version: 66.07.10.p01
glider: 574
mission: 18
dive: 241
start: 4 21 112 11 55 12
data:
$ID,574
$MISSION,18
$DIVE,241
$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,-2347417.2
$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,24
$R_STBD_OVSHOOT,35
$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,240
$GPS1,230116,224943,-4506.061,635.382,42,4.4,61,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-76.8
$GPS2,230116,230356,-4506.079,635.617,19,3.2,38,-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,353.2,15676,-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,-48.7,0.0,0.0,0,69,0.00,0.00,-42.62,0.000,2,0.000,0.000,140,2277,2799,0,0,0,0,0,0
$GC,71,-0.65,-48.7,3.0,-1.4,5,89,10.55,2.35,-1.35,0.000,4,0.243,0.050,2658,835,2851,0,0,0,0,0,0
$GC,268,-0.65,-48.7,40.7,-19.4,36,278,0.00,2.33,0.00,0.000,6,0.000,0.047,2649,2253,2853,0,0,0,0,0,0
$GC,621,-0.65,-48.7,104.3,-18.7,95,625,0.00,2.25,0.00,0.000,4,0.000,0.054,2638,3672,2853,0,0,0,0,0,0
$GC,739,-0.65,-48.7,126.2,-16.5,105,747,0.00,2.25,0.00,0.000,6,0.000,0.041,2640,2261,2852,0,0,0,0,0,0
$GC,1065,-0.65,-48.7,178.1,-15.7,136,1069,0.00,2.25,0.00,0.000,4,0.000,0.054,2631,3681,2853,0,0,0,0,0,0
$GC,1120,-0.65,-48.7,187.5,-15.7,140,1131,0.00,2.28,0.00,0.000,6,0.000,0.041,2631,2254,2853,0,0,0,0,0,0
$GC,1445,-0.65,-48.7,238.1,-15.8,171,1450,0.12,2.25,0.00,0.000,4,0.212,0.054,2651,3672,2853,0,0,0,0,0,0
$GC,1554,-0.65,-48.7,254.0,-14.5,180,1558,0.00,2.20,0.00,0.000,6,0.000,0.044,2652,2262,2853,0,0,0,0,0,0
$GC,1879,-0.65,-48.7,300.4,-14.3,210,1883,0.00,2.22,0.00,0.000,4,0.000,0.056,2643,3671,2853,0,0,0,0,0,0
$GC,1922,-0.65,-48.7,306.1,-14.2,213,1926,0.00,2.20,0.00,0.000,6,0.000,0.045,2644,2261,2853,0,0,0,0,0,0
$GC,2246,-0.65,-48.7,354.9,-14.5,243,2250,0.00,2.25,0.00,0.000,4,0.000,0.057,2635,3682,2852,0,0,0,0,0,0
$GC,2379,-0.65,-48.7,374.0,-13.6,254,2383,0.00,2.22,0.00,0.000,6,0.000,0.045,2635,2261,2853,0,0,0,0,0,0
$GC,2710,-0.65,-48.7,420.7,-13.8,278,2714,0.00,2.22,0.00,0.000,4,0.000,0.056,2625,3671,2852,0,0,0,0,0,0
$GC,2869,-0.65,-48.7,444.4,-14.5,285,2875,0.10,2.28,0.00,0.000,6,0.178,0.047,2654,2259,2852,0,0,0,0,0,0
$GC,3192,-0.65,-48.7,485.5,-12.8,301,3196,0.00,2.25,0.00,0.000,4,0.000,0.058,2644,3678,2852,0,0,0,0,0,0
$GC,3256,-0.65,-48.7,494.6,-13.4,304,3261,0.00,2.28,0.00,0.000,6,0.000,0.047,2645,2258,2852,0,0,0,0,0,0
$GC,3585,-0.65,-48.7,538.1,-13.7,320,3588,0.00,2.25,0.00,0.000,4,0.000,0.059,2635,3668,2851,0,0,0,0,0,0
$GC,3809,-0.65,-48.7,570.0,-14.0,330,3814,0.00,2.22,0.00,0.000,6,0.000,0.050,2635,2255,2851,0,0,0,0,0,0
$GC,4141,-0.65,-48.7,614.5,-13.4,346,4145,0.00,2.25,0.00,0.000,4,0.000,0.060,2625,3671,2851,0,0,0,0,0,0
$GC,4275,-0.65,-48.7,633.3,-13.6,352,4280,0.15,2.25,0.00,0.000,6,0.189,0.051,2661,2254,2851,0,0,0,0,0,0
$GC,4603,-0.65,-48.7,671.9,-11.9,368,4607,0.00,2.28,0.00,0.000,4,0.000,0.062,2652,3679,2850,0,0,0,0,0,0
$GC,4679,-0.65,-48.7,682.0,-12.8,371,4687,0.00,2.30,0.00,0.000,6,0.000,0.051,2652,2257,2850,0,0,0,0,0,0
$GC,4998,-0.65,-48.7,720.9,-12.1,387,5002,0.00,2.25,0.00,0.000,4,0.000,0.062,2643,3667,2850,0,0,0,0,0,0
$GC,5031,-0.65,-48.7,725.5,-13.0,388,5039,0.00,2.25,0.00,0.000,6,0.000,0.053,2643,2250,2850,0,0,0,0,0,0
$GC,5346,-0.65,-48.7,765.1,-12.6,404,5350,0.00,2.28,0.00,0.000,4,0.000,0.063,2633,3671,2850,0,0,0,0,0,0
$GC,5453,-0.65,-48.7,779.2,-13.6,409,5458,0.00,2.25,0.00,0.000,6,0.000,0.054,2633,2257,2849,0,0,0,0,0,0
$GC,5788,-0.65,-48.7,820.3,-12.3,425,5792,0.00,2.28,0.00,0.000,4,0.000,0.063,2623,3679,2849,0,0,0,0,0,0
$GC,5932,-0.65,-48.7,839.4,-13.7,431,5940,0.15,2.25,0.00,0.000,6,0.191,0.053,2659,2256,2849,0,0,0,0,0,0
$GC,6248,-0.65,-48.7,872.8,-10.1,447,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2252,2848,0,0,0,0,0,0
$GC,6557,-0.65,-48.7,902.8,-9.4,462,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2251,2848,0,0,0,0,0,0
$GC,6868,-0.65,-48.7,931.7,-9.5,477,6872,0.00,2.25,0.00,0.000,4,0.000,0.060,2659,843,2847,0,0,0,0,0,0
$GC,6930,-0.65,-48.7,937.6,-9.6,480,6934,0.00,2.28,0.00,0.000,6,0.000,0.055,2650,2265,2847,0,0,0,0,0,0
$GC,7256,-0.65,-48.7,968.4,-9.7,496,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,2847,0,0,0,0,0,0
$GC,7566,-0.65,-48.7,998.1,-9.4,511,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2265,2847,0,0,0,0,0,0
$STATE,7584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7585,begin apogee
$GC,7589,-0.11,0.0,1000.0,9.3,512,7632,0.62,0.00,39.97,1.288,6,0.171,0.000,2826,1982,2649,0,0,0,0,0,0
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7633,begin climb
$GC,7635,0.65,48.7,1001.8,0.0,514,7682,0.75,2.42,41.03,1.252,4,0.099,0.058,3080,582,2452,0,0,0,0,0,0
$GC,7726,0.65,49.9,995.1,9.8,518,7731,0.00,2.40,0.00,0.000,6,0.000,0.047,3074,1995,2451,0,0,0,0,0,0
$GC,8048,0.65,51.6,962.3,9.8,534,8054,0.00,0.00,4.25,0.753,6,0.000,0.000,3074,1997,2438,0,0,0,0,0,0
$GC,8358,0.65,53.4,931.6,9.8,549,8362,0.00,2.30,0.00,0.000,4,0.000,0.054,3083,582,2438,0,0,0,0,0,0
$GC,8541,0.65,55.6,913.5,9.7,557,8554,0.00,2.33,4.88,0.815,6,0.000,0.048,3077,1996,2423,0,0,0,0,0,0
$GC,8862,0.65,55.6,882.1,10.1,573,8866,0.00,2.30,0.00,0.000,4,0.000,0.055,3086,576,2423,0,0,0,0,0,0
$GC,8950,0.65,55.6,872.4,11.3,577,8955,0.00,2.33,0.00,0.000,6,0.000,0.048,3084,1993,2423,0,0,0,0,0,0
$GC,9279,0.65,55.6,838.8,10.1,593,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1996,2422,0,0,0,0,0,0
$GC,9588,0.65,55.6,807.2,10.3,608,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1996,2422,0,0,0,0,0,0
$GC,9896,0.65,55.6,775.0,10.8,623,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1996,2422,0,0,0,0,0,0
$GC,10207,0.65,55.6,742.4,10.5,638,10211,0.00,2.22,0.00,0.000,4,0.000,0.057,3083,3405,2422,0,0,0,0,0,0
$GC,10255,0.65,55.6,736.2,12.5,640,10260,0.00,2.28,0.00,0.000,6,0.000,0.045,3092,1983,2421,0,0,0,0,0,0
$GC,10577,0.65,55.6,699.5,11.3,656,10581,0.00,2.22,0.00,0.000,4,0.000,0.054,3103,582,2421,0,0,0,0,0,0
$GC,10642,0.65,55.6,691.8,11.2,659,10647,0.00,2.30,0.00,0.000,6,0.000,0.047,3100,1998,2422,0,0,0,0,0,0
$GC,10970,0.65,55.6,656.1,10.5,675,10974,0.00,2.28,0.00,0.000,4,0.000,0.054,3109,578,2421,0,0,0,0,0,0
$GC,11144,0.65,55.6,637.3,10.1,683,11148,0.00,2.25,0.00,0.000,6,0.000,0.047,3102,2000,2422,0,0,0,0,0,0
$GC,11470,0.67,64.8,607.0,9.1,699,11480,0.00,0.00,8.65,0.897,6,0.000,0.000,3100,2002,2385,0,0,0,0,0,0
$GC,11779,0.68,73.3,578.3,9.1,714,11793,0.00,2.35,8.50,0.871,4,0.000,0.056,3109,583,2350,0,0,0,0,0,0
$GC,11833,0.68,79.1,573.1,9.4,716,11847,0.00,2.30,6.22,0.819,6,0.000,0.048,3110,1994,2326,0,0,0,0,0,0
$GC,12154,0.68,80.0,541.1,9.9,732,12158,0.00,2.25,0.00,0.000,4,0.000,0.056,3110,3410,2326,0,0,0,0,0,0
$GC,12196,0.68,80.0,536.3,11.2,734,12201,0.00,2.30,0.00,0.000,6,0.000,0.046,3120,1988,2326,0,0,0,0,0,0
$GC,12526,0.68,80.0,503.6,10.0,750,12530,0.00,2.25,0.00,0.000,4,0.000,0.055,3114,3404,2326,0,0,0,0,0,0
$GC,12574,0.68,80.0,498.1,10.3,752,12580,0.10,2.28,0.00,0.000,6,0.203,0.047,3097,1990,2326,0,0,0,0,0,0
$GC,12896,0.70,90.1,467.7,9.0,768,12908,0.00,0.00,10.27,0.852,6,0.000,0.000,3098,1987,2281,0,0,0,0,0,0
$GC,13205,0.70,90.1,434.5,11.1,783,13209,0.00,2.28,0.00,0.000,4,0.000,0.057,3107,575,2281,0,0,0,0,0,0
$GC,13321,0.70,90.1,420.6,11.7,788,13325,0.00,2.30,0.00,0.000,6,0.000,0.047,3107,1990,2281,0,0,0,0,0,0
$GC,13647,0.70,90.1,381.2,12.7,811,13651,0.00,2.28,0.00,0.000,4,0.000,0.054,3117,571,2280,0,0,0,0,0,0
$GC,13770,0.70,90.1,364.9,12.8,821,13778,0.00,2.30,0.00,0.000,6,0.000,0.048,3117,1988,2280,0,0,0,0,0,0
$GC,14096,0.70,90.1,324.5,12.0,852,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1989,2280,0,0,0,0,0,0
$GC,14415,0.70,90.1,285.2,12.4,882,14419,0.00,2.25,0.00,0.000,4,0.000,0.054,3128,578,2280,0,0,0,0,0,0
$GC,14482,0.70,90.1,276.7,12.2,887,14490,0.10,2.28,0.00,0.000,6,0.181,0.047,3099,1985,2280,0,0,0,0,0,0
$GC,14807,0.70,90.1,241.3,10.8,918,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1986,2280,0,0,0,0,0,0
$GC,15127,0.70,90.1,208.2,10.3,948,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1986,2280,0,0,0,0,0,0
$GC,15445,0.70,90.1,175.0,11.0,978,15446,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1986,2280,0,0,0,0,0,0
$GC,15764,0.71,104.2,143.1,8.6,1008,15783,0.00,0.00,12.48,0.707,6,0.000,0.000,3099,1986,2224,0,0,0,0,0,0
$GC,16101,0.74,121.7,114.7,8.3,1040,16122,0.00,0.00,15.40,0.699,6,0.000,0.000,3099,1986,2151,0,0,0,0,0,0
$GC,16452,0.74,121.7,79.2,11.5,1089,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1986,2150,0,0,0,0,0,0
$GC,16803,0.74,121.7,39.5,10.1,1150,16812,0.00,2.30,0.00,0.000,4,0.000,0.055,3108,584,2149,0,0,0,0,0,0
$GC,16922,0.74,121.7,26.0,10.1,1169,16931,0.00,2.28,0.00,0.000,6,0.000,0.046,3109,1992,2149,0,0,0,0,0,0
$GC,17078,0.74,121.7,13.0,11.2,1194,17087,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1996,2149,0,0,0,0,0,0
$GC,17137,0.74,121.7,5.2,13.9,1203,17145,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1996,2149,0,0,0,0,0,0
$STATE,17158,end climb,SURFACE_DEPTH_REACHED
$STATE,17158,begin surface coast
$FINISH,1.5,1.026499
$STATE,17184,end surface coast,CONTROL_FINISHED_OK
$STATE,17184,begin surface
$SM_CCo,17199,41.97,0.054,0,0,1752,220.03
$SM_GC,2.85,0.00,0.00,41.97,0.000,0.000,0.054,139,2276,1752,-8.54,0.45,220.03
$IRIDIUM_FIX,-4447.43,634.22,191108,070739
$TT8_MAMPS,0.026215
$HUMID,48.70
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,30.323
$10V_AH,10.2,32.176
$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,20.600,128.175,151.650,41.975,0.000,27.903,41.331,590.957,24.750,0.000,42.606,3258.438,10721.736,354.172,3555.022,203.358,0.000,1531.371,0.000,2772.722,0.000,149.480,0.000
$DEVICE_MAMPS,243.270,63.495,1288.260,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.434,837.565,82.126,841.822,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354156
$DATA_FILE_SIZE,70218,1210
$CAP_FILE_SIZE,170817,0
$CFSIZE,2097086464,2064449536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.189,123.3,1
$GPS,240116,035357,-4505.717,636.940,83,1.0,83,-24.4