version: 66.07.10.p01
glider: 574
mission: 18
dive: 180
start: 4 8 112 16 37 6
data:
$ID,574
$MISSION,18
$DIVE,180
$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,-2342125
$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,23
$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,179
$GPS1,110116,033127,-4455.978,636.121,88,0.8,88,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-77.0
$GPS2,110116,034502,-4455.870,636.320,5,0.8,6,-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,225.5,15063,-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,-44.45,0.000,6,0.000,0.000,135,2275,2850,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.4,-2.2,6,93,10.48,2.20,0.00,0.000,4,0.241,0.038,2644,3672,2851,0,0,0,0,0,0
$GC,236,-0.65,-48.7,32.2,-16.3,31,244,0.00,2.28,0.00,0.000,6,0.000,0.041,2644,2261,2851,0,0,0,0,0,0
$GC,383,-0.65,-48.7,58.3,-17.7,56,391,0.00,2.25,0.00,0.000,4,0.000,0.054,2635,3668,2852,0,0,0,0,0,0
$GC,470,-0.65,-48.7,73.7,-18.8,70,476,0.00,2.22,0.00,0.000,6,0.000,0.040,2635,2252,2851,0,0,0,0,0,0
$GC,807,-0.65,-48.7,134.3,-16.0,113,811,0.00,2.25,0.00,0.000,4,0.000,0.052,2625,3673,2853,0,0,0,0,0,0
$GC,939,-0.65,-48.7,156.3,-16.7,124,944,0.12,2.20,0.00,0.000,6,0.201,0.040,2654,2257,2853,0,0,0,0,0,0
$GC,1264,-0.65,-48.7,205.0,-16.0,154,1268,0.00,2.20,0.00,0.000,4,0.000,0.048,2658,851,2853,0,0,0,0,0,0
$GC,1351,-0.65,-48.7,218.4,-15.0,161,1356,0.00,2.22,0.00,0.000,6,0.000,0.047,2649,2261,2853,0,0,0,0,0,0
$GC,1676,-0.65,-48.7,268.1,-14.7,191,1680,0.00,2.22,0.00,0.000,4,0.000,0.056,2639,3679,2853,0,0,0,0,0,0
$GC,1726,-0.65,-48.7,275.9,-15.7,195,1730,0.00,2.20,0.00,0.000,6,0.000,0.041,2638,2260,2853,0,0,0,0,0,0
$GC,2053,-0.65,-48.7,325.1,-15.5,225,2057,0.00,2.20,0.00,0.000,4,0.000,0.049,2639,850,2853,0,0,0,0,0,0
$GC,2070,-0.65,-48.7,328.0,-14.8,226,2075,0.12,2.22,0.00,0.000,6,0.211,0.047,2657,2266,2853,0,0,0,0,0,0
$GC,2394,-0.65,-48.7,374.0,-13.8,256,2398,0.00,2.20,0.00,0.000,4,0.000,0.057,2647,3669,2852,0,0,0,0,0,0
$GC,2480,-0.65,-48.7,386.7,-14.4,263,2484,0.00,2.20,0.00,0.000,6,0.000,0.044,2648,2258,2852,0,0,0,0,0,0
$GC,2810,-0.65,-48.7,434.2,-14.7,283,2814,0.00,2.22,0.00,0.000,4,0.000,0.056,2638,3669,2852,0,0,0,0,0,0
$GC,2886,-0.65,-48.7,446.2,-15.2,286,2894,0.00,2.25,0.00,0.000,6,0.000,0.044,2639,2259,2852,0,0,0,0,0,0
$GC,3205,-0.65,-48.7,491.5,-14.2,302,3209,0.00,2.22,0.00,0.000,4,0.000,0.057,2629,3669,2852,0,0,0,0,0,0
$GC,3366,-0.65,-48.7,515.5,-14.8,309,3371,0.12,2.20,0.00,0.000,6,0.197,0.046,2660,2260,2852,0,0,0,0,0,0
$GC,3682,-0.65,-48.7,554.6,-11.8,324,3686,0.00,2.22,0.00,0.000,4,0.000,0.058,2651,3667,2851,0,0,0,0,0,0
$GC,3743,-0.65,-48.7,562.5,-12.9,327,3747,0.00,2.20,0.00,0.000,6,0.000,0.047,2651,2261,2851,0,0,0,0,0,0
$GC,4071,-0.65,-48.7,602.0,-12.0,343,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2257,2851,0,0,0,0,0,0
$GC,4378,-0.65,-48.7,638.9,-11.9,358,4382,0.00,2.22,0.00,0.000,4,0.000,0.060,2641,3666,2851,0,0,0,0,0,0
$GC,4443,-0.65,-48.7,647.3,-12.9,361,4448,0.00,2.25,0.00,0.000,6,0.000,0.049,2641,2264,2851,0,0,0,0,0,0
$GC,4771,-0.65,-48.7,687.3,-12.4,377,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2261,2850,0,0,0,0,0,0
$GC,5080,-0.65,-48.7,725.0,-12.5,392,5084,0.00,2.25,0.00,0.000,4,0.000,0.061,2633,3665,2850,0,0,0,0,0,0
$GC,5141,-0.65,-48.7,733.0,-12.9,395,5145,0.00,2.25,0.00,0.000,6,0.000,0.050,2633,2246,2850,0,0,0,0,0,0
$GC,5474,-0.65,-48.7,775.4,-13.1,411,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2241,2849,0,0,0,0,0,0
$GC,5782,-0.65,-48.7,816.3,-13.2,426,5787,0.00,2.28,0.00,0.000,4,0.000,0.061,2623,3674,2849,0,0,0,0,0,0
$GC,5859,-0.65,-48.7,827.1,-13.3,429,5868,0.10,2.28,0.00,0.000,6,0.179,0.051,2653,2261,2849,0,0,0,0,0,0
$GC,6177,-0.65,-48.7,864.6,-12.0,445,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2258,2849,0,0,0,0,0,0
$GC,6485,-0.65,-48.7,899.8,-11.4,460,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2258,2849,0,0,0,0,0,0
$GC,6794,-0.65,-48.7,932.1,-10.1,475,6798,0.00,2.25,0.00,0.000,4,0.000,0.064,2644,3668,2849,0,0,0,0,0,0
$GC,6848,-0.65,-48.7,938.1,-11.2,477,6856,0.00,2.28,0.00,0.000,6,0.000,0.054,2644,2261,2849,0,0,0,0,0,0
$GC,7166,-0.65,-48.7,969.7,-10.1,493,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2258,2848,0,0,0,0,0,0
$STATE,7473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7473,begin apogee
$GC,7477,-0.11,0.0,1000.0,9.7,508,7520,0.65,0.00,39.80,1.292,6,0.171,0.000,2830,1975,2650,0,0,0,0,0,0
$STATE,7521,end apogee,CONTROL_FINISHED_OK
$STATE,7521,begin climb
$GC,7523,0.65,48.7,1001.7,0.0,510,7568,0.75,0.00,41.50,1.261,6,0.103,0.000,3074,1974,2450,0,0,0,0,0,0
$GC,7873,0.65,48.7,966.7,11.2,527,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1974,2448,0,0,0,0,0,0
$GC,8182,0.65,48.7,932.3,10.9,542,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1974,2448,0,0,0,0,0,0
$GC,8492,0.65,48.7,898.7,10.7,557,8496,0.00,2.30,0.00,0.000,4,0.000,0.059,3074,3405,2448,0,0,0,0,0,0
$GC,8531,0.65,48.7,894.2,11.9,559,8535,0.00,2.28,0.00,0.000,6,0.000,0.047,3084,1989,2448,0,0,0,0,0,0
$GC,8857,0.65,48.7,858.8,10.5,575,8861,0.00,2.30,0.00,0.000,4,0.000,0.058,3095,578,2448,0,0,0,0,0,0
$GC,8896,0.65,48.7,854.4,11.5,577,8901,0.00,2.25,0.00,0.000,6,0.000,0.050,3090,1987,2448,0,0,0,0,0,0
$GC,9223,0.65,53.9,822.4,9.4,593,9233,0.00,2.30,5.35,0.841,4,0.000,0.055,3099,574,2429,0,0,0,0,0,0
$GC,9255,0.66,60.1,819.2,9.4,594,9266,0.00,2.33,6.75,0.949,6,0.000,0.050,3095,1994,2403,0,0,0,0,0,0
$GC,9587,0.66,60.1,783.7,10.6,611,9592,0.00,2.25,0.00,0.000,4,0.000,0.059,3095,3400,2403,0,0,0,0,0,0
$GC,9687,0.66,60.1,771.9,12.0,615,9695,0.00,2.28,0.00,0.000,6,0.000,0.047,3104,1992,2404,0,0,0,0,0,0
$GC,10003,0.66,60.1,736.4,11.5,631,10007,0.00,2.28,0.00,0.000,4,0.000,0.057,3115,579,2404,0,0,0,0,0,0
$GC,10124,0.66,60.1,722.1,11.4,636,10133,0.00,2.30,0.00,0.000,6,0.000,0.049,3111,1991,2403,0,0,0,0,0,0
$GC,10440,0.66,60.1,685.6,11.3,652,10445,0.00,2.28,0.00,0.000,4,0.000,0.056,3121,575,2403,0,0,0,0,0,0
$GC,10480,0.66,60.1,681.0,12.1,654,10484,0.00,2.25,0.00,0.000,6,0.000,0.050,3112,1991,2404,0,0,0,0,0,0
$GC,10806,0.66,60.1,643.5,11.2,670,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1993,2404,0,0,0,0,0,0
$GC,11116,0.66,60.1,610.7,10.5,685,11120,0.00,2.22,0.00,0.000,4,0.000,0.058,3112,3402,2404,0,0,0,0,0,0
$GC,11159,0.66,60.1,605.6,11.8,687,11164,0.10,2.28,0.00,0.000,6,0.203,0.047,3095,1986,2402,0,0,0,0,0,0
$GC,11486,0.67,71.7,575.4,8.8,703,11502,0.00,2.28,10.55,0.922,4,0.000,0.057,3104,579,2356,0,0,0,0,0,0
$GC,11592,0.67,71.7,565.1,10.6,707,11597,0.00,2.25,0.00,0.000,6,0.000,0.047,3101,1990,2357,0,0,0,0,0,0
$GC,11919,0.67,71.7,532.4,10.4,723,11923,0.00,2.28,0.00,0.000,4,0.000,0.057,3111,579,2356,0,0,0,0,0,0
$GC,11961,0.68,79.0,527.9,9.3,725,11973,0.00,2.30,7.05,0.806,6,0.000,0.048,3111,1995,2327,0,0,0,0,0,0
$GC,12282,0.68,79.0,490.9,11.9,740,12286,0.00,2.22,0.00,0.000,4,0.000,0.057,3111,3400,2327,0,0,0,0,0,0
$GC,12320,0.68,79.0,485.9,12.5,742,12324,0.00,2.22,0.00,0.000,6,0.000,0.047,3121,1989,2327,0,0,0,0,0,0
$GC,12648,0.68,79.0,445.1,12.3,758,12652,0.00,2.25,0.00,0.000,4,0.000,0.056,3121,3407,2327,0,0,0,0,0,0
$GC,12668,0.68,79.0,442.0,12.7,759,12674,0.12,2.28,0.00,0.000,6,0.203,0.047,3098,1992,2327,0,0,0,0,0,0
$GC,12996,0.68,79.0,404.9,11.6,775,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1989,2328,0,0,0,0,0,0
$GC,13312,0.68,79.0,369.3,11.0,802,13316,0.00,2.28,0.00,0.000,4,0.000,0.057,3107,566,2327,0,0,0,0,0,0
$GC,13344,0.68,79.0,365.4,11.5,804,13355,0.00,2.30,0.00,0.000,6,0.000,0.048,3108,1988,2327,0,0,0,0,0,0
$GC,13669,0.68,79.0,327.6,11.8,835,13673,0.00,2.28,0.00,0.000,4,0.000,0.056,3118,565,2326,0,0,0,0,0,0
$GC,13724,0.68,79.0,320.8,11.9,839,13732,0.00,2.30,0.00,0.000,6,0.000,0.048,3118,1989,2327,0,0,0,0,0,0
$GC,14050,0.68,79.0,283.4,11.4,870,14054,0.00,2.30,0.00,0.000,4,0.000,0.057,3128,567,2327,0,0,0,0,0,0
$GC,14185,0.68,79.0,266.9,12.1,881,14193,0.10,2.30,0.00,0.000,6,0.184,0.049,3086,1989,2327,0,0,0,0,0,0
$GC,14510,0.69,82.1,234.0,9.7,912,14526,0.00,2.28,4.10,0.520,4,0.000,0.056,3077,3400,2314,0,0,0,0,0,0
$GC,14564,0.69,82.1,228.2,10.8,916,14575,0.00,2.25,0.00,0.000,6,0.000,0.047,3085,1987,2314,0,0,0,0,0,0
$GC,14889,0.69,82.1,193.6,11.2,947,14893,0.00,2.25,0.00,0.000,4,0.000,0.057,3097,578,2315,0,0,0,0,0,0
$GC,14919,0.69,82.1,190.5,10.9,949,14923,0.00,2.22,0.00,0.000,6,0.000,0.048,3097,1991,2315,0,0,0,0,0,0
$GC,15243,0.69,82.1,155.5,10.1,979,15247,0.00,2.25,0.00,0.000,4,0.000,0.056,3107,581,2315,0,0,0,0,0,0
$GC,15686,0.72,111.8,109.0,7.1,1017,15716,0.00,2.28,24.45,0.730,6,0.000,0.048,3107,1993,2194,0,0,0,0,0,0
$GC,16052,0.72,111.8,71.8,10.8,1073,16058,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1993,2190,0,0,0,0,0,0
$GC,16406,0.72,111.8,32.7,11.2,1134,16414,0.00,2.30,0.00,0.000,4,0.000,0.055,3117,586,2189,0,0,0,0,0,0
$STATE,16662,end climb,SURFACE_DEPTH_REACHED
$STATE,16662,begin surface coast
$FINISH,1.6,1.026514
$STATE,16676,end surface coast,CONTROL_FINISHED_OK
$STATE,16676,begin surface
$SM_CCo,16693,45.50,0.052,0,0,1752,220.03
$SM_GC,3.14,0.00,0.00,45.50,0.000,0.000,0.052,136,2263,1752,-8.55,0.08,220.03
$IRIDIUM_FIX,-4441.36,630.50,061108,111116
$TT8_MAMPS,0.026215
$HUMID,48.46
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.40
$XPDR_PINGS,0
$24V_AH,23.9,25.010
$10V_AH,10.2,24.548
$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,20.725,145.150,139.550,45.500,0.000,23.248,21.532,630.257,24.750,0.000,9.144,3174.194,10455.937,352.628,3400.287,172.184,0.000,1476.735,0.000,2642.556,0.000,148.714,0.000
$DEVICE_MAMPS,240.975,64.260,1292.085,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.420,813.114,79.263,822.231,0.000,0.000,0.000,0.000,0.000,0.000
$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,66864,1178
$CAP_FILE_SIZE,169414,0
$CFSIZE,2097086464,2072444928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.024, 30.0,1
$GPS,110116,082633,-4456.877,635.529,75,1.1,75,-24.4