version: 66.07.10.p01
glider: 574
mission: 18
dive: 285
start: 4 30 112 20 23 25
data:
$ID,574
$MISSION,18
$DIVE,285
$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,-2352399.5
$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,36
$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,284
$GPS1,020216,071858,-4456.455,629.665,151,0.9,151,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-80.2
$GPS2,020216,073245,-4456.399,629.763,4,1.4,4,-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,107.5,8211,-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,-48.7,0.0,0.0,0,54,0.00,0.00,-26.88,0.000,2,0.000,0.000,138,2286,2412,0,0,0,0,0,0
$GC,56,-0.65,-48.7,3.2,-2.5,3,91,10.40,2.28,-15.77,0.000,4,0.234,0.063,2640,3664,2848,0,0,0,0,0,0
$GC,106,-0.65,-48.7,5.4,-4.9,9,115,0.00,2.28,0.00,0.000,6,0.000,0.038,2644,2256,2848,0,0,0,0,0,0
$GC,166,-0.65,-48.7,17.0,-20.3,18,174,0.00,2.30,0.00,0.000,4,0.000,0.050,2635,3661,2849,0,0,0,0,0,0
$GC,450,-0.65,-48.7,74.3,-17.1,66,459,0.00,2.25,0.00,0.000,6,0.000,0.039,2635,2262,2849,0,0,0,0,0,0
$GC,790,-0.65,-48.7,134.5,-17.1,109,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2257,2850,0,0,0,0,0,0
$GC,1107,-0.65,-48.7,187.7,-16.3,139,1111,0.00,2.22,0.00,0.000,4,0.000,0.051,2624,3671,2850,0,0,0,0,0,0
$GC,1477,-0.65,-48.7,248.9,-15.9,171,1485,0.10,2.25,0.00,0.000,6,0.179,0.040,2654,2259,2850,0,0,0,0,0,0
$GC,1803,-0.65,-48.7,295.9,-14.6,202,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2255,2850,0,0,0,0,0,0
$GC,2122,-0.65,-48.7,341.1,-13.7,232,2126,0.00,2.22,0.00,0.000,4,0.000,0.049,2658,845,2850,0,0,0,0,0,0
$GC,2140,-0.65,-48.7,343.6,-14.5,233,2145,0.00,2.22,0.00,0.000,6,0.000,0.046,2649,2258,2850,0,0,0,0,0,0
$GC,2465,-0.65,-48.7,388.3,-13.7,263,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2257,2850,0,0,0,0,0,0
$GC,2780,-0.65,-48.7,430.3,-13.0,282,2784,0.00,2.22,0.00,0.000,4,0.000,0.055,2638,3674,2850,0,0,0,0,0,0
$GC,2797,-0.65,-48.7,433.2,-13.2,283,2801,0.00,2.20,0.00,0.000,6,0.000,0.042,2642,2259,2850,0,0,0,0,0,0
$GC,3124,-0.65,-48.7,476.9,-13.3,299,3128,0.00,2.22,0.00,0.000,4,0.000,0.056,2633,3666,2849,0,0,0,0,0,0
$GC,3187,-0.65,-48.7,485.4,-13.8,302,3191,0.00,2.20,0.00,0.000,6,0.000,0.044,2633,2259,2849,0,0,0,0,0,0
$GC,3514,-0.65,-48.7,529.1,-13.4,318,3516,0.10,0.00,0.00,0.000,6,0.217,0.000,2654,2256,2849,0,0,0,0,0,0
$GC,3822,-0.65,-48.7,567.4,-12.6,333,3826,0.00,2.22,0.00,0.000,4,0.000,0.057,2646,3665,2849,0,0,0,0,0,0
$GC,3876,-0.65,-48.7,574.7,-13.0,335,3884,0.00,2.25,0.00,0.000,6,0.000,0.046,2646,2260,2848,0,0,0,0,0,0
$GC,4192,-0.65,-48.7,615.2,-13.3,351,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2257,2849,0,0,0,0,0,0
$GC,4502,-0.65,-48.7,656.1,-13.3,366,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2256,2848,0,0,0,0,0,0
$GC,4813,-0.65,-48.7,696.2,-12.7,381,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2256,2848,0,0,0,0,0,0
$GC,5120,-0.65,-48.7,734.3,-11.8,396,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2256,2847,0,0,0,0,0,0
$GC,5432,-0.65,-48.7,770.4,-11.5,411,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2256,2848,0,0,0,0,0,0
$GC,5739,-0.65,-48.7,806.1,-11.5,426,5743,0.00,2.25,0.00,0.000,4,0.000,0.055,2646,841,2847,0,0,0,0,0,0
$GC,5757,-0.65,-48.7,808.2,-11.6,427,5761,0.00,2.25,0.00,0.000,6,0.000,0.050,2635,2257,2848,0,0,0,0,0,0
$GC,6084,-0.65,-48.7,845.2,-10.7,443,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2257,2847,0,0,0,0,0,0
$GC,6394,-0.65,-48.7,877.6,-10.4,458,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,2847,0,0,0,0,0,0
$GC,6702,-0.65,-48.7,908.4,-10.2,473,6706,0.00,2.25,0.00,0.000,4,0.000,0.060,2625,3678,2847,0,0,0,0,0,0
$GC,6814,-0.65,-48.7,921.0,-11.6,478,6819,0.10,2.28,0.00,0.000,6,0.179,0.048,2654,2262,2846,0,0,0,0,0,0
$GC,7142,-0.65,-48.7,953.4,-9.9,494,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2259,2846,0,0,0,0,0,0
$GC,7452,-0.65,-48.7,984.9,-10.1,509,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2258,2846,0,0,0,0,0,0
$STATE,7616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7616,begin apogee
$GC,7621,-0.11,0.0,1002.1,10.4,517,7663,0.60,0.00,39.47,1.287,6,0.164,0.000,2827,1973,2650,0,0,0,0,0,0
$STATE,7664,end apogee,CONTROL_FINISHED_OK
$STATE,7664,begin climb
$GC,7666,0.65,48.7,1004.3,0.0,519,7717,0.77,0.00,41.88,1.255,6,0.095,0.000,3078,1973,2451,0,0,0,0,0,0
$GC,8024,0.65,53.2,974.0,9.5,537,8034,0.00,2.38,5.30,0.871,4,0.000,0.057,3078,3410,2431,0,0,0,0,0,0
$GC,8044,0.65,53.2,971.7,10.1,538,8049,0.00,2.35,0.00,0.000,6,0.000,0.047,3088,1992,2432,0,0,0,0,0,0
$GC,8372,0.65,53.2,937.7,10.3,554,8376,0.00,2.30,0.00,0.000,4,0.000,0.057,3099,580,2432,0,0,0,0,0,0
$GC,8389,0.65,53.2,935.8,10.6,555,8393,0.00,2.30,0.00,0.000,6,0.000,0.049,3095,1999,2432,0,0,0,0,0,0
$GC,8715,0.65,53.2,900.1,11.1,571,8719,0.00,2.25,0.00,0.000,4,0.000,0.057,3095,3409,2431,0,0,0,0,0,0
$GC,8844,0.65,53.2,884.7,11.8,577,8848,0.00,2.28,0.00,0.000,6,0.000,0.047,3104,1979,2431,0,0,0,0,0,0
$GC,9171,0.65,53.2,848.4,11.0,593,9175,0.00,2.28,0.00,0.000,4,0.000,0.056,3102,3404,2431,0,0,0,0,0,0
$GC,9188,0.65,53.2,846.3,11.2,594,9192,0.00,2.25,0.00,0.000,6,0.000,0.047,3111,1989,2430,0,0,0,0,0,0
$GC,9516,0.65,53.2,808.5,11.4,610,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1988,2430,0,0,0,0,0,0
$GC,9825,0.65,53.2,775.7,10.3,625,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1988,2430,0,0,0,0,0,0
$GC,10133,0.65,54.3,744.3,9.9,640,10137,0.00,2.28,0.00,0.000,4,0.000,0.057,3122,576,2430,0,0,0,0,0,0
$GC,10159,0.66,61.6,741.7,9.2,641,10174,0.08,2.30,7.90,0.929,6,0.200,0.047,3093,1992,2398,0,0,0,0,0,0
$GC,10481,0.66,63.5,710.2,9.8,657,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1992,2398,0,0,0,0,0,0
$GC,10789,0.66,63.5,679.8,10.0,672,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1992,2398,0,0,0,0,0,0
$GC,11099,0.67,64.5,649.7,9.9,687,11104,0.00,0.00,3.83,0.608,6,0.000,0.000,3093,1992,2387,0,0,0,0,0,0
$GC,11408,0.67,64.5,617.5,10.8,702,11412,0.00,2.22,0.00,0.000,4,0.000,0.055,3093,3399,2387,0,0,0,0,0,0
$GC,11425,0.67,64.5,615.5,10.8,703,11429,0.00,2.22,0.00,0.000,6,0.000,0.047,3101,1983,2387,0,0,0,0,0,0
$GC,11752,0.67,64.5,579.4,11.2,719,11756,0.00,2.25,0.00,0.000,4,0.000,0.055,3113,583,2387,0,0,0,0,0,0
$GC,11814,0.67,64.5,572.3,11.2,722,11818,0.00,2.22,0.00,0.000,6,0.000,0.046,3111,1988,2387,0,0,0,0,0,0
$GC,12140,0.67,64.5,537.6,10.6,738,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1991,2387,0,0,0,0,0,0
$GC,12450,0.67,70.5,507.3,9.4,753,12463,0.00,2.35,6.68,0.784,4,0.000,0.054,3121,576,2362,0,0,0,0,0,0
$GC,12507,0.67,70.5,501.5,11.3,755,12514,0.00,2.28,0.00,0.000,6,0.000,0.045,3116,1984,2362,0,0,0,0,0,0
$GC,12823,0.67,71.1,469.6,9.9,771,12827,0.00,2.25,0.00,0.000,4,0.000,0.054,3125,582,2362,0,0,0,0,0,0
$GC,12841,0.68,75.4,467.8,9.5,772,12852,0.12,2.25,5.47,0.702,6,0.209,0.047,3092,1998,2341,0,0,0,0,0,0
$GC,13168,0.69,85.9,437.6,8.9,788,13183,0.00,2.30,10.07,0.858,4,0.000,0.054,3101,579,2298,0,0,0,0,0,0
$GC,13193,0.71,98.6,434.9,8.7,788,13210,0.00,2.30,11.52,0.861,6,0.000,0.046,3101,1989,2247,0,0,0,0,0,0
$GC,13524,0.71,98.6,396.4,11.8,805,13531,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1991,2245,0,0,0,0,0,0
$GC,13849,0.71,98.6,358.8,11.6,836,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1991,2245,0,0,0,0,0,0
$GC,14169,0.71,98.6,322.7,11.7,866,14173,0.00,2.25,0.00,0.000,4,0.000,0.054,3101,3413,2245,0,0,0,0,0,0
$GC,14190,0.71,98.6,319.8,12.5,867,14197,0.00,2.30,0.00,0.000,6,0.000,0.047,3111,1988,2244,0,0,0,0,0,0
$GC,14516,0.71,98.6,281.1,11.4,898,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1984,2244,0,0,0,0,0,0
$GC,14835,0.71,98.6,244.2,12.0,928,14839,0.00,2.25,0.00,0.000,4,0.000,0.055,3123,580,2244,0,0,0,0,0,0
$GC,14976,0.71,98.6,226.8,12.1,940,14980,0.00,2.25,0.00,0.000,6,0.000,0.045,3123,1992,2244,0,0,0,0,0,0
$GC,15305,0.71,98.6,187.8,12.2,971,15309,0.00,2.22,0.00,0.000,4,0.000,0.054,3123,3406,2244,0,0,0,0,0,0
$GC,15349,0.71,98.6,181.8,13.4,974,15357,0.10,2.28,0.00,0.000,6,0.199,0.046,3106,1986,2244,0,0,0,0,0,0
$GC,15678,0.71,98.6,146.1,10.2,1005,15682,0.00,2.22,0.00,0.000,4,0.000,0.053,3097,3401,2244,0,0,0,0,0,0
$GC,15897,0.71,98.6,121.5,10.4,1024,15901,0.00,2.22,0.00,0.000,6,0.000,0.046,3105,1982,2244,0,0,0,0,0,0
$GC,16228,0.73,118.4,93.5,8.1,1060,16250,0.00,2.33,16.77,0.701,4,0.000,0.055,3117,582,2166,0,0,0,0,0,0
$GC,16325,0.73,118.4,83.9,10.0,1076,16332,0.00,2.28,0.00,0.000,6,0.000,0.046,3116,1998,2164,0,0,0,0,0,0
$GC,16673,0.73,118.4,46.4,11.2,1137,16682,0.00,2.33,0.00,0.000,4,0.000,0.054,3127,583,2163,0,0,0,0,0,0
$GC,16827,0.73,118.4,29.3,11.7,1162,16835,0.00,2.28,0.00,0.000,6,0.000,0.046,3127,1988,2164,0,0,0,0,0,0
$GC,16982,0.73,118.4,10.4,11.0,1187,16991,0.00,2.28,0.00,0.000,4,0.000,0.054,3127,3406,2163,0,0,0,0,0,0
$GC,17005,0.73,118.4,7.5,11.6,1190,17014,0.00,2.28,0.00,0.000,6,0.000,0.048,3137,1995,2164,0,0,0,0,0,0
$STATE,17039,end climb,SURFACE_DEPTH_REACHED
$STATE,17039,begin surface coast
$FINISH,1.7,1.026440
$STATE,17065,end surface coast,CONTROL_FINISHED_OK
$STATE,17065,begin surface
$SM_CCo,17081,42.90,0.055,0,0,1753,220.03
$SM_GC,2.38,0.00,0.00,42.90,0.000,0.000,0.055,138,2274,1753,-8.55,0.42,220.03
$IRIDIUM_FIX,-4438.33,624.11,281108,101045
$TT8_MAMPS,0.026215
$HUMID,49.01
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,34.541
$10V_AH,10.1,37.790
$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,20.625,118.600,148.900,42.900,0.000,41.964,53.393,570.530,24.750,0.000,7.749,3174.567,10964.698,344.430,3249.776,214.283,0.000,1406.997,0.000,2507.420,0.000,148.900,0.000
$DEVICE_MAMPS,234.090,62.730,1287.495,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.204,833.045,75.765,808.639,0.000,0.000,0.000,0.000,0.000,0.000
$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,70288,1199
$CAP_FILE_SIZE,163005,0
$CFSIZE,2097086464,2058715136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.028, 62.5,1
$GPS,020216,122057,-4456.221,631.967,91,0.9,91,-24.4