version: 66.07.10.p01
glider: 574
mission: 18
dive: 211
start: 4 15 112 4 38 37
data:
$ID,574
$MISSION,18
$DIVE,211
$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,-2344587.5
$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,18
$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,210
$GPS1,170116,153432,-4456.672,631.371,39,1.0,44,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-78.6
$GPS2,170116,154658,-4456.649,631.345,4,1.0,4,-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,90.1,6220,-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,-25.23,0.000,2,0.000,0.000,136,2277,2364,0,0,0,0,0,0
$GC,53,-0.65,-48.7,3.0,-2.7,3,89,10.57,2.33,-18.27,0.000,4,0.243,0.065,2645,3670,2849,0,0,0,0,0,0
$GC,292,-0.65,-48.7,40.5,-19.1,40,299,0.00,2.25,0.00,0.000,6,0.000,0.041,2645,2248,2849,0,0,0,0,0,0
$GC,653,-0.65,-48.7,104.5,-17.0,100,657,0.00,2.20,0.00,0.000,4,0.000,0.045,2645,847,2849,0,0,0,0,0,0
$GC,662,-0.65,-48.7,106.2,-16.4,100,673,0.00,2.28,0.00,0.000,6,0.000,0.043,2635,2251,2849,0,0,0,0,0,0
$GC,988,-0.65,-48.7,157.9,-15.6,131,992,0.00,2.25,0.00,0.000,4,0.000,0.053,2624,3681,2850,0,0,0,0,0,0
$GC,1200,-0.65,-48.7,192.3,-16.1,149,1205,0.15,2.22,0.00,0.000,6,0.191,0.038,2660,2246,2851,0,0,0,0,0,0
$GC,1524,-0.65,-48.7,237.5,-13.2,179,1529,0.00,2.28,0.00,0.000,4,0.000,0.054,2651,3682,2851,0,0,0,0,0,0
$GC,1555,-0.65,-48.7,241.4,-14.0,181,1559,0.00,2.22,0.00,0.000,6,0.000,0.040,2652,2257,2851,0,0,0,0,0,0
$GC,1884,-0.65,-48.7,286.4,-13.5,212,1888,0.00,2.25,0.00,0.000,4,0.000,0.054,2643,3682,2851,0,0,0,0,0,0
$GC,1917,-0.65,-48.7,291.2,-14.2,214,1925,0.00,2.25,0.00,0.000,6,0.000,0.040,2644,2260,2851,0,0,0,0,0,0
$GC,2246,-0.65,-48.7,336.2,-14.4,245,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2255,2851,0,0,0,0,0,0
$GC,2562,-0.65,-48.7,381.1,-13.8,275,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2255,2851,0,0,0,0,0,0
$GC,2886,-0.65,-48.7,426.7,-14.4,297,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,2851,0,0,0,0,0,0
$GC,3195,-0.65,-48.7,471.1,-14.5,312,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2256,2850,0,0,0,0,0,0
$GC,3505,-0.65,-48.7,514.3,-14.0,327,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2256,2850,0,0,0,0,0,0
$GC,3813,-0.65,-48.7,558.0,-13.6,342,3817,0.00,2.22,0.00,0.000,4,0.000,0.055,2635,3671,2850,0,0,0,0,0,0
$GC,3928,-0.65,-48.7,574.1,-13.7,347,3933,0.00,2.25,0.00,0.000,6,0.000,0.044,2635,2257,2850,0,0,0,0,0,0
$GC,4251,-0.65,-48.7,617.0,-13.9,363,4255,0.00,2.22,0.00,0.000,4,0.000,0.055,2625,3671,2849,0,0,0,0,0,0
$GC,4277,-0.65,-48.7,620.9,-14.2,364,4282,0.10,2.25,0.00,0.000,6,0.181,0.044,2653,2258,2849,0,0,0,0,0,0
$GC,4601,-0.65,-48.7,662.0,-12.8,380,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2254,2849,0,0,0,0,0,0
$GC,4908,-0.65,-48.7,700.5,-12.3,395,4912,0.00,2.25,0.00,0.000,4,0.000,0.057,2644,3670,2849,0,0,0,0,0,0
$GC,4972,-0.65,-48.7,709.0,-12.9,398,4977,0.00,2.25,0.00,0.000,6,0.000,0.046,2644,2261,2849,0,0,0,0,0,0
$GC,5303,-0.65,-48.7,750.1,-12.3,414,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2257,2848,0,0,0,0,0,0
$GC,5610,-0.65,-48.7,787.4,-11.7,429,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2257,2848,0,0,0,0,0,0
$GC,5921,-0.65,-48.7,821.7,-10.9,444,5925,0.00,2.22,0.00,0.000,4,0.000,0.054,2644,850,2847,0,0,0,0,0,0
$GC,5938,-0.65,-48.7,823.7,-11.0,445,5942,0.00,2.22,0.00,0.000,6,0.000,0.049,2635,2262,2848,0,0,0,0,0,0
$GC,6266,-0.65,-48.7,860.3,-11.4,461,6270,0.00,2.22,0.00,0.000,4,0.000,0.058,2624,3677,2848,0,0,0,0,0,0
$GC,6297,-0.65,-48.7,864.6,-12.4,462,6305,0.10,2.25,0.00,0.000,6,0.178,0.046,2654,2263,2847,0,0,0,0,0,0
$GC,6616,-0.65,-48.7,897.9,-10.5,478,6620,0.00,2.28,0.00,0.000,4,0.000,0.056,2655,840,2847,0,0,0,0,0,0
$GC,6633,-0.65,-48.7,900.2,-10.6,479,6637,0.00,2.25,0.00,0.000,6,0.000,0.051,2646,2260,2847,0,0,0,0,0,0
$GC,6959,-0.65,-48.7,935.5,-10.5,495,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2259,2846,0,0,0,0,0,0
$GC,7269,-0.65,-48.7,966.6,-9.6,510,7273,0.00,2.25,0.00,0.000,4,0.000,0.061,2635,3668,2846,0,0,0,0,0,0
$GC,7331,-0.65,-48.7,973.1,-11.1,513,7335,0.00,2.22,0.00,0.000,6,0.000,0.050,2635,2256,2847,0,0,0,0,0,0
$STATE,7594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7594,begin apogee
$GC,7599,-0.11,0.0,1000.1,10.0,526,7641,0.68,0.00,39.42,1.278,6,0.172,0.000,2826,1979,2649,0,0,0,0,0,0
$STATE,7642,end apogee,CONTROL_FINISHED_OK
$STATE,7642,begin climb
$GC,7644,0.65,48.7,1002.0,0.0,528,7692,0.75,2.40,41.53,1.249,4,0.103,0.055,3081,581,2451,0,0,0,0,0,0
$GC,7714,0.66,58.2,997.5,9.0,531,7729,0.00,2.38,9.52,1.091,6,0.000,0.048,3078,1995,2411,0,0,0,0,0,0
$GC,8057,0.66,58.2,958.5,11.4,548,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1996,2409,0,0,0,0,0,0
$GC,8366,0.66,58.2,923.6,11.1,563,8370,0.00,2.28,0.00,0.000,4,0.000,0.058,3078,3408,2409,0,0,0,0,0,0
$GC,8386,0.66,58.2,921.0,10.9,564,8391,0.00,2.30,0.00,0.000,6,0.000,0.046,3087,1995,2409,0,0,0,0,0,0
$GC,8715,0.66,58.2,884.0,11.4,580,8720,0.00,2.30,0.00,0.000,4,0.000,0.057,3098,574,2409,0,0,0,0,0,0
$GC,8781,0.66,58.2,875.7,11.5,583,8786,0.00,2.33,0.00,0.000,6,0.000,0.048,3091,1990,2409,0,0,0,0,0,0
$GC,9109,0.66,58.2,838.8,11.1,599,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1993,2408,0,0,0,0,0,0
$GC,9419,0.66,58.2,805.1,10.6,614,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1993,2408,0,0,0,0,0,0
$GC,9729,0.66,58.2,772.3,10.5,629,9733,0.00,2.28,0.00,0.000,4,0.000,0.055,3099,574,2408,0,0,0,0,0,0
$GC,9801,0.66,58.2,764.0,11.2,632,9805,0.00,2.30,0.00,0.000,6,0.000,0.049,3097,1988,2408,0,0,0,0,0,0
$GC,10124,0.66,58.2,727.9,11.2,648,10128,0.00,2.30,0.00,0.000,4,0.000,0.056,3105,572,2408,0,0,0,0,0,0
$GC,10167,0.66,58.2,722.5,11.9,650,10171,0.00,2.30,0.00,0.000,6,0.000,0.049,3102,1986,2408,0,0,0,0,0,0
$GC,10494,0.66,58.2,685.7,11.0,666,10498,0.00,2.25,0.00,0.000,4,0.000,0.055,3110,581,2408,0,0,0,0,0,0
$GC,10510,0.66,58.2,684.0,11.2,667,10515,0.00,2.25,0.00,0.000,6,0.000,0.050,3110,1993,2408,0,0,0,0,0,0
$GC,10837,0.66,58.2,647.2,11.4,683,10841,0.00,2.28,0.00,0.000,4,0.000,0.055,3121,574,2407,0,0,0,0,0,0
$GC,10876,0.66,58.2,642.5,12.6,685,10881,0.12,2.25,0.00,0.000,6,0.215,0.047,3088,1990,2408,0,0,0,0,0,0
$GC,11203,0.66,58.2,607.5,10.7,701,11207,0.00,2.28,0.00,0.000,4,0.000,0.055,3097,571,2407,0,0,0,0,0,0
$GC,11268,0.66,58.2,600.2,11.3,704,11273,0.00,2.30,0.00,0.000,6,0.000,0.050,3097,1985,2408,0,0,0,0,0,0
$GC,11597,0.66,58.2,566.6,10.0,720,11601,0.00,2.25,0.00,0.000,4,0.000,0.056,3106,580,2407,0,0,0,0,0,0
$GC,11614,0.66,58.7,564.7,9.9,721,11618,0.00,2.25,0.00,0.000,6,0.000,0.049,3106,1996,2407,0,0,0,0,0,0
$GC,11943,0.66,62.0,531.7,9.6,737,11948,0.00,0.00,3.88,0.588,6,0.000,0.000,3107,1998,2396,0,0,0,0,0,0
$GC,12250,0.67,66.3,502.1,9.5,752,12260,0.00,2.25,5.18,0.699,4,0.000,0.055,3106,3406,2380,0,0,0,0,0,0
$GC,12270,0.68,75.3,499.9,9.1,753,12288,0.00,2.28,8.73,0.858,6,0.000,0.046,3117,1983,2342,0,0,0,0,0,0
$GC,12597,0.68,75.3,465.6,10.8,769,12601,0.00,2.25,0.00,0.000,4,0.000,0.056,3128,583,2341,0,0,0,0,0,0
$GC,12667,0.68,75.3,457.4,11.0,772,12673,0.10,2.30,0.00,0.000,6,0.194,0.047,3100,1994,2341,0,0,0,0,0,0
$GC,12990,0.68,78.4,426.0,9.7,788,12996,0.00,0.00,4.10,0.632,6,0.000,0.000,3100,1996,2329,0,0,0,0,0,0
$GC,13303,0.68,78.4,393.2,10.7,805,13304,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1996,2329,0,0,0,0,0,0
$GC,13619,0.68,78.4,358.0,11.4,835,13624,0.00,2.28,0.00,0.000,4,0.000,0.054,3109,575,2329,0,0,0,0,0,0
$GC,13705,0.68,78.4,348.1,11.1,842,13709,0.00,2.25,0.00,0.000,6,0.000,0.047,3109,1994,2329,0,0,0,0,0,0
$GC,14029,0.68,78.4,311.6,10.7,872,14033,0.00,2.22,0.00,0.000,4,0.000,0.055,3109,3407,2329,0,0,0,0,0,0
$GC,14063,0.68,78.4,307.6,11.5,874,14070,0.00,2.22,0.00,0.000,6,0.000,0.047,3119,1989,2329,0,0,0,0,0,0
$GC,14390,0.68,78.4,273.5,10.3,905,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1986,2329,0,0,0,0,0,0
$GC,14707,0.69,81.6,241.2,9.6,935,14719,0.00,2.30,4.12,0.521,4,0.000,0.056,3130,583,2317,0,0,0,0,0,0
$GC,14835,0.69,81.6,227.5,10.8,946,14840,0.15,2.22,0.00,0.000,6,0.199,0.047,3095,1992,2317,0,0,0,0,0,0
$GC,15159,0.69,81.6,194.8,10.3,976,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1992,2317,0,0,0,0,0,0
$GC,15479,0.69,87.3,163.7,9.4,1006,15489,0.00,0.00,6.30,0.615,6,0.000,0.000,3095,1992,2292,0,0,0,0,0,0
$GC,15811,0.71,100.0,131.6,8.7,1037,15827,0.00,0.00,11.40,0.707,6,0.000,0.000,3095,1992,2241,0,0,0,0,0,0
$GC,16150,0.71,100.0,96.2,10.0,1072,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1991,2240,0,0,0,0,0,0
$GC,16500,0.71,103.5,62.8,9.6,1133,16515,0.00,2.33,4.35,0.522,4,0.000,0.055,3104,582,2227,0,0,0,0,0,0
$GC,16552,0.71,104.7,58.2,9.8,1141,16558,0.00,2.22,0.00,0.000,6,0.000,0.047,3104,1989,2226,0,0,0,0,0,0
$GC,16910,0.72,105.6,24.1,9.9,1202,16919,0.00,2.33,0.00,0.000,4,0.000,0.056,3114,583,2226,0,0,0,0,0,0
$STATE,17118,end climb,SURFACE_DEPTH_REACHED
$STATE,17118,begin surface coast
$FINISH,2.0,1.026429
$STATE,17126,end surface coast,CONTROL_FINISHED_OK
$STATE,17126,begin surface
$SM_CCo,17143,49.72,0.055,0,0,1752,220.03
$SM_GC,3.24,0.00,0.00,49.72,0.000,0.000,0.055,138,2263,1752,-8.54,0.06,220.03
$IRIDIUM_FIX,-4438.33,627.13,121108,232301
$TT8_MAMPS,0.026215
$HUMID,48.30
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,23.9,27.735
$10V_AH,10.1,28.438
$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,20.725,127.750,138.525,49.725,0.000,25.833,30.014,542.672,24.750,0.000,7.183,3280.814,10820.522,337.210,3300.414,198.371,0.000,1422.141,0.000,2627.638,0.000,148.734,0.000
$DEVICE_MAMPS,243.270,65.025,1278.315,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.249,852.905,88.491,890.978,0.000,0.000,0.000,0.000,0.000,0.000
$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,70078,1237
$CAP_FILE_SIZE,165145,0
$CFSIZE,2097086464,2068381696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.067, 92.6,1
$GPS,170116,203603,-4456.262,634.155,75,0.9,76,-24.4