version: 66.07.10.p01
glider: 574
mission: 18
dive: 205
start: 4 13 112 22 21 49
data:
$ID,574
$MISSION,18
$DIVE,205
$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,-2344091
$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,204
$GPS1,160116,091803,-4500.496,624.221,32,1.1,32,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-79.4
$GPS2,160116,093005,-4500.570,624.249,3,1.1,4,-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,9.7,8470,-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,-48.7,0.0,0.0,0,51,0.00,0.00,-25.15,0.000,2,0.000,0.000,143,2270,2368,0,0,0,0,0,0
$GC,53,-0.65,-48.7,3.0,-0.5,3,89,10.48,2.38,-18.40,0.000,4,0.241,0.057,2658,835,2850,0,0,0,0,0,0
$GC,97,-0.65,-48.7,3.7,-0.7,8,107,0.00,2.35,0.00,0.000,6,0.000,0.047,2649,2252,2850,0,0,0,0,0,0
$GC,157,-0.65,-48.7,12.9,-17.7,17,165,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2253,2850,0,0,0,0,0,0
$GC,216,-0.65,-48.7,24.0,-19.2,26,225,0.00,2.33,0.00,0.000,4,0.000,0.054,2638,3674,2850,0,0,0,0,0,0
$GC,239,-0.65,-48.7,28.3,-18.8,29,248,0.00,2.28,0.00,0.000,6,0.000,0.040,2638,2261,2850,0,0,0,0,0,0
$GC,390,-0.65,-48.7,54.9,-16.4,54,399,0.00,2.28,0.00,0.000,4,0.000,0.047,2638,854,2849,0,0,0,0,0,0
$GC,424,-0.65,-48.7,60.4,-16.9,59,431,0.12,2.28,0.00,0.000,6,0.211,0.047,2655,2271,2850,0,0,0,0,0,0
$GC,773,-0.65,-48.7,116.7,-16.2,111,777,0.00,2.22,0.00,0.000,4,0.000,0.056,2646,3676,2851,0,0,0,0,0,0
$GC,816,-0.65,-48.7,123.6,-14.8,114,824,0.00,2.28,0.00,0.000,6,0.000,0.040,2646,2258,2850,0,0,0,0,0,0
$GC,1145,-0.65,-48.7,174.2,-16.2,145,1149,0.00,2.25,0.00,0.000,4,0.000,0.054,2636,3678,2851,0,0,0,0,0,0
$GC,1244,-0.65,-48.7,190.0,-15.2,153,1248,0.00,2.22,0.00,0.000,6,0.000,0.041,2636,2254,2851,0,0,0,0,0,0
$GC,1568,-0.65,-48.7,239.9,-14.3,183,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2250,2851,0,0,0,0,0,0
$GC,1889,-0.65,-48.7,285.6,-14.2,213,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2250,2851,0,0,0,0,0,0
$GC,2205,-0.65,-48.7,332.0,-14.4,243,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2250,2851,0,0,0,0,0,0
$GC,2526,-0.65,-48.7,379.0,-15.2,273,2531,0.00,2.22,0.00,0.000,4,0.000,0.049,2636,841,2851,0,0,0,0,0,0
$GC,2541,-0.65,-48.7,382.1,-14.9,274,2550,0.10,2.28,0.00,0.000,6,0.186,0.047,2654,2255,2851,0,0,0,0,0,0
$GC,2861,-0.65,-48.7,425.7,-13.6,296,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2255,2851,0,0,0,0,0,0
$GC,3172,-0.65,-48.7,467.5,-13.5,311,3176,0.00,2.22,0.00,0.000,4,0.000,0.059,2645,3669,2850,0,0,0,0,0,0
$GC,3193,-0.65,-48.7,471.0,-14.0,312,3198,0.00,2.25,0.00,0.000,6,0.000,0.046,2645,2261,2850,0,0,0,0,0,0
$GC,3520,-0.65,-48.7,515.9,-13.6,328,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2257,2850,0,0,0,0,0,0
$GC,3829,-0.65,-48.7,556.0,-12.9,343,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2257,2850,0,0,0,0,0,0
$GC,4138,-0.65,-48.7,596.6,-13.2,358,4142,0.00,2.22,0.00,0.000,4,0.000,0.054,2644,848,2850,0,0,0,0,0,0
$GC,4165,-0.65,-48.7,600.6,-14.4,359,4169,0.00,2.25,0.00,0.000,6,0.000,0.050,2635,2268,2849,0,0,0,0,0,0
$GC,4487,-0.65,-48.7,644.1,-13.8,375,4491,0.00,2.25,0.00,0.000,4,0.000,0.053,2635,848,2849,0,0,0,0,0,0
$GC,4518,-0.65,-48.7,648.9,-14.3,376,4528,0.10,2.28,0.00,0.000,6,0.182,0.049,2653,2257,2849,0,0,0,0,0,0
$GC,4835,-0.65,-48.7,687.9,-12.3,392,4839,0.00,2.25,0.00,0.000,4,0.000,0.062,2644,3679,2849,0,0,0,0,0,0
$GC,4897,-0.65,-48.7,695.8,-12.5,395,4901,0.00,2.25,0.00,0.000,6,0.000,0.050,2644,2252,2849,0,0,0,0,0,0
$GC,5223,-0.65,-48.7,737.2,-12.0,411,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2250,2849,0,0,0,0,0,0
$GC,5532,-0.65,-48.7,773.6,-11.7,426,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2249,2849,0,0,0,0,0,0
$GC,5842,-0.65,-48.7,808.9,-11.2,441,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2249,2849,0,0,0,0,0,0
$GC,6151,-0.65,-48.7,843.6,-11.2,456,6155,0.00,2.28,0.00,0.000,4,0.000,0.063,2635,3678,2849,0,0,0,0,0,0
$GC,6189,-0.65,-48.7,848.1,-11.9,458,6193,0.00,2.25,0.00,0.000,6,0.000,0.052,2634,2253,2848,0,0,0,0,0,0
$GC,6516,-0.65,-48.7,886.2,-11.7,474,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2250,2848,0,0,0,0,0,0
$GC,6825,-0.65,-48.7,923.2,-11.7,489,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2250,2848,0,0,0,0,0,0
$GC,7137,-0.65,-48.7,960.3,-11.5,504,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2250,2848,0,0,0,0,0,0
$GC,7444,-0.65,-48.7,993.8,-10.6,519,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2250,2848,0,0,0,0,0,0
$STATE,7506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7506,begin apogee
$GC,7511,-0.11,0.0,1000.3,10.7,522,7553,0.68,0.00,39.65,1.281,6,0.172,0.000,2826,1980,2650,0,0,0,0,0,0
$STATE,7554,end apogee,CONTROL_FINISHED_OK
$STATE,7554,begin climb
$GC,7556,0.65,48.7,1002.4,0.0,524,7606,0.75,2.47,41.55,1.258,4,0.102,0.056,3080,583,2450,0,0,0,0,0,0
$GC,7617,0.67,65.2,998.7,8.4,527,7640,0.00,2.38,15.27,1.170,6,0.000,0.049,3075,1994,2384,0,0,0,0,0,0
$GC,7948,0.67,65.2,957.9,12.9,543,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,2380,0,0,0,0,0,0
$GC,8257,0.67,65.2,919.5,12.2,558,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1994,2380,0,0,0,0,0,0
$GC,8567,0.67,65.2,881.2,12.2,573,8571,0.00,2.30,0.00,0.000,4,0.000,0.057,3085,579,2380,0,0,0,0,0,0
$GC,8632,0.67,65.2,873.0,12.7,576,8637,0.00,2.30,0.00,0.000,6,0.000,0.049,3082,1982,2381,0,0,0,0,0,0
$GC,8959,0.67,65.2,833.9,11.7,592,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1985,2380,0,0,0,0,0,0
$GC,9269,0.67,65.2,800.0,10.6,607,9273,0.00,2.28,0.00,0.000,4,0.000,0.057,3091,575,2379,0,0,0,0,0,0
$GC,9295,0.67,65.2,796.8,10.6,608,9299,0.00,2.33,0.00,0.000,6,0.000,0.050,3088,1992,2380,0,0,0,0,0,0
$GC,9617,0.67,65.2,762.3,10.8,624,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1994,2379,0,0,0,0,0,0
$GC,9926,0.67,65.2,727.9,11.2,639,9930,0.00,2.28,0.00,0.000,4,0.000,0.055,3097,575,2379,0,0,0,0,0,0
$GC,9952,0.67,65.2,724.8,12.0,640,9957,0.00,2.30,0.00,0.000,6,0.000,0.049,3095,1993,2379,0,0,0,0,0,0
$GC,10274,0.67,65.2,686.8,12.0,656,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2379,0,0,0,0,0,0
$GC,10583,0.67,65.2,650.9,11.4,671,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2379,0,0,0,0,0,0
$GC,10894,0.67,65.2,616.2,11.2,686,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2379,0,0,0,0,0,0
$GC,11202,0.67,65.2,583.2,10.8,701,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2379,0,0,0,0,0,0
$GC,11512,0.67,65.2,550.3,10.6,716,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2379,0,0,0,0,0,0
$GC,11820,0.67,65.2,517.2,10.6,731,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1995,2379,0,0,0,0,0,0
$GC,12131,0.67,65.2,484.2,10.7,746,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1995,2378,0,0,0,0,0,0
$GC,12441,0.67,65.2,451.4,10.9,761,12445,0.00,2.22,0.00,0.000,4,0.000,0.057,3094,3409,2378,0,0,0,0,0,0
$GC,12539,0.67,65.2,439.5,11.3,765,12547,0.00,2.28,0.00,0.000,6,0.000,0.046,3103,1983,2378,0,0,0,0,0,0
$GC,12856,0.67,65.2,406.7,10.2,781,12860,0.00,2.22,0.00,0.000,4,0.000,0.056,3114,582,2378,0,0,0,0,0,0
$GC,12943,0.67,68.9,397.6,9.6,785,12952,0.00,2.28,3.70,0.526,6,0.000,0.047,3114,1995,2368,0,0,0,0,0,0
$GC,13269,0.67,71.0,365.3,9.8,816,13282,0.00,0.00,3.58,0.559,6,0.000,0.000,3114,1997,2359,0,0,0,0,0,0
$GC,13596,0.68,79.1,333.6,9.2,847,13609,0.00,2.35,7.80,0.741,4,0.000,0.054,3125,578,2326,0,0,0,0,0,0
$GC,13670,0.68,79.1,326.3,10.2,853,13675,0.12,2.25,0.00,0.000,6,0.203,0.047,3097,1995,2326,0,0,0,0,0,0
$GC,13995,0.68,79.1,293.2,10.0,883,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1996,2326,0,0,0,0,0,0
$GC,14317,0.68,79.1,260.4,10.1,913,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1996,2326,0,0,0,0,0,0
$GC,14642,0.68,79.1,226.8,10.3,944,14643,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1996,2326,0,0,0,0,0,0
$GC,14961,0.68,79.1,194.4,10.0,974,14965,0.00,2.20,0.00,0.000,4,0.000,0.055,3089,3402,2326,0,0,0,0,0,0
$GC,14989,0.68,79.1,191.3,10.9,976,14993,0.00,2.20,0.00,0.000,6,0.000,0.047,3098,1990,2326,0,0,0,0,0,0
$GC,15313,0.69,86.7,160.5,9.2,1006,15326,0.00,2.33,7.45,0.652,4,0.000,0.056,3109,582,2295,0,0,0,0,0,0
$GC,15354,0.69,86.7,156.5,10.2,1009,15361,0.00,2.25,0.00,0.000,6,0.000,0.047,3109,2001,2296,0,0,0,0,0,0
$GC,15679,0.69,86.7,122.4,10.0,1040,15683,0.00,2.20,0.00,0.000,4,0.000,0.055,3109,3405,2295,0,0,0,0,0,0
$GC,15937,0.69,86.7,95.7,10.7,1065,15945,0.00,2.25,0.00,0.000,6,0.000,0.047,3119,1997,2295,0,0,0,0,0,0
$GC,16291,0.72,106.9,61.5,8.0,1126,16313,0.00,2.35,17.00,0.677,4,0.000,0.055,3131,582,2213,0,0,0,0,0,0
$GC,16456,0.72,106.9,44.8,10.4,1154,16462,0.00,2.25,0.00,0.000,6,0.000,0.046,3131,1997,2211,0,0,0,0,0,0
$GC,16821,0.72,106.9,3.6,13.5,1215,16829,0.00,2.33,0.00,0.000,4,0.000,0.056,3141,579,2211,0,0,0,0,0,0
$STATE,16837,end climb,SURFACE_DEPTH_REACHED
$STATE,16837,begin surface coast
$FINISH,1.7,1.005204
$STATE,16863,end surface coast,CONTROL_FINISHED_OK
$STATE,16863,begin surface
$SM_CCo,16880,48.25,0.051,0,0,1752,220.03
$SM_GC,3.23,0.00,0.00,48.25,0.000,0.000,0.051,138,2271,1752,-8.54,0.31,220.03
$IRIDIUM_FIX,-4444.39,621.76,111108,171725
$TT8_MAMPS,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,23.9,27.201
$10V_AH,10.2,27.686
$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,20.500,105.600,136.000,48.250,0.000,22.771,17.777,533.103,24.750,0.000,7.183,3202.459,10767.650,338.601,3161.971,179.683,0.000,1375.820,0.000,2509.635,0.000,148.758,0.000
$DEVICE_MAMPS,240.975,63.495,1280.610,51.255,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.419,833.580,84.354,880.929,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,70216,1221
$CAP_FILE_SIZE,155974,0
$CFSIZE,2097086464,2069200896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 79.5,1
$GPS,160116,141427,-4459.042,624.766,56,0.9,56,-24.4