version: 66.07.10.p01
glider: 574
mission: 18
dive: 134
start: 3 30 112 1 28 16
data:
$ID,574
$MISSION,18
$DIVE,134
$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,-2338084.8
$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,24
$R_STBD_OVSHOOT,29
$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,133
$GPS1,010116,122327,-4455.876,624.140,34,1.3,34,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-71.4
$GPS2,010116,123536,-4455.773,624.216,20,1.0,20,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,127.2,15455,-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,-44.72,0.000,6,0.000,0.000,144,2278,2850,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.5,-2.4,6,94,10.43,2.30,0.00,0.000,4,0.250,0.039,2659,839,2851,0,0,0,0,0,0
$GC,427,-0.65,-48.7,67.8,-16.2,64,434,0.00,2.28,0.00,0.000,6,0.000,0.047,2650,2257,2852,0,0,0,0,0,0
$GC,773,-0.65,-48.7,128.2,-17.7,111,777,0.00,2.25,0.00,0.000,4,0.000,0.054,2639,3679,2854,0,0,0,0,0,0
$GC,880,-0.65,-48.7,146.5,-16.0,120,884,0.00,2.22,0.00,0.000,6,0.000,0.039,2640,2249,2852,0,0,0,0,0,0
$GC,1204,-0.65,-48.7,197.0,-16.2,150,1208,0.00,2.25,0.00,0.000,4,0.000,0.053,2629,3671,2853,0,0,0,0,0,0
$GC,1220,-0.65,-48.7,199.5,-15.5,151,1225,0.12,2.20,0.00,0.000,6,0.210,0.039,2660,2254,2853,0,0,0,0,0,0
$GC,1550,-0.65,-48.7,246.7,-13.5,182,1554,0.00,2.25,0.00,0.000,4,0.000,0.055,2651,3675,2853,0,0,0,0,0,0
$GC,1727,-0.65,-48.7,271.9,-14.2,197,1735,0.00,2.22,0.00,0.000,6,0.000,0.039,2650,2264,2853,0,0,0,0,0,0
$GC,2054,-0.65,-48.7,315.8,-13.3,228,2058,0.00,2.25,0.00,0.000,4,0.000,0.056,2641,3672,2853,0,0,0,0,0,0
$GC,2351,-0.65,-48.7,359.2,-14.4,254,2355,0.00,2.22,0.00,0.000,6,0.000,0.043,2642,2252,2852,0,0,0,0,0,0
$GC,2679,-0.65,-48.7,406.2,-14.4,283,2683,0.00,2.25,0.00,0.000,4,0.000,0.055,2632,3675,2852,0,0,0,0,0,0
$GC,2903,-0.65,-48.7,441.0,-15.2,293,2908,0.12,2.22,0.00,0.000,6,0.255,0.042,2660,2259,2852,0,0,0,0,0,0
$GC,3223,-0.65,-48.7,485.1,-13.7,309,3227,0.00,2.25,0.00,0.000,4,0.000,0.057,2651,3671,2852,0,0,0,0,0,0
$GC,3299,-0.65,-48.7,496.1,-13.9,312,3305,0.00,2.25,0.00,0.000,6,0.000,0.044,2651,2257,2852,0,0,0,0,0,0
$GC,3622,-0.65,-48.7,539.5,-13.1,328,3629,0.00,2.25,0.00,0.000,4,0.000,0.057,2641,3679,2852,0,0,0,0,0,0
$GC,3701,-0.65,-48.7,550.7,-14.5,331,3706,0.00,2.25,0.00,0.000,6,0.000,0.044,2642,2260,2851,0,0,0,0,0,0
$GC,4024,-0.65,-48.7,593.1,-13.4,347,4028,0.00,2.22,0.00,0.000,4,0.000,0.057,2633,3669,2852,0,0,0,0,0,0
$GC,4153,-0.65,-48.7,611.2,-14.5,353,4157,0.00,2.20,0.00,0.000,6,0.000,0.045,2633,2259,2851,0,0,0,0,0,0
$GC,4479,-0.65,-48.7,653.6,-13.1,369,4483,0.00,2.22,0.00,0.000,4,0.000,0.057,2623,3669,2851,0,0,0,0,0,0
$GC,4631,-0.65,-48.7,674.3,-13.5,376,4635,0.15,2.22,0.00,0.000,6,0.245,0.047,2658,2255,2851,0,0,0,0,0,0
$GC,4959,-0.65,-48.7,711.3,-11.0,392,4963,0.00,2.25,0.00,0.000,4,0.000,0.059,2649,3672,2850,0,0,0,0,0,0
$GC,5059,-0.65,-48.7,723.2,-10.9,396,5067,0.00,2.25,0.00,0.000,6,0.000,0.047,2649,2264,2851,0,0,0,0,0,0
$GC,5375,-0.65,-48.7,758.4,-11.6,412,5379,0.00,2.25,0.00,0.000,4,0.000,0.061,2640,3666,2850,0,0,0,0,0,0
$GC,5415,-0.65,-48.7,763.5,-12.9,414,5419,0.00,2.22,0.00,0.000,6,0.000,0.048,2641,2251,2850,0,0,0,0,0,0
$GC,5741,-0.65,-48.7,802.6,-11.4,430,5745,0.00,2.25,0.00,0.000,4,0.000,0.060,2631,3667,2850,0,0,0,0,0,0
$GC,5847,-0.65,-48.7,815.4,-12.4,435,5851,0.12,2.22,0.00,0.000,6,0.231,0.050,2660,2254,2850,0,0,0,0,0,0
$GC,6181,-0.65,-48.7,850.4,-10.2,451,6185,0.00,2.25,0.00,0.000,4,0.000,0.061,2651,3667,2849,0,0,0,0,0,0
$GC,6319,-0.65,-48.7,866.3,-10.9,457,6323,0.00,2.25,0.00,0.000,6,0.000,0.050,2651,2266,2850,0,0,0,0,0,0
$GC,6640,-0.65,-48.7,899.4,-9.7,473,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2261,2849,0,0,0,0,0,0
$GC,6952,-0.65,-48.7,930.6,-10.3,488,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2261,2849,0,0,0,0,0,0
$GC,7259,-0.65,-48.7,962.2,-10.3,503,7263,0.00,2.25,0.00,0.000,4,0.000,0.063,2641,3670,2849,0,0,0,0,0,0
$GC,7324,-0.65,-48.7,969.1,-10.4,506,7329,0.00,2.28,0.00,0.000,6,0.000,0.053,2641,2262,2848,0,0,0,0,0,0
$STATE,7651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7651,begin apogee
$GC,7655,-0.11,0.0,1002.1,10.3,522,7698,0.68,0.00,39.88,1.292,6,0.200,0.000,2831,1974,2650,0,0,0,0,0,0
$STATE,7699,end apogee,CONTROL_FINISHED_OK
$STATE,7699,begin climb
$GC,7700,0.65,48.7,1004.1,0.0,524,7748,0.75,2.45,41.65,1.267,4,0.125,0.059,3072,3400,2450,0,0,0,0,0,0
$GC,7761,0.67,72.0,1000.9,7.7,527,7787,0.00,2.38,21.17,1.216,6,0.000,0.049,3082,1979,2356,0,0,0,0,0,0
$GC,8115,0.67,72.0,954.8,13.2,544,8119,0.00,2.30,0.00,0.000,4,0.000,0.059,3093,584,2352,0,0,0,0,0,0
$GC,8199,0.67,72.0,943.4,13.3,548,8203,0.00,2.30,0.00,0.000,6,0.000,0.050,3088,1991,2352,0,0,0,0,0,0
$GC,8525,0.67,72.0,899.7,13.5,564,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1994,2351,0,0,0,0,0,0
$GC,8834,0.67,72.0,858.2,13.0,579,8838,0.00,2.30,0.00,0.000,4,0.000,0.057,3098,577,2351,0,0,0,0,0,0
$GC,8895,0.67,72.0,850.0,13.4,582,8899,0.00,2.28,0.00,0.000,6,0.000,0.050,3093,1991,2351,0,0,0,0,0,0
$GC,9221,0.67,72.0,807.8,13.0,598,9225,0.00,2.25,0.00,0.000,4,0.000,0.059,3093,3401,2350,0,0,0,0,0,0
$GC,9237,0.67,72.0,805.6,13.4,599,9241,0.00,2.25,0.00,0.000,6,0.000,0.047,3103,1982,2349,0,0,0,0,0,0
$GC,9564,0.67,72.0,762.1,13.3,615,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1979,2349,0,0,0,0,0,0
$GC,9872,0.67,72.0,721.5,13.4,630,9876,0.00,2.25,0.00,0.000,4,0.000,0.057,3113,578,2349,0,0,0,0,0,0
$GC,9893,0.67,72.0,718.5,13.5,631,9898,0.00,2.30,0.00,0.000,6,0.000,0.050,3111,1987,2350,0,0,0,0,0,0
$GC,10222,0.67,72.0,673.7,13.2,647,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1990,2349,0,0,0,0,0,0
$GC,10530,0.67,72.0,633.1,13.0,662,10534,0.00,2.28,0.00,0.000,4,0.000,0.057,3121,572,2349,0,0,0,0,0,0
$GC,10583,0.67,72.0,625.6,13.7,664,10591,0.00,2.30,0.00,0.000,6,0.000,0.049,3115,1988,2349,0,0,0,0,0,0
$GC,10900,0.67,72.0,584.8,12.8,680,10904,0.00,2.25,0.00,0.000,4,0.000,0.057,3124,582,2349,0,0,0,0,0,0
$GC,10948,0.67,72.0,578.2,13.4,682,10954,0.10,2.28,0.00,0.000,6,0.393,0.048,3098,1984,2349,0,0,0,0,0,0
$GC,11269,0.67,72.0,540.8,11.8,698,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1984,2349,0,0,0,0,0,0
$GC,11579,0.67,72.0,505.7,11.3,713,11583,0.00,2.25,0.00,0.000,4,0.000,0.057,3107,578,2349,0,0,0,0,0,0
$GC,11595,0.67,72.0,503.9,11.4,714,11599,0.00,2.25,0.00,0.000,6,0.000,0.050,3107,1995,2349,0,0,0,0,0,0
$GC,11921,0.67,72.0,467.9,10.7,730,11925,0.00,2.28,0.00,0.000,4,0.000,0.056,3117,578,2349,0,0,0,0,0,0
$GC,11960,0.67,72.0,463.6,10.5,732,11964,0.00,2.25,0.00,0.000,6,0.000,0.049,3117,2001,2349,0,0,0,0,0,0
$GC,12286,0.67,72.0,427.4,10.9,748,12290,0.00,2.28,0.00,0.000,4,0.000,0.057,3128,582,2349,0,0,0,0,0,0
$GC,12328,0.67,72.0,422.7,10.9,750,12334,0.12,2.28,0.00,0.000,6,0.403,0.047,3095,1990,2349,0,0,0,0,0,0
$GC,12649,0.68,75.4,390.2,9.6,770,12653,0.00,2.25,0.00,0.000,4,0.000,0.054,3104,578,2348,0,0,0,0,0,0
$GC,12713,0.68,75.4,383.6,10.1,775,12722,0.00,2.28,0.00,0.000,6,0.000,0.048,3104,1988,2349,0,0,0,0,0,0
$GC,13039,0.68,75.4,350.6,10.5,806,13043,0.00,2.28,0.00,0.000,4,0.000,0.056,3115,578,2348,0,0,0,0,0,0
$GC,13055,0.68,75.4,348.9,10.6,807,13059,0.00,2.22,0.00,0.000,6,0.000,0.048,3115,1990,2349,0,0,0,0,0,0
$GC,13383,0.68,75.4,316.1,10.1,837,13387,0.00,2.25,0.00,0.000,4,0.000,0.055,3126,578,2349,0,0,0,0,0,0
$GC,13444,0.68,75.4,309.1,11.3,842,13449,0.15,2.22,0.00,0.000,6,0.408,0.049,3093,1991,2349,0,0,0,0,0,0
$GC,13769,0.69,84.3,278.5,9.1,872,13784,0.00,2.35,9.62,0.760,4,0.000,0.055,3102,574,2306,0,0,0,0,0,0
$GC,13799,0.69,88.1,275.2,9.6,874,13810,0.00,2.30,4.60,0.610,6,0.000,0.048,3102,1993,2290,0,0,0,0,0,0
$GC,14136,0.69,88.1,239.7,10.2,906,14140,0.00,2.28,0.00,0.000,4,0.000,0.055,3112,572,2290,0,0,0,0,0,0
$GC,14178,0.69,88.1,235.0,11.2,909,14186,0.00,2.30,0.00,0.000,6,0.000,0.047,3113,1992,2290,0,0,0,0,0,0
$GC,14504,0.69,88.1,200.1,10.1,940,14509,0.00,2.22,0.00,0.000,4,0.000,0.057,3112,3403,2289,0,0,0,0,0,0
$GC,14559,0.69,88.1,193.6,11.0,944,14569,0.00,2.28,0.00,0.000,6,0.000,0.047,3123,1984,2290,0,0,0,0,0,0
$GC,14885,0.70,92.3,160.0,9.5,975,14898,0.00,2.25,5.30,0.571,4,0.000,0.054,3134,578,2272,0,0,0,0,0,0
$GC,14944,0.70,92.3,153.9,10.9,980,14949,0.15,2.25,0.00,0.000,6,0.392,0.047,3101,2000,2271,0,0,0,0,0,0
$GC,15268,0.70,96.6,124.7,9.5,1010,15281,0.00,2.30,4.88,0.532,4,0.000,0.056,3109,577,2255,0,0,0,0,0,0
$GC,15351,0.70,96.6,116.6,11.0,1017,15355,0.00,2.25,0.00,0.000,6,0.000,0.048,3110,1996,2255,0,0,0,0,0,0
$GC,15689,0.70,96.6,77.6,12.0,1063,15696,0.00,2.28,0.00,0.000,4,0.000,0.056,3120,573,2254,0,0,0,0,0,0
$GC,15942,0.70,96.6,46.8,11.5,1107,15951,0.00,2.28,0.00,0.000,6,0.000,0.048,3121,1982,2254,0,0,0,0,0,0
$GC,16311,0.70,96.6,6.3,10.0,1168,16319,0.00,2.25,0.00,0.000,4,0.000,0.050,3131,585,2255,0,0,0,0,0,0
$STATE,16344,end climb,SURFACE_DEPTH_REACHED
$STATE,16344,begin surface coast
$FINISH,1.9,1.026546
$STATE,16352,end surface coast,CONTROL_FINISHED_OK
$STATE,16352,begin surface
$SM_CCo,16369,52.53,0.057,0,0,1751,220.03
$SM_GC,3.01,0.00,0.00,52.53,0.000,0.000,0.057,141,2261,1751,-8.53,0.00,220.03
$IRIDIUM_FIX,-4438.33,624.11,271008,202008
$TT8_MAMPS,0.026215
$HUMID,48.18
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.50
$XPDR_PINGS,0
$24V_AH,23.8,20.924
$10V_AH,10.2,18.778
$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,21.000,159.250,127.100,52.525,0.000,25.453,24.948,530.948,24.750,0.000,23.881,3186.307,10064.186,342.683,3401.123,157.289,0.000,1497.767,0.000,2716.229,0.000,148.583,0.000
$DEVICE_MAMPS,407.745,63.495,1292.085,56.610,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.870,810.743,79.578,845.318,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354180
$DATA_FILE_SIZE,66852,1174
$CAP_FILE_SIZE,171631,0
$CFSIZE,2097086464,2078474240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.036, 59.6,1
$GPS,010116,171133,-4456.268,626.226,59,1.6,59,-24.4