version: 66.07.10.p01
glider: 574
mission: 18
dive: 272
start: 4 28 112 2 21 17
data:
$ID,574
$MISSION,18
$DIVE,272
$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,-2351121.8
$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,24
$R_STBD_OVSHOOT,31
$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,271
$GPS1,300116,131727,-4502.550,627.391,60,1.1,60,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-76.7
$GPS2,300116,133026,-4502.568,627.470,4,1.1,4,-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,272.2,5257,-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,-48.7,0.0,0.0,0,51,0.00,0.00,-25.20,0.000,2,0.000,0.000,132,2272,2364,0,0,0,0,0,0
$GC,54,-0.65,-48.7,3.1,-2.3,3,89,10.57,2.33,-18.12,0.000,4,0.240,0.066,2639,3668,2849,0,0,0,0,0,0
$GC,236,-0.65,-48.7,28.6,-19.1,31,246,0.00,2.28,0.00,0.000,6,0.000,0.041,2639,2262,2850,0,0,0,0,0,0
$GC,386,-0.65,-48.7,58.2,-19.0,56,393,0.00,2.25,0.00,0.000,4,0.000,0.052,2629,3668,2850,0,0,0,0,0,0
$GC,621,-0.65,-48.7,102.7,-17.2,95,626,0.12,2.22,0.00,0.000,6,0.195,0.041,2660,2254,2850,0,0,0,0,0,0
$GC,948,-0.65,-48.7,152.1,-14.3,125,952,0.00,2.25,0.00,0.000,4,0.000,0.053,2651,3672,2850,0,0,0,0,0,0
$GC,1093,-0.65,-48.7,174.0,-14.3,137,1102,0.00,2.28,0.00,0.000,6,0.000,0.042,2651,2256,2851,0,0,0,0,0,0
$GC,1419,-0.65,-48.7,220.1,-14.1,168,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2253,2851,0,0,0,0,0,0
$GC,1738,-0.65,-48.7,265.4,-13.9,198,1742,0.00,2.22,0.00,0.000,4,0.000,0.054,2641,3665,2851,0,0,0,0,0,0
$GC,1810,-0.65,-48.7,276.0,-14.0,204,1814,0.00,2.20,0.00,0.000,6,0.000,0.043,2641,2260,2851,0,0,0,0,0,0
$GC,2135,-0.65,-48.7,322.6,-14.4,234,2139,0.00,2.22,0.00,0.000,4,0.000,0.054,2632,3668,2851,0,0,0,0,0,0
$GC,2241,-0.65,-48.7,338.4,-14.3,243,2246,0.10,2.22,0.00,0.000,6,0.202,0.045,2654,2252,2851,0,0,0,0,0,0
$GC,2569,-0.65,-48.7,381.2,-12.5,273,2573,0.00,2.25,0.00,0.000,4,0.000,0.055,2646,3674,2851,0,0,0,0,0,0
$GC,2600,-0.65,-48.7,386.0,-13.1,275,2608,0.00,2.28,0.00,0.000,6,0.000,0.045,2646,2262,2851,0,0,0,0,0,0
$GC,2920,-0.65,-48.7,429.7,-13.7,296,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2258,2850,0,0,0,0,0,0
$GC,3231,-0.65,-48.7,472.5,-13.9,311,3235,0.00,2.22,0.00,0.000,4,0.000,0.057,2635,3663,2851,0,0,0,0,0,0
$GC,3325,-0.65,-48.7,486.3,-14.8,315,3330,0.00,2.25,0.00,0.000,6,0.000,0.047,2635,2262,2850,0,0,0,0,0,0
$GC,3649,-0.65,-48.7,532.8,-14.4,331,3653,0.00,2.22,0.00,0.000,4,0.000,0.058,2625,3663,2850,0,0,0,0,0,0
$GC,3761,-0.65,-48.7,549.6,-14.9,336,3766,0.12,2.22,0.00,0.000,6,0.195,0.048,2655,2253,2850,0,0,0,0,0,0
$GC,4090,-0.65,-48.7,591.4,-12.4,352,4094,0.00,2.25,0.00,0.000,4,0.000,0.059,2646,3667,2849,0,0,0,0,0,0
$GC,4133,-0.65,-48.7,597.4,-12.5,354,4138,0.00,2.28,0.00,0.000,6,0.000,0.048,2646,2256,2849,0,0,0,0,0,0
$GC,4463,-0.65,-48.7,638.9,-12.5,370,4467,0.00,2.25,0.00,0.000,4,0.000,0.059,2635,3667,2849,0,0,0,0,0,0
$GC,4525,-0.65,-48.7,647.4,-13.3,373,4529,0.00,2.22,0.00,0.000,6,0.000,0.050,2635,2260,2849,0,0,0,0,0,0
$GC,4852,-0.65,-48.7,688.6,-12.4,389,4856,0.00,2.25,0.00,0.000,4,0.000,0.061,2625,3667,2849,0,0,0,0,0,0
$GC,4946,-0.65,-48.7,701.3,-13.4,393,4952,0.10,2.28,0.00,0.000,6,0.174,0.050,2654,2258,2849,0,0,0,0,0,0
$GC,5271,-0.65,-48.7,738.6,-11.5,409,5275,0.00,2.25,0.00,0.000,4,0.000,0.062,2645,3661,2848,0,0,0,0,0,0
$GC,5319,-0.65,-48.7,745.0,-11.9,411,5324,0.00,2.28,0.00,0.000,6,0.000,0.051,2645,2257,2848,0,0,0,0,0,0
$GC,5641,-0.65,-48.7,783.2,-11.9,427,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2254,2848,0,0,0,0,0,0
$GC,5951,-0.65,-48.7,818.8,-11.2,442,5955,0.00,2.25,0.00,0.000,4,0.000,0.063,2635,3661,2848,0,0,0,0,0,0
$GC,6035,-0.65,-48.7,828.5,-11.6,446,6039,0.00,2.22,0.00,0.000,6,0.000,0.054,2635,2259,2847,0,0,0,0,0,0
$GC,6362,-0.65,-48.7,864.6,-11.0,462,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2256,2848,0,0,0,0,0,0
$GC,6670,-0.65,-48.7,897.7,-10.4,477,6674,0.00,2.25,0.00,0.000,4,0.000,0.063,2624,3662,2846,0,0,0,0,0,0
$GC,6755,-0.65,-48.7,907.1,-10.8,481,6760,0.15,2.25,0.00,0.000,6,0.187,0.054,2660,2252,2847,0,0,0,0,0,0
$GC,7082,-0.65,-48.7,938.6,-9.9,497,7086,0.00,2.25,0.00,0.000,4,0.000,0.059,2661,848,2846,0,0,0,0,0,0
$GC,7102,-0.65,-48.7,940.3,-9.7,498,7106,0.00,2.25,0.00,0.000,6,0.000,0.055,2651,2252,2847,0,0,0,0,0,0
$GC,7429,-0.65,-48.7,974.0,-10.1,514,7433,0.00,2.28,0.00,0.000,4,0.000,0.065,2641,3669,2846,0,0,0,0,0,0
$GC,7474,-0.65,-48.7,978.9,-10.9,516,7478,0.00,2.25,0.00,0.000,6,0.000,0.055,2640,2260,2846,0,0,0,0,0,0
$STATE,7677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7677,begin apogee
$GC,7682,-0.11,0.0,1001.0,11.0,526,7725,0.68,0.00,39.47,1.277,6,0.168,0.000,2831,1974,2650,0,0,0,0,0,0
$STATE,7726,end apogee,CONTROL_FINISHED_OK
$STATE,7726,begin climb
$GC,7727,0.65,48.7,1003.2,0.0,528,7780,0.75,2.47,41.67,1.248,4,0.096,0.056,3083,579,2451,0,0,0,0,0,0
$GC,7796,0.67,71.6,999.4,7.8,531,7825,0.00,2.40,20.77,1.199,6,0.000,0.047,3082,1986,2357,0,0,0,0,0,0
$GC,8134,0.67,71.6,959.2,12.3,548,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1987,2353,0,0,0,0,0,0
$GC,8442,0.67,71.6,922.2,11.8,563,8446,0.00,2.30,0.00,0.000,4,0.000,0.055,3091,582,2353,0,0,0,0,0,0
$GC,8485,0.67,71.6,916.6,13.2,565,8490,0.00,2.33,0.00,0.000,6,0.000,0.047,3088,1992,2353,0,0,0,0,0,0
$GC,8813,0.67,71.6,877.6,11.9,581,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1993,2352,0,0,0,0,0,0
$GC,9123,0.67,71.6,840.3,12.4,596,9127,0.00,2.30,0.00,0.000,4,0.000,0.054,3098,571,2352,0,0,0,0,0,0
$GC,9222,0.67,71.6,827.5,12.9,600,9230,0.00,2.33,0.00,0.000,6,0.000,0.048,3095,1993,2352,0,0,0,0,0,0
$GC,9538,0.67,71.6,789.7,11.8,616,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1995,2352,0,0,0,0,0,0
$GC,9848,0.67,71.6,753.5,11.8,631,9852,0.00,2.28,0.00,0.000,4,0.000,0.054,3104,581,2352,0,0,0,0,0,0
$GC,9970,0.67,71.6,738.1,12.9,636,9977,0.00,2.30,0.00,0.000,6,0.000,0.047,3100,1994,2352,0,0,0,0,0,0
$GC,10286,0.67,71.6,700.1,12.2,652,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1996,2351,0,0,0,0,0,0
$GC,10595,0.67,71.6,661.4,12.8,667,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1996,2351,0,0,0,0,0,0
$GC,10907,0.67,71.6,624.1,12.1,682,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1996,2351,0,0,0,0,0,0
$GC,11214,0.67,71.6,589.0,11.0,697,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1996,2350,0,0,0,0,0,0
$GC,11523,0.67,71.6,556.5,10.4,712,11527,0.00,2.22,0.00,0.000,4,0.000,0.057,3100,3404,2351,0,0,0,0,0,0
$GC,11564,0.67,71.6,552.2,11.5,714,11568,0.00,2.22,0.00,0.000,6,0.000,0.047,3108,1988,2351,0,0,0,0,0,0
$GC,11891,0.68,73.1,519.8,9.8,730,11895,0.00,2.25,0.00,0.000,4,0.000,0.056,3120,581,2351,0,0,0,0,0,0
$GC,11912,0.68,73.7,517.5,9.9,731,11916,0.00,2.28,0.00,0.000,6,0.000,0.046,3115,1991,2351,0,0,0,0,0,0
$GC,12240,0.69,81.2,486.0,9.2,747,12254,0.00,2.33,7.90,0.819,4,0.000,0.054,3124,585,2317,0,0,0,0,0,0
$GC,12309,0.69,81.2,478.3,11.6,750,12314,0.00,2.28,0.00,0.000,6,0.000,0.046,3120,1990,2318,0,0,0,0,0,0
$GC,12637,0.69,81.2,445.0,10.1,766,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1992,2317,0,0,0,0,0,0
$GC,12946,0.69,81.2,412.4,10.6,781,12950,0.00,2.28,0.00,0.000,4,0.000,0.054,3129,571,2317,0,0,0,0,0,0
$GC,13087,0.69,81.2,396.7,11.5,788,13092,0.15,2.28,0.00,0.000,6,0.202,0.047,3094,2002,2318,0,0,0,0,0,0
$GC,13412,0.69,81.2,364.2,10.4,818,13416,0.00,2.20,0.00,0.000,4,0.000,0.056,3083,3402,2318,0,0,0,0,0,0
$GC,13473,0.69,81.2,357.7,11.4,823,13478,0.00,2.22,0.00,0.000,6,0.000,0.046,3093,1986,2317,0,0,0,0,0,0
$GC,13800,0.69,82.3,325.4,9.9,853,13805,0.00,2.25,0.00,0.000,4,0.000,0.055,3103,577,2318,0,0,0,0,0,0
$GC,13944,0.69,82.3,310.6,10.2,865,13948,0.00,2.25,0.00,0.000,6,0.000,0.047,3103,1996,2318,0,0,0,0,0,0
$GC,14268,0.69,82.3,278.3,10.0,895,14272,0.00,2.22,0.00,0.000,4,0.000,0.055,3103,3401,2317,0,0,0,0,0,0
$GC,14334,0.69,82.3,271.0,11.4,900,14344,0.00,2.25,0.00,0.000,6,0.000,0.045,3113,1992,2318,0,0,0,0,0,0
$GC,14659,0.69,82.3,236.1,11.1,931,14663,0.00,2.25,0.00,0.000,4,0.000,0.055,3125,580,2318,0,0,0,0,0,0
$GC,14676,0.69,83.7,234.5,9.8,932,14691,0.12,2.22,3.33,0.422,6,0.199,0.047,3097,1991,2308,0,0,0,0,0,0
$GC,15005,0.70,93.7,202.2,9.0,963,15020,0.00,2.33,9.73,0.709,4,0.000,0.055,3106,582,2267,0,0,0,0,0,0
$GC,15151,0.70,93.7,186.3,11.2,976,15155,0.00,2.25,0.00,0.000,6,0.000,0.047,3106,1993,2267,0,0,0,0,0,0
$GC,15480,0.70,93.7,150.2,10.5,1007,15482,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1993,2266,0,0,0,0,0,0
$GC,15803,0.73,114.7,122.3,7.9,1037,15827,0.00,2.30,18.00,0.717,4,0.000,0.052,3116,576,2180,0,0,0,0,0,0
$GC,16060,0.73,114.7,95.2,11.6,1063,16067,0.00,2.28,0.00,0.000,6,0.000,0.047,3116,1990,2178,0,0,0,0,0,0
$GC,16408,0.73,114.7,56.5,11.6,1124,16415,0.00,2.25,0.00,0.000,4,0.000,0.054,3116,3405,2178,0,0,0,0,0,0
$GC,16501,0.73,114.7,46.2,11.1,1140,16510,0.00,2.28,0.00,0.000,6,0.000,0.046,3126,1993,2178,0,0,0,0,0,0
$GC,16871,0.73,114.7,6.2,10.8,1201,16880,0.00,2.33,0.00,0.000,4,0.000,0.057,3138,577,2177,0,0,0,0,0,0
$STATE,16899,end climb,SURFACE_DEPTH_REACHED
$STATE,16899,begin surface coast
$FINISH,1.8,1.015147
$STATE,16931,end surface coast,CONTROL_FINISHED_OK
$STATE,16931,begin surface
$SM_CCo,16949,44.65,0.052,0,0,1752,220.03
$SM_GC,2.71,0.00,0.00,44.65,0.000,0.000,0.052,134,2271,1752,-8.56,0.31,220.03
$IRIDIUM_FIX,-4447.43,453.16,251108,212149
$TT8_MAMPS,0.026964
$HUMID,48.97
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,33.310
$10V_AH,10.1,36.130
$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,21.025,145.875,140.875,44.650,0.000,24.088,40.612,557.759,24.750,0.000,7.805,3251.893,10527.036,346.122,3416.622,228.463,0.000,1487.150,0.000,2721.246,0.000,148.861,0.000
$DEVICE_MAMPS,240.210,65.790,1276.785,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.157,845.323,83.404,871.331,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354160
$DATA_FILE_SIZE,70195,1210
$CAP_FILE_SIZE,170792,0
$CFSIZE,2097086464,2060386304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.082, 70.0,1
$GPS,300116,181557,-4502.609,626.464,59,1.1,59,-24.4