version: 66.07.10.p01
glider: 574
mission: 18
dive: 67
start: 3 15 112 22 26 41
data:
$ID,574
$MISSION,18
$DIVE,67
$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,-2331371.8
$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,45
$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,2260
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,26
$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,66
$GPS1,181215,091733,-4502.166,626.989,67,0.9,67,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-75.8
$GPS2,181215,093308,-4502.173,627.290,7,1.0,7,-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,248.6,5474,-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,-0.65,-48.7,0.0,0.0,0,73,0.00,0.00,-44.50,0.000,6,0.000,0.000,141,2297,2849,0,0,0,0,0,0
$GC,75,-0.65,-48.7,3.1,-1.9,6,92,10.93,2.22,0.00,0.000,4,0.259,0.047,2643,3672,2850,0,0,0,0,0,0
$GC,511,-0.65,-48.7,86.0,-18.2,79,518,0.00,2.22,0.00,0.000,6,0.000,0.043,2645,2256,2851,0,0,0,0,0,0
$GC,849,-0.65,-48.7,144.7,-17.4,117,853,0.00,2.25,0.00,0.000,4,0.000,0.054,2635,3673,2851,0,0,0,0,0,0
$GC,1268,-0.65,-48.7,214.8,-16.0,153,1272,0.00,2.25,0.00,0.000,6,0.000,0.045,2644,2250,2851,0,0,0,0,0,0
$GC,1592,-0.65,-48.7,265.4,-15.3,183,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2248,2852,0,0,0,0,0,0
$GC,1914,-0.65,-48.7,312.9,-15.6,213,1918,0.00,2.20,0.00,0.000,4,0.000,0.051,2644,847,2852,0,0,0,0,0,0
$GC,1953,-0.65,-48.7,319.4,-15.3,216,1957,0.00,2.25,0.00,0.000,6,0.000,0.049,2635,2269,2853,0,0,0,0,0,0
$GC,2282,-0.65,-48.7,369.7,-15.2,247,2286,0.00,2.20,0.00,0.000,4,0.000,0.057,2624,3670,2852,0,0,0,0,0,0
$GC,2338,-0.65,-48.7,378.3,-15.3,252,2342,0.12,2.20,0.00,0.000,6,0.214,0.044,2659,2255,2851,0,0,0,0,0,0
$GC,2667,-0.65,-48.7,423.2,-13.7,275,2671,0.00,2.25,0.00,0.000,4,0.000,0.058,2650,3677,2852,0,0,0,0,0,0
$GC,2721,-0.65,-48.7,430.9,-14.0,277,2729,0.00,2.25,0.00,0.000,6,0.000,0.046,2652,2261,2851,0,0,0,0,0,0
$GC,3038,-0.65,-48.7,471.2,-12.1,293,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2258,2852,0,0,0,0,0,0
$GC,3347,-0.65,-48.7,510.2,-12.5,308,3351,0.00,2.22,0.00,0.000,4,0.000,0.055,2658,846,2851,0,0,0,0,0,0
$GC,3389,-0.65,-48.7,515.8,-12.4,310,3394,0.00,2.28,0.00,0.000,6,0.000,0.050,2649,2256,2851,0,0,0,0,0,0
$GC,3717,-0.65,-48.7,554.5,-11.5,326,3721,0.00,2.22,0.00,0.000,4,0.000,0.060,2638,3669,2851,0,0,0,0,0,0
$GC,3766,-0.65,-48.7,560.9,-12.5,328,3771,0.00,2.25,0.00,0.000,6,0.000,0.049,2644,2262,2851,0,0,0,0,0,0
$GC,4088,-0.65,-48.7,599.8,-12.0,344,4094,0.00,2.25,0.00,0.000,4,0.000,0.060,2635,3679,2850,0,0,0,0,0,0
$GC,4133,-0.65,-48.7,605.6,-13.3,346,4137,0.00,2.22,0.00,0.000,6,0.000,0.049,2639,2255,2850,0,0,0,0,0,0
$GC,4460,-0.65,-48.7,645.0,-12.3,362,4464,0.00,2.22,0.00,0.000,4,0.000,0.057,2644,839,2850,0,0,0,0,0,0
$GC,4476,-0.65,-48.7,647.2,-12.5,363,4480,0.00,2.25,0.00,0.000,6,0.000,0.053,2635,2259,2850,0,0,0,0,0,0
$GC,4802,-0.65,-48.7,689.7,-13.4,379,4809,0.00,2.22,0.00,0.000,4,0.000,0.062,2624,3668,2849,0,0,0,0,0,0
$GC,4897,-0.65,-48.7,703.3,-13.8,383,4903,0.10,2.25,0.00,0.000,6,0.196,0.052,2655,2265,2850,0,0,0,0,0,0
$GC,5227,-0.65,-48.7,741.0,-11.4,399,5231,0.00,2.25,0.00,0.000,4,0.000,0.065,2646,3676,2850,0,0,0,0,0,0
$GC,5297,-0.65,-48.7,749.7,-11.3,402,5305,0.00,2.28,0.00,0.000,6,0.000,0.054,2645,2258,2850,0,0,0,0,0,0
$GC,5621,-0.65,-48.7,785.6,-10.8,418,5625,0.00,2.25,0.00,0.000,4,0.000,0.061,2646,842,2849,0,0,0,0,0,0
$GC,5660,-0.65,-48.7,790.0,-11.2,420,5664,0.00,2.25,0.00,0.000,6,0.000,0.056,2635,2258,2849,0,0,0,0,0,0
$GC,5987,-0.65,-48.7,825.2,-11.1,436,5991,0.00,2.25,0.00,0.000,4,0.000,0.066,2625,3675,2848,0,0,0,0,0,0
$GC,6041,-0.65,-48.7,831.9,-11.9,438,6049,0.10,2.28,0.00,0.000,6,0.193,0.055,2653,2265,2848,0,0,0,0,0,0
$GC,6357,-0.65,-48.7,865.5,-10.7,454,6361,0.00,2.30,0.00,0.000,4,0.000,0.063,2659,834,2848,0,0,0,0,0,0
$GC,6374,-0.65,-48.7,867.2,-10.4,455,6378,0.00,2.28,0.00,0.000,6,0.000,0.057,2649,2259,2848,0,0,0,0,0,0
$GC,6700,-0.65,-48.7,902.4,-10.8,471,6704,0.00,2.25,0.00,0.000,4,0.000,0.067,2638,3670,2847,0,0,0,0,0,0
$GC,6784,-0.65,-48.7,911.9,-11.0,475,6788,0.00,2.25,0.00,0.000,6,0.000,0.058,2638,2253,2847,0,0,0,0,0,0
$GC,7111,-0.65,-48.7,947.9,-11.0,491,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2249,2847,0,0,0,0,0,0
$GC,7419,-0.65,-48.7,979.7,-9.8,506,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2249,2847,0,0,0,0,0,0
$STATE,7646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7646,begin apogee
$GC,7650,-0.11,0.0,1001.7,9.4,517,7692,0.65,0.00,39.60,1.281,6,0.173,0.000,2826,1981,2650,0,0,0,0,0,0
$STATE,7693,end apogee,CONTROL_FINISHED_OK
$STATE,7693,begin climb
$GC,7695,0.65,48.7,1003.5,0.0,519,7743,0.75,2.42,41.62,1.253,4,0.109,0.058,3077,581,2450,0,0,0,0,0,0
$GC,7793,0.65,48.7,995.6,11.2,523,7800,0.00,2.38,0.00,0.000,6,0.000,0.053,3077,1994,2449,0,0,0,0,0,0
$GC,8108,0.65,48.7,958.2,11.7,539,8112,0.00,2.30,0.00,0.000,4,0.000,0.062,3076,3404,2448,0,0,0,0,0,0
$GC,8129,0.65,48.7,955.5,12.7,540,8133,0.00,2.28,0.00,0.000,6,0.000,0.051,3087,1992,2447,0,0,0,0,0,0
$GC,8450,0.65,48.7,915.1,12.8,556,8454,0.00,2.30,0.00,0.000,4,0.000,0.062,3098,582,2448,0,0,0,0,0,0
$GC,8515,0.65,48.7,906.6,13.2,559,8520,0.00,2.33,0.00,0.000,6,0.000,0.052,3097,1986,2447,0,0,0,0,0,0
$GC,8842,0.65,48.7,866.7,11.9,575,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1987,2447,0,0,0,0,0,0
$GC,9153,0.65,48.7,832.0,10.8,590,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1987,2447,0,0,0,0,0,0
$GC,9463,0.65,48.7,798.9,10.5,605,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1987,2447,0,0,0,0,0,0
$GC,9772,0.66,57.4,769.8,9.1,620,9786,0.00,2.35,7.90,0.946,4,0.000,0.059,3106,577,2415,0,0,0,0,0,0
$GC,9864,0.66,57.4,759.9,10.7,624,9869,0.00,2.33,0.00,0.000,6,0.000,0.051,3102,1991,2414,0,0,0,0,0,0
$GC,10193,0.66,57.4,726.6,10.0,640,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1994,2414,0,0,0,0,0,0
$GC,10502,0.66,60.4,695.9,9.7,655,10511,0.00,2.30,4.18,0.671,4,0.000,0.060,3102,3395,2403,0,0,0,0,0,0
$GC,10554,0.66,60.4,690.3,10.4,657,10559,0.00,2.28,0.00,0.000,6,0.000,0.050,3111,1989,2403,0,0,0,0,0,0
$GC,10876,0.66,60.4,655.8,11.2,673,10880,0.00,2.25,0.00,0.000,4,0.000,0.060,3122,581,2403,0,0,0,0,0,0
$GC,10961,0.66,60.4,646.1,11.4,677,10966,0.12,2.25,0.00,0.000,6,0.223,0.050,3091,1992,2403,0,0,0,0,0,0
$GC,11287,0.66,60.4,610.2,10.8,693,11291,0.00,2.28,0.00,0.000,4,0.000,0.058,3100,575,2402,0,0,0,0,0,0
$GC,11385,0.66,60.4,599.1,11.5,697,11393,0.00,2.30,0.00,0.000,6,0.000,0.051,3100,1987,2402,0,0,0,0,0,0
$GC,11702,0.66,60.4,563.9,11.4,713,11706,0.00,2.28,0.00,0.000,4,0.000,0.060,3100,3410,2402,0,0,0,0,0,0
$GC,11780,0.66,60.4,554.5,12.2,716,11788,0.00,2.25,0.00,0.000,6,0.000,0.050,3110,1988,2402,0,0,0,0,0,0
$GC,12094,0.66,60.4,517.8,11.4,732,12098,0.00,2.25,0.00,0.000,4,0.000,0.060,3122,578,2402,0,0,0,0,0,0
$GC,12291,0.66,60.4,494.8,12.1,741,12296,0.15,2.25,0.00,0.000,6,0.217,0.051,3088,1995,2402,0,0,0,0,0,0
$GC,12618,0.66,60.9,461.5,9.9,757,12622,0.00,2.25,0.00,0.000,4,0.000,0.057,3096,582,2401,0,0,0,0,0,0
$GC,12661,0.66,60.9,456.8,10.4,759,12666,0.00,2.28,0.00,0.000,6,0.000,0.050,3096,1989,2402,0,0,0,0,0,0
$GC,12989,0.66,60.9,425.1,10.0,775,12993,0.00,2.25,0.00,0.000,4,0.000,0.057,3107,579,2401,0,0,0,0,0,0
$GC,13028,0.66,60.9,421.0,10.6,777,13032,0.00,2.25,0.00,0.000,6,0.000,0.050,3107,2000,2402,0,0,0,0,0,0
$GC,13350,0.67,64.3,389.1,9.6,797,13362,0.00,2.22,4.65,0.623,4,0.000,0.059,3107,3402,2386,0,0,0,0,0,0
$GC,13401,0.67,64.3,383.2,11.5,801,13409,0.10,2.25,0.00,0.000,6,0.212,0.048,3091,1992,2387,0,0,0,0,0,0
$GC,13727,0.68,72.2,352.0,9.2,832,13741,0.00,0.00,7.62,0.747,6,0.000,0.000,3091,1989,2356,0,0,0,0,0,0
$GC,14055,0.68,72.8,319.4,9.9,863,14059,0.00,2.25,0.00,0.000,4,0.000,0.058,3090,3409,2356,0,0,0,0,0,0
$GC,14116,0.68,72.8,312.9,10.9,868,14120,0.00,2.22,0.00,0.000,6,0.000,0.049,3099,1990,2356,0,0,0,0,0,0
$GC,14440,0.68,72.8,280.4,10.0,898,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1986,2356,0,0,0,0,0,0
$GC,14759,0.68,72.8,248.3,10.3,928,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1986,2356,0,0,0,0,0,0
$GC,15078,0.68,72.8,215.4,10.6,958,15079,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1986,2356,0,0,0,0,0,0
$GC,15397,0.68,75.2,183.0,9.7,988,15411,0.00,0.00,4.45,0.531,6,0.000,0.000,3099,1986,2341,0,0,0,0,0,0
$GC,15725,0.69,87.6,151.5,8.8,1019,15741,0.00,2.28,11.07,0.729,4,0.000,0.057,3110,578,2290,0,0,0,0,0,0
$GC,15947,0.69,87.6,126.6,10.7,1038,15951,0.00,2.25,0.00,0.000,6,0.000,0.050,3110,1992,2289,0,0,0,0,0,0
$GC,16277,0.69,87.6,89.1,11.4,1076,16285,0.00,2.25,0.00,0.000,4,0.000,0.058,3110,3410,2289,0,0,0,0,0,0
$GC,16360,0.69,87.6,78.9,12.2,1090,16367,0.00,2.25,0.00,0.000,6,0.000,0.047,3121,1988,2290,0,0,0,0,0,0
$GC,16709,0.70,89.4,40.0,9.8,1151,16717,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1984,2290,0,0,0,0,0,0
$GC,16863,0.70,89.4,23.8,10.4,1176,16872,0.00,2.28,0.00,0.000,4,0.000,0.058,3132,584,2290,0,0,0,0,0,0
$GC,16994,0.70,89.4,9.0,11.4,1197,17004,0.10,2.28,0.00,0.000,6,0.187,0.050,3103,1994,2289,0,0,0,0,0,0
$STATE,17053,end climb,SURFACE_DEPTH_REACHED
$STATE,17053,begin surface coast
$FINISH,1.3,1.013756
$STATE,17085,end surface coast,CONTROL_FINISHED_OK
$STATE,17085,begin surface
$SM_CCo,17100,55.90,0.054,0,0,1752,220.03
$SM_GC,3.07,0.00,0.00,55.90,0.000,0.000,0.054,139,2266,1752,-8.54,0.17,220.03
$IRIDIUM_FIX,-4447.43,625.13,131008,222236
$TT8_MAMPS,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.40
$XPDR_PINGS,0
$24V_AH,23.8,14.772
$10V_AH,10.2,10.350
$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,21.175,141.075,121.100,55.900,0.000,65.483,125.253,558.890,24.750,0.000,11.054,3264.763,10794.457,350.859,3556.805,127.249,0.000,1502.625,0.000,2713.977,0.000,148.738,0.000
$DEVICE_MAMPS,259.335,67.320,1280.610,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.653,837.033,82.132,848.569,0.000,0.000,0.000,0.000,0.000,0.000
$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,70378,1211
$CAP_FILE_SIZE,171722,0
$CFSIZE,2097086464,2087256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.093, 57.3,1
$GPS,181215,142112,-4502.518,627.091,52,1.4,52,-24.4