version: 66.07.10.p01
glider: 574
mission: 18
dive: 209
start: 4 14 112 18 32 33
data:
$ID,574
$MISSION,18
$DIVE,209
$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,-2344426.8
$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,24
$R_STBD_OVSHOOT,30
$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,208
$GPS1,170116,052733,-4456.041,626.903,62,1.2,62,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-76.2
$GPS2,170116,054052,-4456.076,627.081,3,1.3,4,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,117.4,11694,-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,-48.7,0.0,0.0,0,60,0.00,0.00,-34.55,0.000,2,0.000,0.000,136,2274,2599,0,0,0,0,0,0
$GC,63,-0.65,-48.7,3.1,-1.6,4,90,10.62,2.33,-7.85,0.000,4,0.245,0.059,2657,848,2847,0,0,0,0,0,0
$GC,330,-0.65,-48.7,48.9,-17.0,47,337,0.00,2.28,0.00,0.000,6,0.000,0.046,2648,2266,2849,0,0,0,0,0,0
$GC,681,-0.65,-48.7,111.9,-17.8,103,685,0.00,2.22,0.00,0.000,4,0.000,0.053,2637,3677,2849,0,0,0,0,0,0
$GC,970,-0.65,-48.7,161.6,-14.8,128,974,0.00,2.22,0.00,0.000,6,0.000,0.040,2637,2251,2849,0,0,0,0,0,0
$GC,1294,-0.65,-48.7,208.5,-14.2,158,1299,0.00,2.25,0.00,0.000,4,0.000,0.052,2627,3678,2849,0,0,0,0,0,0
$GC,1356,-0.65,-48.7,217.6,-14.3,163,1361,0.12,2.20,0.00,0.000,6,0.199,0.039,2656,2259,2849,0,0,0,0,0,0
$GC,1684,-0.65,-48.7,260.5,-13.7,193,1688,0.00,2.22,0.00,0.000,4,0.000,0.054,2647,3670,2849,0,0,0,0,0,0
$GC,1738,-0.65,-48.7,268.2,-14.3,197,1742,0.00,2.22,0.00,0.000,6,0.000,0.041,2647,2257,2849,0,0,0,0,0,0
$GC,2062,-0.65,-48.7,314.8,-14.0,227,2066,0.00,2.22,0.00,0.000,4,0.000,0.054,2637,3671,2849,0,0,0,0,0,0
$GC,2123,-0.65,-48.7,323.8,-14.6,232,2127,0.00,2.20,0.00,0.000,6,0.000,0.042,2637,2258,2849,0,0,0,0,0,0
$GC,2448,-0.65,-48.7,371.9,-14.9,262,2452,0.00,2.22,0.00,0.000,4,0.000,0.055,2627,3671,2849,0,0,0,0,0,0
$GC,2521,-0.65,-48.7,383.3,-15.6,268,2525,0.12,2.22,0.00,0.000,6,0.200,0.044,2656,2252,2849,0,0,0,0,0,0
$GC,2857,-0.65,-48.7,430.7,-14.2,290,2861,0.00,2.25,0.00,0.000,4,0.000,0.055,2646,3678,2849,0,0,0,0,0,0
$GC,2900,-0.65,-48.7,437.5,-14.5,292,2905,0.00,2.25,0.00,0.000,6,0.000,0.043,2646,2262,2849,0,0,0,0,0,0
$GC,3231,-0.65,-48.7,482.5,-13.4,308,3235,0.00,2.22,0.00,0.000,4,0.000,0.057,2636,3669,2848,0,0,0,0,0,0
$GC,3257,-0.65,-48.7,487.0,-14.1,309,3262,0.00,2.25,0.00,0.000,6,0.000,0.045,2636,2261,2848,0,0,0,0,0,0
$GC,3580,-0.65,-48.7,531.4,-13.8,325,3584,0.00,2.22,0.00,0.000,4,0.000,0.057,2626,3668,2848,0,0,0,0,0,0
$GC,3642,-0.65,-48.7,540.1,-13.9,328,3647,0.12,2.22,0.00,0.000,6,0.200,0.047,2655,2251,2848,0,0,0,0,0,0
$GC,3968,-0.65,-48.7,579.7,-11.6,344,3973,0.00,2.25,0.00,0.000,4,0.000,0.058,2646,3670,2848,0,0,0,0,0,0
$GC,3983,-0.65,-48.7,581.8,-11.4,344,3991,0.00,2.25,0.00,0.000,6,0.000,0.047,2646,2264,2848,0,0,0,0,0,0
$GC,4301,-0.65,-48.7,619.2,-11.6,360,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2260,2848,0,0,0,0,0,0
$GC,4609,-0.65,-48.7,655.0,-11.6,375,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2260,2848,0,0,0,0,0,0
$GC,4921,-0.65,-48.7,691.1,-11.6,390,4925,0.00,2.28,0.00,0.000,4,0.000,0.061,2636,3679,2847,0,0,0,0,0,0
$GC,5009,-0.65,-48.7,702.2,-11.9,394,5013,0.00,2.28,0.00,0.000,6,0.000,0.049,2636,2261,2847,0,0,0,0,0,0
$GC,5338,-0.65,-48.7,742.7,-12.4,410,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2257,2847,0,0,0,0,0,0
$GC,5645,-0.65,-48.7,779.9,-11.9,425,5652,0.00,2.25,0.00,0.000,4,0.000,0.061,2625,3677,2846,0,0,0,0,0,0
$GC,5707,-0.65,-48.7,788.1,-12.9,427,5715,0.10,2.28,0.00,0.000,6,0.181,0.050,2654,2259,2846,0,0,0,0,0,0
$GC,6026,-0.65,-48.7,821.9,-10.7,443,6030,0.00,2.25,0.00,0.000,4,0.000,0.061,2645,3671,2846,0,0,0,0,0,0
$GC,6074,-0.65,-48.7,827.7,-11.5,445,6079,0.00,2.28,0.00,0.000,6,0.000,0.051,2645,2262,2846,0,0,0,0,0,0
$GC,6398,-0.65,-48.7,861.9,-10.6,461,6402,0.00,2.25,0.00,0.000,4,0.000,0.063,2635,3668,2846,0,0,0,0,0,0
$GC,6470,-0.65,-48.7,870.4,-11.7,464,6475,0.00,2.28,0.00,0.000,6,0.000,0.053,2635,2261,2845,0,0,0,0,0,0
$GC,6791,-0.65,-48.7,905.5,-10.8,480,6796,0.00,2.25,0.00,0.000,4,0.000,0.063,2625,3668,2845,0,0,0,0,0,0
$GC,6818,-0.65,-48.7,908.6,-12.3,481,6823,0.10,2.28,0.00,0.000,6,0.180,0.052,2654,2260,2845,0,0,0,0,0,0
$GC,7142,-0.65,-48.7,940.4,-9.8,497,7146,0.00,2.25,0.00,0.000,4,0.000,0.064,2644,3665,2845,0,0,0,0,0,0
$GC,7237,-0.65,-48.7,950.6,-9.7,501,7241,0.00,2.25,0.00,0.000,6,0.000,0.054,2644,2252,2845,0,0,0,0,0,0
$GC,7554,-0.65,-48.7,981.4,-9.7,516,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2248,2845,0,0,0,0,0,0
$STATE,7760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7760,begin apogee
$GC,7764,-0.11,0.0,1001.8,10.2,526,7807,0.65,0.00,38.97,1.281,6,0.171,0.000,2829,1979,2650,0,0,0,0,0,0
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7809,0.65,48.7,1003.8,0.0,528,7857,0.75,2.40,41.35,1.249,4,0.102,0.057,3083,584,2451,0,0,0,0,0,0
$GC,7870,0.68,78.9,1000.9,7.1,531,7902,0.00,2.38,26.95,1.220,6,0.000,0.049,3083,1995,2327,0,0,0,0,0,0
$GC,8217,0.68,78.9,957.1,12.9,548,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1995,2323,0,0,0,0,0,0
$GC,8528,0.68,78.9,917.3,13.0,563,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1995,2322,0,0,0,0,0,0
$GC,8838,0.68,78.9,878.0,12.4,578,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1996,2321,0,0,0,0,0,0
$GC,9147,0.68,78.9,840.3,12.0,593,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1996,2321,0,0,0,0,0,0
$GC,9455,0.68,78.9,803.6,11.7,608,9459,0.00,2.25,0.00,0.000,4,0.000,0.058,3083,3406,2320,0,0,0,0,0,0
$GC,9494,0.68,78.9,798.7,12.8,610,9499,0.00,2.25,0.00,0.000,6,0.000,0.047,3092,1985,2321,0,0,0,0,0,0
$GC,9821,0.68,78.9,759.1,12.3,626,9822,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1982,2320,0,0,0,0,0,0
$GC,10130,0.68,78.9,719.7,13.0,641,10134,0.00,2.28,0.00,0.000,4,0.000,0.057,3104,576,2320,0,0,0,0,0,0
$GC,10178,0.68,78.9,713.1,14.0,643,10183,0.00,2.30,0.00,0.000,6,0.000,0.050,3100,1990,2321,0,0,0,0,0,0
$GC,10500,0.68,78.9,670.0,13.5,659,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1993,2320,0,0,0,0,0,0
$GC,10809,0.68,78.9,628.9,13.2,674,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1993,2319,0,0,0,0,0,0
$GC,11118,0.68,78.9,590.8,11.9,689,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1993,2319,0,0,0,0,0,0
$GC,11428,0.68,78.9,556.0,11.1,704,11432,0.00,2.28,0.00,0.000,4,0.000,0.057,3110,581,2319,0,0,0,0,0,0
$GC,11482,0.68,78.9,549.5,11.8,706,11490,0.00,2.28,0.00,0.000,6,0.000,0.048,3109,1986,2319,0,0,0,0,0,0
$GC,11799,0.68,78.9,513.4,11.3,722,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1987,2319,0,0,0,0,0,0
$GC,12109,0.68,78.9,479.3,11.0,737,12113,0.00,2.28,0.00,0.000,4,0.000,0.057,3120,574,2319,0,0,0,0,0,0
$GC,12129,0.68,78.9,476.6,10.9,738,12134,0.00,2.30,0.00,0.000,6,0.000,0.047,3118,1993,2319,0,0,0,0,0,0
$GC,12459,0.68,78.9,441.3,10.7,754,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1996,2319,0,0,0,0,0,0
$GC,12768,0.68,78.9,407.3,11.2,769,12772,0.00,2.22,0.00,0.000,4,0.000,0.055,3118,3405,2318,0,0,0,0,0,0
$GC,12777,0.68,78.9,405.6,11.8,769,12786,0.10,2.25,0.00,0.000,6,0.199,0.046,3100,1996,2319,0,0,0,0,0,0
$GC,13104,0.68,78.9,371.0,10.2,797,13108,0.00,2.22,0.00,0.000,4,0.000,0.055,3100,3403,2319,0,0,0,0,0,0
$GC,13122,0.68,78.9,368.7,11.1,798,13126,0.00,2.25,0.00,0.000,6,0.000,0.047,3109,1981,2319,0,0,0,0,0,0
$GC,13446,0.68,78.9,333.7,10.7,828,13450,0.00,2.25,0.00,0.000,4,0.000,0.057,3120,576,2319,0,0,0,0,0,0
$GC,13511,0.68,78.9,326.4,11.1,833,13520,0.00,2.28,0.00,0.000,6,0.000,0.047,3120,1986,2319,0,0,0,0,0,0
$GC,13837,0.68,78.9,292.4,10.5,864,13841,0.00,2.25,0.00,0.000,4,0.000,0.055,3130,581,2319,0,0,0,0,0,0
$GC,13846,0.68,78.9,291.3,10.1,864,13856,0.10,2.28,0.00,0.000,6,0.189,0.047,3102,1991,2319,0,0,0,0,0,0
$GC,14171,0.68,78.9,257.8,10.4,895,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1992,2319,0,0,0,0,0,0
$GC,14493,0.68,78.9,224.3,10.6,925,14497,0.00,2.28,0.00,0.000,4,0.000,0.055,3111,574,2319,0,0,0,0,0,0
$GC,14513,0.68,78.9,221.6,10.2,926,14521,0.00,2.30,0.00,0.000,6,0.000,0.047,3111,2001,2319,0,0,0,0,0,0
$GC,14842,0.68,78.9,185.2,11.4,957,14849,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2001,2319,0,0,0,0,0,0
$GC,15168,0.68,78.9,151.9,10.0,988,15172,0.00,2.28,0.00,0.000,4,0.000,0.055,3122,582,2319,0,0,0,0,0,0
$GC,15325,0.69,83.1,137.1,9.5,1001,15329,0.00,2.22,0.00,0.000,6,0.000,0.047,3122,1994,2319,0,0,0,0,0,0
$GC,15649,0.69,83.1,105.3,10.1,1031,15661,0.00,2.33,3.47,0.413,4,0.000,0.054,3133,576,2310,0,0,0,0,0,0
$GC,15685,0.69,86.0,102.1,9.7,1034,15698,0.15,2.22,4.07,0.520,6,0.197,0.047,3097,1990,2298,0,0,0,0,0,0
$GC,16038,0.73,114.2,74.8,7.3,1093,16066,0.00,2.33,23.20,0.708,4,0.000,0.055,3090,3404,2183,0,0,0,0,0,0
$GC,16249,0.73,114.2,51.3,12.3,1129,16257,0.00,2.25,0.00,0.000,6,0.000,0.047,3099,1984,2181,0,0,0,0,0,0
$GC,16616,0.73,114.2,11.9,13.7,1190,16625,0.00,2.28,0.00,0.000,4,0.000,0.054,3099,3394,2181,0,0,0,0,0,0
$GC,16645,0.73,114.2,8.2,13.0,1194,16654,0.00,2.28,0.00,0.000,6,0.000,0.048,3108,1981,2180,0,0,0,0,0,0
$STATE,16690,end climb,SURFACE_DEPTH_REACHED
$STATE,16691,begin surface coast
$FINISH,1.5,1.022460
$STATE,16729,end surface coast,CONTROL_FINISHED_OK
$STATE,16729,begin surface
$SM_CCo,16744,45.33,0.054,0,0,1752,220.03
$SM_GC,2.62,0.00,0.00,45.33,0.000,0.000,0.054,139,2271,1752,-8.54,0.28,220.03
$IRIDIUM_FIX,-4438.33,621.08,121108,131336
$TT8_MAMPS,0.026215
$HUMID,48.58
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,23.8,27.556
$10V_AH,10.2,28.185
$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,20.975,136.500,138.025,45.325,0.000,27.390,16.879,604.009,24.750,0.000,7.133,3214.642,10507.112,339.068,3325.431,201.594,0.000,1426.123,0.000,2599.490,0.000,148.733,0.000
$DEVICE_MAMPS,244.800,64.260,1280.610,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.357,834.326,87.855,884.238,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,70265,1207
$CAP_FILE_SIZE,166190,0
$CFSIZE,2097086464,2068643840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.038, 27.4,1
$GPS,170116,102327,-4456.018,629.190,88,1.0,88,-24.4