version: 66.07.10.p01
glider: 574
mission: 18
dive: 255
start: 4 24 112 11 28 29
data:
$ID,574
$MISSION,18
$DIVE,255
$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,-2349214.2
$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,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,254
$GPS1,260116,222252,-4505.622,640.269,76,0.9,77,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.6
$GPS2,260116,223725,-4505.608,640.287,5,0.9,5,-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,325.8,21511,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.65,-48.7,0.0,0.0,0,60,0.00,0.00,-33.80,0.000,2,0.000,0.000,139,2270,2571,0,0,0,0,0,0
$GC,63,-0.65,-48.7,3.0,-2.4,4,89,10.57,2.30,-8.15,0.000,4,0.242,0.054,2653,845,2849,0,0,0,0,0,0
$GC,195,-0.65,-48.7,23.7,-18.3,24,204,0.00,2.30,0.00,0.000,6,0.000,0.045,2644,2252,2850,0,0,0,0,0,0
$GC,352,-0.65,-48.7,54.0,-20.2,49,359,0.00,2.25,0.00,0.000,4,0.000,0.053,2634,3670,2850,0,0,0,0,0,0
$GC,538,-0.65,-48.7,88.3,-18.0,81,547,0.00,2.25,0.00,0.000,6,0.000,0.039,2633,2256,2850,0,0,0,0,0,0
$GC,872,-0.65,-48.7,144.2,-15.8,117,876,0.00,2.20,0.00,0.000,4,0.000,0.043,2633,842,2850,0,0,0,0,0,0
$GC,889,-0.65,-48.7,147.3,-16.1,118,894,0.15,2.22,0.00,0.000,6,0.208,0.043,2656,2263,2850,0,0,0,0,0,0
$GC,1214,-0.65,-48.7,195.3,-14.8,148,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2267,2850,0,0,0,0,0,0
$GC,1532,-0.65,-48.7,241.9,-14.7,178,1536,0.00,2.20,0.00,0.000,4,0.000,0.053,2647,3671,2851,0,0,0,0,0,0
$GC,1666,-0.65,-48.7,262.8,-15.2,189,1673,0.00,2.17,0.00,0.000,6,0.000,0.039,2647,2259,2851,0,0,0,0,0,0
$GC,1992,-0.65,-48.7,310.7,-14.6,220,1996,0.00,2.22,0.00,0.000,4,0.000,0.053,2637,3679,2851,0,0,0,0,0,0
$GC,2043,-0.65,-48.7,318.5,-15.6,224,2047,0.00,2.20,0.00,0.000,6,0.000,0.039,2637,2249,2851,0,0,0,0,0,0
$GC,2367,-0.65,-48.7,368.0,-15.1,254,2371,0.00,2.22,0.00,0.000,4,0.000,0.053,2628,3668,2851,0,0,0,0,0,0
$GC,2456,-0.65,-48.7,382.4,-15.1,261,2464,0.10,2.22,0.00,0.000,6,0.177,0.040,2656,2252,2851,0,0,0,0,0,0
$GC,2776,-0.65,-48.7,427.4,-14.1,283,2780,0.00,2.22,0.00,0.000,4,0.000,0.054,2647,3671,2850,0,0,0,0,0,0
$GC,2830,-0.65,-48.7,435.7,-15.1,285,2838,0.00,2.22,0.00,0.000,6,0.000,0.041,2647,2260,2850,0,0,0,0,0,0
$GC,3148,-0.65,-48.7,481.4,-14.5,301,3152,0.00,2.22,0.00,0.000,4,0.000,0.054,2637,3678,2850,0,0,0,0,0,0
$GC,3225,-0.65,-48.7,493.8,-16.2,304,3232,0.00,2.22,0.00,0.000,6,0.000,0.041,2637,2264,2850,0,0,0,0,0,0
$GC,3541,-0.65,-48.7,539.8,-14.1,320,3546,0.00,2.22,0.00,0.000,4,0.000,0.055,2627,3666,2849,0,0,0,0,0,0
$GC,3618,-0.65,-48.7,551.4,-14.1,323,3623,0.10,2.22,0.00,0.000,6,0.178,0.042,2656,2257,2849,0,0,0,0,0,0
$GC,3942,-0.65,-48.7,590.6,-11.7,339,3946,0.00,2.22,0.00,0.000,4,0.000,0.055,2647,3674,2849,0,0,0,0,0,0
$GC,4040,-0.65,-48.7,603.0,-12.1,343,4049,0.00,2.25,0.00,0.000,6,0.000,0.044,2647,2251,2849,0,0,0,0,0,0
$GC,4359,-0.65,-48.7,640.6,-11.4,359,4363,0.00,2.22,0.00,0.000,4,0.000,0.056,2636,3668,2848,0,0,0,0,0,0
$GC,4379,-0.65,-48.7,643.5,-11.9,360,4384,0.00,2.22,0.00,0.000,6,0.000,0.044,2636,2267,2849,0,0,0,0,0,0
$GC,4708,-0.65,-48.7,683.8,-12.5,376,4712,0.00,2.20,0.00,0.000,4,0.000,0.057,2626,3666,2849,0,0,0,0,0,0
$GC,4841,-0.65,-48.7,701.5,-13.2,382,4845,0.10,2.22,0.00,0.000,6,0.177,0.045,2655,2264,2848,0,0,0,0,0,0
$GC,5170,-0.65,-48.7,740.9,-12.5,398,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2260,2848,0,0,0,0,0,0
$GC,5476,-0.65,-48.7,778.8,-12.4,413,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2259,2847,0,0,0,0,0,0
$GC,5786,-0.65,-48.7,818.8,-13.2,428,5790,0.00,2.25,0.00,0.000,4,0.000,0.059,2646,3667,2847,0,0,0,0,0,0
$GC,5817,-0.65,-48.7,823.3,-14.0,429,5825,0.00,2.25,0.00,0.000,6,0.000,0.047,2646,2261,2847,0,0,0,0,0,0
$GC,6134,-0.65,-48.7,864.3,-12.7,445,6138,0.00,2.22,0.00,0.000,4,0.000,0.058,2636,3668,2847,0,0,0,0,0,0
$GC,6151,-0.65,-48.7,866.5,-12.8,446,6154,0.00,2.20,0.00,0.000,6,0.000,0.047,2635,2260,2847,0,0,0,0,0,0
$GC,6483,-0.65,-48.7,908.4,-12.6,462,6487,0.00,2.22,0.00,0.000,4,0.000,0.059,2625,3664,2847,0,0,0,0,0,0
$GC,6521,-0.65,-48.7,913.6,-13.2,463,6530,0.10,2.25,0.00,0.000,6,0.177,0.047,2653,2256,2847,0,0,0,0,0,0
$GC,6838,-0.65,-48.7,949.8,-11.3,479,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2254,2846,0,0,0,0,0,0
$GC,7147,-0.65,-48.7,983.7,-10.8,494,7151,0.00,2.22,0.00,0.000,4,0.000,0.060,2645,3663,2846,0,0,0,0,0,0
$GC,7240,-0.65,-48.7,994.2,-11.2,498,7245,0.00,2.25,0.00,0.000,6,0.000,0.049,2645,2264,2846,0,0,0,0,0,0
$STATE,7313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7313,begin apogee
$GC,7318,-0.11,0.0,1001.9,10.5,502,7361,0.65,0.00,39.47,1.284,6,0.168,0.000,2829,1973,2649,0,0,0,0,0,0
$STATE,7362,end apogee,CONTROL_FINISHED_OK
$STATE,7362,begin climb
$GC,7363,0.65,48.7,1004.0,0.0,504,7411,0.75,2.38,41.15,1.258,4,0.099,0.053,3084,585,2453,0,0,0,0,0,0
$GC,7428,0.67,66.8,1000.6,8.2,507,7450,0.00,2.35,17.20,1.188,6,0.000,0.047,3083,1992,2377,0,0,0,0,0,0
$GC,7773,0.67,66.8,960.5,12.0,524,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1992,2374,0,0,0,0,0,0
$GC,8082,0.67,66.8,924.9,11.6,539,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1993,2373,0,0,0,0,0,0
$GC,8390,0.67,66.8,888.4,12.0,554,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1993,2373,0,0,0,0,0,0
$GC,8701,0.67,66.8,852.3,11.6,569,8705,0.00,2.28,0.00,0.000,4,0.000,0.056,3092,580,2373,0,0,0,0,0,0
$GC,8740,0.67,66.8,847.6,12.0,571,8744,0.00,2.25,0.00,0.000,6,0.000,0.048,3088,1989,2373,0,0,0,0,0,0
$GC,9066,0.67,66.8,810.7,11.4,587,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1991,2373,0,0,0,0,0,0
$GC,9375,0.67,66.8,775.2,11.5,602,9379,0.00,2.28,0.00,0.000,4,0.000,0.054,3098,573,2373,0,0,0,0,0,0
$GC,9483,0.67,66.8,762.4,11.9,607,9487,0.00,2.25,0.00,0.000,6,0.000,0.048,3095,1990,2373,0,0,0,0,0,0
$GC,9809,0.67,66.8,726.2,11.0,623,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1992,2373,0,0,0,0,0,0
$GC,10118,0.67,66.8,692.8,10.8,638,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1992,2373,0,0,0,0,0,0
$GC,10429,0.67,66.8,659.0,10.9,653,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1992,2372,0,0,0,0,0,0
$GC,10739,0.67,67.8,626.6,9.9,668,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1992,2372,0,0,0,0,0,0
$GC,11048,0.67,71.6,596.6,9.6,683,11057,0.00,2.28,4.70,0.700,4,0.000,0.055,3104,578,2357,0,0,0,0,0,0
$GC,11078,0.67,71.6,593.1,10.0,684,11086,0.00,2.28,0.00,0.000,6,0.000,0.047,3102,1987,2357,0,0,0,0,0,0
$GC,11395,0.67,71.6,560.2,10.5,700,11399,0.00,2.25,0.00,0.000,4,0.000,0.054,3111,582,2357,0,0,0,0,0,0
$GC,11421,0.68,72.7,557.1,9.9,701,11426,0.00,2.28,0.00,0.000,6,0.000,0.046,3111,1992,2357,0,0,0,0,0,0
$GC,11743,0.68,72.7,521.5,11.2,717,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1994,2357,0,0,0,0,0,0
$GC,12053,0.68,72.7,486.3,11.2,732,12057,0.00,2.25,0.00,0.000,4,0.000,0.054,3121,582,2357,0,0,0,0,0,0
$GC,12137,0.68,72.7,476.1,11.8,736,12142,0.12,2.22,0.00,0.000,6,0.204,0.046,3093,1994,2357,0,0,0,0,0,0
$GC,12466,0.68,72.7,441.6,10.3,752,12470,0.00,2.25,0.00,0.000,4,0.000,0.054,3102,583,2356,0,0,0,0,0,0
$GC,12491,0.68,72.7,438.6,10.1,753,12496,0.00,2.25,0.00,0.000,6,0.000,0.046,3102,1985,2357,0,0,0,0,0,0
$GC,12813,0.68,72.7,405.6,10.3,769,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1986,2356,0,0,0,0,0,0
$GC,13132,0.68,79.7,374.9,9.3,796,13144,0.00,0.00,7.57,0.757,6,0.000,0.000,3102,1986,2324,0,0,0,0,0,0
$GC,13459,0.69,81.2,342.1,9.8,827,13463,0.00,2.25,0.00,0.000,4,0.000,0.054,3112,581,2325,0,0,0,0,0,0
$GC,13481,0.69,82.7,340.0,9.8,828,13491,0.00,2.28,4.30,0.619,6,0.000,0.047,3113,1988,2311,0,0,0,0,0,0
$GC,13805,0.69,82.7,306.0,10.1,859,13809,0.00,2.25,0.00,0.000,4,0.000,0.054,3123,582,2312,0,0,0,0,0,0
$GC,13826,0.70,94.1,304.0,8.9,860,13846,0.00,2.28,10.40,0.790,6,0.000,0.046,3123,1991,2266,0,0,0,0,0,0
$GC,14164,0.70,94.1,264.7,12.0,892,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1991,2265,0,0,0,0,0,0
$GC,14483,0.70,94.1,227.6,11.9,922,14487,0.00,2.22,0.00,0.000,4,0.000,0.054,3123,3406,2265,0,0,0,0,0,0
$GC,14559,0.70,94.1,217.5,13.0,928,14570,0.10,2.25,0.00,0.000,6,0.207,0.046,3106,1995,2266,0,0,0,0,0,0
$GC,14884,0.70,94.1,179.7,11.8,959,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1995,2266,0,0,0,0,0,0
$GC,15206,0.71,98.5,144.7,9.5,989,15214,0.00,0.00,5.05,0.554,6,0.000,0.000,3106,1995,2248,0,0,0,0,0,0
$GC,15532,0.73,117.9,118.4,8.1,1020,15558,0.00,2.35,16.98,0.731,4,0.000,0.055,3116,578,2167,0,0,0,0,0,0
$GC,15607,0.73,117.9,111.2,10.2,1026,15614,0.00,2.30,0.00,0.000,6,0.000,0.046,3116,1990,2166,0,0,0,0,0,0
$GC,15948,0.73,117.9,71.7,12.3,1077,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1990,2165,0,0,0,0,0,0
$GC,16304,0.73,117.9,27.7,13.1,1138,16313,0.00,2.28,0.00,0.000,4,0.000,0.057,3116,3401,2165,0,0,0,0,0,0
$GC,16381,0.73,117.9,16.8,14.7,1150,16390,0.00,2.28,0.00,0.000,6,0.000,0.048,3126,1988,2165,0,0,0,0,0,0
$GC,16440,0.73,117.9,8.3,15.1,1159,16449,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1985,2165,0,0,0,0,0,0
$STATE,16480,end climb,SURFACE_DEPTH_REACHED
$STATE,16480,begin surface coast
$FINISH,1.5,1.026443
$STATE,16506,end surface coast,CONTROL_FINISHED_OK
$STATE,16506,begin surface
$SM_CCo,16522,43.30,0.050,0,0,1752,220.03
$SM_GC,3.18,0.00,0.00,43.30,0.000,0.000,0.050,142,2276,1752,-8.53,0.45,220.03
$IRIDIUM_FIX,-4447.43,640.27,221108,060644
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,31.628
$10V_AH,10.1,33.950
$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,21.325,126.800,146.825,43.300,0.000,22.174,26.423,667.101,24.750,0.000,7.976,3131.412,10461.348,348.892,3290.338,203.961,0.000,1424.455,0.000,2494.298,0.000,151.089,0.000
$DEVICE_MAMPS,241.740,59.670,1283.670,50.490,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.247,810.328,72.243,804.373,0.000,0.000,0.000,0.000,0.000,0.000
$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,66763,1169
$CAP_FILE_SIZE,163236,0
$CFSIZE,2097086464,2062647296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.106,121.8,1
$GPS,270116,031706,-4505.234,639.797,134,0.8,139,-24.5