version: 66.07.10.p01
glider: 574
mission: 18
dive: 113
start: 3 25 112 15 6 33
data:
$ID,574
$MISSION,18
$DIVE,113
$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,-2336106.2
$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,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,23
$R_STBD_OVSHOOT,31
$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,112
$GPS1,281215,015927,-4504.074,633.716,109,0.9,109,-24.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-75.4
$GPS2,281215,021337,-4503.956,633.887,4,0.9,4,-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,303.5,12933,-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,-48.7,0.0,0.0,0,74,0.00,0.00,-45.03,0.000,6,0.000,0.000,145,2266,2851,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.3,-2.3,6,93,10.43,2.25,0.00,0.000,4,0.245,0.031,2658,831,2852,0,0,0,0,0,0
$GC,436,-0.65,-48.7,65.9,-16.9,66,445,0.00,2.33,0.00,0.000,6,0.000,0.047,2649,2254,2852,0,0,0,0,0,0
$GC,783,-0.65,-48.7,125.3,-15.8,114,787,0.00,2.22,0.00,0.000,4,0.000,0.044,2650,836,2853,0,0,0,0,0,0
$GC,926,-0.65,-48.7,148.1,-14.4,126,930,0.00,2.28,0.00,0.000,6,0.000,0.046,2641,2272,2854,0,0,0,0,0,0
$GC,1251,-0.65,-48.7,200.7,-16.1,156,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2273,2854,0,0,0,0,0,0
$GC,1569,-0.65,-48.7,253.9,-16.7,186,1573,0.00,2.20,0.00,0.000,4,0.000,0.054,2630,3679,2854,0,0,0,0,0,0
$GC,1715,-0.65,-48.7,279.0,-16.6,198,1724,0.08,2.25,0.00,0.000,6,0.194,0.039,2653,2251,2854,0,0,0,0,0,0
$GC,2044,-0.65,-48.7,327.3,-14.3,229,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2247,2854,0,0,0,0,0,0
$GC,2359,-0.65,-48.7,372.7,-13.9,259,2363,0.00,2.25,0.00,0.000,4,0.000,0.056,2644,3678,2854,0,0,0,0,0,0
$GC,2436,-0.65,-48.7,383.2,-14.2,265,2440,0.00,2.20,0.00,0.000,6,0.000,0.041,2644,2252,2853,0,0,0,0,0,0
$GC,2764,-0.65,-48.7,427.5,-12.9,286,2768,0.00,2.22,0.00,0.000,4,0.000,0.055,2635,3669,2853,0,0,0,0,0,0
$GC,2803,-0.65,-48.7,433.0,-13.9,288,2807,0.00,2.17,0.00,0.000,6,0.000,0.042,2635,2261,2853,0,0,0,0,0,0
$GC,3129,-0.65,-48.7,476.8,-13.6,304,3133,0.00,2.22,0.00,0.000,4,0.000,0.057,2625,3672,2853,0,0,0,0,0,0
$GC,3216,-0.65,-48.7,489.9,-14.9,308,3225,0.08,2.22,0.00,0.000,6,0.200,0.044,2647,2263,2853,0,0,0,0,0,0
$GC,3547,-0.65,-48.7,533.6,-13.3,324,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2259,2852,0,0,0,0,0,0
$GC,3855,-0.65,-48.7,574.4,-13.2,339,3859,0.00,2.22,0.00,0.000,4,0.000,0.058,2638,3671,2852,0,0,0,0,0,0
$GC,3947,-0.65,-48.7,587.2,-13.8,343,3952,0.00,2.25,0.00,0.000,6,0.000,0.046,2639,2256,2852,0,0,0,0,0,0
$GC,4269,-0.65,-48.7,628.5,-12.4,359,4274,0.00,2.22,0.00,0.000,4,0.000,0.057,2629,3668,2852,0,0,0,0,0,0
$GC,4309,-0.65,-48.7,633.4,-12.4,361,4314,0.12,2.20,0.00,0.000,6,0.217,0.046,2660,2251,2852,0,0,0,0,0,0
$GC,4636,-0.65,-48.7,669.8,-10.8,377,4640,0.00,2.20,0.00,0.000,4,0.000,0.054,2671,842,2851,0,0,0,0,0,0
$GC,4689,-0.65,-48.7,675.6,-10.0,379,4694,0.00,2.28,0.00,0.000,6,0.000,0.051,2662,2252,2851,0,0,0,0,0,0
$GC,5011,-0.65,-48.7,709.8,-11.0,395,5016,0.00,2.25,0.00,0.000,4,0.000,0.061,2651,3679,2851,0,0,0,0,0,0
$GC,5059,-0.65,-48.7,716.0,-12.0,397,5064,0.00,2.25,0.00,0.000,6,0.000,0.047,2651,2262,2851,0,0,0,0,0,0
$GC,5388,-0.65,-48.7,753.8,-11.6,413,5392,0.00,2.25,0.00,0.000,4,0.000,0.061,2641,3680,2850,0,0,0,0,0,0
$GC,5427,-0.65,-48.7,758.7,-12.4,415,5431,0.00,2.22,0.00,0.000,6,0.000,0.049,2643,2254,2850,0,0,0,0,0,0
$GC,5753,-0.65,-48.7,797.2,-11.5,431,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2250,2850,0,0,0,0,0,0
$GC,6062,-0.65,-48.7,832.2,-10.8,446,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2250,2850,0,0,0,0,0,0
$GC,6372,-0.65,-48.7,863.9,-10.0,461,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2250,2850,0,0,0,0,0,0
$GC,6681,-0.65,-48.7,895.8,-10.4,476,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2250,2850,0,0,0,0,0,0
$GC,6992,-0.65,-48.7,926.7,-9.4,491,6996,0.00,2.25,0.00,0.000,4,0.000,0.061,2634,3670,2849,0,0,0,0,0,0
$GC,7008,-0.65,-48.7,928.5,-9.6,492,7012,0.00,2.22,0.00,0.000,6,0.000,0.050,2634,2252,2849,0,0,0,0,0,0
$GC,7335,-0.65,-48.7,961.7,-10.0,508,7339,0.00,2.25,0.00,0.000,4,0.000,0.062,2623,3669,2849,0,0,0,0,0,0
$GC,7378,-0.65,-48.7,966.4,-10.5,510,7384,0.10,2.25,0.00,0.000,6,0.203,0.052,2654,2263,2849,0,0,0,0,0,0
$GC,7706,-0.65,-48.7,993.1,-8.0,526,7710,0.00,2.25,0.00,0.000,4,0.000,0.064,2645,3673,2849,0,0,0,0,0,0
$GC,7732,-0.65,-48.7,995.6,-9.3,527,7736,0.00,2.28,0.00,0.000,6,0.000,0.054,2646,2259,2849,0,0,0,0,0,0
$STATE,7805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7806,begin apogee
$GC,7810,-0.11,0.0,1001.7,8.6,531,7853,0.65,0.00,39.92,1.294,6,0.210,0.000,2826,1982,2650,0,0,0,0,0,0
$STATE,7853,end apogee,CONTROL_FINISHED_OK
$STATE,7853,begin climb
$GC,7855,0.65,48.7,1003.2,0.0,533,7900,0.80,0.00,41.85,1.265,6,0.113,0.000,3078,1982,2450,0,0,0,0,0,0
$GC,8217,0.65,48.7,962.8,12.1,551,8221,0.00,2.35,0.00,0.000,4,0.000,0.060,3078,3408,2448,0,0,0,0,0,0
$GC,8254,0.65,48.7,957.5,14.0,552,8264,0.00,2.33,0.00,0.000,6,0.000,0.048,3089,1997,2448,0,0,0,0,0,0
$GC,8571,0.65,48.7,919.3,11.6,568,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1995,2448,0,0,0,0,0,0
$GC,8880,0.65,48.7,884.4,10.8,583,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1994,2447,0,0,0,0,0,0
$GC,9191,0.65,48.7,852.0,10.5,598,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1995,2447,0,0,0,0,0,0
$GC,9501,0.65,48.7,817.2,11.8,613,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1995,2447,0,0,0,0,0,0
$GC,9810,0.65,48.7,783.8,10.2,628,9814,0.00,2.28,0.00,0.000,4,0.000,0.057,3100,577,2447,0,0,0,0,0,0
$GC,9920,0.65,54.7,772.2,9.4,633,9931,0.00,2.30,5.97,0.864,6,0.000,0.050,3098,1992,2425,0,0,0,0,0,0
$GC,10241,0.65,54.7,738.3,10.6,648,10245,0.00,2.25,0.00,0.000,4,0.000,0.059,3097,3410,2425,0,0,0,0,0,0
$GC,10318,0.65,54.7,729.3,11.5,651,10326,0.00,2.30,0.00,0.000,6,0.000,0.049,3106,1982,2425,0,0,0,0,0,0
$GC,10634,0.65,54.7,694.8,10.8,667,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1979,2424,0,0,0,0,0,0
$GC,10943,0.65,54.7,663.5,10.2,682,10948,0.00,2.25,0.00,0.000,4,0.000,0.059,3118,572,2425,0,0,0,0,0,0
$GC,10992,0.65,54.7,658.4,10.1,684,10998,0.10,2.30,0.00,0.000,6,0.281,0.050,3088,1991,2425,0,0,0,0,0,0
$GC,11314,0.66,59.0,627.8,9.5,700,11320,0.00,0.00,4.93,0.731,6,0.000,0.000,3088,1992,2408,0,0,0,0,0,0
$GC,11623,0.66,59.0,596.1,10.3,715,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1992,2408,0,0,0,0,0,0
$GC,11932,0.66,59.6,565.8,9.9,730,11936,0.00,2.22,0.00,0.000,4,0.000,0.058,3087,3403,2408,0,0,0,0,0,0
$GC,12043,0.66,59.6,553.9,11.2,735,12048,0.00,2.28,0.00,0.000,6,0.000,0.048,3097,1980,2407,0,0,0,0,0,0
$GC,12370,0.67,66.4,522.7,9.3,751,12385,0.00,2.35,7.35,0.821,4,0.000,0.057,3097,3405,2378,0,0,0,0,0,0
$GC,12401,0.67,66.4,519.3,10.4,752,12406,0.00,2.28,0.00,0.000,6,0.000,0.047,3106,1986,2378,0,0,0,0,0,0
$GC,12723,0.67,66.9,486.7,9.9,768,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1982,2379,0,0,0,0,0,0
$GC,13032,0.67,69.3,456.5,9.7,783,13038,0.00,0.00,4.35,0.617,6,0.000,0.000,3106,1982,2366,0,0,0,0,0,0
$GC,13341,0.67,69.3,424.5,10.3,798,13345,0.00,2.25,0.00,0.000,4,0.000,0.058,3117,575,2367,0,0,0,0,0,0
$GC,13380,0.67,69.3,420.4,11.2,800,13385,0.00,2.25,0.00,0.000,6,0.000,0.049,3117,1993,2367,0,0,0,0,0,0
$GC,13704,0.67,69.3,386.8,10.4,821,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1995,2367,0,0,0,0,0,0
$GC,14029,0.67,69.3,350.7,11.0,852,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1995,2367,0,0,0,0,0,0
$GC,14347,0.67,69.3,317.5,10.1,882,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1995,2367,0,0,0,0,0,0
$GC,14666,0.67,69.9,284.8,9.9,912,14670,0.00,2.25,0.00,0.000,4,0.000,0.057,3127,580,2367,0,0,0,0,0,0
$GC,14706,0.67,69.9,280.7,10.0,915,14711,0.15,2.22,0.00,0.000,6,0.278,0.050,3093,1991,2366,0,0,0,0,0,0
$GC,15033,0.69,80.7,251.2,8.9,945,15048,0.00,2.25,10.12,0.749,4,0.000,0.058,3088,3405,2320,0,0,0,0,0,0
$GC,15135,0.69,80.7,240.3,11.2,954,15139,0.00,2.22,0.00,0.000,6,0.000,0.047,3097,1985,2320,0,0,0,0,0,0
$GC,15459,0.69,84.0,207.0,9.6,984,15474,0.00,2.30,4.28,0.523,4,0.000,0.057,3108,582,2307,0,0,0,0,0,0
$GC,15479,0.69,85.0,204.9,9.9,985,15486,0.00,2.28,0.00,0.000,6,0.000,0.050,3108,1987,2307,0,0,0,0,0,0
$GC,15804,0.69,85.0,169.7,11.5,1016,15808,0.00,2.22,0.00,0.000,4,0.000,0.057,3108,3403,2307,0,0,0,0,0,0
$GC,15847,0.69,85.0,164.1,12.2,1019,15855,0.00,2.28,0.00,0.000,6,0.000,0.047,3119,1984,2306,0,0,0,0,0,0
$GC,16173,0.69,85.0,127.3,10.6,1050,16177,0.00,2.25,0.00,0.000,4,0.000,0.056,3118,3410,2307,0,0,0,0,0,0
$GC,16239,0.69,85.0,120.0,10.0,1055,16247,0.10,2.28,0.00,0.000,6,0.197,0.047,3101,1986,2306,0,0,0,0,0,0
$GC,16573,0.71,102.1,90.9,8.3,1095,16595,0.00,2.28,15.25,0.697,4,0.000,0.056,3111,575,2233,0,0,0,0,0,0
$GC,16654,0.71,102.1,82.8,10.5,1108,16662,0.00,2.28,0.00,0.000,6,0.000,0.050,3111,1993,2232,0,0,0,0,0,0
$GC,17002,0.71,102.1,44.3,11.0,1169,17008,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1994,2232,0,0,0,0,0,0
$STATE,17361,end climb,SURFACE_DEPTH_REACHED
$STATE,17361,begin surface coast
$FINISH,1.5,1.026633
$STATE,17388,end surface coast,CONTROL_FINISHED_OK
$STATE,17388,begin surface
$SM_CCo,17403,49.72,0.056,0,0,1752,220.03
$SM_GC,2.98,0.00,0.00,49.72,0.000,0.000,0.056,140,2281,1752,-8.54,0.59,220.03
$IRIDIUM_FIX,-4447.43,631.19,231008,101029
$TT8_MAMPS,0.026215
$HUMID,48.62
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,19.089
$10V_AH,10.3,16.137
$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,20.650,122.600,134.025,49.725,0.000,29.495,24.259,664.005,24.750,0.000,8.433,3273.538,11107.903,341.421,3437.324,142.712,0.000,1437.761,0.000,2636.501,0.000,148.572,0.000
$DEVICE_MAMPS,280.755,64.260,1293.615,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.942,848.129,83.397,861.897,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354168
$DATA_FILE_SIZE,70252,1233
$CAP_FILE_SIZE,167132,0
$CFSIZE,2097086464,2081226752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.045, 90.9,1
$GPS,281215,070621,-4503.716,632.692,36,1.0,36,-24.4