version: 66.07.10.p01
glider: 574
mission: 18
dive: 284
start: 4 30 112 15 14 15
data:
$ID,574
$MISSION,18
$DIVE,284
$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,-2352235
$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,28
$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,283
$GPS1,020216,020433,-4456.383,627.224,71,0.9,72,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-75.1
$GPS2,020216,022334,-4456.278,627.425,16,0.9,17,-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,112.3,11254,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.65,-48.7,0.0,0.0,0,60,0.00,0.00,-33.75,0.000,2,0.000,0.000,133,2274,2591,0,0,0,0,0,0
$GC,63,-0.65,-48.7,3.1,-1.3,4,89,10.50,2.28,-7.97,0.000,4,0.237,0.063,2640,3678,2849,0,0,0,0,0,0
$GC,292,-0.65,-48.7,41.4,-17.8,40,298,0.00,2.25,0.00,0.000,6,0.000,0.039,2644,2250,2848,0,0,0,0,0,0
$GC,643,-0.65,-48.7,104.2,-17.2,99,647,0.00,2.28,0.00,0.000,4,0.000,0.051,2634,3668,2850,0,0,0,0,0,0
$GC,841,-0.65,-48.7,136.2,-14.6,116,845,0.00,2.22,0.00,0.000,6,0.000,0.041,2634,2252,2849,0,0,0,0,0,0
$GC,1165,-0.65,-48.7,185.3,-15.3,146,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2250,2850,0,0,0,0,0,0
$GC,1484,-0.65,-48.7,233.7,-14.7,176,1488,0.00,2.25,0.00,0.000,4,0.000,0.052,2624,3679,2849,0,0,0,0,0,0
$GC,1513,-0.65,-48.7,238.2,-15.5,178,1517,0.12,2.25,0.00,0.000,6,0.200,0.040,2656,2251,2850,0,0,0,0,0,0
$GC,1844,-0.65,-48.7,282.9,-13.4,209,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2248,2850,0,0,0,0,0,0
$GC,2161,-0.65,-48.7,326.9,-13.9,239,2165,0.00,2.25,0.00,0.000,4,0.000,0.054,2647,3676,2850,0,0,0,0,0,0
$GC,2268,-0.65,-48.7,342.3,-14.4,248,2272,0.00,2.22,0.00,0.000,6,0.000,0.043,2647,2255,2850,0,0,0,0,0,0
$GC,2592,-0.65,-48.7,387.6,-13.5,278,2597,0.00,2.25,0.00,0.000,4,0.000,0.054,2636,3679,2849,0,0,0,0,0,0
$GC,2669,-0.65,-48.7,398.9,-14.0,284,2680,0.00,2.28,0.00,0.000,6,0.000,0.044,2641,2258,2849,0,0,0,0,0,0
$GC,2999,-0.65,-48.7,441.7,-12.9,301,3004,0.00,2.22,0.00,0.000,4,0.000,0.055,2632,3668,2849,0,0,0,0,0,0
$GC,3054,-0.65,-48.7,449.9,-14.1,303,3064,0.08,2.25,0.00,0.000,6,0.185,0.044,2653,2262,2849,0,0,0,0,0,0
$GC,3373,-0.65,-48.7,489.7,-12.7,319,3377,0.00,2.28,0.00,0.000,4,0.000,0.057,2644,3668,2849,0,0,0,0,0,0
$GC,3395,-0.65,-48.7,492.9,-12.8,320,3399,0.00,2.22,0.00,0.000,6,0.000,0.047,2644,2255,2848,0,0,0,0,0,0
$GC,3728,-0.65,-48.7,535.5,-12.9,336,3732,0.00,2.25,0.00,0.000,4,0.000,0.056,2635,3671,2848,0,0,0,0,0,0
$GC,3821,-0.65,-48.7,549.3,-14.1,340,3826,0.00,2.28,0.00,0.000,6,0.000,0.047,2635,2259,2848,0,0,0,0,0,0
$GC,4144,-0.65,-48.7,592.9,-13.6,356,4148,0.00,2.25,0.00,0.000,4,0.000,0.057,2625,3677,2848,0,0,0,0,0,0
$GC,4311,-0.65,-48.7,617.0,-14.5,363,4320,0.10,2.28,0.00,0.000,6,0.179,0.047,2654,2260,2848,0,0,0,0,0,0
$GC,4628,-0.65,-48.7,655.9,-12.3,379,4632,0.00,2.25,0.00,0.000,4,0.000,0.059,2646,3672,2847,0,0,0,0,0,0
$GC,4683,-0.65,-48.7,663.3,-13.0,381,4690,0.00,2.28,0.00,0.000,6,0.000,0.050,2645,2264,2848,0,0,0,0,0,0
$GC,5001,-0.65,-48.7,701.8,-11.7,397,5005,0.00,2.28,0.00,0.000,4,0.000,0.060,2635,3674,2847,0,0,0,0,0,0
$GC,5041,-0.65,-48.7,707.0,-13.8,399,5045,0.00,2.25,0.00,0.000,6,0.000,0.050,2635,2252,2847,0,0,0,0,0,0
$GC,5367,-0.65,-48.7,747.7,-12.4,415,5371,0.00,2.25,0.00,0.000,4,0.000,0.059,2625,3665,2847,0,0,0,0,0,0
$GC,5431,-0.65,-48.7,755.6,-13.0,418,5436,0.12,2.22,0.00,0.000,6,0.198,0.050,2655,2258,2847,0,0,0,0,0,0
$GC,5758,-0.65,-48.7,791.6,-10.5,434,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2255,2847,0,0,0,0,0,0
$GC,6066,-0.65,-48.7,823.9,-10.4,449,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2254,2846,0,0,0,0,0,0
$GC,6376,-0.65,-48.7,856.3,-10.2,464,6380,0.00,2.25,0.00,0.000,4,0.000,0.057,2657,843,2846,0,0,0,0,0,0
$GC,6430,-0.65,-48.7,862.6,-11.6,466,6438,0.00,2.30,0.00,0.000,6,0.000,0.051,2648,2259,2846,0,0,0,0,0,0
$GC,6746,-0.65,-48.7,897.1,-11.0,482,6750,0.00,2.28,0.00,0.000,4,0.000,0.057,2648,838,2846,0,0,0,0,0,0
$GC,6763,-0.65,-48.7,899.0,-11.2,483,6767,0.00,2.28,0.00,0.000,6,0.000,0.052,2638,2265,2846,0,0,0,0,0,0
$GC,7092,-0.65,-48.7,935.9,-10.9,499,7096,0.00,2.22,0.00,0.000,4,0.000,0.061,2626,3668,2846,0,0,0,0,0,0
$GC,7163,-0.65,-48.7,944.6,-11.1,502,7168,0.10,2.28,0.00,0.000,6,0.177,0.051,2655,2264,2845,0,0,0,0,0,0
$GC,7485,-0.65,-48.7,975.4,-9.8,518,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2260,2846,0,0,0,0,0,0
$STATE,7772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7773,begin apogee
$GC,7777,-0.11,0.0,1001.5,9.0,532,7820,0.60,0.00,39.38,1.287,6,0.161,0.000,2828,1977,2650,0,0,0,0,0,0
$STATE,7820,end apogee,CONTROL_FINISHED_OK
$STATE,7821,begin climb
$GC,7822,0.65,48.7,1002.9,0.0,534,7868,0.73,0.00,41.88,1.255,6,0.096,0.000,3069,1977,2450,0,0,0,0,0,0
$GC,8173,0.65,48.7,968.6,10.6,551,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1977,2449,0,0,0,0,0,0
$GC,8482,0.65,48.7,937.5,10.1,566,8486,0.00,2.28,0.00,0.000,4,0.000,0.057,3079,583,2448,0,0,0,0,0,0
$GC,8498,0.65,48.7,935.8,10.1,567,8502,0.00,2.28,0.00,0.000,6,0.000,0.047,3074,1992,2448,0,0,0,0,0,0
$GC,8824,0.66,58.0,905.0,9.1,583,8839,0.00,2.33,8.68,1.030,4,0.000,0.058,3074,3399,2412,0,0,0,0,0,0
$GC,8860,0.66,62.3,901.6,9.5,584,8871,0.00,2.30,5.00,0.862,6,0.000,0.047,3082,1985,2396,0,0,0,0,0,0
$GC,9199,0.66,62.3,866.6,10.3,601,9203,0.00,2.28,0.00,0.000,4,0.000,0.057,3094,585,2396,0,0,0,0,0,0
$GC,9261,0.66,62.3,860.1,10.9,604,9265,0.00,2.28,0.00,0.000,6,0.000,0.048,3090,1996,2397,0,0,0,0,0,0
$GC,9589,0.66,62.3,826.6,10.4,620,9593,0.00,2.30,0.00,0.000,4,0.000,0.054,3099,579,2397,0,0,0,0,0,0
$GC,9682,0.66,62.3,816.3,10.8,624,9686,0.00,2.30,0.00,0.000,6,0.000,0.048,3096,1983,2396,0,0,0,0,0,0
$GC,10004,0.66,62.3,782.2,10.6,640,10008,0.00,2.28,0.00,0.000,4,0.000,0.055,3105,581,2395,0,0,0,0,0,0
$GC,10148,0.66,62.3,766.1,12.0,646,10155,0.00,2.28,0.00,0.000,6,0.000,0.049,3102,1999,2395,0,0,0,0,0,0
$GC,10464,0.66,62.3,731.1,11.4,662,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2002,2395,0,0,0,0,0,0
$GC,10773,0.66,62.3,696.0,11.4,677,10777,0.00,2.30,0.00,0.000,4,0.000,0.054,3111,574,2395,0,0,0,0,0,0
$GC,10880,0.66,62.3,683.5,11.7,682,10884,0.00,2.28,0.00,0.000,6,0.000,0.048,3111,1995,2395,0,0,0,0,0,0
$GC,11206,0.66,62.3,646.3,10.8,698,11210,0.00,2.28,0.00,0.000,4,0.000,0.054,3121,583,2395,0,0,0,0,0,0
$GC,11276,0.66,62.3,638.2,11.8,701,11281,0.08,2.30,0.00,0.000,6,0.194,0.047,3095,1995,2394,0,0,0,0,0,0
$GC,11598,0.67,64.5,606.2,9.7,717,11602,0.00,2.22,0.00,0.000,4,0.000,0.057,3095,3403,2394,0,0,0,0,0,0
$GC,11616,0.67,65.2,604.4,9.9,718,11625,0.00,2.22,3.92,0.614,6,0.000,0.046,3103,1984,2384,0,0,0,0,0,0
$GC,11947,0.67,65.2,570.4,10.2,734,11951,0.00,2.25,0.00,0.000,4,0.000,0.055,3103,3406,2384,0,0,0,0,0,0
$GC,12018,0.67,65.2,562.4,10.7,737,12023,0.00,2.28,0.00,0.000,6,0.000,0.047,3111,1995,2384,0,0,0,0,0,0
$GC,12340,0.67,65.5,530.7,9.9,753,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1992,2384,0,0,0,0,0,0
$GC,12650,0.67,66.1,499.6,9.9,768,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1992,2384,0,0,0,0,0,0
$GC,12959,0.68,73.6,470.8,9.2,783,12970,0.00,0.00,8.65,0.832,6,0.000,0.000,3111,1992,2348,0,0,0,0,0,0
$GC,13268,0.68,73.6,439.3,10.5,798,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1992,2348,0,0,0,0,0,0
$GC,13578,0.68,75.1,408.0,9.8,813,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1992,2348,0,0,0,0,0,0
$GC,13895,0.69,86.5,378.3,8.9,839,13911,0.00,2.30,11.35,0.848,4,0.000,0.056,3123,574,2296,0,0,0,0,0,0
$GC,13945,0.69,86.5,373.1,10.2,843,13949,0.00,2.28,0.00,0.000,6,0.000,0.047,3123,1999,2295,0,0,0,0,0,0
$GC,14272,0.69,86.5,336.7,11.0,873,14276,0.00,2.30,0.00,0.000,4,0.000,0.054,3134,577,2296,0,0,0,0,0,0
$GC,14379,0.69,86.5,323.8,11.4,882,14384,0.15,2.25,0.00,0.000,6,0.195,0.047,3098,1991,2295,0,0,0,0,0,0
$GC,14704,0.69,86.5,290.1,10.3,912,14708,0.00,2.28,0.00,0.000,4,0.000,0.054,3107,579,2295,0,0,0,0,0,0
$GC,14755,0.69,86.5,284.5,11.2,916,14759,0.00,2.25,0.00,0.000,6,0.000,0.047,3107,1994,2295,0,0,0,0,0,0
$GC,15084,0.69,86.5,249.6,10.9,947,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1995,2295,0,0,0,0,0,0
$GC,15406,0.69,87.6,217.3,9.8,977,15410,0.00,2.22,0.00,0.000,4,0.000,0.054,3107,3407,2295,0,0,0,0,0,0
$GC,15483,0.69,87.6,208.8,10.5,983,15491,0.00,2.28,0.00,0.000,6,0.000,0.046,3118,1989,2295,0,0,0,0,0,0
$GC,15809,0.70,90.5,174.9,9.7,1014,15819,0.00,0.00,4.57,0.535,6,0.000,0.000,3117,1985,2281,0,0,0,0,0,0
$GC,16141,0.72,107.8,142.9,8.3,1045,16164,0.00,2.30,15.30,0.738,4,0.000,0.056,3129,574,2208,0,0,0,0,0,0
$GC,16198,0.72,109.6,137.2,9.8,1050,16203,0.00,2.28,0.00,0.000,6,0.000,0.047,3129,1996,2207,0,0,0,0,0,0
$GC,16523,0.72,109.6,100.0,11.9,1080,16527,0.00,2.22,0.00,0.000,4,0.000,0.055,3129,3403,2206,0,0,0,0,0,0
$GC,16900,0.72,109.6,52.6,10.9,1145,16908,0.15,2.25,0.00,0.000,6,0.218,0.047,3105,1978,2207,0,0,0,0,0,0
$GC,17264,0.76,138.5,21.2,7.2,1206,17282,0.00,0.00,14.45,0.620,6,0.000,0.000,3105,1975,2083,0,0,0,0,0,0
$STATE,17420,end climb,SURFACE_DEPTH_REACHED
$STATE,17421,begin surface coast
$FINISH,1.7,1.026329
$STATE,17446,end surface coast,CONTROL_FINISHED_OK
$STATE,17447,begin surface
$SM_CCo,17462,34.10,0.053,0,0,1752,220.03
$SM_GC,2.89,0.00,0.00,34.10,0.000,0.000,0.053,138,2286,1752,-8.54,0.74,220.03
$IRIDIUM_FIX,-4438.33,624.11,281108,101045
$TT8_MAMPS,0.026215
$HUMID,49.25
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,23.8,34.453
$10V_AH,10.0,37.668
$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,20.800,136.800,153.175,34.100,0.000,52.598,88.449,742.331,24.750,0.000,21.648,3309.133,11039.054,329.080,3724.982,233.392,0.000,1467.186,0.000,2731.352,0.000,148.127,0.000
$DEVICE_MAMPS,237.150,63.495,1286.730,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.631,860.005,87.223,878.210,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354164
$DATA_FILE_SIZE,70256,1235
$CAP_FILE_SIZE,174599,0
$CFSIZE,2097086464,2058813440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.023, 99.3,1
$GPS,020216,071858,-4456.455,629.665,151,0.9,151,-24.4