version: 66.07.10.p01
glider: 574
mission: 18
dive: 274
start: 4 28 112 12 41 12
data:
$ID,574
$MISSION,18
$DIVE,274
$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,-2351284.2
$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,25
$R_STBD_OVSHOOT,32
$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,273
$GPS1,300116,233051,-4503.108,625.338,73,0.9,74,-24.4
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-76.6
$GPS2,300116,235022,-4503.134,625.522,5,1.0,5,-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,265.4,2556,-27.8,-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,-0.68,-48.7,0.0,0.0,0,52,0.00,0.00,-24.85,0.000,2,0.000,0.000,134,2274,2362,0,0,0,0,0,0
$GC,54,-0.68,-48.7,3.1,-2.7,3,90,10.50,2.33,-18.17,0.000,4,0.239,0.067,2630,3665,2849,0,0,0,0,0,0
$GC,430,-0.68,-48.7,65.5,-18.2,64,438,0.00,2.25,0.00,0.000,6,0.000,0.041,2629,2256,2850,0,0,0,0,0,0
$GC,770,-0.68,-48.7,126.9,-18.5,112,774,0.00,2.25,0.00,0.000,4,0.000,0.051,2619,3674,2850,0,0,0,0,0,0
$GC,837,-0.68,-48.7,139.1,-17.9,117,845,0.08,2.28,0.00,0.000,6,0.185,0.041,2640,2256,2851,0,0,0,0,0,0
$GC,1162,-0.68,-48.7,184.7,-13.2,148,1166,0.00,2.22,0.00,0.000,4,0.000,0.051,2631,3666,2850,0,0,0,0,0,0
$GC,1295,-0.68,-48.7,203.6,-13.7,159,1299,0.00,2.20,0.00,0.000,6,0.000,0.041,2631,2259,2851,0,0,0,0,0,0
$GC,1622,-0.68,-48.7,249.4,-14.3,189,1627,0.00,2.22,0.00,0.000,4,0.000,0.052,2620,3672,2851,0,0,0,0,0,0
$GC,1796,-0.68,-48.7,276.1,-15.5,204,1800,0.12,2.22,0.00,0.000,6,0.197,0.042,2649,2252,2851,0,0,0,0,0,0
$GC,2120,-0.68,-48.7,322.4,-14.9,234,2124,0.00,2.22,0.00,0.000,4,0.000,0.053,2640,3665,2851,0,0,0,0,0,0
$GC,2199,-0.68,-48.7,333.9,-14.3,240,2208,0.00,2.25,0.00,0.000,6,0.000,0.044,2640,2258,2851,0,0,0,0,0,0
$GC,2522,-0.68,-48.7,382.1,-14.7,271,2526,0.00,2.22,0.00,0.000,4,0.000,0.054,2630,3673,2850,0,0,0,0,0,0
$GC,2566,-0.68,-48.7,389.1,-14.8,274,2574,0.00,2.25,0.00,0.000,6,0.000,0.044,2630,2268,2851,0,0,0,0,0,0
$GC,2895,-0.68,-48.7,436.9,-14.2,294,2899,0.00,2.20,0.00,0.000,4,0.000,0.055,2620,3662,2851,0,0,0,0,0,0
$GC,3073,-0.68,-48.7,463.3,-14.6,302,3078,0.08,2.25,0.00,0.000,6,0.184,0.045,2642,2260,2851,0,0,0,0,0,0
$GC,3402,-0.68,-48.7,506.1,-12.7,318,3406,0.00,2.22,0.00,0.000,4,0.000,0.056,2632,3665,2850,0,0,0,0,0,0
$GC,3501,-0.68,-48.7,520.0,-13.4,322,3512,0.00,2.28,0.00,0.000,6,0.000,0.048,2632,2250,2850,0,0,0,0,0,0
$GC,3818,-0.68,-48.7,560.5,-12.5,338,3822,0.00,2.22,0.00,0.000,4,0.000,0.054,2632,847,2849,0,0,0,0,0,0
$GC,4130,-0.68,-48.7,602.2,-12.4,352,4136,0.08,2.28,0.00,0.000,6,0.193,0.047,2643,2259,2848,0,0,0,0,0,0
$GC,4458,-0.68,-48.7,639.8,-11.6,368,4463,0.00,2.25,0.00,0.000,4,0.000,0.054,2643,850,2849,0,0,0,0,0,0
$GC,4594,-0.68,-48.7,656.0,-11.9,374,4598,0.00,2.22,0.00,0.000,6,0.000,0.049,2633,2261,2848,0,0,0,0,0,0
$GC,4921,-0.68,-48.7,694.8,-11.9,390,4925,0.00,2.25,0.00,0.000,4,0.000,0.054,2633,847,2848,0,0,0,0,0,0
$GC,5257,-0.68,-48.7,736.6,-11.8,405,5261,0.00,2.25,0.00,0.000,6,0.000,0.049,2622,2270,2848,0,0,0,0,0,0
$GC,5579,-0.68,-48.7,775.8,-12.0,421,5583,0.00,2.28,0.00,0.000,4,0.000,0.053,2623,850,2847,0,0,0,0,0,0
$GC,5760,-0.68,-48.7,798.0,-11.8,429,5765,0.15,2.25,0.00,0.000,6,0.204,0.049,2647,2268,2847,0,0,0,0,0,0
$GC,6089,-0.68,-48.7,831.8,-10.1,445,6093,0.00,2.22,0.00,0.000,4,0.000,0.059,2637,3678,2847,0,0,0,0,0,0
$GC,6188,-0.68,-48.7,843.2,-11.1,449,6196,0.00,2.30,0.00,0.000,6,0.000,0.049,2637,2257,2847,0,0,0,0,0,0
$GC,6505,-0.68,-48.7,876.5,-10.7,465,6509,0.00,2.25,0.00,0.000,4,0.000,0.060,2626,3667,2846,0,0,0,0,0,0
$GC,6522,-0.68,-48.7,878.5,-10.9,466,6526,0.00,2.25,0.00,0.000,6,0.000,0.052,2626,2251,2846,0,0,0,0,0,0
$GC,6849,-0.68,-48.7,916.8,-12.4,482,6854,0.00,2.30,0.00,0.000,4,0.000,0.062,2616,3673,2845,0,0,0,0,0,0
$GC,6994,-0.68,-48.7,935.2,-12.3,488,7003,0.10,2.30,0.00,0.000,6,0.179,0.053,2645,2254,2846,0,0,0,0,0,0
$GC,7311,-0.68,-48.7,968.3,-10.3,504,7315,0.00,2.25,0.00,0.000,4,0.000,0.058,2645,845,2845,0,0,0,0,0,0
$GC,7331,-0.68,-48.7,970.7,-11.1,505,7335,0.00,2.30,0.00,0.000,6,0.000,0.053,2636,2252,2846,0,0,0,0,0,0
$STATE,7618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7618,begin apogee
$GC,7622,-0.11,0.0,1001.7,10.5,519,7665,0.70,0.00,39.33,1.284,6,0.171,0.000,2831,1974,2650,0,0,0,0,0,0
$STATE,7666,end apogee,CONTROL_FINISHED_OK
$STATE,7666,begin climb
$GC,7667,0.68,48.7,1004.0,0.0,521,7715,0.75,2.40,41.10,1.252,4,0.094,0.057,3091,585,2452,0,0,0,0,0,0
$GC,7743,0.69,55.2,999.6,9.3,524,7755,0.00,2.35,7.30,1.021,6,0.000,0.047,3089,1995,2424,0,0,0,0,0,0
$GC,8079,0.69,55.2,962.3,11.4,541,8083,0.00,2.33,0.00,0.000,4,0.000,0.054,3099,579,2424,0,0,0,0,0,0
$GC,8099,0.69,55.2,959.4,11.7,542,8104,0.00,2.35,0.00,0.000,6,0.000,0.047,3096,1994,2424,0,0,0,0,0,0
$GC,8428,0.69,55.2,919.9,12.1,558,8432,0.00,2.30,0.00,0.000,4,0.000,0.054,3105,580,2423,0,0,0,0,0,0
$GC,8468,0.69,55.2,914.7,12.3,560,8472,0.00,2.28,0.00,0.000,6,0.000,0.047,3102,1992,2424,0,0,0,0,0,0
$GC,8793,0.69,55.2,874.9,12.3,576,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1994,2423,0,0,0,0,0,0
$GC,9103,0.69,55.2,837.8,11.8,591,9107,0.00,2.30,0.00,0.000,4,0.000,0.054,3111,575,2422,0,0,0,0,0,0
$GC,9164,0.69,55.2,830.4,12.2,594,9168,0.00,2.28,0.00,0.000,6,0.000,0.049,3110,1992,2423,0,0,0,0,0,0
$GC,9491,0.69,55.2,792.0,11.4,610,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1995,2422,0,0,0,0,0,0
$GC,9801,0.69,55.2,756.6,11.1,625,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1995,2422,0,0,0,0,0,0
$GC,10110,0.69,55.2,723.9,10.3,640,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1995,2422,0,0,0,0,0,0
$GC,10418,0.70,62.9,694.1,9.1,655,10432,0.00,2.35,7.20,0.887,4,0.000,0.054,3119,582,2393,0,0,0,0,0,0
$GC,10494,0.70,62.9,686.0,10.3,658,10499,0.00,2.28,0.00,0.000,6,0.000,0.046,3112,1983,2393,0,0,0,0,0,0
$GC,10816,0.70,65.3,654.2,9.7,674,10825,0.00,2.33,4.03,0.695,4,0.000,0.055,3121,584,2382,0,0,0,0,0,0
$GC,10987,0.70,65.3,636.3,10.9,681,10995,0.00,2.28,0.00,0.000,6,0.000,0.047,3112,1983,2383,0,0,0,0,0,0
$GC,11305,0.70,66.8,604.9,9.8,697,11309,0.00,2.25,0.00,0.000,4,0.000,0.054,3121,582,2383,0,0,0,0,0,0
$GC,11434,0.70,66.8,591.6,10.0,703,11438,0.00,2.25,0.00,0.000,6,0.000,0.047,3115,1997,2382,0,0,0,0,0,0
$GC,11760,0.70,66.8,557.8,10.8,719,11764,0.00,2.28,0.00,0.000,4,0.000,0.054,3125,580,2382,0,0,0,0,0,0
$GC,11802,0.70,66.8,553.0,11.1,721,11807,0.00,2.28,0.00,0.000,6,0.000,0.046,3121,1986,2382,0,0,0,0,0,0
$GC,12132,0.70,66.8,517.3,10.9,737,12136,0.00,2.25,0.00,0.000,4,0.000,0.054,3130,582,2382,0,0,0,0,0,0
$GC,12186,0.70,66.8,510.8,11.0,739,12194,0.08,2.28,0.00,0.000,6,0.196,0.047,3106,1988,2383,0,0,0,0,0,0
$GC,12502,0.70,66.8,476.4,10.9,755,12506,0.00,2.28,0.00,0.000,4,0.000,0.054,3115,572,2382,0,0,0,0,0,0
$GC,12584,0.70,66.8,467.2,11.4,758,12592,0.00,2.30,0.00,0.000,6,0.000,0.047,3115,1991,2382,0,0,0,0,0,0
$GC,12900,0.70,66.8,434.2,10.3,774,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1992,2382,0,0,0,0,0,0
$GC,13210,0.70,66.8,403.4,9.9,789,13215,0.00,2.25,0.00,0.000,4,0.000,0.054,3126,582,2382,0,0,0,0,0,0
$GC,13296,0.70,66.8,394.5,10.5,795,13300,0.00,2.25,0.00,0.000,6,0.000,0.047,3126,2002,2383,0,0,0,0,0,0
$GC,13623,0.70,68.2,362.5,9.8,825,13631,0.00,0.00,4.03,0.553,6,0.000,0.000,3125,2004,2370,0,0,0,0,0,0
$GC,13949,0.70,68.2,329.7,10.3,856,13950,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2004,2370,0,0,0,0,0,0
$GC,14268,0.72,79.6,299.0,8.7,886,14283,0.00,2.30,10.02,0.762,4,0.000,0.054,3136,574,2324,0,0,0,0,0,0
$GC,14363,0.72,79.6,289.1,10.9,894,14371,0.10,2.30,0.00,0.000,6,0.181,0.047,3108,1990,2325,0,0,0,0,0,0
$GC,14693,0.73,91.0,259.0,8.7,925,14708,0.00,2.25,10.45,0.745,4,0.000,0.054,3097,3406,2279,0,0,0,0,0,0
$GC,14735,0.73,91.0,254.1,10.6,928,14746,0.00,2.28,0.00,0.000,6,0.000,0.045,3106,1985,2278,0,0,0,0,0,0
$GC,15060,0.73,91.0,219.2,11.2,959,15064,0.00,2.25,0.00,0.000,4,0.000,0.055,3117,583,2278,0,0,0,0,0,0
$GC,15191,0.73,91.0,204.2,11.2,970,15195,0.00,2.25,0.00,0.000,6,0.000,0.047,3117,1989,2277,0,0,0,0,0,0
$GC,15523,0.73,91.0,168.1,10.8,1001,15525,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1990,2277,0,0,0,0,0,0
$GC,15839,0.73,91.0,134.1,12.0,1031,15843,0.00,2.25,0.00,0.000,4,0.000,0.055,3117,3401,2277,0,0,0,0,0,0
$GC,16043,0.73,93.0,111.1,9.7,1048,16054,0.00,2.25,0.00,0.000,6,0.000,0.046,3128,1994,2277,0,0,0,0,0,0
$GC,16384,0.77,119.0,81.9,7.2,1098,16414,0.00,2.38,23.52,0.705,4,0.000,0.055,3139,575,2162,0,0,0,0,0,0
$GC,16478,0.77,119.0,72.5,12.0,1113,16487,0.00,2.30,0.00,0.000,6,0.000,0.046,3139,1987,2160,0,0,0,0,0,0
$GC,16833,0.77,119.0,30.0,13.0,1174,16842,0.00,2.30,0.00,0.000,4,0.000,0.054,3149,588,2158,0,0,0,0,0,0
$GC,16989,0.77,119.0,9.1,11.7,1199,16999,0.10,2.28,0.00,0.000,6,0.190,0.044,3122,1991,2157,0,0,0,0,0,0
$STATE,17041,end climb,SURFACE_DEPTH_REACHED
$STATE,17042,begin surface coast
$FINISH,1.6,1.026309
$STATE,17067,end surface coast,CONTROL_FINISHED_OK
$STATE,17068,begin surface
$SM_CCo,17084,43.00,0.056,0,0,1752,220.03
$SM_GC,2.37,0.00,0.00,43.00,0.000,0.000,0.056,133,2278,1752,-8.56,0.54,220.03
$IRIDIUM_FIX,-4444.39,624.79,261108,121246
$TT8_MAMPS,0.026215
$HUMID,50.03
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,33.505
$10V_AH,10.0,36.393
$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,20.925,150.775,146.975,43.000,0.000,55.890,91.687,777.039,24.750,0.000,7.981,3311.152,10469.621,354.285,3933.186,226.536,0.000,1593.598,0.000,2901.469,0.000,150.369,0.000
$DEVICE_MAMPS,239.445,66.555,1283.670,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.105,833.065,79.899,845.139,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,70240,1211
$CAP_FILE_SIZE,181655,0
$CFSIZE,2097086464,2060124160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.082, 90.0,1
$GPS,310116,043803,-4503.657,625.003,56,1.7,57,-24.4