version: 66.07.10.p01
glider: 574
mission: 18
dive: 162
start: 4 4 112 21 16 7
data:
$ID,574
$MISSION,18
$DIVE,162
$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,-2340465.2
$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,28
$R_STBD_OVSHOOT,37
$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,161
$GPS1,070116,081003,-4503.542,627.426,50,1.1,50,-24.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-78.0
$GPS2,070116,082349,-4503.628,627.458,6,1.1,6,-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,303.9,4575,-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,-44.38,0.000,6,0.000,0.000,143,2287,2851,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.3,-1.8,6,93,10.48,2.30,0.00,0.000,4,0.243,0.035,2659,835,2852,0,0,0,0,0,0
$GC,419,-0.65,-48.7,64.3,-17.7,63,428,0.00,2.33,0.00,0.000,6,0.000,0.048,2650,2249,2852,0,0,0,0,0,0
$GC,767,-0.65,-48.7,124.8,-15.9,111,771,0.00,2.25,0.00,0.000,4,0.000,0.054,2639,3673,2853,0,0,0,0,0,0
$GC,1210,-0.65,-48.7,197.7,-15.7,149,1214,0.00,2.22,0.00,0.000,6,0.000,0.044,2639,2256,2853,0,0,0,0,0,0
$GC,1534,-0.65,-48.7,247.6,-14.4,179,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2253,2853,0,0,0,0,0,0
$GC,1855,-0.65,-48.7,294.1,-14.3,209,1859,0.00,2.28,0.00,0.000,4,0.000,0.056,2629,3681,2853,0,0,0,0,0,0
$GC,1954,-0.65,-48.7,308.5,-14.4,217,1958,0.12,2.22,0.00,0.000,6,0.203,0.044,2660,2254,2853,0,0,0,0,0,0
$GC,2279,-0.65,-48.7,350.7,-13.1,247,2283,0.00,2.25,0.00,0.000,4,0.000,0.057,2651,3676,2852,0,0,0,0,0,0
$GC,2368,-0.65,-48.7,363.6,-13.8,254,2376,0.00,2.25,0.00,0.000,6,0.000,0.045,2651,2266,2852,0,0,0,0,0,0
$GC,2702,-0.65,-48.7,408.8,-13.5,283,2706,0.00,2.22,0.00,0.000,4,0.000,0.058,2642,3671,2852,0,0,0,0,0,0
$GC,2825,-0.65,-48.7,426.4,-14.2,288,2833,0.00,2.28,0.00,0.000,6,0.000,0.049,2644,2257,2852,0,0,0,0,0,0
$GC,3140,-0.65,-48.7,469.6,-13.6,304,3145,0.00,2.25,0.00,0.000,4,0.000,0.058,2635,3679,2852,0,0,0,0,0,0
$GC,3200,-0.65,-48.7,478.3,-14.1,306,3208,0.00,2.28,0.00,0.000,6,0.000,0.047,2635,2257,2852,0,0,0,0,0,0
$GC,3518,-0.65,-48.7,524.3,-14.9,322,3522,0.00,2.25,0.00,0.000,4,0.000,0.059,2625,3681,2852,0,0,0,0,0,0
$GC,3628,-0.65,-48.7,542.3,-15.7,327,3634,0.10,2.28,0.00,0.000,6,0.184,0.050,2654,2260,2852,0,0,0,0,0,0
$GC,3956,-0.65,-48.7,585.2,-12.7,343,3960,0.00,2.25,0.00,0.000,4,0.000,0.062,2645,3675,2851,0,0,0,0,0,0
$GC,4039,-0.65,-48.7,596.2,-12.8,347,4043,0.00,2.25,0.00,0.000,6,0.000,0.053,2645,2253,2851,0,0,0,0,0,0
$GC,4365,-0.65,-48.7,639.5,-13.2,363,4370,0.00,2.25,0.00,0.000,4,0.000,0.061,2635,3668,2851,0,0,0,0,0,0
$GC,4442,-0.65,-48.7,650.2,-14.1,366,4446,0.00,2.25,0.00,0.000,6,0.000,0.054,2635,2248,2851,0,0,0,0,0,0
$GC,4765,-0.65,-48.7,691.9,-12.7,382,4769,0.00,2.28,0.00,0.000,4,0.000,0.063,2625,3672,2851,0,0,0,0,0,0
$GC,4827,-0.65,-48.7,700.0,-12.4,385,4832,0.15,2.25,0.00,0.000,6,0.195,0.054,2661,2253,2851,0,0,0,0,0,0
$GC,5159,-0.65,-48.7,737.4,-11.2,401,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2249,2851,0,0,0,0,0,0
$GC,5470,-0.65,-48.7,771.9,-11.3,416,5474,0.00,2.28,0.00,0.000,4,0.000,0.065,2652,3676,2850,0,0,0,0,0,0
$GC,5518,-0.65,-48.7,778.1,-12.7,418,5523,0.00,2.30,0.00,0.000,6,0.000,0.054,2652,2258,2850,0,0,0,0,0,0
$GC,5840,-0.65,-48.7,812.3,-10.0,434,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2254,2850,0,0,0,0,0,0
$GC,6150,-0.65,-48.7,843.1,-10.0,449,6154,0.00,2.25,0.00,0.000,4,0.000,0.062,2652,844,2849,0,0,0,0,0,0
$GC,6198,-0.65,-48.7,848.4,-10.4,451,6203,0.00,2.30,0.00,0.000,6,0.000,0.056,2642,2253,2849,0,0,0,0,0,0
$GC,6521,-0.65,-48.7,881.9,-10.3,467,6525,0.00,2.28,0.00,0.000,4,0.000,0.067,2632,3680,2849,0,0,0,0,0,0
$GC,6568,-0.65,-48.7,887.3,-11.1,469,6574,0.08,2.30,0.00,0.000,6,0.183,0.056,2654,2262,2849,0,0,0,0,0,0
$GC,6891,-0.65,-48.7,918.9,-10.0,485,6895,0.00,2.28,0.00,0.000,4,0.000,0.069,2645,3672,2849,0,0,0,0,0,0
$GC,6945,-0.65,-48.7,924.9,-11.0,487,6953,0.00,2.30,0.00,0.000,6,0.000,0.060,2644,2260,2848,0,0,0,0,0,0
$GC,7263,-0.65,-48.7,957.2,-9.9,503,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2258,2849,0,0,0,0,0,0
$GC,7571,-0.65,-48.7,990.6,-10.9,518,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2258,2848,0,0,0,0,0,0
$STATE,7673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7673,begin apogee
$GC,7677,-0.11,0.0,1002.0,11.1,523,7720,0.65,0.00,39.83,1.284,6,0.171,0.000,2831,1978,2650,0,0,0,0,0,0
$STATE,7721,end apogee,CONTROL_FINISHED_OK
$STATE,7721,begin climb
$GC,7722,0.65,48.7,1004.2,0.0,525,7767,0.77,0.00,41.60,1.255,6,0.103,0.000,3078,1978,2450,0,0,0,0,0,0
$GC,8062,0.65,52.3,975.3,9.6,542,8069,0.00,0.00,4.53,0.843,6,0.000,0.000,3077,1978,2435,0,0,0,0,0,0
$GC,8372,0.65,52.3,943.6,10.6,557,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1978,2436,0,0,0,0,0,0
$GC,8681,0.65,52.3,911.9,10.1,572,8685,0.00,2.30,0.00,0.000,4,0.000,0.060,3078,3405,2436,0,0,0,0,0,0
$GC,8757,0.65,52.3,903.4,10.8,575,8765,0.00,2.30,0.00,0.000,6,0.000,0.049,3088,1989,2437,0,0,0,0,0,0
$GC,9073,0.65,52.3,869.6,10.6,591,9077,0.00,2.28,0.00,0.000,4,0.000,0.060,3098,580,2437,0,0,0,0,0,0
$GC,9105,0.65,52.3,866.0,10.4,592,9114,0.00,2.33,0.00,0.000,6,0.000,0.050,3095,1995,2438,0,0,0,0,0,0
$GC,9421,0.65,52.3,831.7,11.0,608,9425,0.00,2.28,0.00,0.000,4,0.000,0.057,3104,581,2438,0,0,0,0,0,0
$GC,9487,0.65,52.3,824.0,11.6,611,9492,0.00,2.30,0.00,0.000,6,0.000,0.050,3098,1988,2439,0,0,0,0,0,0
$GC,9814,0.65,52.3,786.6,11.6,627,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1991,2439,0,0,0,0,0,0
$GC,10124,0.65,52.3,752.0,11.0,642,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1990,2439,0,0,0,0,0,0
$GC,10434,0.65,52.3,720.6,10.0,657,10438,0.00,2.28,0.00,0.000,4,0.000,0.056,3107,570,2439,0,0,0,0,0,0
$GC,10505,0.65,55.4,713.4,9.7,660,10519,0.00,2.33,5.03,0.770,6,0.000,0.050,3100,1998,2423,0,0,0,0,0,0
$GC,10826,0.66,59.2,682.2,9.6,676,10836,0.00,2.33,4.75,0.785,4,0.000,0.057,3110,574,2408,0,0,0,0,0,0
$GC,10907,0.66,59.2,673.8,10.9,679,10915,0.00,2.33,0.00,0.000,6,0.000,0.050,3110,1996,2408,0,0,0,0,0,0
$GC,11223,0.66,59.2,640.6,10.8,695,11227,0.00,2.28,0.00,0.000,4,0.000,0.057,3120,580,2408,0,0,0,0,0,0
$GC,11266,0.66,59.2,635.9,10.6,697,11271,0.10,2.30,0.00,0.000,6,0.193,0.050,3088,1992,2408,0,0,0,0,0,0
$GC,11595,0.67,67.7,606.4,9.1,713,11609,0.00,2.30,8.57,0.892,4,0.000,0.059,3087,3398,2372,0,0,0,0,0,0
$GC,11631,0.67,68.7,602.4,9.9,714,11638,0.00,2.28,0.00,0.000,6,0.000,0.048,3096,1986,2372,0,0,0,0,0,0
$GC,11947,0.67,68.7,569.8,10.1,730,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1983,2372,0,0,0,0,0,0
$GC,12257,0.67,68.7,537.9,10.3,745,12261,0.00,2.28,0.00,0.000,4,0.000,0.058,3107,580,2371,0,0,0,0,0,0
$GC,12296,0.67,68.7,533.6,10.2,747,12300,0.00,2.25,0.00,0.000,6,0.000,0.049,3107,1992,2372,0,0,0,0,0,0
$GC,12622,0.67,68.7,499.3,10.5,763,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1994,2371,0,0,0,0,0,0
$GC,12933,0.67,69.9,468.3,9.8,778,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1994,2371,0,0,0,0,0,0
$GC,13242,0.68,77.5,438.9,9.2,793,13253,0.00,0.00,8.93,0.820,6,0.000,0.000,3107,1994,2333,0,0,0,0,0,0
$GC,13549,0.68,77.5,407.5,10.2,808,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1995,2333,0,0,0,0,0,0
$GC,13866,0.68,77.5,375.7,10.0,834,13867,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1995,2333,0,0,0,0,0,0
$GC,14185,0.68,77.5,343.4,10.3,864,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1995,2333,0,0,0,0,0,0
$GC,14503,0.68,77.5,310.7,10.1,894,14507,0.00,2.22,0.00,0.000,4,0.000,0.057,3107,3403,2333,0,0,0,0,0,0
$GC,14591,0.68,77.5,300.9,12.7,901,14595,0.00,2.22,0.00,0.000,6,0.000,0.048,3117,1981,2334,0,0,0,0,0,0
$GC,14915,0.68,77.5,265.7,10.4,931,14919,0.00,2.22,0.00,0.000,4,0.000,0.057,3128,582,2334,0,0,0,0,0,0
$GC,15023,0.68,77.5,253.5,11.1,940,15028,0.15,2.22,0.00,0.000,6,0.200,0.048,3094,1990,2334,0,0,0,0,0,0
$GC,15348,0.69,80.8,221.4,9.6,970,15360,0.00,2.28,4.45,0.549,4,0.000,0.057,3102,577,2320,0,0,0,0,0,0
$GC,15513,0.69,85.5,204.3,9.5,984,15525,0.00,2.28,5.40,0.594,6,0.000,0.048,3102,1988,2300,0,0,0,0,0,0
$GC,15839,0.69,86.6,169.7,9.8,1015,15840,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1987,2300,0,0,0,0,0,0
$GC,16161,0.70,89.3,136.5,9.7,1045,16173,0.00,2.25,4.65,0.521,4,0.000,0.057,3102,3404,2285,0,0,0,0,0,0
$GC,16349,0.72,112.5,117.1,7.7,1061,16379,0.00,2.25,19.75,0.733,6,0.000,0.048,3112,1992,2190,0,0,0,0,0,0
$GC,16708,0.72,112.5,79.2,11.0,1110,16716,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1992,2188,0,0,0,0,0,0
$GC,17059,0.72,112.5,40.1,10.6,1171,17066,0.00,2.25,0.00,0.000,4,0.000,0.055,3112,3414,2187,0,0,0,0,0,0
$GC,17188,0.72,112.5,24.8,12.4,1192,17197,0.00,2.30,0.00,0.000,6,0.000,0.048,3122,1986,2187,0,0,0,0,0,0
$GC,17344,0.72,112.5,4.7,13.2,1217,17353,0.00,2.30,0.00,0.000,4,0.000,0.060,3133,584,2187,0,0,0,0,0,0
$STATE,17359,end climb,SURFACE_DEPTH_REACHED
$STATE,17359,begin surface coast
$FINISH,1.6,1.026538
$STATE,17367,end surface coast,CONTROL_FINISHED_OK
$STATE,17367,begin surface
$SM_CCo,17385,45.20,0.051,0,0,1752,220.03
$SM_GC,2.98,0.00,0.00,45.20,0.000,0.000,0.051,141,2266,1752,-8.53,0.14,220.03
$IRIDIUM_FIX,-4444.39,624.79,021108,161607
$TT8_MAMPS,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.9,23.391
$10V_AH,10.2,22.273
$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,20.575,128.200,147.475,45.200,0.000,24.121,33.345,621.404,24.750,0.000,9.550,3254.811,11012.107,366.689,3459.582,163.213,0.000,1499.272,0.000,2686.094,0.000,148.621,0.000
$DEVICE_MAMPS,242.505,69.615,1283.670,51.255,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.334,845.173,75.743,822.302,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354160
$DATA_FILE_SIZE,70165,1220
$CAP_FILE_SIZE,168884,0
$CFSIZE,2097086464,2074804224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.070, 75.3,1
$GPS,070116,131603,-4503.083,626.641,27,1.1,27,-24.4