version: 66.07.10.p01
glider: 574
mission: 18
dive: 74
start: 3 17 112 9 31 20
data:
$ID,574
$MISSION,18
$DIVE,74
$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,-2331957
$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,30
$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,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,73
$GPS1,191215,202303,-4502.802,625.601,69,1.0,70,-24.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-76.7
$GPS2,191215,203752,-4502.750,626.054,17,0.9,18,-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,251.8,3546,-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,-0.65,-48.7,0.0,0.0,0,74,0.00,0.00,-44.83,0.000,6,0.000,0.000,137,2241,2850,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.2,-2.3,6,93,10.70,2.30,0.00,0.000,4,0.252,0.041,2639,3689,2851,0,0,0,0,0,0
$GC,310,-0.65,-48.7,44.8,-16.7,44,318,0.00,2.28,0.00,0.000,6,0.000,0.042,2645,2262,2851,0,0,0,0,0,0
$GC,663,-0.65,-48.7,100.3,-15.4,105,667,0.00,2.28,0.00,0.000,4,0.000,0.055,2635,3680,2852,0,0,0,0,0,0
$GC,818,-0.65,-48.7,125.8,-15.3,118,822,0.00,2.22,0.00,0.000,6,0.000,0.041,2638,2258,2851,0,0,0,0,0,0
$GC,1142,-0.65,-48.7,175.6,-15.2,148,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2255,2853,0,0,0,0,0,0
$GC,1461,-0.65,-48.7,220.3,-14.0,178,1465,0.00,2.20,0.00,0.000,4,0.000,0.049,2644,849,2853,0,0,0,0,0,0
$GC,1504,-0.65,-48.7,225.8,-13.8,181,1508,0.00,2.25,0.00,0.000,6,0.000,0.048,2635,2269,2853,0,0,0,0,0,0
$GC,1828,-0.65,-48.7,274.5,-15.8,211,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2270,2853,0,0,0,0,0,0
$GC,2149,-0.65,-48.7,325.3,-15.9,241,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2270,2853,0,0,0,0,0,0
$GC,2464,-0.65,-48.7,375.3,-15.3,271,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2270,2853,0,0,0,0,0,0
$GC,2779,-0.65,-48.7,423.4,-15.6,294,2783,0.00,2.20,0.00,0.000,4,0.000,0.058,2624,3672,2853,0,0,0,0,0,0
$GC,2804,-0.65,-48.7,427.8,-15.7,295,2810,0.08,2.22,0.00,0.000,6,0.205,0.044,2652,2264,2852,0,0,0,0,0,0
$GC,3128,-0.65,-48.7,473.0,-13.6,311,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,2852,0,0,0,0,0,0
$GC,3435,-0.65,-48.7,516.1,-13.9,326,3439,0.00,2.25,0.00,0.000,4,0.000,0.053,2662,840,2852,0,0,0,0,0,0
$GC,3453,-0.65,-48.7,518.5,-14.0,327,3457,0.00,2.25,0.00,0.000,6,0.000,0.051,2653,2263,2852,0,0,0,0,0,0
$GC,3781,-0.65,-48.7,563.2,-13.5,343,3785,0.00,2.22,0.00,0.000,4,0.000,0.060,2642,3678,2851,0,0,0,0,0,0
$GC,3891,-0.65,-48.7,579.0,-14.0,348,3896,0.00,2.25,0.00,0.000,6,0.000,0.046,2645,2260,2851,0,0,0,0,0,0
$GC,4221,-0.65,-48.7,621.0,-12.3,364,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2256,2851,0,0,0,0,0,0
$GC,4528,-0.65,-48.7,658.8,-12.0,379,4532,0.00,2.22,0.00,0.000,4,0.000,0.054,2645,839,2851,0,0,0,0,0,0
$GC,4548,-0.65,-48.7,661.5,-12.0,380,4553,0.00,2.30,0.00,0.000,6,0.000,0.051,2635,2264,2850,0,0,0,0,0,0
$GC,4876,-0.65,-48.7,701.4,-12.0,396,4880,0.00,2.22,0.00,0.000,4,0.000,0.053,2638,848,2850,0,0,0,0,0,0
$GC,4907,-0.65,-48.7,705.7,-12.8,397,4916,0.10,2.28,0.00,0.000,6,0.196,0.050,2657,2259,2850,0,0,0,0,0,0
$GC,5227,-0.65,-48.7,740.9,-10.7,413,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2259,2849,0,0,0,0,0,0
$GC,5533,-0.65,-48.7,775.1,-10.8,428,5537,0.00,2.22,0.00,0.000,4,0.000,0.063,2647,3668,2849,0,0,0,0,0,0
$GC,5631,-0.65,-48.7,786.4,-11.7,432,5640,0.00,2.25,0.00,0.000,6,0.000,0.050,2652,2259,2849,0,0,0,0,0,0
$GC,5948,-0.65,-48.7,820.4,-10.7,448,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2258,2849,0,0,0,0,0,0
$GC,6258,-0.65,-48.7,851.8,-10.3,463,6262,0.00,2.22,0.00,0.000,4,0.000,0.058,2659,849,2849,0,0,0,0,0,0
$GC,6306,-0.65,-48.7,857.2,-10.6,465,6312,0.00,2.28,0.00,0.000,6,0.000,0.053,2649,2257,2849,0,0,0,0,0,0
$GC,6629,-0.65,-48.7,889.8,-10.2,481,6633,0.00,2.25,0.00,0.000,4,0.000,0.064,2638,3679,2848,0,0,0,0,0,0
$GC,6688,-0.65,-48.7,896.8,-11.9,483,6696,0.00,2.28,0.00,0.000,6,0.000,0.052,2644,2256,2848,0,0,0,0,0,0
$GC,7004,-0.65,-48.7,929.7,-10.2,499,7011,0.00,2.22,0.00,0.000,4,0.000,0.059,2645,848,2848,0,0,0,0,0,0
$GC,7082,-0.65,-48.7,938.2,-10.4,502,7087,0.00,2.28,0.00,0.000,6,0.000,0.054,2635,2255,2848,0,0,0,0,0,0
$GC,7404,-0.65,-48.7,972.4,-10.3,518,7408,0.00,2.25,0.00,0.000,4,0.000,0.065,2624,3677,2847,0,0,0,0,0,0
$GC,7452,-0.65,-48.7,978.0,-10.6,520,7458,0.08,2.28,0.00,0.000,6,0.193,0.053,2653,2258,2848,0,0,0,0,0,0
$STATE,7712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7712,begin apogee
$GC,7716,-0.11,0.0,1001.5,8.6,533,7759,0.60,0.00,39.75,1.297,6,0.166,0.000,2830,1983,2650,0,0,0,0,0,0
$STATE,7760,end apogee,CONTROL_FINISHED_OK
$STATE,7760,begin climb
$GC,7761,0.65,48.7,1003.3,0.0,535,7810,0.75,2.42,41.67,1.265,4,0.106,0.059,3083,579,2450,0,0,0,0,0,0
$GC,7847,0.65,48.7,996.6,11.1,539,7853,0.00,2.42,0.00,0.000,6,0.000,0.051,3082,1991,2449,0,0,0,0,0,0
$GC,8175,0.65,48.7,959.4,11.3,555,8179,0.00,2.30,0.00,0.000,4,0.000,0.061,3082,3403,2448,0,0,0,0,0,0
$GC,8196,0.65,48.7,956.9,11.7,556,8201,0.00,2.33,0.00,0.000,6,0.000,0.049,3092,1993,2448,0,0,0,0,0,0
$GC,8525,0.65,48.7,918.8,11.3,572,8529,0.00,2.33,0.00,0.000,4,0.000,0.060,3103,580,2448,0,0,0,0,0,0
$GC,8573,0.65,48.7,912.5,12.3,574,8578,0.00,2.33,0.00,0.000,6,0.000,0.051,3097,1988,2448,0,0,0,0,0,0
$GC,8895,0.65,48.7,875.9,11.4,590,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1991,2448,0,0,0,0,0,0
$GC,9205,0.65,48.7,842.1,10.7,605,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1990,2447,0,0,0,0,0,0
$GC,9514,0.65,48.7,809.0,10.4,620,9518,0.00,2.30,0.00,0.000,4,0.000,0.058,3106,578,2447,0,0,0,0,0,0
$GC,9601,0.65,48.7,799.8,10.5,624,9606,0.00,2.33,0.00,0.000,6,0.000,0.052,3102,1998,2447,0,0,0,0,0,0
$GC,9929,0.65,50.7,767.7,9.8,640,9933,0.00,2.28,0.00,0.000,4,0.000,0.060,3102,3416,2447,0,0,0,0,0,0
$GC,10023,0.65,50.7,757.4,10.9,644,10028,0.10,2.30,0.00,0.000,6,0.209,0.049,3085,1986,2447,0,0,0,0,0,0
$GC,10346,0.66,61.6,727.5,8.9,660,10359,0.00,0.00,11.20,1.006,6,0.000,0.000,3085,1981,2397,0,0,0,0,0,0
$GC,10654,0.66,61.6,696.9,10.2,675,10658,0.00,2.25,0.00,0.000,4,0.000,0.058,3095,580,2397,0,0,0,0,0,0
$GC,10715,0.66,61.6,690.2,11.7,678,10719,0.00,2.28,0.00,0.000,6,0.000,0.052,3095,1998,2397,0,0,0,0,0,0
$GC,11040,0.66,61.6,655.3,11.0,694,11044,0.00,2.30,0.00,0.000,4,0.000,0.058,3105,569,2397,0,0,0,0,0,0
$GC,11082,0.66,61.6,650.2,11.1,696,11087,0.00,2.33,0.00,0.000,6,0.000,0.050,3103,1992,2397,0,0,0,0,0,0
$GC,11411,0.66,61.6,611.1,12.4,712,11415,0.00,2.28,0.00,0.000,4,0.000,0.058,3113,575,2397,0,0,0,0,0,0
$GC,11522,0.66,61.6,596.8,12.8,717,11527,0.00,2.30,0.00,0.000,6,0.000,0.051,3113,1991,2397,0,0,0,0,0,0
$GC,11851,0.66,61.6,556.8,11.8,733,11855,0.00,2.22,0.00,0.000,4,0.000,0.059,3112,3404,2396,0,0,0,0,0,0
$GC,11871,0.66,61.6,553.9,12.3,734,11877,0.12,2.28,0.00,0.000,6,0.203,0.048,3089,1980,2396,0,0,0,0,0,0
$GC,12200,0.66,61.6,517.7,11.3,750,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1977,2397,0,0,0,0,0,0
$GC,12510,0.66,61.6,484.3,10.8,765,12514,0.00,2.25,0.00,0.000,4,0.000,0.059,3088,3403,2396,0,0,0,0,0,0
$GC,12548,0.66,61.6,479.7,11.8,767,12552,0.00,2.22,0.00,0.000,6,0.000,0.048,3097,1981,2396,0,0,0,0,0,0
$GC,12874,0.66,61.6,445.0,10.5,783,12878,0.00,2.22,0.00,0.000,4,0.000,0.059,3108,582,2397,0,0,0,0,0,0
$GC,13004,0.66,63.8,431.8,9.7,789,13008,0.00,2.28,0.00,0.000,6,0.000,0.050,3108,2004,2397,0,0,0,0,0,0
$GC,13330,0.66,63.8,398.6,10.0,805,13334,0.00,2.28,0.00,0.000,4,0.000,0.057,3119,581,2396,0,0,0,0,0,0
$GC,13357,0.67,68.6,396.0,9.5,807,13370,0.12,2.22,6.85,0.749,6,0.206,0.050,3090,1991,2369,0,0,0,0,0,0
$GC,13687,0.67,70.3,363.4,9.8,838,13691,0.00,2.22,0.00,0.000,4,0.000,0.059,3088,3403,2369,0,0,0,0,0,0
$GC,13728,0.67,70.3,359.3,10.4,841,13732,0.00,2.22,0.00,0.000,6,0.000,0.047,3097,1980,2370,0,0,0,0,0,0
$GC,14053,0.68,77.6,328.1,9.3,871,14068,0.00,2.33,8.55,0.760,4,0.000,0.057,3098,3402,2332,0,0,0,0,0,0
$GC,14136,0.68,77.6,318.6,11.2,878,14144,0.00,2.28,0.00,0.000,6,0.000,0.047,3107,1985,2332,0,0,0,0,0,0
$GC,14465,0.68,77.6,282.8,11.2,909,14469,0.00,2.25,0.00,0.000,4,0.000,0.058,3118,574,2332,0,0,0,0,0,0
$GC,14634,0.68,77.6,262.5,12.6,923,14642,0.00,2.30,0.00,0.000,6,0.000,0.050,3118,1988,2332,0,0,0,0,0,0
$GC,14960,0.68,77.6,225.0,10.9,954,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1988,2332,0,0,0,0,0,0
$GC,15279,0.68,77.6,191.4,10.3,984,15280,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1988,2332,0,0,0,0,0,0
$GC,15597,0.68,77.6,158.3,11.0,1014,15601,0.00,2.25,0.00,0.000,4,0.000,0.057,3129,575,2332,0,0,0,0,0,0
$GC,16174,0.68,77.6,95.9,10.3,1067,16182,0.15,2.25,0.00,0.000,6,0.198,0.048,3093,2003,2332,0,0,0,0,0,0
$GC,16524,0.68,77.6,61.2,11.0,1128,16533,0.00,2.33,0.00,0.000,4,0.000,0.058,3102,574,2333,0,0,0,0,0,0
$GC,17005,0.68,77.6,12.4,12.6,1209,17014,0.00,2.28,0.00,0.000,6,0.000,0.051,3102,1985,2333,0,0,0,0,0,0
$GC,17064,0.68,78.9,6.4,9.8,1218,17073,0.00,2.25,0.00,0.000,4,0.000,0.059,3102,3392,2334,0,0,0,0,0,0
$STATE,17098,end climb,SURFACE_DEPTH_REACHED
$STATE,17098,begin surface coast
$FINISH,1.1,1.026649
$STATE,17130,end surface coast,CONTROL_FINISHED_OK
$STATE,17130,begin surface
$SM_CCo,17146,60.12,0.057,0,0,1752,220.03
$SM_GC,2.45,0.00,0.00,60.12,0.000,0.000,0.057,145,2248,1752,-8.52,-0.34,220.03
$IRIDIUM_FIX,-4441.36,624.45,151008,040402
$TT8_MAMPS,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,23.8,15.412
$10V_AH,10.3,11.229
$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,20.825,140.700,108.025,60.125,0.000,32.740,45.670,670.548,24.750,0.000,21.132,3309.681,10710.933,336.399,3609.705,131.093,0.000,1483.337,0.000,2757.960,0.000,150.217,0.000
$DEVICE_MAMPS,252.450,65.025,1297.440,57.375,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.329,836.577,86.583,878.432,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,70200,1228
$CAP_FILE_SIZE,171200,0
$CFSIZE,2097086464,2086338560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.099, 47.6,1
$GPS,201215,012800,-4502.848,625.540,126,1.7,126,-24.4