version: 66.07.10.p01
glider: 574
mission: 18
dive: 232
start: 4 19 112 14 2 7
data:
$ID,574
$MISSION,18
$DIVE,232
$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,-2346654.2
$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,24
$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,231
$GPS1,220116,005803,-4503.857,630.838,77,1.1,77,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-75.1
$GPS2,220116,011044,-4503.799,630.963,4,1.0,4,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,312.7,9116,-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,-48.7,0.0,0.0,0,67,0.00,0.00,-40.72,0.000,2,0.000,0.000,132,2267,2768,0,0,0,0,0,0
$GC,69,-0.65,-48.7,3.1,-1.1,5,87,10.65,2.33,-2.20,0.000,4,0.246,0.059,2640,3683,2851,0,0,0,0,0,0
$GC,96,-0.65,-48.7,7.7,-10.0,8,105,0.00,2.30,0.00,0.000,6,0.000,0.036,2644,2257,2852,0,0,0,0,0,0
$GC,155,-0.65,-48.7,19.2,-19.3,17,165,0.00,2.28,0.00,0.000,4,0.000,0.045,2644,857,2852,0,0,0,0,0,0
$GC,221,-0.65,-48.7,31.7,-18.4,27,231,0.00,2.30,0.00,0.000,6,0.000,0.044,2635,2264,2852,0,0,0,0,0,0
$GC,373,-0.65,-48.7,61.6,-18.4,52,380,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,3672,2852,0,0,0,0,0,0
$GC,463,-0.65,-48.7,79.5,-19.7,67,472,0.15,2.22,0.00,0.000,6,0.185,0.038,2660,2255,2852,0,0,0,0,0,0
$GC,799,-0.65,-48.7,131.9,-14.5,108,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2251,2852,0,0,0,0,0,0
$GC,1118,-0.65,-48.7,180.1,-15.2,138,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2251,2852,0,0,0,0,0,0
$GC,1436,-0.65,-48.7,227.1,-14.6,168,1440,0.00,2.25,0.00,0.000,4,0.000,0.053,2650,3681,2853,0,0,0,0,0,0
$GC,1509,-0.65,-48.7,238.6,-15.9,174,1513,0.00,2.25,0.00,0.000,6,0.000,0.041,2650,2251,2853,0,0,0,0,0,0
$GC,1834,-0.65,-48.7,286.3,-14.8,204,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2249,2853,0,0,0,0,0,0
$GC,2153,-0.65,-48.7,331.4,-14.2,234,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2248,2853,0,0,0,0,0,0
$GC,2471,-0.65,-48.7,377.4,-14.2,264,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2248,2853,0,0,0,0,0,0
$GC,2786,-0.65,-48.7,419.7,-13.1,287,2790,0.00,2.22,0.00,0.000,4,0.000,0.054,2640,3671,2853,0,0,0,0,0,0
$GC,2862,-0.65,-48.7,430.3,-13.9,290,2866,0.00,2.20,0.00,0.000,6,0.000,0.043,2640,2260,2853,0,0,0,0,0,0
$GC,3186,-0.65,-48.7,472.3,-13.3,306,3190,0.00,2.22,0.00,0.000,4,0.000,0.055,2630,3673,2852,0,0,0,0,0,0
$GC,3317,-0.65,-48.7,490.3,-13.9,312,3322,0.12,2.22,0.00,0.000,6,0.190,0.045,2660,2255,2853,0,0,0,0,0,0
$GC,3647,-0.65,-48.7,531.6,-12.7,328,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2250,2852,0,0,0,0,0,0
$GC,3953,-0.65,-48.7,571.5,-12.9,343,3957,0.00,2.25,0.00,0.000,4,0.000,0.057,2650,3678,2852,0,0,0,0,0,0
$GC,4061,-0.65,-48.7,585.7,-13.6,348,4065,0.00,2.22,0.00,0.000,6,0.000,0.046,2650,2258,2851,0,0,0,0,0,0
$GC,4388,-0.65,-48.7,626.0,-11.7,364,4392,0.00,2.22,0.00,0.000,4,0.000,0.057,2640,3668,2851,0,0,0,0,0,0
$GC,4498,-0.65,-48.7,639.7,-11.7,369,4504,0.00,2.28,0.00,0.000,6,0.000,0.047,2640,2255,2851,0,0,0,0,0,0
$GC,4828,-0.65,-48.7,678.4,-11.9,385,4832,0.00,2.25,0.00,0.000,4,0.000,0.058,2630,3678,2851,0,0,0,0,0,0
$GC,5394,-0.65,-48.7,746.6,-11.8,410,5398,0.12,2.25,0.00,0.000,6,0.190,0.050,2660,2253,2850,0,0,0,0,0,0
$GC,5710,-0.65,-48.7,778.3,-10.2,425,5714,0.00,2.25,0.00,0.000,4,0.000,0.060,2650,3666,2849,0,0,0,0,0,0
$GC,6276,-0.65,-48.7,840.4,-11.2,450,6280,0.00,2.25,0.00,0.000,6,0.000,0.054,2650,2252,2849,0,0,0,0,0,0
$GC,6591,-0.65,-48.7,873.9,-10.7,465,6595,0.00,2.28,0.00,0.000,4,0.000,0.063,2640,3678,2848,0,0,0,0,0,0
$GC,7156,-0.65,-48.7,935.8,-11.3,490,7160,0.00,2.30,0.00,0.000,6,0.000,0.054,2640,2262,2848,0,0,0,0,0,0
$GC,7477,-0.65,-48.7,968.0,-10.3,506,7481,0.00,2.28,0.00,0.000,4,0.000,0.060,2640,837,2847,0,0,0,0,0,0
$GC,7616,-0.65,-48.7,982.1,-10.1,512,7621,0.08,2.30,0.00,0.000,6,0.187,0.054,2651,2250,2848,0,0,0,0,0,0
$STATE,7833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7833,begin apogee
$GC,7838,-0.11,0.0,1001.8,9.2,523,7881,0.62,0.00,39.85,1.288,6,0.164,0.000,2831,1969,2649,0,0,0,0,0,0
$STATE,7881,end apogee,CONTROL_FINISHED_OK
$STATE,7882,begin climb
$GC,7883,0.65,48.7,1003.6,0.0,525,7931,0.73,2.40,40.95,1.251,4,0.096,0.057,3081,584,2453,0,0,0,0,0,0
$GC,8491,0.65,48.7,944.2,9.9,552,8495,0.00,2.33,0.00,0.000,6,0.000,0.048,3079,1994,2450,0,0,0,0,0,0
$GC,8813,0.65,51.6,913.8,9.7,568,8823,0.00,2.35,4.10,0.720,4,0.000,0.055,3088,587,2439,0,0,0,0,0,0
$GC,9015,0.65,55.1,893.4,9.6,577,9024,0.00,2.28,4.57,0.776,6,0.000,0.049,3086,1999,2425,0,0,0,0,0,0
$GC,9347,0.66,60.2,861.8,9.5,593,9357,0.00,2.25,5.55,0.897,4,0.000,0.057,3085,3402,2405,0,0,0,0,0,0
$GC,9412,0.66,60.2,854.4,11.4,596,9417,0.00,2.30,0.00,0.000,6,0.000,0.047,3095,1990,2405,0,0,0,0,0,0
$GC,9740,0.66,60.2,820.0,10.5,612,9744,0.00,2.28,0.00,0.000,4,0.000,0.057,3106,580,2405,0,0,0,0,0,0
$GC,9794,0.66,60.2,813.9,10.9,614,9802,0.00,2.30,0.00,0.000,6,0.000,0.048,3100,1990,2405,0,0,0,0,0,0
$GC,10110,0.66,60.2,780.9,10.2,630,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1993,2404,0,0,0,0,0,0
$GC,10420,0.66,60.2,749.2,10.5,645,10424,0.00,2.28,0.00,0.000,4,0.000,0.054,3108,575,2404,0,0,0,0,0,0
$GC,10553,0.66,60.2,734.8,11.4,651,10558,0.00,2.25,0.00,0.000,6,0.000,0.047,3100,1993,2404,0,0,0,0,0,0
$GC,10881,0.66,60.3,701.2,9.9,667,10885,0.00,2.28,0.00,0.000,4,0.000,0.054,3110,577,2404,0,0,0,0,0,0
$GC,11026,0.67,68.0,686.2,9.2,673,11041,0.00,2.25,8.07,0.912,6,0.000,0.048,3109,1993,2371,0,0,0,0,0,0
$GC,11363,0.67,68.0,649.6,11.2,690,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1993,2371,0,0,0,0,0,0
$GC,11673,0.67,68.0,614.9,11.4,705,11677,0.00,2.28,0.00,0.000,4,0.000,0.055,3119,576,2371,0,0,0,0,0,0
$GC,11873,0.67,68.0,592.4,10.4,714,11879,0.10,2.30,0.00,0.000,6,0.187,0.047,3092,1992,2371,0,0,0,0,0,0
$GC,12201,0.68,78.9,562.4,8.9,730,12216,0.00,2.25,9.90,0.889,4,0.000,0.058,3092,3402,2327,0,0,0,0,0,0
$GC,12243,0.68,78.9,558.0,11.4,731,12247,0.00,2.28,0.00,0.000,6,0.000,0.046,3101,1992,2327,0,0,0,0,0,0
$GC,12572,0.68,78.9,522.9,11.0,747,12576,0.00,2.28,0.00,0.000,4,0.000,0.057,3112,576,2327,0,0,0,0,0,0
$GC,12620,0.68,78.9,517.2,10.6,749,12625,0.00,2.30,0.00,0.000,6,0.000,0.047,3112,1993,2327,0,0,0,0,0,0
$GC,12942,0.68,78.9,481.2,11.2,765,12946,0.00,2.28,0.00,0.000,4,0.000,0.055,3121,578,2327,0,0,0,0,0,0
$GC,13007,0.68,78.9,473.3,11.4,768,13012,0.08,2.28,0.00,0.000,6,0.192,0.046,3100,1985,2328,0,0,0,0,0,0
$GC,13335,0.68,78.9,437.0,10.8,784,13339,0.00,2.25,0.00,0.000,4,0.000,0.057,3099,3411,2328,0,0,0,0,0,0
$GC,13428,0.68,78.9,425.5,12.4,788,13433,0.00,2.28,0.00,0.000,6,0.000,0.046,3108,1991,2328,0,0,0,0,0,0
$GC,13753,0.68,78.9,389.3,10.8,808,13757,0.00,2.22,0.00,0.000,4,0.000,0.054,3109,3403,2328,0,0,0,0,0,0
$GC,13886,0.68,78.9,372.8,12.8,819,13895,0.00,2.22,0.00,0.000,6,0.000,0.045,3119,1983,2329,0,0,0,0,0,0
$GC,14211,0.68,78.9,336.4,11.2,850,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1979,2329,0,0,0,0,0,0
$GC,14531,0.68,78.9,299.8,11.8,880,14535,0.00,2.25,0.00,0.000,4,0.000,0.055,3131,571,2329,0,0,0,0,0,0
$GC,14616,0.68,78.9,289.2,11.9,887,14621,0.15,2.25,0.00,0.000,6,0.197,0.047,3095,1996,2330,0,0,0,0,0,0
$GC,14944,0.69,82.6,256.1,9.6,917,14956,0.00,0.00,4.97,0.595,6,0.000,0.000,3096,1996,2313,0,0,0,0,0,0
$GC,15274,0.69,87.9,224.0,9.4,948,15289,0.00,2.25,5.85,0.668,4,0.000,0.055,3095,3393,2292,0,0,0,0,0,0
$GC,15324,0.69,87.9,218.8,10.2,952,15328,0.00,2.20,0.00,0.000,6,0.000,0.046,3104,1988,2292,0,0,0,0,0,0
$GC,15648,0.70,92.7,185.5,9.5,982,15659,0.00,0.00,5.55,0.594,6,0.000,0.000,3104,1984,2271,0,0,0,0,0,0
$GC,15980,0.70,92.7,152.1,10.3,1013,15986,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1984,2271,0,0,0,0,0,0
$GC,16306,0.70,93.0,117.9,9.9,1044,16310,0.00,2.25,0.00,0.000,4,0.000,0.055,3115,580,2271,0,0,0,0,0,0
$GC,16340,0.70,93.0,114.2,10.6,1046,16347,0.00,2.22,0.00,0.000,6,0.000,0.046,3115,1990,2271,0,0,0,0,0,0
$GC,16677,0.70,94.5,80.5,9.8,1094,16684,0.00,2.25,0.00,0.000,4,0.000,0.055,3115,3410,2271,0,0,0,0,0,0
$GC,16770,0.70,94.5,70.3,11.0,1110,16778,0.00,2.28,0.00,0.000,6,0.000,0.047,3126,1992,2272,0,0,0,0,0,0
$GC,17126,0.73,119.2,34.5,7.6,1171,17151,0.00,0.00,19.17,0.679,6,0.000,0.000,3126,1987,2164,0,0,0,0,0,0
$GC,17299,0.73,119.2,16.3,12.3,1198,17307,0.00,2.33,0.00,0.000,4,0.000,0.056,3137,578,2161,0,0,0,0,0,0
$GC,17351,0.73,119.2,9.3,13.4,1206,17361,0.10,2.28,0.00,0.000,6,0.175,0.046,3108,1983,2161,0,0,0,0,0,0
$STATE,17404,end climb,SURFACE_DEPTH_REACHED
$STATE,17404,begin surface coast
$FINISH,1.7,1.026128
$STATE,17430,end surface coast,CONTROL_FINISHED_OK
$STATE,17430,begin surface
$SM_CCo,17445,43.08,0.054,0,0,1753,220.03
$SM_GC,2.74,0.00,0.00,43.08,0.000,0.000,0.054,134,2286,1753,-8.56,0.71,220.03
$IRIDIUM_FIX,-4447.43,627.81,171108,090941
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,23.9,29.556
$10V_AH,10.2,31.047
$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,20.800,132.325,148.550,43.075,0.000,26.785,21.108,560.103,24.750,0.000,7.963,3355.006,10496.426,334.277,3837.286,225.019,0.000,1668.165,0.000,3135.722,0.000,148.770,0.000
$DEVICE_MAMPS,245.565,62.730,1288.260,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.445,846.042,77.686,844.937,0.000,0.000,0.000,0.000,0.000,0.000
$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,70247,1218
$CAP_FILE_SIZE,181881,0
$CFSIZE,2097086464,2065629184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.143,123.6,1
$GPS,220116,060451,-4503.868,631.097,81,0.9,81,-24.4