version: 66.07.10.p01
glider: 574
mission: 18
dive: 275
start: 4 28 112 17 42 13
data:
$ID,574
$MISSION,18
$DIVE,275
$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,-2351355.8
$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,26
$R_STBD_OVSHOOT,27
$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,274
$GPS1,310116,043803,-4503.657,625.003,56,1.7,57,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-79.4
$GPS2,310116,045122,-4503.562,625.092,5,0.9,5,-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,278.4,1643,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.68,-48.7,0.0,0.0,0,51,0.00,0.00,-24.95,0.000,2,0.000,0.000,133,2279,2358,0,0,0,0,0,0
$GC,54,-0.68,-48.7,3.0,-1.6,3,89,10.35,2.33,-18.40,0.000,4,0.234,0.064,2630,3675,2849,0,0,0,0,0,0
$GC,360,-0.68,-48.7,52.6,-19.2,52,367,0.00,2.25,0.00,0.000,6,0.000,0.040,2631,2254,2851,0,0,0,0,0,0
$GC,708,-0.68,-48.7,118.1,-16.8,104,712,0.00,2.22,0.00,0.000,4,0.000,0.046,2631,846,2850,0,0,0,0,0,0
$GC,730,-0.68,-48.7,121.8,-16.1,105,739,0.08,2.28,0.00,0.000,6,0.194,0.043,2642,2254,2851,0,0,0,0,0,0
$GC,1055,-0.68,-48.7,169.4,-14.6,136,1062,0.00,2.22,0.00,0.000,4,0.000,0.053,2632,3671,2851,0,0,0,0,0,0
$GC,1282,-0.68,-48.7,202.7,-14.8,156,1286,0.00,2.22,0.00,0.000,6,0.000,0.041,2632,2252,2851,0,0,0,0,0,0
$GC,1607,-0.68,-48.7,251.4,-15.6,186,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2249,2852,0,0,0,0,0,0
$GC,1926,-0.68,-48.7,300.3,-16.0,216,1930,0.00,2.25,0.00,0.000,4,0.000,0.052,2622,3679,2851,0,0,0,0,0,0
$GC,2048,-0.68,-48.7,320.0,-16.0,226,2052,0.00,2.22,0.00,0.000,6,0.000,0.041,2622,2260,2852,0,0,0,0,0,0
$GC,2380,-0.68,-48.7,372.0,-15.2,257,2384,0.00,2.22,0.00,0.000,4,0.000,0.053,2613,3672,2851,0,0,0,0,0,0
$GC,2504,-0.68,-48.7,391.8,-15.1,267,2512,0.15,2.22,0.00,0.000,6,0.194,0.043,2649,2250,2851,0,0,0,0,0,0
$GC,2822,-0.68,-48.7,434.3,-13.4,286,2826,0.00,2.28,0.00,0.000,4,0.000,0.054,2640,3676,2851,0,0,0,0,0,0
$GC,2876,-0.68,-48.7,442.1,-13.6,288,2883,0.00,2.28,0.00,0.000,6,0.000,0.044,2644,2260,2851,0,0,0,0,0,0
$GC,3192,-0.68,-48.7,484.0,-13.1,304,3196,0.00,2.22,0.00,0.000,4,0.000,0.055,2634,3668,2851,0,0,0,0,0,0
$GC,3268,-0.68,-48.7,494.4,-13.6,307,3275,0.00,2.28,0.00,0.000,6,0.000,0.046,2635,2256,2850,0,0,0,0,0,0
$GC,3586,-0.68,-48.7,537.0,-13.4,323,3590,0.00,2.25,0.00,0.000,4,0.000,0.055,2624,3679,2850,0,0,0,0,0,0
$GC,3648,-0.68,-48.7,545.9,-14.5,326,3652,0.00,2.25,0.00,0.000,6,0.000,0.045,2624,2250,2850,0,0,0,0,0,0
$GC,3976,-0.68,-48.7,591.7,-13.9,342,3980,0.00,2.25,0.00,0.000,4,0.000,0.056,2614,3669,2850,0,0,0,0,0,0
$GC,4119,-0.68,-48.7,613.5,-15.9,348,4127,0.10,2.28,0.00,0.000,6,0.181,0.047,2643,2260,2850,0,0,0,0,0,0
$GC,4436,-0.68,-48.7,655.0,-13.0,364,4440,0.00,2.25,0.00,0.000,4,0.000,0.058,2633,3676,2849,0,0,0,0,0,0
$GC,4497,-0.68,-48.7,663.2,-14.3,367,4501,0.00,2.25,0.00,0.000,6,0.000,0.049,2633,2259,2850,0,0,0,0,0,0
$GC,4831,-0.68,-48.7,706.5,-12.9,383,4835,0.00,2.25,0.00,0.000,4,0.000,0.059,2623,3672,2849,0,0,0,0,0,0
$GC,4998,-0.68,-48.7,730.0,-13.4,390,5006,0.00,2.28,0.00,0.000,6,0.000,0.050,2623,2263,2849,0,0,0,0,0,0
$GC,5317,-0.68,-48.7,772.6,-13.1,406,5321,0.00,2.28,0.00,0.000,4,0.000,0.060,2613,3672,2848,0,0,0,0,0,0
$GC,5410,-0.68,-48.7,786.0,-14.1,410,5416,0.10,2.28,0.00,0.000,6,0.177,0.050,2643,2261,2848,0,0,0,0,0,0
$GC,5734,-0.68,-48.7,822.4,-10.9,426,5738,0.00,2.25,0.00,0.000,4,0.000,0.062,2633,3665,2848,0,0,0,0,0,0
$GC,5777,-0.68,-48.7,827.9,-11.8,428,5781,0.00,2.28,0.00,0.000,6,0.000,0.051,2633,2261,2848,0,0,0,0,0,0
$GC,6105,-0.68,-48.7,865.0,-11.5,444,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2257,2848,0,0,0,0,0,0
$GC,6416,-0.68,-48.7,900.1,-11.3,459,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2257,2848,0,0,0,0,0,0
$GC,6724,-0.68,-48.7,933.1,-10.4,474,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2257,2847,0,0,0,0,0,0
$GC,7032,-0.68,-48.7,964.8,-10.2,489,7036,0.00,2.25,0.00,0.000,4,0.000,0.059,2633,849,2847,0,0,0,0,0,0
$GC,7071,-0.68,-48.7,969.1,-11.4,491,7076,0.00,2.25,0.00,0.000,6,0.000,0.053,2622,2259,2847,0,0,0,0,0,0
$STATE,7379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7379,begin apogee
$GC,7384,-0.11,0.0,1000.6,10.3,506,7427,0.75,0.00,39.58,1.281,6,0.174,0.000,2831,1980,2650,0,0,0,0,0,0
$STATE,7428,end apogee,CONTROL_FINISHED_OK
$STATE,7428,begin climb
$GC,7430,0.68,48.7,1002.6,0.0,508,7479,0.80,0.00,42.00,1.254,6,0.093,0.000,3092,1979,2450,0,0,0,0,0,0
$GC,7787,0.68,48.7,963.2,12.2,526,7791,0.00,2.33,0.00,0.000,4,0.000,0.056,3102,582,2449,0,0,0,0,0,0
$GC,7824,0.68,48.7,958.3,12.8,527,7832,0.00,2.35,0.00,0.000,6,0.000,0.047,3098,1993,2448,0,0,0,0,0,0
$GC,8140,0.68,48.7,920.7,11.3,543,8144,0.00,2.30,0.00,0.000,4,0.000,0.053,3107,582,2448,0,0,0,0,0,0
$GC,8324,0.68,48.7,898.4,11.4,551,8329,0.00,2.30,0.00,0.000,6,0.000,0.047,3102,1984,2448,0,0,0,0,0,0
$GC,8646,0.68,48.7,863.1,10.6,567,8650,0.00,2.28,0.00,0.000,4,0.000,0.054,3111,581,2447,0,0,0,0,0,0
$GC,8677,0.68,48.7,859.6,10.6,568,8685,0.00,2.30,0.00,0.000,6,0.000,0.048,3103,1984,2447,0,0,0,0,0,0
$GC,8994,0.68,48.7,827.2,10.1,584,8995,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1986,2447,0,0,0,0,0,0
$GC,9303,0.69,54.8,798.1,9.3,599,9314,0.00,2.28,6.15,0.878,4,0.000,0.053,3113,582,2425,0,0,0,0,0,0
$GC,9375,0.69,56.4,791.1,9.8,602,9379,0.00,2.30,0.00,0.000,6,0.000,0.047,3107,1988,2425,0,0,0,0,0,0
$GC,9697,0.69,58.0,759.9,9.8,618,9707,0.00,2.28,4.20,0.693,4,0.000,0.057,3107,3412,2412,0,0,0,0,0,0
$GC,9723,0.69,58.0,757.0,10.1,619,9728,0.00,2.30,0.00,0.000,6,0.000,0.046,3116,1989,2412,0,0,0,0,0,0
$GC,10051,0.69,58.0,723.4,10.6,635,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1985,2412,0,0,0,0,0,0
$GC,10361,0.69,58.0,688.5,11.3,650,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1985,2412,0,0,0,0,0,0
$GC,10669,0.69,58.0,653.5,11.1,665,10673,0.00,2.28,0.00,0.000,4,0.000,0.056,3128,575,2412,0,0,0,0,0,0
$GC,10757,0.69,58.0,643.3,11.2,669,10762,0.00,2.30,0.00,0.000,6,0.000,0.046,3122,1990,2412,0,0,0,0,0,0
$GC,11087,0.69,58.0,607.5,10.8,685,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1993,2412,0,0,0,0,0,0
$GC,11395,0.69,58.0,575.7,10.1,700,11399,0.00,2.22,0.00,0.000,4,0.000,0.057,3119,3402,2412,0,0,0,0,0,0
$GC,11438,0.69,58.0,571.0,10.9,702,11443,0.10,2.25,0.00,0.000,6,0.209,0.045,3102,1997,2411,0,0,0,0,0,0
$GC,11766,0.70,64.9,540.6,9.2,718,11774,0.00,0.00,6.88,0.809,6,0.000,0.000,3102,1993,2385,0,0,0,0,0,0
$GC,12099,0.70,64.9,507.2,10.0,734,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1993,2385,0,0,0,0,0,0
$GC,12408,0.70,68.1,476.7,9.6,749,12417,0.00,2.30,4.53,0.689,4,0.000,0.055,3111,570,2372,0,0,0,0,0,0
$GC,12439,0.72,80.5,473.5,8.6,750,12455,0.00,2.30,11.35,0.887,6,0.000,0.047,3112,1994,2320,0,0,0,0,0,0
$GC,12783,0.72,80.5,435.6,10.9,767,12787,0.00,2.30,0.00,0.000,4,0.000,0.055,3120,569,2319,0,0,0,0,0,0
$GC,12845,0.72,80.5,428.8,11.0,770,12849,0.00,2.28,0.00,0.000,6,0.000,0.047,3120,1993,2319,0,0,0,0,0,0
$GC,13161,0.72,80.5,394.5,10.8,787,13165,0.00,2.28,0.00,0.000,4,0.000,0.054,3129,576,2319,0,0,0,0,0,0
$GC,13191,0.72,80.5,391.2,11.6,789,13195,0.00,2.25,0.00,0.000,6,0.000,0.047,3129,1990,2319,0,0,0,0,0,0
$GC,13516,0.72,80.5,354.3,11.3,819,13520,0.00,2.28,0.00,0.000,4,0.000,0.054,3138,575,2319,0,0,0,0,0,0
$GC,13566,0.72,80.5,348.5,12.1,823,13570,0.15,2.28,0.00,0.000,6,0.204,0.047,3104,1990,2320,0,0,0,0,0,0
$GC,13892,0.72,80.5,313.0,11.0,853,13896,0.00,2.22,0.00,0.000,4,0.000,0.054,3093,3405,2319,0,0,0,0,0,0
$GC,13981,0.72,80.5,302.6,11.1,860,13991,0.00,2.28,0.00,0.000,6,0.000,0.046,3102,1984,2319,0,0,0,0,0,0
$GC,14306,0.72,80.5,267.9,10.2,891,14310,0.00,2.25,0.00,0.000,4,0.000,0.055,3113,580,2319,0,0,0,0,0,0
$GC,14406,0.72,80.5,257.3,10.1,899,14413,0.00,2.28,0.00,0.000,6,0.000,0.046,3113,1986,2319,0,0,0,0,0,0
$GC,14732,0.73,89.3,224.9,9.0,930,14742,0.00,0.00,8.10,0.693,6,0.000,0.000,3113,1986,2285,0,0,0,0,0,0
$GC,15064,0.74,95.5,193.3,9.3,961,15077,0.00,2.35,6.65,0.678,4,0.000,0.054,3124,579,2260,0,0,0,0,0,0
$GC,15225,0.74,95.5,176.4,10.1,975,15229,0.00,2.25,0.00,0.000,6,0.000,0.046,3123,1992,2259,0,0,0,0,0,0
$GC,15553,0.74,95.5,140.5,10.0,1005,15557,0.00,2.28,0.00,0.000,4,0.000,0.054,3134,573,2259,0,0,0,0,0,0
$GC,15615,0.74,95.5,133.7,10.5,1010,15619,0.00,2.25,0.00,0.000,6,0.000,0.047,3133,1991,2258,0,0,0,0,0,0
$GC,15940,0.74,95.5,97.6,11.6,1041,15950,0.00,2.30,0.00,0.000,4,0.000,0.054,3143,584,2259,0,0,0,0,0,0
$GC,16004,0.74,95.5,90.5,11.9,1051,16011,0.12,2.22,0.00,0.000,6,0.202,0.047,3115,1991,2258,0,0,0,0,0,0
$GC,16352,0.77,119.6,60.5,7.4,1112,16379,0.00,2.25,20.27,0.683,4,0.000,0.053,3115,3405,2161,0,0,0,0,0,0
$GC,16516,0.77,119.6,42.2,11.6,1140,16524,0.00,2.28,0.00,0.000,6,0.000,0.047,3123,1998,2159,0,0,0,0,0,0
$STATE,16866,end climb,SURFACE_DEPTH_REACHED
$STATE,16866,begin surface coast
$FINISH,1.6,1.015872
$STATE,16899,end surface coast,CONTROL_FINISHED_OK
$STATE,16899,begin surface
$SM_CCo,16915,43.08,0.053,0,0,1751,220.03
$SM_GC,2.39,0.00,0.00,43.08,0.000,0.000,0.053,132,2275,1751,-8.56,0.42,220.03
$IRIDIUM_FIX,-4447.43,628.16,261108,131325
$TT8_MAMPS,0.026215
$HUMID,50.15
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.50
$XPDR_PINGS,0
$24V_AH,23.8,33.592
$10V_AH,10.1,36.518
$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,20.825,141.500,149.700,43.075,0.000,24.535,41.513,571.755,24.750,0.000,8.907,3237.294,10509.482,358.201,3431.996,220.076,0.000,1491.953,0.000,2714.718,0.000,149.670,0.000
$DEVICE_MAMPS,234.090,64.260,1280.610,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.455,829.177,85.307,864.894,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,70218,1203
$CAP_FILE_SIZE,169434,0
$CFSIZE,2097086464,2059993088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.062, 72.9,1
$GPS,310116,093603,-4503.583,623.970,42,0.8,42,-24.4