version: 66.07.10.p01
glider: 574
mission: 18
dive: 269
start: 4 27 112 11 17 46
data:
$ID,574
$MISSION,18
$DIVE,269
$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,-2350847
$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,27
$R_STBD_OVSHOOT,34
$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,268
$GPS1,290116,220927,-4502.282,630.042,84,1.5,84,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-77.1
$GPS2,290116,222653,-4502.356,630.142,3,1.1,5,-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,280.2,8591,-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,-40.83,0.000,2,0.000,0.000,141,2279,2765,0,0,0,0,0,0
$GC,69,-0.65,-48.7,3.2,-1.7,5,88,10.45,0.00,-2.25,0.000,6,0.237,0.000,2654,2279,2851,0,0,0,0,0,0
$GC,138,-0.65,-48.7,15.7,-19.6,15,147,0.00,2.28,0.00,0.000,4,0.000,0.051,2645,3668,2851,0,0,0,0,0,0
$GC,162,-0.65,-48.7,20.3,-19.5,18,171,0.00,2.28,0.00,0.000,6,0.000,0.038,2645,2260,2851,0,0,0,0,0,0
$GC,317,-0.65,-48.7,50.0,-18.8,43,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2256,2851,0,0,0,0,0,0
$GC,667,-0.65,-48.7,114.7,-18.1,98,671,0.00,2.22,0.00,0.000,4,0.000,0.050,2634,3663,2851,0,0,0,0,0,0
$GC,911,-0.65,-48.7,157.1,-16.3,119,915,0.00,2.20,0.00,0.000,6,0.000,0.039,2634,2256,2851,0,0,0,0,0,0
$GC,1238,-0.65,-48.7,209.3,-15.7,149,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2252,2852,0,0,0,0,0,0
$GC,1554,-0.65,-48.7,255.4,-14.3,179,1558,0.00,2.22,0.00,0.000,4,0.000,0.050,2624,3672,2852,0,0,0,0,0,0
$GC,1584,-0.65,-48.7,259.4,-14.1,181,1591,0.15,2.20,0.00,0.000,6,0.187,0.037,2660,2254,2852,0,0,0,0,0,0
$GC,1916,-0.65,-48.7,302.8,-12.8,212,1920,0.00,2.22,0.00,0.000,4,0.000,0.053,2651,3667,2852,0,0,0,0,0,0
$GC,1971,-0.65,-48.7,310.4,-13.2,216,1980,0.00,2.22,0.00,0.000,6,0.000,0.040,2651,2260,2853,0,0,0,0,0,0
$GC,2296,-0.65,-48.7,355.5,-14.1,247,2300,0.00,2.22,0.00,0.000,4,0.000,0.054,2641,3672,2852,0,0,0,0,0,0
$GC,2402,-0.65,-48.7,371.7,-15.0,256,2406,0.00,2.20,0.00,0.000,6,0.000,0.041,2641,2260,2852,0,0,0,0,0,0
$GC,2723,-0.65,-48.7,418.9,-14.6,280,2727,0.00,2.22,0.00,0.000,4,0.000,0.049,2641,843,2852,0,0,0,0,0,0
$GC,2739,-0.65,-48.7,421.5,-15.0,281,2744,0.12,2.22,0.00,0.000,6,0.210,0.046,2659,2255,2851,0,0,0,0,0,0
$GC,3065,-0.65,-48.7,467.1,-13.8,297,3069,0.00,2.22,0.00,0.000,4,0.000,0.055,2649,3675,2851,0,0,0,0,0,0
$GC,3188,-0.65,-48.7,484.9,-13.8,302,3195,0.00,2.20,0.00,0.000,6,0.000,0.043,2649,2261,2852,0,0,0,0,0,0
$GC,3503,-0.65,-48.7,528.6,-13.8,318,3507,0.00,2.22,0.00,0.000,4,0.000,0.055,2639,3669,2851,0,0,0,0,0,0
$GC,3528,-0.65,-48.7,532.5,-14.3,319,3533,0.00,2.25,0.00,0.000,6,0.000,0.044,2639,2262,2851,0,0,0,0,0,0
$GC,3853,-0.65,-48.7,577.5,-13.7,335,3857,0.00,2.22,0.00,0.000,4,0.000,0.055,2629,3671,2850,0,0,0,0,0,0
$GC,3931,-0.65,-48.7,588.9,-14.7,338,3939,0.12,2.22,0.00,0.000,6,0.191,0.045,2658,2255,2850,0,0,0,0,0,0
$GC,4247,-0.65,-48.7,628.9,-12.3,354,4251,0.00,2.25,0.00,0.000,4,0.000,0.057,2649,3668,2850,0,0,0,0,0,0
$GC,4307,-0.65,-48.7,637.1,-12.8,356,4314,0.00,2.25,0.00,0.000,6,0.000,0.046,2649,2262,2850,0,0,0,0,0,0
$GC,4623,-0.65,-48.7,676.4,-11.9,372,4627,0.00,2.25,0.00,0.000,4,0.000,0.057,2638,3677,2849,0,0,0,0,0,0
$GC,4722,-0.65,-48.7,689.0,-12.4,376,4730,0.00,2.28,0.00,0.000,6,0.000,0.047,2638,2262,2850,0,0,0,0,0,0
$GC,5038,-0.65,-48.7,727.8,-12.5,392,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2258,2849,0,0,0,0,0,0
$GC,5348,-0.65,-48.7,765.2,-12.0,407,5352,0.00,2.25,0.00,0.000,4,0.000,0.059,2628,3678,2849,0,0,0,0,0,0
$GC,5391,-0.65,-48.7,770.8,-12.3,409,5396,0.10,2.28,0.00,0.000,6,0.171,0.047,2657,2260,2849,0,0,0,0,0,0
$GC,5719,-0.65,-48.7,805.8,-10.7,425,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2256,2848,0,0,0,0,0,0
$GC,6027,-0.65,-48.7,836.3,-9.5,440,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2256,2848,0,0,0,0,0,0
$GC,6337,-0.65,-48.7,866.0,-9.5,455,6341,0.00,2.28,0.00,0.000,4,0.000,0.059,2648,3675,2847,0,0,0,0,0,0
$GC,6392,-0.65,-48.7,871.8,-10.7,457,6399,0.00,2.28,0.00,0.000,6,0.000,0.049,2648,2260,2848,0,0,0,0,0,0
$GC,6708,-0.65,-48.7,904.7,-10.8,473,6712,0.00,2.25,0.00,0.000,4,0.000,0.060,2638,3670,2847,0,0,0,0,0,0
$GC,6728,-0.65,-48.7,907.4,-12.2,474,6733,0.00,2.28,0.00,0.000,6,0.000,0.050,2638,2257,2847,0,0,0,0,0,0
$GC,7056,-0.65,-48.7,945.1,-11.2,490,7061,0.00,2.25,0.00,0.000,4,0.000,0.060,2627,3667,2847,0,0,0,0,0,0
$GC,7197,-0.65,-48.7,962.1,-12.1,496,7202,0.12,2.25,0.00,0.000,6,0.194,0.050,2656,2252,2847,0,0,0,0,0,0
$GC,7513,-0.65,-48.7,994.3,-10.3,511,7517,0.00,2.28,0.00,0.000,4,0.000,0.061,2647,3673,2847,0,0,0,0,0,0
$GC,7556,-0.65,-48.7,999.3,-10.8,513,7560,0.00,2.30,0.00,0.000,6,0.000,0.051,2647,2257,2847,0,0,0,0,0,0
$STATE,7566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7566,begin apogee
$GC,7571,-0.11,0.0,1000.5,10.3,513,7618,0.60,0.00,39.78,1.285,6,0.166,0.000,2821,1983,2649,0,0,0,0,0,0
$STATE,7618,end apogee,CONTROL_FINISHED_OK
$STATE,7619,begin climb
$GC,7620,0.65,48.7,1002.9,0.0,516,7670,0.80,2.45,41.65,1.258,4,0.100,0.057,3088,578,2450,0,0,0,0,0,0
$GC,7686,0.68,78.7,999.4,7.1,519,7720,0.00,2.40,26.70,1.225,6,0.000,0.047,3086,1986,2328,0,0,0,0,0,0
$GC,8029,0.68,78.7,955.2,13.6,536,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1986,2323,0,0,0,0,0,0
$GC,8338,0.68,78.7,914.5,13.2,551,8342,0.00,2.28,0.00,0.000,4,0.000,0.057,3086,3397,2323,0,0,0,0,0,0
$GC,8364,0.68,78.7,910.6,14.5,552,8368,0.00,2.30,0.00,0.000,6,0.000,0.047,3096,1996,2323,0,0,0,0,0,0
$GC,8685,0.68,78.7,866.8,13.9,568,8690,0.00,2.33,0.00,0.000,4,0.000,0.057,3107,568,2322,0,0,0,0,0,0
$GC,8748,0.68,78.7,858.1,14.2,571,8752,0.00,2.28,0.00,0.000,6,0.000,0.048,3102,1986,2322,0,0,0,0,0,0
$GC,9074,0.68,78.7,812.8,13.7,587,9078,0.00,2.30,0.00,0.000,4,0.000,0.057,3111,569,2322,0,0,0,0,0,0
$GC,9100,0.68,78.7,809.2,13.1,588,9105,0.00,2.33,0.00,0.000,6,0.000,0.048,3104,1989,2322,0,0,0,0,0,0
$GC,9422,0.68,78.7,766.8,13.1,604,9426,0.00,2.30,0.00,0.000,4,0.000,0.054,3114,571,2321,0,0,0,0,0,0
$GC,9477,0.68,78.7,759.2,13.9,606,9485,0.00,2.28,0.00,0.000,6,0.000,0.048,3114,1991,2321,0,0,0,0,0,0
$GC,9792,0.68,78.7,717.3,13.0,622,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1994,2321,0,0,0,0,0,0
$GC,10102,0.68,78.7,677.2,13.2,637,10106,0.00,2.28,0.00,0.000,4,0.000,0.056,3124,578,2321,0,0,0,0,0,0
$GC,10190,0.68,78.7,665.1,14.0,641,10194,0.00,2.30,0.00,0.000,6,0.000,0.047,3118,1990,2321,0,0,0,0,0,0
$GC,10517,0.68,78.7,622.4,13.4,657,10521,0.00,2.22,0.00,0.000,4,0.000,0.056,3117,3401,2320,0,0,0,0,0,0
$GC,10571,0.68,78.7,614.3,14.9,659,10580,0.10,2.28,0.00,0.000,6,0.207,0.046,3100,1987,2320,0,0,0,0,0,0
$GC,10888,0.68,78.7,575.0,12.2,675,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1983,2320,0,0,0,0,0,0
$GC,11197,0.68,78.7,537.2,12.7,690,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1983,2320,0,0,0,0,0,0
$GC,11506,0.68,78.7,498.8,12.2,705,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1983,2320,0,0,0,0,0,0
$GC,11817,0.68,78.7,462.5,11.6,720,11821,0.00,2.30,0.00,0.000,4,0.000,0.056,3110,573,2320,0,0,0,0,0,0
$GC,11882,0.68,78.7,454.8,11.2,723,11887,0.00,2.30,0.00,0.000,6,0.000,0.047,3110,1995,2320,0,0,0,0,0,0
$GC,12212,0.68,78.7,419.5,10.4,739,12213,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1998,2320,0,0,0,0,0,0
$GC,12523,0.69,80.8,388.3,9.8,759,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1998,2320,0,0,0,0,0,0
$GC,12844,0.69,80.8,356.5,10.2,789,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1998,2320,0,0,0,0,0,0
$GC,13160,0.69,80.8,323.9,10.5,819,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1998,2320,0,0,0,0,0,0
$GC,13481,0.69,80.8,291.0,10.3,849,13485,0.00,2.28,0.00,0.000,4,0.000,0.054,3120,574,2320,0,0,0,0,0,0
$GC,13554,0.69,80.8,283.0,11.4,855,13558,0.00,2.25,0.00,0.000,6,0.000,0.047,3120,1995,2320,0,0,0,0,0,0
$GC,13881,0.69,80.8,249.1,10.6,885,13885,0.00,2.28,0.00,0.000,4,0.000,0.054,3131,575,2320,0,0,0,0,0,0
$GC,13954,0.69,80.8,241.3,10.5,891,13959,0.15,2.25,0.00,0.000,6,0.197,0.046,3096,2000,2320,0,0,0,0,0,0
$GC,14282,0.70,96.3,211.4,8.5,921,14306,0.00,2.35,13.60,0.760,4,0.000,0.054,3104,581,2256,0,0,0,0,0,0
$GC,14363,0.71,97.3,203.6,9.9,928,14367,0.00,2.25,0.00,0.000,6,0.000,0.047,3105,1997,2255,0,0,0,0,0,0
$GC,14687,0.71,97.3,170.5,10.0,958,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1997,2254,0,0,0,0,0,0
$GC,15007,0.71,97.3,136.8,10.6,988,15011,0.00,2.22,0.00,0.000,4,0.000,0.054,3105,3410,2255,0,0,0,0,0,0
$GC,15072,0.71,97.3,128.8,11.4,993,15079,0.00,2.28,0.00,0.000,6,0.000,0.047,3115,1996,2255,0,0,0,0,0,0
$GC,15406,0.71,97.3,91.6,10.4,1031,15413,0.00,2.28,0.00,0.000,4,0.000,0.055,3126,574,2255,0,0,0,0,0,0
$GC,15634,0.71,97.3,66.0,11.4,1071,15643,0.00,2.28,0.00,0.000,6,0.000,0.047,3127,1983,2254,0,0,0,0,0,0
$GC,15990,0.74,121.3,35.1,7.7,1132,16017,0.00,2.33,19.27,0.683,4,0.000,0.054,3126,3404,2154,0,0,0,0,0,0
$GC,16247,0.74,121.3,5.1,13.9,1173,16256,0.00,2.30,0.00,0.000,6,0.000,0.050,3137,1988,2153,0,0,0,0,0,0
$STATE,16263,end climb,SURFACE_DEPTH_REACHED
$STATE,16263,begin surface coast
$FINISH,1.6,1.013928
$STATE,16289,end surface coast,CONTROL_FINISHED_OK
$STATE,16289,begin surface
$SM_CCo,16305,42.35,0.054,0,0,1752,220.03
$SM_GC,2.43,0.00,0.00,42.35,0.000,0.000,0.054,140,2275,1752,-8.54,0.42,220.03
$IRIDIUM_FIX,-4444.39,627.81,251108,111118
$TT8_MAMPS,0.026215
$HUMID,49.17
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,23.7,33.031
$10V_AH,10.0,35.746
$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,20.875,136.875,141.000,42.350,0.000,47.481,50.854,698.249,24.750,0.000,8.951,3151.493,10173.133,356.639,3496.514,212.302,0.000,1452.445,0.000,2594.991,0.000,148.129,0.000
$DEVICE_MAMPS,237.150,61.200,1285.200,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.217,807.135,79.249,851.656,0.000,0.000,0.000,0.000,0.000,0.000
$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,66862,1179
$CAP_FILE_SIZE,168039,0
$CFSIZE,2097086464,2060779520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 79.1,1
$GPS,300116,030203,-4502.382,629.218,86,0.9,86,-24.4