,4863,0.00,2.25,0.00,0.000,4,0.000,0.061,2635,3696,2850,0,0,0,0,0,0
$GC,4942,-0.67,-48.7,729.4,-13.7,386,4947,0.00,2.22,0.00,0.000,6,0.000,0.051,2640,2279,2850,0,0,0,0,0,0
$GC,5269,-0.67,-48.7,768.5,-11.4,402,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2276,2851,0,0,0,0,0,0
$GC,5578,-0.67,-48.7,803.7,-11.7,417,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2276,2849,0,0,0,0,0,0
$GC,5887,-0.67,-48.7,838.9,-11.0,432,5891,0.00,2.25,0.00,0.000,4,0.000,0.063,2631,3694,2850,0,0,0,0,0,0
$GC,5940,-0.67,-48.7,845.0,-11.5,434,5948,0.00,2.28,0.00,0.000,6,0.000,0.052,2632,2275,2850,0,0,0,0,0,0
$GC,6256,-0.67,-48.7,879.4,-10.6,450,6260,0.00,2.22,0.00,0.000,4,0.000,0.060,2632,865,2849,0,0,0,0,0,0
$GC,6282,-0.67,-48.7,882.4,-11.4,451,6287,0.00,2.28,0.00,0.000,6,0.000,0.054,2623,2271,2850,0,0,0,0,0,0
$GC,6604,-0.67,-48.7,917.2,-10.5,467,6606,0.12,0.00,0.00,0.000,6,0.228,0.000,2649,2271,2849,0,0,0,0,0,0
$GC,6914,-0.67,-48.7,946.1,-9.4,482,6918,0.00,2.25,0.00,0.000,4,0.000,0.065,2640,3691,2848,0,0,0,0,0,0
$GC,6967,-0.67,-48.7,951.7,-10.3,484,6976,0.00,2.28,0.00,0.000,6,0.000,0.055,2644,2279,2848,0,0,0,0,0,0
$GC,7284,-0.67,-48.7,980.4,-8.7,500,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2279,2848,0,0,0,0,0,0
$STATE,7511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7511,begin apogee
$GC,7515,-0.12,0.0,1000.5,9.1,511,7558,0.62,0.00,39.88,1.285,6,0.170,0.000,2825,2009,2650,0,0,0,0,0,0
$STATE,7559,end apogee,CONTROL_FINISHED_OK
$STATE,7559,begin climb
$GC,7560,0.67,48.7,1002.2,0.0,513,7605,0.82,0.00,41.92,1.253,6,0.107,0.000,3085,2008,2450,0,0,0,0,0,0
$GC,7900,0.67,48.7,963.7,12.5,530,7904,0.00,2.30,0.00,0.000,4,0.000,0.059,3096,614,2448,0,0,0,0,0,0
$GC,7916,0.67,48.7,961.7,12.5,531,7920,0.00,2.33,0.00,0.000,6,0.000,0.053,3096,2026,2448,0,0,0,0,0,0
$GC,8241,0.67,48.7,920.2,12.7,547,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2028,2448,0,0,0,0,0,0
$GC,8551,0.67,48.7,881.4,12.3,562,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2029,2448,0,0,0,0,0,0
$GC,8861,0.67,48.7,844.0,11.9,577,8865,0.00,2.30,0.00,0.000,4,0.000,0.058,3106,606,2447,0,0,0,0,0,0
$GC,8922,0.67,48.7,836.7,11.6,580,8926,0.00,2.28,0.00,0.000,6,0.000,0.051,3105,2021,2447,0,0,0,0,0,0
$GC,9249,0.67,48.7,797.3,11.8,596,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2024,2447,0,0,0,0,0,0
$GC,9557,0.67,48.7,761.3,11.6,611,9561,0.00,2.28,0.00,0.000,4,0.000,0.057,3113,603,2447,0,0,0,0,0,0
$GC,9577,0.67,48.7,758.8,11.7,612,9583,0.00,2.30,0.00,0.000,6,0.000,0.051,3112,2013,2447,0,0,0,0,0,0
$GC,9907,0.67,48.7,722.3,10.4,628,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2016,2446,0,0,0,0,0,0
$GC,10215,0.68,51.7,691.3,9.7,643,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2016,2447,0,0,0,0,0,0
$GC,10525,0.69,61.6,662.9,9.0,658,10538,0.00,0.00,10.88,0.962,6,0.000,0.000,3112,2016,2398,0,0,0,0,0,0
$GC,10833,0.69,61.6,630.9,10.7,673,10837,0.00,2.25,0.00,0.000,4,0.000,0.057,3121,611,2398,0,0,0,0,0,0
$GC,10903,0.69,61.6,623.0,10.6,676,10909,0.00,2.30,0.00,0.000,6,0.000,0.050,3120,2021,2398,0,0,0,0,0,0
$GC,11225,0.69,61.6,588.7,10.6,692,11229,0.00,2.28,0.00,0.000,4,0.000,0.058,3130,604,2398,0,0,0,0,0,0
$GC,11268,0.69,61.6,583.8,10.8,694,11274,0.10,2.30,0.00,0.000,6,0.206,0.048,3103,2019,2398,0,0,0,0,0,0
$GC,11597,0.69,62.1,551.7,9.9,710,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2019,2398,0,0,0,0,0,0
$GC,11906,0.69,62.1,520.3,10.2,725,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2020,2398,0,0,0,0,0,0
$GC,12216,0.69,65.3,490.0,9.7,740,12225,0.00,2.28,4.68,0.657,4,0.000,0.059,3103,3442,2383,0,0,0,0,0,0
$GC,12388,0.69,65.3,470.5,12.1,748,12392,0.00,2.22,0.00,0.000,6,0.000,0.049,3111,2021,2382,0,0,0,0,0,0
$GC,12714,0.69,65.3,434.8,11.3,764,12718,0.00,2.25,0.00,0.000,4,0.000,0.058,3122,604,2383,0,0,0,0,0,0
$GC,12903,0.69,65.3,413.1,11.2,772,12912,0.00,2.30,0.00,0.000,6,0.000,0.048,3123,2028,2383,0,0,0,0,0,0
$GC,13229,0.69,65.3,377.8,10.9,797,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2030,2382,0,0,0,0,0,0
$GC,13554,0.69,65.3,341.3,11.2,828,13558,0.00,2.20,0.00,0.000,4,0.000,0.057,3123,3431,2382,0,0,0,0,0,0
$GC,13574,0.69,65.3,338.7,11.0,829,13583,0.12,2.25,0.00,0.000,6,0.218,0.047,3101,2019,2383,0,0,0,0,0,0
$GC,13900,0.70,66.4,306.0,9.8,860,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2016,2383,0,0,0,0,0,0
$GC,14219,0.71,76.2,275.4,9.0,890,14234,0.00,2.28,9.95,0.757,4,0.000,0.057,3110,604,2338,0,0,0,0,0,0
$GC,14370,0.71,76.2,259.0,11.3,903,14378,0.00,2.30,0.00,0.000,6,0.000,0.048,3111,2026,2338,0,0,0,0,0,0
$GC,14695,0.71,76.2,223.7,10.0,934,14697,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2026,2338,0,0,0,0,0,0
$GC,15015,0.71,76.2,189.6,10.6,964,15019,0.00,2.25,0.00,0.000,4,0.000,0.056,3121,611,2338,0,0,0,0,0,0
$GC,15054,0.71,76.2,185.4,10.9,967,15058,0.00,2.25,0.00,0.000,6,0.000,0.050,3121,2031,2339,0,0,0,0,0,0
$GC,15381,0.72,89.1,153.5,8.7,997,15397,0.00,2.22,11.43,0.705,4,0.000,0.055,3121,3432,2285,0,0,0,0,0,0
$GC,15504,0.72,89.1,140.6,11.8,1007,15512,0.00,2.28,0.00,0.000,6,0.000,0.047,3131,2018,2285,0,0,0,0,0,0
$GC,15829,0.72,89.1,104.2,11.2,1038,15833,0.00,2.25,0.00,0.000,4,0.000,0.057,3143,603,2284,0,0,0,0,0,0
$GC,15851,0.72,89.1,101.8,11.0,1039,15858,0.15,2.25,0.00,0.000,6,0.205,0.049,3108,2027,2285,0,0,0,0,0,0
$GC,16195,0.74,101.4,68.7,8.8,1098,16211,0.00,2.30,11.15,0.656,4,0.000,0.057,3107,3429,2235,0,0,0,0,0,0
$GC,16460,0.74,101.4,37.8,12.9,1143,16469,0.00,2.25,0.00,0.000,6,0.000,0.048,3115,2026,2235,0,0,0,0,0,0
$GC,16615,0.74,101.4,18.9,11.8,1168,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2021,2233,0,0,0,0,0,0
$GC,16674,0.74,101.4,12.0,11.5,1177,16682,0.00,2.30,0.00,0.000,4,0.000,0.055,3127,603,2232,0,0,0,0,0,0
$GC,16714,0.74,101.4,7.1,11.8,1183,16723,0.00,2.30,0.00,0.000,6,0.000,0.049,3127,2023,2233,0,0,0,0,0,0
$STATE,16748,end climb,SURFACE_DEPTH_REACHED
$STATE,16748,begin surface coast
$FINISH,1.2,1.005763
$STATE,16774,end surface coast,CONTROL_FINISHED_OK
$STATE,16774,begin surface
$SM_CCo,16789,50.05,0.052,0,0,1752,220.03
$SM_GC,2.97,0.00,0.00,50.05,0.000,0.000,0.052,141,2296,1752,-8.54,0.48,220.03
$IRIDIUM_FIX,-4444.39,627.81,131008,171728
$TT8_MAMPS,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.20
$XPDR_PINGS,0
$24V_AH,23.8,14.687
$10V_AH,10.3,10.225
$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,20.975,118.425,129.875,50.050,0.000,29.029,53.430,576.518,24.750,0.000,10.103,3166.925,10715.229,363.835,3255.653,123.908,0.000,1425.723,0.000,2511.132,0.000,148.446,0.000
$DEVICE_MAMPS,256.275,65.025,1285.200,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,841.116,816.021,74.184,815.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,70227,1192
$CAP_FILE_SIZE,162719,0
$CFSIZE,2097086464,2087419904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.099, 37.6,1
$GPS,181215,091733,-4502.166,626.989,67,0.9,67,-24.4