version: 66.07.10.p01
glider: 574
mission: 18
dive: 283
start: 4 30 112 10 23 49
data:
$ID,574
$MISSION,18
$DIVE,283
$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,-2352135.8
$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,33
$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,282
$GPS1,010216,211758,-4456.047,625.473,96,1.3,96,-24.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-75.2
$GPS2,010216,213307,-4456.021,625.464,4,0.9,4,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,123.2,13814,-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,-25.27,0.000,2,0.000,0.000,131,2277,2381,0,0,0,0,0,0
$GC,54,-0.65,-48.7,3.2,-3.6,3,88,10.43,2.28,-15.35,0.000,4,0.234,0.060,2643,3664,2850,0,0,0,0,0,0
$GC,98,-0.65,-48.7,5.9,-5.2,8,107,0.00,2.28,0.00,0.000,6,0.000,0.034,2644,2247,2850,0,0,0,0,0,0
$GC,157,-0.65,-48.7,16.3,-19.0,17,166,0.00,2.28,0.00,0.000,4,0.000,0.044,2644,854,2850,0,0,0,0,0,0
$GC,528,-0.65,-48.7,86.0,-17.8,79,535,0.00,2.25,0.00,0.000,6,0.000,0.044,2635,2255,2851,0,0,0,0,0,0
$GC,867,-0.65,-48.7,139.7,-13.5,117,872,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,3675,2852,0,0,0,0,0,0
$GC,1006,-0.65,-48.7,159.4,-14.7,129,1011,0.12,2.20,0.00,0.000,6,0.199,0.037,2655,2256,2851,0,0,0,0,0,0
$GC,1336,-0.65,-48.7,204.4,-13.8,160,1340,0.00,2.20,0.00,0.000,4,0.000,0.044,2658,848,2851,0,0,0,0,0,0
$GC,1365,-0.65,-48.7,208.4,-14.0,162,1369,0.00,2.25,0.00,0.000,6,0.000,0.044,2649,2270,2851,0,0,0,0,0,0
$GC,1697,-0.65,-48.7,256.0,-14.4,193,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2270,2851,0,0,0,0,0,0
$GC,2013,-0.65,-48.7,299.5,-13.3,223,2017,0.00,2.20,0.00,0.000,4,0.000,0.053,2638,3679,2851,0,0,0,0,0,0
$GC,2127,-0.65,-48.7,315.4,-14.1,233,2131,0.00,2.20,0.00,0.000,6,0.000,0.038,2643,2257,2851,0,0,0,0,0,0
$GC,2452,-0.65,-48.7,360.1,-13.7,263,2456,0.00,2.22,0.00,0.000,4,0.000,0.053,2634,3670,2851,0,0,0,0,0,0
$GC,2574,-0.65,-48.7,378.1,-14.3,273,2582,0.00,2.22,0.00,0.000,6,0.000,0.039,2634,2259,2851,0,0,0,0,0,0
$GC,2896,-0.65,-48.7,424.4,-14.4,296,2900,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,3677,2851,0,0,0,0,0,0
$GC,2967,-0.65,-48.7,435.7,-15.4,299,2972,0.10,2.25,0.00,0.000,6,0.182,0.038,2654,2254,2851,0,0,0,0,0,0
$GC,3289,-0.65,-48.7,479.4,-13.7,315,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2250,2851,0,0,0,0,0,0
$GC,3600,-0.65,-48.7,521.4,-13.5,330,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2250,2850,0,0,0,0,0,0
$GC,3908,-0.65,-48.7,562.6,-12.8,345,3912,0.00,2.22,0.00,0.000,4,0.000,0.054,2646,3669,2850,0,0,0,0,0,0
$GC,3947,-0.65,-48.7,568.2,-14.3,347,3951,0.00,2.20,0.00,0.000,6,0.000,0.041,2646,2255,2849,0,0,0,0,0,0
$GC,4274,-0.65,-48.7,612.0,-13.2,363,4278,0.00,2.22,0.00,0.000,4,0.000,0.054,2635,3668,2849,0,0,0,0,0,0
$GC,4331,-0.65,-48.7,620.1,-14.1,365,4338,0.00,2.20,0.00,0.000,6,0.000,0.041,2635,2258,2849,0,0,0,0,0,0
$GC,4648,-0.65,-48.7,663.2,-13.5,381,4652,0.00,2.22,0.00,0.000,4,0.000,0.054,2625,3672,2849,0,0,0,0,0,0
$GC,4665,-0.65,-48.7,665.9,-13.3,382,4669,0.12,2.20,0.00,0.000,6,0.199,0.042,2654,2260,2849,0,0,0,0,0,0
$GC,4990,-0.65,-48.7,705.5,-11.8,398,4994,0.00,2.22,0.00,0.000,4,0.000,0.056,2646,3668,2849,0,0,0,0,0,0
$GC,5061,-0.65,-48.7,714.4,-12.5,401,5066,0.00,2.25,0.00,0.000,6,0.000,0.044,2646,2260,2849,0,0,0,0,0,0
$GC,5385,-0.65,-48.7,751.8,-11.3,417,5389,0.00,2.22,0.00,0.000,4,0.000,0.056,2635,3669,2848,0,0,0,0,0,0
$GC,5434,-0.65,-48.7,758.2,-12.3,419,5439,0.00,2.25,0.00,0.000,6,0.000,0.045,2635,2264,2849,0,0,0,0,0,0
$GC,5757,-0.65,-48.7,795.6,-11.3,435,5761,0.00,2.25,0.00,0.000,4,0.000,0.057,2625,3672,2848,0,0,0,0,0,0
$GC,5818,-0.65,-48.7,803.1,-12.3,438,5823,0.12,2.22,0.00,0.000,6,0.197,0.046,2655,2252,2849,0,0,0,0,0,0
$GC,6145,-0.65,-48.7,837.3,-10.1,454,6149,0.00,2.25,0.00,0.000,4,0.000,0.057,2646,3671,2848,0,0,0,0,0,0
$GC,6212,-0.65,-48.7,844.4,-11.0,457,6216,0.00,2.22,0.00,0.000,6,0.000,0.047,2645,2255,2848,0,0,0,0,0,0
$GC,6538,-0.65,-48.7,879.3,-10.7,473,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2253,2848,0,0,0,0,0,0
$GC,6848,-0.65,-48.7,913.0,-11.1,488,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2252,2847,0,0,0,0,0,0
$GC,7157,-0.65,-48.7,946.9,-11.2,503,7161,0.00,2.22,0.00,0.000,4,0.000,0.054,2646,848,2847,0,0,0,0,0,0
$GC,7264,-0.65,-48.7,959.6,-12.9,508,7269,0.00,2.25,0.00,0.000,6,0.000,0.049,2635,2268,2847,0,0,0,0,0,0
$GC,7597,-0.65,-48.7,997.2,-10.9,524,7601,0.00,2.20,0.00,0.000,4,0.000,0.057,2625,3670,2847,0,0,0,0,0,0
$STATE,7622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7622,begin apogee
$GC,7629,-0.11,0.0,1000.4,11.5,525,7672,0.70,0.00,39.72,1.282,6,0.171,0.000,2825,1986,2650,0,0,0,0,0,0
$STATE,7673,end apogee,CONTROL_FINISHED_OK
$STATE,7673,begin climb
$GC,7675,0.65,48.7,1002.7,0.0,527,7725,0.75,2.50,41.80,1.260,4,0.100,0.057,3080,582,2450,0,0,0,0,0,0
$GC,7737,0.69,87.8,1000.2,6.2,530,7781,0.00,2.38,34.75,1.250,6,0.000,0.047,3076,1999,2290,0,0,0,0,0,0
$GC,8088,0.69,87.8,956.1,12.8,547,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2000,2285,0,0,0,0,0,0
$GC,8397,0.69,87.8,917.0,12.8,562,8401,0.00,2.33,0.00,0.000,4,0.000,0.055,3085,579,2284,0,0,0,0,0,0
$GC,8481,0.69,87.8,905.7,13.0,566,8485,0.00,2.28,0.00,0.000,6,0.000,0.047,3082,1989,2283,0,0,0,0,0,0
$GC,8807,0.69,87.8,862.8,12.9,582,8811,0.00,2.33,0.00,0.000,4,0.000,0.055,3092,579,2283,0,0,0,0,0,0
$GC,8855,0.69,87.8,856.3,13.0,584,8860,0.00,2.33,0.00,0.000,6,0.000,0.047,3089,1993,2282,0,0,0,0,0,0
$GC,9183,0.69,87.8,814.7,12.9,600,9187,0.00,2.30,0.00,0.000,4,0.000,0.054,3099,579,2282,0,0,0,0,0,0
$GC,9231,0.69,87.8,807.9,14.2,602,9236,0.00,2.33,0.00,0.000,6,0.000,0.048,3094,1997,2282,0,0,0,0,0,0
$GC,9553,0.69,87.8,764.3,13.8,618,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2000,2281,0,0,0,0,0,0
$GC,9863,0.69,87.8,723.0,13.4,633,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2000,2281,0,0,0,0,0,0
$GC,10172,0.69,87.8,682.9,12.7,648,10176,0.00,2.25,0.00,0.000,4,0.000,0.056,3094,3411,2281,0,0,0,0,0,0
$GC,10189,0.69,87.8,680.5,12.9,649,10194,0.00,2.25,0.00,0.000,6,0.000,0.047,3103,1984,2281,0,0,0,0,0,0
$GC,10516,0.69,87.8,637.6,13.1,665,10520,0.00,2.28,0.00,0.000,4,0.000,0.056,3115,579,2281,0,0,0,0,0,0
$GC,10572,0.69,87.8,630.0,13.4,667,10579,0.00,2.25,0.00,0.000,6,0.000,0.047,3110,1993,2281,0,0,0,0,0,0
$GC,10887,0.69,87.8,590.5,12.4,683,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1995,2281,0,0,0,0,0,0
$GC,11196,0.69,87.8,553.2,12.2,698,11200,0.00,2.22,0.00,0.000,4,0.000,0.056,3110,3401,2280,0,0,0,0,0,0
$GC,11222,0.69,87.8,549.6,12.5,699,11227,0.00,2.25,0.00,0.000,6,0.000,0.045,3118,1996,2280,0,0,0,0,0,0
$GC,11544,0.69,87.8,510.1,12.5,715,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1992,2280,0,0,0,0,0,0
$GC,11853,0.69,87.8,471.7,12.6,730,11857,0.00,2.28,0.00,0.000,4,0.000,0.056,3130,581,2280,0,0,0,0,0,0
$GC,11931,0.69,87.8,461.5,12.9,733,11938,0.12,2.25,0.00,0.000,6,0.211,0.046,3099,2000,2280,0,0,0,0,0,0
$GC,12246,0.69,87.8,423.9,12.0,749,12250,0.00,2.30,0.00,0.000,4,0.000,0.054,3108,576,2280,0,0,0,0,0,0
$GC,12272,0.69,87.8,420.5,12.2,750,12277,0.00,2.30,0.00,0.000,6,0.000,0.047,3108,1994,2280,0,0,0,0,0,0
$GC,12602,0.69,87.8,381.7,12.2,773,12606,0.00,2.22,0.00,0.000,4,0.000,0.055,3108,3403,2280,0,0,0,0,0,0
$GC,12619,0.69,87.8,379.3,11.8,774,12623,0.00,2.22,0.00,0.000,6,0.000,0.045,3118,1983,2279,0,0,0,0,0,0
$GC,12944,0.69,87.8,339.4,11.6,804,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1980,2280,0,0,0,0,0,0
$GC,13263,0.69,87.8,302.0,11.7,834,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1979,2280,0,0,0,0,0,0
$GC,13582,0.69,87.8,263.7,11.8,864,13586,0.00,2.25,0.00,0.000,4,0.000,0.055,3130,582,2279,0,0,0,0,0,0
$GC,13647,0.69,87.8,255.9,11.6,869,13652,0.12,2.22,0.00,0.000,6,0.193,0.047,3101,1991,2280,0,0,0,0,0,0
$GC,13971,0.69,87.8,221.8,10.5,899,13975,0.00,2.22,0.00,0.000,4,0.000,0.054,3101,3402,2280,0,0,0,0,0,0
$GC,13989,0.69,87.8,220.0,10.3,900,13993,0.00,2.22,0.00,0.000,6,0.000,0.045,3109,1989,2280,0,0,0,0,0,0
$GC,14319,0.69,87.8,185.0,10.9,931,14323,0.00,2.25,0.00,0.000,4,0.000,0.055,3120,582,2280,0,0,0,0,0,0
$GC,14418,0.69,87.8,173.4,12.1,939,14426,0.00,2.28,0.00,0.000,6,0.000,0.046,3121,1989,2279,0,0,0,0,0,0
$GC,14743,0.69,87.8,135.4,12.0,970,14747,0.00,2.25,0.00,0.000,4,0.000,0.054,3131,582,2280,0,0,0,0,0,0
$GC,14955,0.71,99.1,113.5,8.9,988,14969,0.10,2.28,8.48,0.653,6,0.174,0.046,3102,1991,2245,0,0,0,0,0,0
$GC,15301,0.73,118.7,87.3,8.1,1034,15323,0.00,2.33,16.77,0.695,4,0.000,0.054,3102,3412,2165,0,0,0,0,0,0
$GC,15490,0.73,118.7,66.6,10.8,1066,15497,0.00,2.28,0.00,0.000,6,0.000,0.047,3111,1985,2164,0,0,0,0,0,0
$GC,15846,0.73,118.7,24.0,11.6,1127,15856,0.00,2.30,0.00,0.000,4,0.000,0.056,3122,583,2162,0,0,0,0,0,0
$GC,15864,0.73,118.7,21.9,11.7,1129,15873,0.00,2.28,0.00,0.000,6,0.000,0.047,3122,1985,2162,0,0,0,0,0,0
$GC,16020,0.74,123.0,5.1,9.5,1154,16029,0.00,0.00,1.60,0.065,6,0.000,0.000,3122,1990,2147,0,0,0,0,0,0
$STATE,16042,end climb,SURFACE_DEPTH_REACHED
$STATE,16042,begin surface coast
$FINISH,1.7,1.026286
$STATE,16080,end surface coast,CONTROL_FINISHED_OK
$STATE,16080,begin surface
$SM_CCo,16096,41.10,0.055,0,0,1752,220.03
$SM_GC,2.55,0.00,0.00,41.10,0.000,0.000,0.055,134,2274,1752,-8.56,0.40,220.03
$IRIDIUM_FIX,-4435.30,626.79,281108,050500
$TT8_MAMPS,0.026215
$HUMID,49.17
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,23.6,34.351
$10V_AH,10.1,37.538
$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,20.775,145.275,143.125,41.100,0.000,24.022,21.571,700.802,24.750,0.000,8.757,3112.472,10002.305,329.843,3387.685,211.065,0.000,1418.416,0.000,2557.613,0.000,150.459,0.000
$DEVICE_MAMPS,234.090,64.260,1282.140,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.643,803.080,80.536,845.177,0.000,0.000,0.000,0.000,0.000,0.000
$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,66884,1163
$CAP_FILE_SIZE,165763,0
$CFSIZE,2097086464,2058944512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.011,274.9,1
$GPS,020216,020433,-4456.383,627.224,71,0.9,72,-24.4