version: 66.07.10.p01
glider: 574
mission: 18
dive: 173
start: 4 7 112 5 43 11
data:
$ID,574
$MISSION,18
$DIVE,173
$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,-2341491.8
$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,27
$R_STBD_OVSHOOT,34
$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,172
$GPS1,090116,163623,-4455.532,624.496,61,1.4,61,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-77.8
$GPS2,090116,165100,-4455.459,624.625,17,1.4,17,-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,246.9,1294,-27.8,-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,-0.68,-48.7,0.0,0.0,0,60,0.00,0.00,-34.60,0.000,2,0.000,0.000,140,2278,2605,0,0,0,0,0,0
$GC,63,-0.68,-48.7,3.1,-2.0,4,90,10.55,2.28,-7.90,0.000,4,0.246,0.066,2634,3670,2844,0,0,0,0,0,0
$GC,158,-0.68,-48.7,15.1,-17.3,18,168,0.00,2.30,0.00,0.000,6,0.000,0.041,2633,2255,2845,0,0,0,0,0,0
$GC,218,-0.68,-48.7,26.3,-19.3,27,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2253,2845,0,0,0,0,0,0
$GC,371,-0.68,-48.7,55.5,-18.8,52,377,0.00,2.25,0.00,0.000,4,0.000,0.054,2624,3662,2844,0,0,0,0,0,0
$GC,392,-0.68,-48.7,59.3,-18.9,55,402,0.00,2.22,0.00,0.000,6,0.000,0.040,2631,2251,2844,0,0,0,0,0,0
$GC,739,-0.68,-48.7,121.2,-17.3,105,743,0.00,2.25,0.00,0.000,4,0.000,0.054,2622,3662,2845,0,0,0,0,0,0
$GC,857,-0.68,-48.7,141.7,-17.9,115,861,0.00,2.20,0.00,0.000,6,0.000,0.041,2629,2259,2844,0,0,0,0,0,0
$GC,1183,-0.68,-48.7,195.5,-16.9,145,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2254,2846,0,0,0,0,0,0
$GC,1500,-0.68,-48.7,248.6,-16.9,175,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2254,2846,0,0,0,0,0,0
$GC,1821,-0.68,-48.7,300.4,-16.4,205,1825,0.00,2.22,0.00,0.000,4,0.000,0.055,2620,3666,2846,0,0,0,0,0,0
$GC,1931,-0.68,-48.7,319.1,-16.2,214,1940,0.08,2.25,0.00,0.000,6,0.195,0.044,2642,2257,2846,0,0,0,0,0,0
$GC,2258,-0.68,-48.7,366.5,-14.8,245,2262,0.00,2.22,0.00,0.000,4,0.000,0.057,2632,3664,2846,0,0,0,0,0,0
$GC,2365,-0.68,-48.7,383.1,-14.9,254,2369,0.00,2.22,0.00,0.000,6,0.000,0.047,2632,2257,2846,0,0,0,0,0,0
$GC,2689,-0.68,-48.7,430.7,-14.8,275,2693,0.00,2.22,0.00,0.000,4,0.000,0.057,2622,3665,2847,0,0,0,0,0,0
$GC,2729,-0.68,-48.7,436.9,-15.3,277,2733,0.00,2.20,0.00,0.000,6,0.000,0.047,2625,2259,2846,0,0,0,0,0,0
$GC,3057,-0.68,-48.7,484.7,-14.6,293,3061,0.00,2.22,0.00,0.000,4,0.000,0.057,2616,3666,2846,0,0,0,0,0,0
$GC,3186,-0.68,-48.7,504.3,-14.7,299,3191,0.12,2.22,0.00,0.000,6,0.203,0.049,2647,2253,2846,0,0,0,0,0,0
$GC,3512,-0.68,-48.7,547.5,-12.8,315,3516,0.00,2.22,0.00,0.000,4,0.000,0.059,2638,3659,2846,0,0,0,0,0,0
$GC,3588,-0.68,-48.7,557.9,-12.9,318,3597,0.00,2.25,0.00,0.000,6,0.000,0.049,2643,2260,2846,0,0,0,0,0,0
$GC,3905,-0.68,-48.7,597.3,-12.3,334,3909,0.00,2.22,0.00,0.000,4,0.000,0.061,2633,3661,2846,0,0,0,0,0,0
$GC,4034,-0.68,-48.7,614.2,-13.0,340,4038,0.00,2.22,0.00,0.000,6,0.000,0.051,2634,2262,2846,0,0,0,0,0,0
$GC,4360,-0.68,-48.7,655.4,-12.2,356,4364,0.00,2.22,0.00,0.000,4,0.000,0.062,2624,3659,2845,0,0,0,0,0,0
$GC,4460,-0.68,-48.7,668.7,-13.4,360,4467,0.00,2.22,0.00,0.000,6,0.000,0.052,2624,2252,2845,0,0,0,0,0,0
$GC,4775,-0.68,-48.7,709.5,-13.3,376,4782,0.00,2.25,0.00,0.000,4,0.000,0.063,2615,3664,2845,0,0,0,0,0,0
$GC,4799,-0.68,-48.7,712.9,-14.1,377,4804,0.12,2.22,0.00,0.000,6,0.204,0.054,2646,2256,2844,0,0,0,0,0,0
$GC,5125,-0.68,-48.7,753.2,-12.1,393,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2252,2845,0,0,0,0,0,0
$GC,5437,-0.68,-48.7,790.3,-11.8,408,5441,0.00,2.25,0.00,0.000,4,0.000,0.063,2636,3662,2844,0,0,0,0,0,0
$GC,5599,-0.68,-48.7,810.1,-11.9,415,5603,0.00,2.22,0.00,0.000,6,0.000,0.056,2637,2260,2844,0,0,0,0,0,0
$GC,5914,-0.68,-48.7,847.7,-12.0,430,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2257,2844,0,0,0,0,0,0
$GC,6223,-0.68,-48.7,884.8,-12.1,445,6227,0.00,2.25,0.00,0.000,4,0.000,0.067,2627,3661,2844,0,0,0,0,0,0
$GC,6285,-0.68,-48.7,892.5,-13.0,448,6289,0.00,2.25,0.00,0.000,6,0.000,0.057,2627,2254,2844,0,0,0,0,0,0
$GC,6619,-0.68,-48.7,930.3,-10.8,464,6623,0.00,2.28,0.00,0.000,4,0.000,0.067,2618,3666,2844,0,0,0,0,0,0
$GC,6651,-0.68,-48.7,934.4,-11.9,465,6659,0.08,2.30,0.00,0.000,6,0.193,0.058,2640,2254,2843,0,0,0,0,0,0
$GC,6967,-0.68,-48.7,967.1,-10.0,481,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2251,2843,0,0,0,0,0,0
$GC,7276,-0.68,-48.7,997.8,-9.9,496,7280,0.00,2.28,0.00,0.000,4,0.000,0.068,2630,3665,2843,0,0,0,0,0,0
$STATE,7296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7296,begin apogee
$GC,7303,-0.11,0.0,1000.3,11.1,497,7344,0.68,0.00,38.35,1.285,6,0.175,0.000,2826,1989,2650,0,0,0,0,0,0
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7345,begin climb
$GC,7347,0.68,48.7,1002.3,0.0,499,7395,0.80,2.42,41.53,1.255,4,0.104,0.057,3097,578,2450,0,0,0,0,0,0
$GC,7417,0.69,61.4,997.8,8.6,502,7434,0.00,2.35,11.93,1.136,6,0.000,0.050,3093,1980,2398,0,0,0,0,0,0
$GC,7761,0.69,61.4,955.0,12.8,519,7765,0.00,2.33,0.00,0.000,4,0.000,0.061,3092,3405,2397,0,0,0,0,0,0
$GC,7793,0.69,61.4,950.3,14.7,520,7801,0.00,2.35,0.00,0.000,6,0.000,0.050,3100,1986,2397,0,0,0,0,0,0
$GC,8109,0.69,61.4,908.7,13.3,536,8114,0.00,2.30,0.00,0.000,4,0.000,0.060,3112,579,2396,0,0,0,0,0,0
$GC,8209,0.69,61.4,895.2,13.4,540,8217,0.00,2.33,0.00,0.000,6,0.000,0.050,3103,1989,2396,0,0,0,0,0,0
$GC,8525,0.69,61.4,855.6,12.4,556,8529,0.00,2.28,0.00,0.000,4,0.000,0.060,3102,3411,2395,0,0,0,0,0,0
$GC,8545,0.69,61.4,852.9,12.4,557,8550,0.00,2.30,0.00,0.000,6,0.000,0.048,3111,1992,2395,0,0,0,0,0,0
$GC,8872,0.69,61.4,811.8,12.1,573,8876,0.00,2.28,0.00,0.000,4,0.000,0.059,3123,579,2395,0,0,0,0,0,0
$GC,8971,0.69,61.4,799.0,12.6,577,8979,0.00,2.30,0.00,0.000,6,0.000,0.050,3114,1986,2395,0,0,0,0,0,0
$GC,9287,0.69,61.4,762.3,11.2,593,9291,0.00,2.25,0.00,0.000,4,0.000,0.059,3113,3402,2395,0,0,0,0,0,0
$GC,9341,0.69,61.4,755.4,13.2,595,9349,0.00,2.28,0.00,0.000,6,0.000,0.048,3123,1987,2395,0,0,0,0,0,0
$GC,9658,0.69,61.4,717.2,11.9,611,9662,0.00,2.25,0.00,0.000,4,0.000,0.058,3134,581,2395,0,0,0,0,0,0
$GC,9823,0.69,61.4,696.3,13.0,618,9833,0.08,2.30,0.00,0.000,6,0.207,0.048,3104,1996,2395,0,0,0,0,0,0
$GC,10140,0.69,61.4,660.4,11.3,634,10144,0.00,2.28,0.00,0.000,4,0.000,0.056,3113,578,2395,0,0,0,0,0,0
$GC,10188,0.69,61.4,654.8,11.6,636,10193,0.00,2.30,0.00,0.000,6,0.000,0.050,3113,1990,2395,0,0,0,0,0,0
$GC,10510,0.69,61.4,617.3,11.8,652,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1993,2394,0,0,0,0,0,0
$GC,10819,0.69,61.4,580.8,11.7,667,10823,0.00,2.22,0.00,0.000,4,0.000,0.059,3113,3402,2394,0,0,0,0,0,0
$GC,10859,0.69,61.4,575.9,12.8,669,10863,0.00,2.22,0.00,0.000,6,0.000,0.049,3123,1985,2394,0,0,0,0,0,0
$GC,11185,0.69,61.4,537.5,11.4,685,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1981,2394,0,0,0,0,0,0
$GC,11495,0.69,61.4,504.7,10.2,700,11499,0.00,2.25,0.00,0.000,4,0.000,0.057,3116,3407,2394,0,0,0,0,0,0
$GC,11511,0.69,61.4,502.8,10.1,701,11516,0.12,2.22,0.00,0.000,6,0.228,0.047,3100,1987,2394,0,0,0,0,0,0
$GC,11838,0.71,73.6,473.3,8.6,717,11853,0.00,2.28,10.40,0.868,4,0.000,0.057,3109,576,2348,0,0,0,0,0,0
$GC,11899,0.71,73.6,467.3,10.1,719,11903,0.00,2.28,0.00,0.000,6,0.000,0.049,3107,2003,2348,0,0,0,0,0,0
$GC,12231,0.71,73.6,432.9,10.4,735,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2004,2348,0,0,0,0,0,0
$GC,12540,0.71,73.6,400.5,10.4,750,12544,0.00,2.28,0.00,0.000,4,0.000,0.057,3117,581,2348,0,0,0,0,0,0
$GC,12590,0.71,73.6,395.0,10.9,754,12594,0.00,2.25,0.00,0.000,6,0.000,0.048,3117,2000,2348,0,0,0,0,0,0
$GC,12914,0.71,73.6,358.8,11.1,784,12918,0.00,2.28,0.00,0.000,4,0.000,0.057,3127,581,2348,0,0,0,0,0,0
$GC,12948,0.71,73.6,355.0,11.7,786,12955,0.00,2.25,0.00,0.000,6,0.000,0.049,3127,1997,2348,0,0,0,0,0,0
$GC,13274,0.71,73.6,317.0,11.7,817,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2000,2348,0,0,0,0,0,0
$GC,13592,0.71,73.6,281.0,11.5,847,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2000,2348,0,0,0,0,0,0
$GC,13912,0.71,73.6,246.6,10.5,877,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2000,2349,0,0,0,0,0,0
$GC,14229,0.71,77.7,214.9,9.5,907,14238,0.00,0.00,4.90,0.575,6,0.000,0.000,3127,2000,2332,0,0,0,0,0,0
$GC,14556,0.71,77.7,181.9,10.1,938,14560,0.00,2.20,0.00,0.000,4,0.000,0.057,3127,3401,2332,0,0,0,0,0,0
$GC,14583,0.71,77.7,178.8,10.6,940,14588,0.15,2.22,0.00,0.000,6,0.226,0.048,3104,1986,2332,0,0,0,0,0,0
$GC,14908,0.73,89.5,148.3,8.7,970,14924,0.00,2.33,10.48,0.691,4,0.000,0.057,3114,576,2284,0,0,0,0,0,0
$GC,15043,0.73,89.5,134.6,10.2,982,15047,0.00,2.25,0.00,0.000,6,0.000,0.048,3113,1990,2284,0,0,0,0,0,0
$GC,15375,0.73,89.5,102.6,10.1,1013,15379,0.00,2.28,0.00,0.000,4,0.000,0.057,3124,581,2284,0,0,0,0,0,0
$GC,15951,0.73,92.6,46.9,9.6,1111,15964,0.00,2.22,3.88,0.425,6,0.000,0.047,3124,1992,2274,0,0,0,0,0,0
$GC,16324,0.73,92.6,10.4,10.1,1173,16332,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1992,2273,0,0,0,0,0,0
$GC,16382,0.73,92.6,4.7,10.0,1182,16391,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1994,2274,0,0,0,0,0,0
$STATE,16404,end climb,SURFACE_DEPTH_REACHED
$STATE,16404,begin surface coast
$FINISH,1.4,1.026418
$STATE,16448,end surface coast,CONTROL_FINISHED_OK
$STATE,16448,begin surface
$SM_CCo,16463,54.33,0.053,0,0,1752,220.03
$SM_GC,3.45,0.00,0.00,54.33,0.000,0.000,0.053,143,2274,1752,-8.53,0.40,220.03
$IRIDIUM_FIX,-4435.30,623.77,051108,010149
$TT8_MAMPS,0.025466
$HUMID,48.26
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,23.9,24.402
$10V_AH,10.2,23.678
$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,20.825,141.050,121.450,54.325,0.000,28.084,60.139,620.895,24.750,0.000,21.645,3207.309,10138.697,351.651,3526.140,172.545,0.000,1480.579,0.000,2707.611,0.000,148.681,0.000
$DEVICE_MAMPS,245.565,68.085,1285.200,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.812,809.106,90.730,898.035,0.000,0.000,0.000,0.000,0.000,0.000
$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,70136,1192
$CAP_FILE_SIZE,169481,0
$CFSIZE,2097086464,2073362432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.097, 63.3,1
$GPS,090116,212857,-4455.852,624.199,81,1.6,81,-24.4