version: 66.07.10.p01
glider: 574
mission: 18
dive: 129
start: 3 29 112 0 26 5
data:
$ID,574
$MISSION,18
$DIVE,129
$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,-2337738.5
$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,25
$R_STBD_OVSHOOT,33
$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,128
$GPS1,311215,112127,-4502.569,623.688,37,0.9,37,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-79.6
$GPS2,311215,113322,-4502.612,623.699,4,0.9,4,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,17.1,12251,-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,-44.75,0.000,6,0.000,0.000,135,2273,2850,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.1,-1.4,6,94,10.73,2.25,0.00,0.000,4,0.266,0.044,2639,3673,2851,0,0,0,0,0,0
$GC,102,-0.65,-48.7,8.4,-12.7,9,111,0.00,2.30,0.00,0.000,6,0.000,0.039,2639,2257,2851,0,0,0,0,0,0
$GC,161,-0.65,-48.7,19.0,-17.6,18,170,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2254,2851,0,0,0,0,0,0
$GC,219,-0.65,-48.7,29.9,-18.6,27,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2253,2851,0,0,0,0,0,0
$GC,370,-0.65,-48.7,59.1,-18.9,52,381,0.00,2.28,0.00,0.000,4,0.000,0.054,2630,3664,2852,0,0,0,0,0,0
$GC,405,-0.65,-48.7,66.0,-19.5,57,414,0.08,2.25,0.00,0.000,6,0.232,0.041,2652,2262,2852,0,0,0,0,0,0
$GC,755,-0.65,-48.7,128.2,-17.3,104,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2259,2852,0,0,0,0,0,0
$GC,1074,-0.65,-48.7,178.3,-15.2,134,1078,0.00,2.22,0.00,0.000,4,0.000,0.048,2658,849,2853,0,0,0,0,0,0
$GC,1091,-0.65,-48.7,180.9,-14.9,135,1095,0.00,2.25,0.00,0.000,6,0.000,0.048,2649,2262,2853,0,0,0,0,0,0
$GC,1417,-0.65,-48.7,226.8,-14.3,165,1421,0.00,2.22,0.00,0.000,4,0.000,0.056,2638,3672,2853,0,0,0,0,0,0
$GC,1504,-0.65,-48.7,240.1,-15.2,172,1508,0.00,2.20,0.00,0.000,6,0.000,0.043,2639,2261,2853,0,0,0,0,0,0
$GC,1829,-0.65,-48.7,290.3,-15.3,202,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2257,2853,0,0,0,0,0,0
$GC,2147,-0.65,-48.7,337.3,-14.1,232,2151,0.00,2.22,0.00,0.000,4,0.000,0.057,2630,3669,2852,0,0,0,0,0,0
$GC,2225,-0.65,-48.7,349.5,-15.3,238,2234,0.00,2.25,0.00,0.000,6,0.000,0.044,2632,2257,2853,0,0,0,0,0,0
$GC,2553,-0.65,-48.7,396.8,-14.7,269,2555,0.12,0.00,0.00,0.000,6,0.257,0.000,2659,2254,2853,0,0,0,0,0,0
$GC,2873,-0.65,-48.7,439.4,-13.0,286,2877,0.00,2.25,0.00,0.000,4,0.000,0.058,2650,3678,2852,0,0,0,0,0,0
$GC,2954,-0.65,-48.7,450.8,-12.9,289,2962,0.00,2.28,0.00,0.000,6,0.000,0.047,2653,2256,2852,0,0,0,0,0,0
$GC,3273,-0.65,-48.7,491.7,-13.0,305,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2253,2852,0,0,0,0,0,0
$GC,3580,-0.65,-48.7,530.6,-12.2,320,3584,0.00,2.25,0.00,0.000,4,0.000,0.060,2644,3673,2851,0,0,0,0,0,0
$GC,3606,-0.65,-48.7,534.2,-13.2,321,3611,0.00,2.25,0.00,0.000,6,0.000,0.048,2645,2264,2851,0,0,0,0,0,0
$GC,3929,-0.65,-48.7,572.9,-11.8,337,3933,0.00,2.28,0.00,0.000,4,0.000,0.062,2635,3676,2851,0,0,0,0,0,0
$GC,3982,-0.65,-48.7,579.8,-12.1,339,3994,0.00,2.28,0.00,0.000,6,0.000,0.050,2638,2258,2851,0,0,0,0,0,0
$GC,4299,-0.65,-48.7,617.2,-11.9,355,4303,0.00,2.25,0.00,0.000,4,0.000,0.062,2628,3672,2851,0,0,0,0,0,0
$GC,4363,-0.65,-48.7,625.8,-13.0,358,4368,0.00,2.28,0.00,0.000,6,0.000,0.051,2632,2263,2851,0,0,0,0,0,0
$GC,4691,-0.65,-48.7,666.2,-12.5,374,4696,0.12,2.28,0.00,0.000,4,0.260,0.058,2670,836,2851,0,0,0,0,0,0
$GC,4730,-0.65,-48.7,671.0,-11.7,376,4734,0.00,2.28,0.00,0.000,6,0.000,0.054,2660,2264,2851,0,0,0,0,0,0
$GC,5056,-0.65,-48.7,708.0,-11.2,392,5060,0.00,2.25,0.00,0.000,4,0.000,0.063,2649,3682,2850,0,0,0,0,0,0
$GC,5142,-0.65,-48.7,719.3,-12.6,396,5148,0.00,2.30,0.00,0.000,6,0.000,0.053,2650,2258,2850,0,0,0,0,0,0
$GC,5470,-0.65,-48.7,759.8,-12.4,412,5477,0.00,2.28,0.00,0.000,4,0.000,0.064,2640,3679,2850,0,0,0,0,0,0
$GC,5571,-0.65,-48.7,772.8,-12.3,416,5576,0.00,2.30,0.00,0.000,6,0.000,0.054,2644,2258,2850,0,0,0,0,0,0
$GC,5894,-0.65,-48.7,809.8,-11.3,432,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2254,2850,0,0,0,0,0,0
$GC,6202,-0.65,-48.7,842.6,-10.2,447,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2254,2849,0,0,0,0,0,0
$GC,6512,-0.65,-48.7,873.6,-9.9,462,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2254,2849,0,0,0,0,0,0
$GC,6821,-0.65,-48.7,904.2,-9.5,477,6825,0.00,2.28,0.00,0.000,4,0.000,0.067,2635,3671,2849,0,0,0,0,0,0
$GC,6870,-0.65,-48.7,909.3,-10.0,479,6875,0.00,2.30,0.00,0.000,6,0.000,0.057,2635,2255,2848,0,0,0,0,0,0
$GC,7193,-0.65,-48.7,940.1,-9.8,495,7197,0.00,2.25,0.00,0.000,4,0.000,0.063,2639,844,2848,0,0,0,0,0,0
$GC,7214,-0.65,-48.7,942.5,-10.3,496,7219,0.10,2.30,0.00,0.000,6,0.256,0.058,2656,2250,2848,0,0,0,0,0,0
$GC,7544,-0.65,-48.7,971.8,-8.7,512,7548,0.00,2.28,0.00,0.000,4,0.000,0.069,2647,3671,2848,0,0,0,0,0,0
$GC,7598,-0.65,-48.7,977.1,-9.4,514,7606,0.00,2.30,0.00,0.000,6,0.000,0.060,2647,2259,2848,0,0,0,0,0,0
$STATE,7872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7872,begin apogee
$GC,7876,-0.11,0.0,1001.8,9.0,528,7919,0.65,0.00,39.70,1.287,6,0.208,0.000,2829,1977,2650,0,0,0,0,0,0
$STATE,7920,end apogee,CONTROL_FINISHED_OK
$STATE,7920,begin climb
$GC,7921,0.65,48.7,1003.4,0.0,530,7966,0.77,0.00,41.78,1.256,6,0.141,0.000,3071,1976,2451,0,0,0,0,0,0
$GC,8262,0.65,48.7,969.3,10.9,547,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1976,2448,0,0,0,0,0,0
$GC,8572,0.65,48.7,936.5,10.3,562,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1976,2448,0,0,0,0,0,0
$GC,8881,0.65,48.7,905.9,10.1,577,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1976,2448,0,0,0,0,0,0
$GC,9190,0.65,48.7,875.4,10.1,592,9194,0.00,2.25,0.00,0.000,4,0.000,0.058,3081,582,2448,0,0,0,0,0,0
$GC,9233,0.65,48.7,870.7,11.1,594,9238,0.00,2.33,0.00,0.000,6,0.000,0.051,3080,1995,2448,0,0,0,0,0,0
$GC,9561,0.65,48.7,836.1,10.5,610,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1999,2448,0,0,0,0,0,0
$GC,9870,0.65,48.7,804.3,10.2,625,9874,0.00,2.28,0.00,0.000,4,0.000,0.057,3089,581,2447,0,0,0,0,0,0
$GC,9896,0.65,48.7,801.4,10.4,626,9901,0.00,2.30,0.00,0.000,6,0.000,0.050,3088,1989,2447,0,0,0,0,0,0
$GC,10219,0.65,50.1,769.1,9.8,642,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1992,2447,0,0,0,0,0,0
$GC,10528,0.65,54.3,738.7,9.5,657,10539,0.00,2.28,5.40,0.809,4,0.000,0.058,3088,3412,2429,0,0,0,0,0,0
$GC,10582,0.65,54.3,732.7,11.6,659,10590,0.00,2.30,0.00,0.000,6,0.000,0.047,3097,1984,2429,0,0,0,0,0,0
$GC,10898,0.65,54.3,698.1,10.8,675,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1980,2429,0,0,0,0,0,0
$GC,11209,0.65,54.3,664.4,10.5,690,11213,0.00,2.28,0.00,0.000,4,0.000,0.058,3097,3415,2429,0,0,0,0,0,0
$GC,11324,0.65,54.3,651.4,10.8,695,11329,0.00,2.30,0.00,0.000,6,0.000,0.049,3107,1986,2428,0,0,0,0,0,0
$GC,11646,0.65,54.3,618.1,10.3,711,11650,0.00,2.25,0.00,0.000,4,0.000,0.058,3119,578,2429,0,0,0,0,0,0
$GC,11662,0.65,54.3,616.5,10.3,712,11667,0.12,2.25,0.00,0.000,6,0.281,0.050,3088,1994,2429,0,0,0,0,0,0
$GC,11989,0.67,69.0,586.4,8.5,728,12009,0.00,0.00,13.32,0.957,6,0.000,0.000,3088,1995,2367,0,0,0,0,0,0
$GC,12317,0.67,69.4,552.9,9.9,744,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1995,2367,0,0,0,0,0,0
$GC,12626,0.68,73.8,522.6,9.5,759,12633,0.00,0.00,5.15,0.711,6,0.000,0.000,3088,1995,2349,0,0,0,0,0,0
$GC,12936,0.68,75.4,491.8,9.8,774,12940,0.00,2.28,0.00,0.000,4,0.000,0.056,3097,580,2349,0,0,0,0,0,0
$GC,12967,0.68,75.4,488.6,10.0,775,12975,0.00,2.30,0.00,0.000,6,0.000,0.050,3097,1991,2349,0,0,0,0,0,0
$GC,13283,0.68,75.4,454.8,11.0,791,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1993,2348,0,0,0,0,0,0
$GC,13592,0.68,75.4,420.5,11.2,806,13594,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1993,2349,0,0,0,0,0,0
$GC,13905,0.68,75.4,386.8,10.9,826,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1993,2348,0,0,0,0,0,0
$GC,14224,0.69,80.4,355.0,9.5,856,14238,0.00,0.00,6.40,0.711,6,0.000,0.000,3097,1993,2323,0,0,0,0,0,0
$GC,14552,0.69,80.4,322.0,10.1,887,14556,0.00,2.28,0.00,0.000,4,0.000,0.056,3107,572,2323,0,0,0,0,0,0
$GC,14574,0.69,80.4,319.8,10.0,888,14583,0.00,2.30,0.00,0.000,6,0.000,0.050,3107,1989,2323,0,0,0,0,0,0
$GC,14897,0.69,80.4,284.7,11.2,919,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1989,2323,0,0,0,0,0,0
$GC,15219,0.69,80.4,249.4,10.9,949,15220,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1989,2322,0,0,0,0,0,0
$GC,15535,0.69,80.4,212.6,12.1,979,15539,0.00,2.28,0.00,0.000,4,0.000,0.056,3118,579,2323,0,0,0,0,0,0
$GC,15585,0.69,80.4,206.7,11.5,983,15590,0.00,2.25,0.00,0.000,6,0.000,0.049,3117,2000,2323,0,0,0,0,0,0
$GC,15912,0.69,80.4,170.4,10.4,1013,15914,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2000,2322,0,0,0,0,0,0
$GC,16228,0.70,91.8,140.6,8.9,1043,16244,0.00,2.25,10.88,0.705,4,0.000,0.055,3118,3409,2274,0,0,0,0,0,0
$GC,16258,0.71,104.6,138.1,8.7,1045,16275,0.00,2.22,11.45,0.711,6,0.000,0.047,3129,1985,2222,0,0,0,0,0,0
$GC,16595,0.71,104.6,97.5,12.1,1077,16603,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1985,2220,0,0,0,0,0,0
$GC,16948,0.71,104.6,56.5,10.9,1138,16955,0.00,2.25,0.00,0.000,4,0.000,0.057,3139,581,2220,0,0,0,0,0,0
$STATE,17359,end climb,SURFACE_DEPTH_REACHED
$STATE,17359,begin surface coast
$FINISH,1.6,1.026609
$STATE,17373,end surface coast,CONTROL_FINISHED_OK
$STATE,17373,begin surface
$SM_CCo,17390,48.50,0.054,0,0,1752,220.03
$SM_GC,3.05,0.00,0.00,48.50,0.000,0.000,0.054,144,2272,1752,-8.53,0.34,220.03
$IRIDIUM_FIX,-4444.39,624.79,261008,090931
$TT8_MAMPS,0.026215
$HUMID,48.42
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.9,20.507
$10V_AH,10.2,18.160
$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,20.775,114.325,134.075,48.500,0.000,27.040,18.382,533.813,24.750,0.000,8.389,3176.343,11319.648,362.696,3148.573,146.344,0.000,1420.721,0.000,2487.680,0.000,148.531,0.000
$DEVICE_MAMPS,280.755,68.850,1286.730,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.434,837.382,71.945,792.484,0.000,0.000,0.000,0.000,0.000,0.000
$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,70201,1209
$CAP_FILE_SIZE,160039,0
$CFSIZE,2097086464,2079162368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.079, 72.9,1
$GPS,311215,162634,-4500.967,624.664,78,1.2,78,-24.4