version: 66.07.10.p01
glider: 574
mission: 18
dive: 146
start: 4 1 112 13 56 47
data:
$ID,574
$MISSION,18
$DIVE,146
$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,-2339166.5
$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,26
$R_STBD_OVSHOOT,25
$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,145
$GPS1,040116,005057,-4457.767,635.682,47,1.2,47,-24.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-72.4
$GPS2,040116,010417,-4457.838,635.907,4,1.2,5,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,219.4,11412,-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,-44.15,0.000,6,0.000,0.000,144,2262,2849,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.2,-1.5,6,93,10.50,2.28,0.00,0.000,4,0.244,0.042,2643,3690,2851,0,0,0,0,0,0
$GC,604,-0.65,-48.7,104.0,-18.7,93,609,0.00,2.28,0.00,0.000,6,0.000,0.044,2643,2253,2851,0,0,0,0,0,0
$GC,929,-0.65,-48.7,159.4,-16.0,123,933,0.00,2.25,0.00,0.000,4,0.000,0.054,2633,3672,2851,0,0,0,0,0,0
$GC,999,-0.65,-48.7,170.9,-16.6,129,1003,0.00,2.22,0.00,0.000,6,0.000,0.044,2633,2256,2852,0,0,0,0,0,0
$GC,1323,-0.65,-48.7,223.1,-15.3,159,1328,0.12,2.25,0.00,0.000,4,0.220,0.050,2670,835,2852,0,0,0,0,0,0
$GC,1339,-0.65,-48.7,225.8,-16.4,160,1343,0.00,2.28,0.00,0.000,6,0.000,0.049,2661,2269,2852,0,0,0,0,0,0
$GC,1663,-0.65,-48.7,274.0,-15.1,190,1667,0.00,2.22,0.00,0.000,4,0.000,0.058,2650,3671,2853,0,0,0,0,0,0
$GC,1764,-0.65,-48.7,289.8,-15.3,198,1773,0.00,2.28,0.00,0.000,6,0.000,0.046,2650,2254,2852,0,0,0,0,0,0
$GC,2092,-0.65,-48.7,336.5,-14.1,229,2096,0.00,2.28,0.00,0.000,4,0.000,0.057,2640,3678,2852,0,0,0,0,0,0
$GC,2115,-0.65,-48.7,340.1,-14.3,230,2122,0.00,2.22,0.00,0.000,6,0.000,0.046,2644,2260,2852,0,0,0,0,0,0
$GC,2442,-0.65,-48.7,389.9,-15.1,261,2446,0.00,2.25,0.00,0.000,4,0.000,0.058,2635,3679,2852,0,0,0,0,0,0
$GC,2498,-0.65,-48.7,399.0,-15.4,266,2502,0.00,2.22,0.00,0.000,6,0.000,0.047,2635,2259,2852,0,0,0,0,0,0
$GC,2826,-0.65,-48.7,449.0,-15.1,282,2830,0.00,2.25,0.00,0.000,4,0.000,0.057,2625,3669,2852,0,0,0,0,0,0
$GC,2862,-0.65,-48.7,455.6,-16.3,283,2871,0.10,2.25,0.00,0.000,6,0.188,0.048,2653,2263,2852,0,0,0,0,0,0
$GC,3179,-0.65,-48.7,499.3,-13.4,299,3186,0.00,2.25,0.00,0.000,4,0.000,0.060,2644,3678,2852,0,0,0,0,0,0
$GC,3274,-0.65,-48.7,513.2,-14.4,303,3279,0.00,2.28,0.00,0.000,6,0.000,0.050,2644,2261,2852,0,0,0,0,0,0
$GC,3603,-0.65,-48.7,558.2,-13.6,319,3607,0.00,2.25,0.00,0.000,4,0.000,0.061,2635,3675,2851,0,0,0,0,0,0
$GC,3622,-0.65,-48.7,561.2,-13.9,320,3627,0.00,2.28,0.00,0.000,6,0.000,0.051,2635,2264,2851,0,0,0,0,0,0
$GC,3951,-0.65,-48.7,606.0,-13.4,336,3955,0.00,2.25,0.00,0.000,4,0.000,0.063,2625,3674,2851,0,0,0,0,0,0
$GC,4035,-0.65,-48.7,618.0,-14.2,340,4039,0.12,2.25,0.00,0.000,6,0.206,0.054,2654,2254,2851,0,0,0,0,0,0
$GC,4360,-0.65,-48.7,658.4,-12.2,356,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2251,2850,0,0,0,0,0,0
$GC,4670,-0.65,-48.7,697.3,-12.5,371,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2250,2851,0,0,0,0,0,0
$GC,4980,-0.65,-48.7,734.9,-11.9,386,4985,0.00,2.25,0.00,0.000,4,0.000,0.060,2658,839,2850,0,0,0,0,0,0
$GC,5001,-0.65,-48.7,737.8,-12.4,387,5006,0.00,2.30,0.00,0.000,6,0.000,0.056,2649,2249,2850,0,0,0,0,0,0
$GC,5329,-0.65,-48.7,778.1,-12.1,403,5333,0.00,2.28,0.00,0.000,4,0.000,0.065,2639,3682,2849,0,0,0,0,0,0
$GC,5424,-0.65,-48.7,790.2,-12.8,407,5428,0.00,2.28,0.00,0.000,6,0.000,0.056,2639,2251,2849,0,0,0,0,0,0
$GC,5739,-0.65,-48.7,828.8,-11.9,422,5743,0.00,2.25,0.00,0.000,4,0.000,0.063,2645,840,2849,0,0,0,0,0,0
$GC,5755,-0.65,-48.7,830.8,-12.3,423,5759,0.00,2.28,0.00,0.000,6,0.000,0.057,2635,2260,2849,0,0,0,0,0,0
$GC,6083,-0.65,-48.7,869.1,-11.7,439,6087,0.00,2.28,0.00,0.000,4,0.000,0.067,2625,3669,2848,0,0,0,0,0,0
$GC,6125,-0.65,-48.7,874.4,-11.7,441,6130,0.10,2.30,0.00,0.000,6,0.182,0.058,2656,2256,2848,0,0,0,0,0,0
$GC,6453,-0.65,-48.7,908.2,-10.0,457,6457,0.00,2.30,0.00,0.000,4,0.000,0.069,2647,3681,2848,0,0,0,0,0,0
$GC,6506,-0.65,-48.7,914.4,-11.3,459,6514,0.00,2.30,0.00,0.000,6,0.000,0.057,2646,2263,2848,0,0,0,0,0,0
$GC,6824,-0.65,-48.7,947.7,-10.7,475,6828,0.00,2.30,0.00,0.000,4,0.000,0.071,2636,3671,2848,0,0,0,0,0,0
$GC,6841,-0.65,-48.7,949.7,-10.7,476,6848,0.00,2.28,0.00,0.000,6,0.000,0.060,2637,2253,2848,0,0,0,0,0,0
$GC,7175,-0.65,-48.7,986.8,-11.0,492,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2250,2848,0,0,0,0,0,0
$STATE,7299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7299,begin apogee
$GC,7303,-0.11,0.0,1000.3,10.8,498,7346,0.68,0.00,39.70,1.280,6,0.175,0.000,2828,1983,2650,0,0,0,0,0,0
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7348,0.65,48.7,1002.5,0.0,500,7396,0.77,2.42,41.42,1.249,4,0.104,0.058,3084,580,2450,0,0,0,0,0,0
$GC,7420,0.66,61.8,998.3,8.7,503,7442,0.00,2.38,12.12,1.134,6,0.000,0.050,3083,1993,2398,0,0,0,0,0,0
$GC,7750,0.66,61.8,958.6,12.3,519,7754,0.00,2.30,0.00,0.000,4,0.000,0.061,3083,3402,2396,0,0,0,0,0,0
$GC,7767,0.66,61.8,956.3,12.6,520,7771,0.00,2.30,0.00,0.000,6,0.000,0.050,3093,1983,2396,0,0,0,0,0,0
$GC,8092,0.66,61.8,915.0,12.3,536,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1980,2396,0,0,0,0,0,0
$GC,8402,0.66,61.8,877.3,11.9,551,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1980,2395,0,0,0,0,0,0
$GC,8711,0.66,61.8,841.2,11.7,566,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1980,2395,0,0,0,0,0,0
$GC,9022,0.66,61.8,804.5,12.6,581,9026,0.00,2.25,0.00,0.000,4,0.000,0.058,3104,581,2395,0,0,0,0,0,0
$GC,9110,0.66,61.8,792.8,13.0,585,9115,0.00,2.30,0.00,0.000,6,0.000,0.051,3099,1991,2395,0,0,0,0,0,0
$GC,9438,0.66,61.8,753.2,11.8,601,9442,0.00,2.25,0.00,0.000,4,0.000,0.059,3098,3410,2395,0,0,0,0,0,0
$GC,9454,0.66,61.8,751.1,11.4,602,9458,0.00,2.25,0.00,0.000,6,0.000,0.049,3107,1982,2394,0,0,0,0,0,0
$GC,9779,0.66,61.8,713.2,11.7,618,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1978,2395,0,0,0,0,0,0
$GC,10089,0.66,61.8,678.2,11.6,633,10093,0.00,2.25,0.00,0.000,4,0.000,0.058,3119,576,2394,0,0,0,0,0,0
$GC,10174,0.66,61.8,668.0,13.2,637,10178,0.00,2.25,0.00,0.000,6,0.000,0.050,3112,1993,2395,0,0,0,0,0,0
$GC,10500,0.66,61.8,631.7,10.8,653,10504,0.00,2.28,0.00,0.000,4,0.000,0.057,3121,581,2394,0,0,0,0,0,0
$GC,10570,0.66,61.8,623.6,11.2,656,10576,0.08,2.28,0.00,0.000,6,0.194,0.049,3093,1989,2394,0,0,0,0,0,0
$GC,10899,0.67,65.5,591.8,9.6,672,10908,0.00,2.25,4.32,0.660,4,0.000,0.060,3093,3402,2382,0,0,0,0,0,0
$GC,10921,0.67,65.5,589.4,10.0,673,10926,0.00,2.22,0.00,0.000,6,0.000,0.048,3101,1983,2381,0,0,0,0,0,0
$GC,11248,0.67,65.5,555.6,10.4,689,11252,0.00,2.25,0.00,0.000,4,0.000,0.057,3101,3403,2382,0,0,0,0,0,0
$GC,11268,0.67,65.5,553.3,10.4,690,11273,0.00,2.28,0.00,0.000,6,0.000,0.048,3110,1986,2381,0,0,0,0,0,0
$GC,11596,0.67,65.5,519.3,10.8,706,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1982,2381,0,0,0,0,0,0
$GC,11906,0.67,66.0,487.5,9.9,721,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1982,2381,0,0,0,0,0,0
$GC,12214,0.67,66.0,455.9,10.1,736,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1982,2382,0,0,0,0,0,0
$GC,12524,0.67,70.7,425.6,9.5,751,12535,0.00,2.25,5.78,0.708,4,0.000,0.057,3121,581,2360,0,0,0,0,0,0
$GC,12894,0.67,70.7,386.2,10.3,773,12903,0.10,2.28,0.00,0.000,6,0.185,0.049,3093,1988,2360,0,0,0,0,0,0
$GC,13220,0.68,72.3,354.9,9.8,804,13224,0.00,2.28,0.00,0.000,4,0.000,0.056,3102,578,2360,0,0,0,0,0,0
$GC,13240,0.68,79.1,353.4,9.3,805,13253,0.00,2.25,7.82,0.751,6,0.000,0.049,3102,2001,2326,0,0,0,0,0,0
$GC,13569,0.68,79.1,317.7,10.6,836,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2002,2326,0,0,0,0,0,0
$GC,13888,0.68,79.1,283.0,10.1,866,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2002,2326,0,0,0,0,0,0
$GC,14207,0.68,79.1,250.5,10.0,896,14211,0.00,2.20,0.00,0.000,4,0.000,0.057,3102,3401,2326,0,0,0,0,0,0
$GC,14281,0.68,79.1,242.6,10.9,902,14285,0.00,2.22,0.00,0.000,6,0.000,0.048,3112,1978,2326,0,0,0,0,0,0
$GC,14605,0.69,82.1,209.0,9.7,932,14619,0.00,0.00,4.00,0.495,6,0.000,0.000,3113,1975,2315,0,0,0,0,0,0
$GC,14933,0.69,83.6,176.3,9.8,963,14937,0.00,2.22,0.00,0.000,4,0.000,0.057,3123,581,2314,0,0,0,0,0,0
$GC,14954,0.69,83.6,174.1,10.3,964,14964,0.00,2.28,0.00,0.000,6,0.000,0.050,3123,1988,2314,0,0,0,0,0,0
$GC,15278,0.69,83.6,141.6,10.2,995,15282,0.00,2.25,0.00,0.000,4,0.000,0.057,3134,579,2314,0,0,0,0,0,0
$GC,15557,0.70,92.8,116.2,9.1,1019,15573,0.15,2.22,10.02,0.665,6,0.195,0.049,3098,1992,2270,0,0,0,0,0,0
$GC,15905,0.71,104.3,83.6,8.9,1066,15927,0.00,2.30,10.43,0.670,4,0.000,0.057,3095,3405,2223,0,0,0,0,0,0
$GC,16321,0.71,104.3,37.5,11.1,1138,16330,0.00,2.28,0.00,0.000,6,0.000,0.047,3103,1987,2222,0,0,0,0,0,0
$GC,16477,0.72,112.6,21.7,9.2,1163,16486,0.00,0.00,3.60,0.417,6,0.000,0.000,3103,1983,2191,0,0,0,0,0,0
$GC,16633,0.72,112.6,4.0,13.4,1188,16641,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1983,2189,0,0,0,0,0,0
$STATE,16648,end climb,SURFACE_DEPTH_REACHED
$STATE,16648,begin surface coast
$FINISH,1.6,1.026587
$STATE,16674,end surface coast,CONTROL_FINISHED_OK
$STATE,16674,begin surface
$SM_CCo,16689,45.70,0.053,0,0,1753,220.03
$SM_GC,3.15,0.00,0.00,45.70,0.000,0.000,0.053,133,2270,1753,-8.56,0.28,220.03
$IRIDIUM_FIX,-4438.33,633.17,301008,090953
$TT8_MAMPS,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.50
$XPDR_PINGS,0
$24V_AH,23.9,22.011
$10V_AH,10.2,20.287
$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,20.750,136.850,139.225,45.700,0.000,25.240,26.059,612.703,24.750,0.000,8.401,3201.250,10451.013,339.906,3383.561,158.572,0.000,1457.482,0.000,2638.000,0.000,149.072,0.000
$DEVICE_MAMPS,244.035,71.145,1279.845,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.112,823.720,81.494,858.974,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,70292,1194
$CAP_FILE_SIZE,168065,0
$CFSIZE,2097086464,2076901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.075, 82.4,1
$GPS,040116,054530,-4458.922,636.224,63,1.1,63,-24.4