version: 66.07.10.p01
glider: 574
mission: 18
dive: 216
start: 4 16 112 5 54 8
data:
$ID,574
$MISSION,18
$DIVE,216
$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,-2345231.5
$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,25
$R_STBD_OVSHOOT,25
$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,215
$GPS1,180116,164957,-4459.753,637.783,34,0.8,40,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-77.7
$GPS2,180116,170230,-4459.727,637.815,11,0.8,11,-24.5
$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,266.2,8263,-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,-48.7,0.0,0.0,0,44,0.00,0.00,-18.17,0.000,2,0.000,0.000,139,2252,2188,0,0,0,0,0,0
$GC,46,-0.68,-48.7,3.0,-2.2,2,91,10.38,2.33,-25.92,0.000,4,0.238,0.064,2630,3679,2847,0,0,0,0,0,0
$GC,123,-0.68,-48.7,7.3,-12.7,12,133,0.00,2.30,0.00,0.000,6,0.000,0.039,2631,2255,2849,0,0,0,0,0,0
$GC,183,-0.68,-48.7,17.8,-18.8,21,192,0.00,2.30,0.00,0.000,4,0.000,0.046,2631,847,2848,0,0,0,0,0,0
$GC,202,-0.68,-48.7,21.3,-19.5,23,211,0.00,2.30,0.00,0.000,6,0.000,0.044,2622,2253,2848,0,0,0,0,0,0
$GC,353,-0.68,-48.7,52.2,-19.9,48,363,0.00,2.30,0.00,0.000,4,0.000,0.053,2612,3672,2849,0,0,0,0,0,0
$GC,409,-0.68,-48.7,63.4,-19.2,57,418,0.08,2.28,0.00,0.000,6,0.203,0.039,2640,2258,2849,0,0,0,0,0,0
$GC,750,-0.68,-48.7,128.3,-17.6,104,754,0.00,2.28,0.00,0.000,4,0.000,0.053,2631,3675,2849,0,0,0,0,0,0
$GC,815,-0.68,-48.7,139.0,-15.9,109,820,0.00,2.22,0.00,0.000,6,0.000,0.041,2632,2257,2849,0,0,0,0,0,0
$GC,1144,-0.68,-48.7,193.1,-15.2,140,1148,0.00,2.25,0.00,0.000,4,0.000,0.054,2622,3678,2850,0,0,0,0,0,0
$GC,1234,-0.68,-48.7,207.8,-15.7,147,1242,0.00,2.25,0.00,0.000,6,0.000,0.040,2622,2261,2850,0,0,0,0,0,0
$GC,1560,-0.68,-48.7,257.6,-15.3,178,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2258,2850,0,0,0,0,0,0
$GC,1878,-0.68,-48.7,307.6,-15.7,208,1882,0.00,2.22,0.00,0.000,4,0.000,0.055,2613,3671,2850,0,0,0,0,0,0
$GC,1912,-0.68,-48.7,313.2,-16.6,210,1920,0.10,2.25,0.00,0.000,6,0.187,0.043,2646,2260,2850,0,0,0,0,0,0
$GC,2240,-0.68,-48.7,358.2,-13.0,241,2244,0.00,2.22,0.00,0.000,4,0.000,0.051,2646,844,2850,0,0,0,0,0,0
$GC,2271,-0.68,-48.7,363.3,-14.2,243,2279,0.00,2.30,0.00,0.000,6,0.000,0.048,2637,2264,2850,0,0,0,0,0,0
$GC,2595,-0.68,-48.7,409.9,-14.5,271,2600,0.00,2.22,0.00,0.000,4,0.000,0.057,2626,3681,2850,0,0,0,0,0,0
$GC,2617,-0.68,-48.7,413.3,-15.9,272,2621,0.00,2.22,0.00,0.000,6,0.000,0.044,2626,2258,2850,0,0,0,0,0,0
$GC,2943,-0.68,-48.7,464.6,-16.2,288,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2256,2850,0,0,0,0,0,0
$GC,3253,-0.68,-48.7,512.7,-15.5,303,3257,0.00,2.25,0.00,0.000,4,0.000,0.057,2616,3681,2849,0,0,0,0,0,0
$GC,3369,-0.68,-48.7,531.9,-16.1,308,3374,0.12,2.25,0.00,0.000,6,0.204,0.047,2646,2250,2850,0,0,0,0,0,0
$GC,3690,-0.68,-48.7,575.8,-13.2,324,3694,0.00,2.28,0.00,0.000,4,0.000,0.060,2636,3679,2849,0,0,0,0,0,0
$GC,3733,-0.68,-48.7,582.0,-13.8,326,3738,0.00,2.28,0.00,0.000,6,0.000,0.049,2636,2264,2849,0,0,0,0,0,0
$GC,4061,-0.68,-48.7,624.1,-12.6,342,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2260,2850,0,0,0,0,0,0
$GC,4370,-0.68,-48.7,664.3,-13.2,357,4374,0.00,2.25,0.00,0.000,4,0.000,0.061,2627,3673,2849,0,0,0,0,0,0
$GC,4401,-0.68,-48.7,669.2,-14.8,358,4409,0.00,2.30,0.00,0.000,6,0.000,0.051,2627,2253,2849,0,0,0,0,0,0
$GC,4720,-0.68,-48.7,712.7,-13.7,374,4724,0.00,2.28,0.00,0.000,4,0.000,0.061,2617,3680,2849,0,0,0,0,0,0
$GC,4754,-0.68,-48.7,717.8,-14.2,375,4761,0.12,2.25,0.00,0.000,6,0.203,0.052,2646,2258,2849,0,0,0,0,0,0
$GC,5069,-0.68,-48.7,758.3,-12.7,391,5073,0.00,2.28,0.00,0.000,4,0.000,0.063,2637,3672,2848,0,0,0,0,0,0
$GC,5101,-0.68,-48.7,763.0,-13.9,392,5107,0.00,2.30,0.00,0.000,6,0.000,0.053,2637,2257,2848,0,0,0,0,0,0
$GC,5424,-0.68,-48.7,803.7,-12.5,408,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2253,2848,0,0,0,0,0,0
$GC,5735,-0.68,-48.7,841.4,-11.9,423,5739,0.00,2.28,0.00,0.000,4,0.000,0.063,2627,3679,2848,0,0,0,0,0,0
$GC,5777,-0.68,-48.7,846.9,-11.7,425,5782,0.00,2.30,0.00,0.000,6,0.000,0.054,2627,2257,2847,0,0,0,0,0,0
$GC,6106,-0.68,-48.7,884.5,-11.3,441,6110,0.00,2.28,0.00,0.000,4,0.000,0.065,2617,3676,2847,0,0,0,0,0,0
$GC,6154,-0.68,-48.7,890.8,-12.7,443,6159,0.10,2.30,0.00,0.000,6,0.183,0.055,2646,2260,2847,0,0,0,0,0,0
$GC,6477,-0.68,-48.7,925.0,-10.6,459,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2256,2846,0,0,0,0,0,0
$GC,6786,-0.68,-48.7,956.4,-9.7,474,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2256,2847,0,0,0,0,0,0
$GC,7096,-0.68,-48.7,986.5,-9.9,489,7100,0.00,2.28,0.00,0.000,4,0.000,0.067,2636,3670,2846,0,0,0,0,0,0
$GC,7128,-0.68,-48.7,990.1,-10.4,490,7135,0.00,2.28,0.00,0.000,6,0.000,0.057,2636,2257,2846,0,0,0,0,0,0
$STATE,7238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7238,begin apogee
$GC,7243,-0.11,0.0,1001.2,10.1,496,7285,0.68,0.00,39.25,1.284,6,0.171,0.000,2828,1973,2650,0,0,0,0,0,0
$STATE,7286,end apogee,CONTROL_FINISHED_OK
$STATE,7286,begin climb
$GC,7288,0.68,48.7,1003.2,0.0,498,7341,0.80,2.47,41.58,1.250,4,0.100,0.057,3094,578,2450,0,0,0,0,0,0
$GC,7346,0.71,74.6,1000.1,7.2,501,7376,0.00,2.40,23.40,1.209,6,0.000,0.050,3092,2002,2345,0,0,0,0,0,0
$GC,7694,0.71,74.6,953.6,13.7,518,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2002,2340,0,0,0,0,0,0
$GC,8003,0.71,74.6,911.7,13.2,533,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2002,2339,0,0,0,0,0,0
$GC,8312,0.71,74.6,869.6,13.9,548,8316,0.00,2.33,0.00,0.000,4,0.000,0.057,3101,573,2339,0,0,0,0,0,0
$GC,8351,0.71,74.6,863.9,14.3,550,8355,0.00,2.30,0.00,0.000,6,0.000,0.050,3098,1998,2338,0,0,0,0,0,0
$GC,8677,0.71,74.6,818.3,14.1,566,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2001,2339,0,0,0,0,0,0
$GC,8986,0.71,74.6,775.3,13.8,581,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2001,2338,0,0,0,0,0,0
$GC,9295,0.71,74.6,734.1,13.3,596,9299,0.00,2.30,0.00,0.000,4,0.000,0.055,3108,571,2338,0,0,0,0,0,0
$GC,9411,0.71,74.6,718.3,12.7,601,9416,0.00,2.30,0.00,0.000,6,0.000,0.048,3102,1983,2338,0,0,0,0,0,0
$GC,9734,0.71,74.6,677.9,12.1,617,9738,0.00,2.28,0.00,0.000,4,0.000,0.056,3110,574,2338,0,0,0,0,0,0
$GC,9776,0.71,74.6,672.1,13.3,619,9781,0.00,2.30,0.00,0.000,6,0.000,0.050,3109,1985,2338,0,0,0,0,0,0
$GC,10104,0.71,74.6,630.5,12.7,635,10108,0.00,2.25,0.00,0.000,4,0.000,0.056,3119,582,2338,0,0,0,0,0,0
$GC,10146,0.71,74.6,624.9,12.9,637,10151,0.00,2.28,0.00,0.000,6,0.000,0.047,3111,1982,2338,0,0,0,0,0,0
$GC,10474,0.71,74.6,584.4,12.4,653,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1985,2337,0,0,0,0,0,0
$GC,10783,0.71,74.6,549.6,10.8,668,10787,0.00,2.28,0.00,0.000,4,0.000,0.056,3120,574,2337,0,0,0,0,0,0
$GC,10814,0.71,74.6,545.9,10.8,669,10822,0.00,2.30,0.00,0.000,6,0.000,0.047,3112,1993,2337,0,0,0,0,0,0
$GC,11131,0.71,74.6,511.4,10.9,685,11135,0.00,2.22,0.00,0.000,4,0.000,0.057,3111,3403,2337,0,0,0,0,0,0
$GC,11148,0.71,74.6,509.5,10.9,686,11152,0.00,2.22,0.00,0.000,6,0.000,0.047,3121,1985,2337,0,0,0,0,0,0
$GC,11473,0.71,74.6,473.4,10.9,702,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1981,2337,0,0,0,0,0,0
$GC,11783,0.71,74.6,439.4,10.9,717,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1981,2337,0,0,0,0,0,0
$GC,12094,0.71,74.6,407.7,10.3,732,12098,0.00,2.25,0.00,0.000,4,0.000,0.057,3132,579,2337,0,0,0,0,0,0
$GC,12228,0.71,74.6,392.9,10.5,740,12238,0.00,2.28,0.00,0.000,6,0.000,0.047,3129,1988,2337,0,0,0,0,0,0
$GC,12552,0.71,74.6,359.6,10.2,771,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1989,2336,0,0,0,0,0,0
$GC,12875,0.71,77.5,328.1,9.6,801,12879,0.00,2.22,0.00,0.000,4,0.000,0.057,3129,3399,2337,0,0,0,0,0,0
$GC,12904,0.71,77.5,324.8,10.4,803,12908,0.15,2.20,0.00,0.000,6,0.229,0.047,3105,1990,2337,0,0,0,0,0,0
$GC,13231,0.72,81.6,294.1,9.5,833,13243,0.00,2.22,5.68,0.658,4,0.000,0.054,3095,3401,2316,0,0,0,0,0,0
$GC,13305,0.72,81.6,286.2,10.0,839,13312,0.00,2.28,0.00,0.000,6,0.000,0.047,3104,1983,2316,0,0,0,0,0,0
$GC,13631,0.72,82.6,253.6,9.8,870,13635,0.00,2.22,0.00,0.000,4,0.000,0.056,3115,582,2316,0,0,0,0,0,0
$GC,13651,0.73,91.6,251.6,9.0,871,13673,0.00,2.28,9.38,0.731,6,0.000,0.047,3115,1990,2275,0,0,0,0,0,0
$GC,13987,0.73,91.6,215.0,11.0,903,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2274,0,0,0,0,0,0
$GC,14309,0.73,91.6,177.0,12.4,933,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2274,0,0,0,0,0,0
$GC,14635,0.73,91.6,139.1,10.1,964,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1990,2274,0,0,0,0,0,0
$GC,14953,0.73,91.6,106.5,10.0,994,14957,0.00,2.25,0.00,0.000,4,0.000,0.056,3115,3401,2274,0,0,0,0,0,0
$GC,15221,0.73,92.3,79.0,9.9,1035,15230,0.00,2.25,0.00,0.000,6,0.000,0.047,3125,1992,2275,0,0,0,0,0,0
$GC,15574,0.75,106.1,47.8,8.5,1096,15596,0.00,2.33,12.55,0.647,4,0.000,0.056,3136,575,2216,0,0,0,0,0,0
$GC,15969,0.75,106.1,3.9,11.4,1161,15978,0.00,2.28,0.00,0.000,6,0.000,0.048,3136,1986,2214,0,0,0,0,0,0
$STATE,15984,end climb,SURFACE_DEPTH_REACHED
$STATE,15984,begin surface coast
$FINISH,1.6,1.006269
$STATE,16016,end surface coast,CONTROL_FINISHED_OK
$STATE,16016,begin surface
$SM_CCo,16032,48.40,0.054,0,0,1752,220.03
$SM_GC,2.96,0.00,0.00,48.40,0.000,0.000,0.054,132,2271,1752,-8.56,0.31,220.03
$IRIDIUM_FIX,-4438.33,636.54,141108,010123
$TT8_MAMPS,0.026215
$HUMID,48.81
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.40
$XPDR_PINGS,0
$24V_AH,23.8,28.157
$10V_AH,10.2,29.052
$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,20.600,132.800,131.825,48.400,0.000,23.938,22.908,551.666,24.750,0.000,14.974,3092.507,10021.059,362.232,3176.125,182.849,0.000,1411.213,0.000,2493.338,0.000,148.780,0.000
$DEVICE_MAMPS,237.915,67.320,1284.435,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.535,796.222,83.717,864.632,0.000,0.000,0.000,0.000,0.000,0.000
$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,66939,1168
$CAP_FILE_SIZE,160597,0
$CFSIZE,2097086464,2067759104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.101, 97.2,1
$GPS,180116,213303,-4500.326,637.237,73,1.9,74,-24.4