version: 66.07.10.p01
glider: 574
mission: 18
dive: 245
start: 4 22 112 8 16 45
data:
$ID,574
$MISSION,18
$DIVE,245
$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,-2347781.8
$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,22
$R_STBD_OVSHOOT,29
$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,244
$GPS1,240116,191222,-4506.105,638.266,46,2.4,66,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-77.8
$GPS2,240116,192532,-4506.188,638.305,18,2.4,37,-24.5
$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,339.4,19145,-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,-48.7,0.0,0.0,0,59,0.00,0.00,-32.83,0.000,2,0.000,0.000,133,2278,2559,0,0,0,0,0,0
$GC,61,-0.65,-48.7,3.0,-1.2,4,89,10.62,2.40,-9.57,0.000,4,0.244,0.060,2654,847,2849,0,0,0,0,0,0
$GC,236,-0.65,-48.7,29.8,-18.4,31,246,0.00,2.33,0.00,0.000,6,0.000,0.047,2644,2257,2850,0,0,0,0,0,0
$GC,387,-0.65,-48.7,56.5,-17.8,56,394,0.00,2.25,0.00,0.000,4,0.000,0.054,2634,3674,2851,0,0,0,0,0,0
$GC,412,-0.65,-48.7,61.0,-17.9,60,421,0.00,2.30,0.00,0.000,6,0.000,0.041,2634,2251,2850,0,0,0,0,0,0
$GC,762,-0.65,-48.7,124.8,-16.6,109,766,0.00,2.25,0.00,0.000,4,0.000,0.052,2624,3672,2850,0,0,0,0,0,0
$GC,870,-0.65,-48.7,144.6,-17.7,118,875,0.15,2.22,0.00,0.000,6,0.190,0.041,2659,2256,2850,0,0,0,0,0,0
$GC,1194,-0.65,-48.7,194.5,-15.3,148,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2253,2851,0,0,0,0,0,0
$GC,1513,-0.65,-48.7,241.8,-14.2,178,1517,0.00,2.25,0.00,0.000,4,0.000,0.054,2650,3679,2852,0,0,0,0,0,0
$GC,1540,-0.65,-48.7,246.0,-15.2,180,1545,0.00,2.22,0.00,0.000,6,0.000,0.044,2649,2259,2851,0,0,0,0,0,0
$GC,1865,-0.65,-48.7,292.1,-13.3,210,1869,0.00,2.25,0.00,0.000,4,0.000,0.055,2640,3682,2852,0,0,0,0,0,0
$GC,1908,-0.65,-48.7,298.2,-13.8,213,1915,0.00,2.28,0.00,0.000,6,0.000,0.044,2640,2261,2851,0,0,0,0,0,0
$GC,2233,-0.65,-48.7,342.6,-13.6,244,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2258,2851,0,0,0,0,0,0
$GC,2552,-0.65,-48.7,386.1,-13.8,274,2556,0.00,2.22,0.00,0.000,4,0.000,0.057,2630,3671,2851,0,0,0,0,0,0
$GC,2729,-0.65,-48.7,411.7,-13.9,286,2735,0.08,2.28,0.00,0.000,6,0.178,0.047,2652,2255,2851,0,0,0,0,0,0
$GC,3056,-0.65,-48.7,453.0,-12.7,302,3060,0.00,2.25,0.00,0.000,4,0.000,0.057,2643,3676,2851,0,0,0,0,0,0
$GC,3164,-0.65,-48.7,467.4,-13.7,307,3168,0.00,2.25,0.00,0.000,6,0.000,0.049,2642,2259,2851,0,0,0,0,0,0
$GC,3499,-0.65,-48.7,511.1,-13.1,323,3503,0.00,2.25,0.00,0.000,4,0.000,0.060,2633,3676,2850,0,0,0,0,0,0
$GC,3565,-0.65,-48.7,520.6,-14.1,326,3569,0.00,2.28,0.00,0.000,6,0.000,0.050,2633,2264,2851,0,0,0,0,0,0
$GC,3892,-0.65,-48.7,565.9,-14.0,342,3897,0.12,2.28,0.00,0.000,4,0.213,0.062,2652,3672,2850,0,0,0,0,0,0
$GC,4008,-0.65,-48.7,580.9,-12.6,347,4013,0.00,2.28,0.00,0.000,6,0.000,0.053,2651,2268,2850,0,0,0,0,0,0
$GC,4338,-0.65,-48.7,620.2,-11.8,363,4343,0.00,2.25,0.00,0.000,4,0.000,0.063,2641,3674,2849,0,0,0,0,0,0
$GC,4387,-0.65,-48.7,627.1,-13.0,365,4392,0.00,2.30,0.00,0.000,6,0.000,0.054,2642,2260,2849,0,0,0,0,0,0
$GC,4709,-0.65,-48.7,668.1,-13.0,381,4713,0.00,2.25,0.00,0.000,4,0.000,0.063,2632,3667,2849,0,0,0,0,0,0
$GC,4730,-0.65,-48.7,671.2,-13.2,382,4735,0.00,2.28,0.00,0.000,6,0.000,0.052,2631,2262,2849,0,0,0,0,0,0
$GC,5058,-0.65,-48.7,713.5,-12.6,398,5063,0.12,2.28,0.00,0.000,4,0.211,0.063,2651,3668,2849,0,0,0,0,0,0
$GC,5106,-0.65,-48.7,719.4,-11.0,400,5111,0.00,2.30,0.00,0.000,6,0.000,0.054,2650,2254,2849,0,0,0,0,0,0
$GC,5429,-0.65,-48.7,754.9,-10.7,416,5433,0.00,2.28,0.00,0.000,4,0.000,0.064,2640,3675,2848,0,0,0,0,0,0
$GC,5535,-0.65,-48.7,766.9,-10.8,421,5539,0.00,2.25,0.00,0.000,6,0.000,0.055,2640,2260,2848,0,0,0,0,0,0
$GC,5864,-0.65,-48.7,801.0,-10.2,437,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2256,2848,0,0,0,0,0,0
$GC,6170,-0.65,-48.7,832.6,-10.3,452,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2256,2848,0,0,0,0,0,0
$GC,6480,-0.65,-48.7,865.3,-10.5,467,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2256,2847,0,0,0,0,0,0
$GC,6789,-0.65,-48.7,899.4,-11.0,482,6793,0.00,2.25,0.00,0.000,4,0.000,0.061,2641,848,2847,0,0,0,0,0,0
$GC,6814,-0.65,-48.7,902.5,-11.9,483,6820,0.08,2.30,0.00,0.000,6,0.190,0.056,2651,2255,2847,0,0,0,0,0,0
$GC,7137,-0.65,-48.7,935.9,-10.4,499,7141,0.00,2.28,0.00,0.000,4,0.000,0.068,2642,3675,2847,0,0,0,0,0,0
$GC,7221,-0.65,-48.7,945.3,-11.6,503,7225,0.00,2.28,0.00,0.000,6,0.000,0.057,2641,2256,2847,0,0,0,0,0,0
$GC,7551,-0.65,-48.7,981.0,-10.7,519,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2252,2847,0,0,0,0,0,0
$STATE,7733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7733,begin apogee
$GC,7738,-0.11,0.0,1000.8,10.7,528,7781,0.68,0.00,39.47,1.287,6,0.169,0.000,2832,1982,2650,0,0,0,0,0,0
$STATE,7781,end apogee,CONTROL_FINISHED_OK
$STATE,7781,begin climb
$GC,7783,0.65,48.7,1002.8,0.0,530,7828,0.75,0.00,41.85,1.256,6,0.096,0.000,3074,1982,2451,0,0,0,0,0,0
$GC,8124,0.65,55.4,973.1,9.3,547,8137,0.00,2.40,6.88,1.010,4,0.000,0.057,3084,582,2423,0,0,0,0,0,0
$GC,8191,0.65,55.4,966.3,10.8,550,8195,0.00,2.33,0.00,0.000,6,0.000,0.048,3082,2003,2424,0,0,0,0,0,0
$GC,8517,0.65,55.4,932.9,10.2,566,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2006,2423,0,0,0,0,0,0
$GC,8826,0.65,55.4,901.9,10.0,581,8827,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2006,2422,0,0,0,0,0,0
$GC,9137,0.65,55.4,869.6,10.8,596,9141,0.00,2.30,0.00,0.000,4,0.000,0.057,3091,582,2422,0,0,0,0,0,0
$GC,9221,0.65,55.4,860.2,11.7,600,9225,0.00,2.28,0.00,0.000,6,0.000,0.049,3086,1998,2423,0,0,0,0,0,0
$GC,9547,0.65,55.4,824.9,10.7,616,9551,0.00,2.30,0.00,0.000,4,0.000,0.055,3095,574,2423,0,0,0,0,0,0
$GC,9676,0.65,55.4,810.6,11.0,622,9680,0.00,2.28,0.00,0.000,6,0.000,0.049,3089,1998,2423,0,0,0,0,0,0
$GC,10002,0.66,56.9,777.2,9.8,638,10006,0.00,2.28,0.00,0.000,4,0.000,0.055,3098,580,2422,0,0,0,0,0,0
$GC,10141,0.66,58.9,762.9,9.8,644,10154,0.00,2.25,4.38,0.722,6,0.000,0.049,3094,1995,2409,0,0,0,0,0,0
$GC,10462,0.66,63.2,731.8,9.5,660,10468,0.00,0.00,4.95,0.812,6,0.000,0.000,3095,1996,2392,0,0,0,0,0,0
$GC,10772,0.67,66.3,701.5,9.7,675,10778,0.00,0.00,4.55,0.763,6,0.000,0.000,3095,1996,2378,0,0,0,0,0,0
$GC,11080,0.67,66.3,670.7,10.1,690,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1996,2379,0,0,0,0,0,0
$GC,11389,0.67,66.3,639.8,10.2,705,11394,0.00,2.28,0.00,0.000,4,0.000,0.054,3104,572,2379,0,0,0,0,0,0
$GC,11416,0.67,66.3,636.9,11.1,706,11421,0.00,2.30,0.00,0.000,6,0.000,0.048,3100,1986,2379,0,0,0,0,0,0
$GC,11738,0.67,66.3,602.4,11.3,722,11742,0.00,2.25,0.00,0.000,4,0.000,0.054,3109,581,2379,0,0,0,0,0,0
$GC,11904,0.67,66.3,582.6,11.1,729,11912,0.00,2.28,0.00,0.000,6,0.000,0.047,3101,1986,2379,0,0,0,0,0,0
$GC,12221,0.67,66.3,547.3,11.7,745,12222,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1988,2379,0,0,0,0,0,0
$GC,12530,0.67,66.3,511.4,11.3,760,12534,0.00,2.25,0.00,0.000,4,0.000,0.054,3111,580,2379,0,0,0,0,0,0
$GC,12629,0.67,66.3,500.3,10.2,764,12637,0.00,2.30,0.00,0.000,6,0.000,0.047,3111,1999,2379,0,0,0,0,0,0
$GC,12946,0.68,74.4,468.8,9.2,780,12955,0.00,0.00,7.97,0.810,6,0.000,0.000,3111,2002,2346,0,0,0,0,0,0
$GC,13255,0.68,74.4,437.1,10.3,795,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2003,2345,0,0,0,0,0,0
$GC,13564,0.68,74.4,405.5,10.0,810,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2002,2345,0,0,0,0,0,0
$GC,13883,0.68,74.4,373.4,10.4,837,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2003,2345,0,0,0,0,0,0
$GC,14200,0.68,74.4,340.8,10.4,867,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2003,2345,0,0,0,0,0,0
$GC,14520,0.68,74.4,307.5,10.1,897,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2002,2344,0,0,0,0,0,0
$GC,14837,0.68,74.4,274.3,10.4,927,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2003,2345,0,0,0,0,0,0
$GC,15158,0.70,91.8,244.0,8.3,957,15176,0.00,0.00,14.88,0.781,6,0.000,0.000,3111,2003,2274,0,0,0,0,0,0
$GC,15497,0.70,92.8,209.6,9.9,989,15501,0.00,2.28,0.00,0.000,4,0.000,0.054,3121,580,2273,0,0,0,0,0,0
$GC,15562,0.70,93.4,202.5,9.9,994,15571,0.00,2.28,0.00,0.000,6,0.000,0.047,3121,1985,2273,0,0,0,0,0,0
$GC,15890,0.70,93.4,169.5,10.2,1025,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1985,2273,0,0,0,0,0,0
$GC,16207,0.70,93.4,136.9,10.6,1055,16211,0.00,2.25,0.00,0.000,4,0.000,0.054,3132,580,2273,0,0,0,0,0,0
$GC,16224,0.70,93.7,135.1,9.9,1056,16229,0.12,2.25,0.00,0.000,6,0.194,0.047,3103,2001,2273,0,0,0,0,0,0
$GC,16548,0.72,110.6,104.8,8.3,1086,16572,0.00,2.25,15.90,0.703,4,0.000,0.056,3096,3410,2198,0,0,0,0,0,0
$GC,16606,0.72,110.6,98.9,10.9,1092,16614,0.00,2.30,0.00,0.000,6,0.000,0.047,3104,1984,2198,0,0,0,0,0,0
$GC,16957,0.72,110.6,61.1,10.6,1153,16963,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1981,2197,0,0,0,0,0,0
$GC,17312,0.73,119.4,26.0,9.1,1214,17323,0.00,2.35,4.15,0.478,4,0.000,0.055,3116,572,2162,0,0,0,0,0,0
$GC,17506,0.73,119.4,5.0,12.1,1245,17514,0.00,2.30,0.00,0.000,6,0.000,0.047,3116,1993,2160,0,0,0,0,0,0
$STATE,17522,end climb,SURFACE_DEPTH_REACHED
$STATE,17522,begin surface coast
$FINISH,1.6,1.002656
$STATE,17548,end surface coast,CONTROL_FINISHED_OK
$STATE,17548,begin surface
$SM_CCo,17564,43.12,0.054,0,0,1752,220.03
$SM_GC,2.96,0.00,0.00,43.12,0.000,0.000,0.054,132,2269,1752,-8.56,0.25,220.03
$IRIDIUM_FIX,-4447.43,637.25,201108,030314
$TT8_MAMPS,0.025466
$HUMID,48.74
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.50
$XPDR_PINGS,1
$24V_AH,23.8,30.674
$10V_AH,10.2,32.683
$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,20.750,119.250,144.975,43.125,0.000,24.095,35.131,538.664,25.000,0.000,42.186,3338.759,11068.583,339.185,3447.810,201.561,0.000,1465.034,0.000,2731.296,0.000,148.839,0.000
$DEVICE_MAMPS,244.035,68.085,1287.495,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.202,859.638,84.352,880.945,0.000,0.000,0.000,0.000,0.000,0.000
$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,73596,1251
$CAP_FILE_SIZE,168110,0
$CFSIZE,2097086464,2063925248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.170,129.9,1
$GPS,250116,002100,-4506.055,638.813,43,0.9,43,-24.5