version: 66.07.10.p01
glider: 574
mission: 18
dive: 295
start: 5 2 112 23 48 57
data:
$ID,574
$MISSION,18
$DIVE,295
$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,-2353399.5
$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,23
$R_STBD_OVSHOOT,30
$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,294
$GPS1,040216,104027,-4459.063,632.541,129,0.8,129,-24.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-75.2
$GPS2,040216,105823,-4458.945,632.500,15,0.8,16,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,RECOVER
$TGT_LATLONG,-4500.000,630.000
$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,275.1,3813,-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,-48.7,0.0,0.0,0,73,0.00,0.00,-44.10,0.000,6,0.000,0.000,138,2273,2849,0,0,0,0,0,0
$GC,76,-0.65,-48.7,3.4,-2.0,6,93,10.45,2.22,0.00,0.000,4,0.236,0.041,2640,3678,2850,0,0,0,0,0,0
$GC,290,-0.65,-48.7,44.6,-17.2,40,297,0.00,2.25,0.00,0.000,6,0.000,0.037,2644,2246,2850,0,0,0,0,0,0
$GC,641,-0.65,-48.7,103.6,-15.6,99,645,0.00,2.20,0.00,0.000,4,0.000,0.044,2645,849,2851,0,0,0,0,0,0
$GC,818,-0.65,-48.7,131.2,-16.2,114,822,0.00,2.25,0.00,0.000,6,0.000,0.044,2635,2269,2851,0,0,0,0,0,0
$GC,1143,-0.65,-48.7,182.0,-16.5,144,1147,0.00,2.20,0.00,0.000,4,0.000,0.051,2624,3672,2851,0,0,0,0,0,0
$GC,1348,-0.65,-48.7,216.1,-15.7,161,1356,0.10,2.25,0.00,0.000,6,0.181,0.038,2653,2257,2851,0,0,0,0,0,0
$GC,1673,-0.65,-48.7,262.7,-14.7,192,1677,0.00,2.22,0.00,0.000,4,0.000,0.052,2644,3669,2851,0,0,0,0,0,0
$GC,1725,-0.65,-48.7,270.7,-15.9,196,1729,0.00,2.20,0.00,0.000,6,0.000,0.039,2645,2255,2851,0,0,0,0,0,0
$GC,2050,-0.65,-48.7,319.8,-14.8,226,2054,0.00,2.22,0.00,0.000,4,0.000,0.051,2635,3669,2851,0,0,0,0,0,0
$GC,2163,-0.65,-48.7,337.0,-15.2,236,2167,0.00,2.20,0.00,0.000,6,0.000,0.040,2635,2260,2851,0,0,0,0,0,0
$GC,2493,-0.65,-48.7,384.1,-13.2,267,2497,0.00,2.22,0.00,0.000,4,0.000,0.053,2625,3674,2851,0,0,0,0,0,0
$GC,2582,-0.65,-48.7,397.2,-15.1,274,2590,0.10,2.25,0.00,0.000,6,0.180,0.040,2654,2259,2851,0,0,0,0,0,0
$GC,2901,-0.65,-48.7,437.4,-12.9,291,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2255,2850,0,0,0,0,0,0
$GC,3208,-0.65,-48.7,477.8,-13.3,306,3212,0.00,2.22,0.00,0.000,4,0.000,0.055,2645,3669,2850,0,0,0,0,0,0
$GC,3257,-0.65,-48.7,484.5,-13.3,308,3262,0.00,2.22,0.00,0.000,6,0.000,0.041,2645,2265,2850,0,0,0,0,0,0
$GC,3580,-0.65,-48.7,528.0,-13.6,324,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2261,2850,0,0,0,0,0,0
$GC,3888,-0.65,-48.7,569.9,-13.2,339,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2261,2849,0,0,0,0,0,0
$GC,4198,-0.65,-48.7,611.3,-13.3,354,4202,0.00,2.22,0.00,0.000,4,0.000,0.055,2635,3672,2848,0,0,0,0,0,0
$GC,4229,-0.65,-48.7,616.0,-14.7,355,4237,0.00,2.25,0.00,0.000,6,0.000,0.044,2636,2262,2848,0,0,0,0,0,0
$GC,4546,-0.65,-48.7,659.7,-13.9,371,4550,0.00,2.22,0.00,0.000,4,0.000,0.055,2625,3669,2848,0,0,0,0,0,0
$GC,4594,-0.65,-48.7,666.9,-15.2,373,4599,0.10,2.25,0.00,0.000,6,0.180,0.044,2654,2259,2847,0,0,0,0,0,0
$GC,4923,-0.65,-48.7,708.0,-12.5,389,4927,0.00,2.22,0.00,0.000,4,0.000,0.057,2645,3667,2847,0,0,0,0,0,0
$GC,4943,-0.65,-48.7,710.9,-12.8,390,4948,0.00,2.25,0.00,0.000,6,0.000,0.045,2645,2260,2847,0,0,0,0,0,0
$GC,5272,-0.65,-48.7,751.6,-12.0,406,5276,0.00,2.22,0.00,0.000,4,0.000,0.057,2635,3667,2847,0,0,0,0,0,0
$GC,5327,-0.65,-48.7,759.1,-12.8,408,5336,0.00,2.25,0.00,0.000,6,0.000,0.046,2635,2257,2847,0,0,0,0,0,0
$GC,5643,-0.65,-48.7,797.2,-11.9,424,5647,0.00,2.22,0.00,0.000,4,0.000,0.057,2625,3667,2847,0,0,0,0,0,0
$GC,5764,-0.65,-48.7,812.5,-12.3,429,5772,0.15,2.22,0.00,0.000,6,0.192,0.047,2661,2253,2847,0,0,0,0,0,0
$GC,6083,-0.65,-48.7,844.7,-9.9,445,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2250,2846,0,0,0,0,0,0
$GC,6390,-0.65,-48.7,874.8,-9.5,460,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2250,2846,0,0,0,0,0,0
$GC,6699,-0.65,-48.7,903.2,-8.7,475,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2250,2846,0,0,0,0,0,0
$GC,7008,-0.65,-48.7,929.7,-8.7,490,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2250,2846,0,0,0,0,0,0
$GC,7318,-0.65,-48.7,955.7,-8.8,505,7322,0.00,2.25,0.00,0.000,4,0.000,0.054,2662,845,2845,0,0,0,0,0,0
$GC,7383,-0.65,-48.7,962.1,-9.4,508,7388,0.00,2.28,0.00,0.000,6,0.000,0.049,2653,2252,2846,0,0,0,0,0,0
$GC,7713,-0.65,-48.7,993.1,-9.8,524,7717,0.00,2.25,0.00,0.000,4,0.000,0.060,2643,3675,2846,0,0,0,0,0,0
$GC,7731,-0.65,-48.7,994.9,-9.6,525,7735,0.00,2.22,0.00,0.000,6,0.000,0.048,2643,2261,2845,0,0,0,0,0,0
$STATE,7789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7789,begin apogee
$GC,7793,-0.11,0.0,1001.1,10.4,528,7836,0.65,0.00,39.50,1.289,6,0.168,0.000,2826,1982,2650,0,0,0,0,0,0
$STATE,7837,end apogee,CONTROL_FINISHED_OK
$STATE,7837,begin climb
$GC,7839,0.65,48.7,1003.2,0.0,530,7887,0.77,2.40,41.35,1.255,4,0.098,0.056,3085,588,2452,0,0,0,0,0,0
$GC,7903,0.69,80.9,999.9,6.9,532,7937,0.00,2.35,28.98,1.234,6,0.000,0.047,3083,1994,2320,0,0,0,0,0,0
$GC,8259,0.69,80.9,957.0,12.1,550,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1995,2315,0,0,0,0,0,0
$GC,8570,0.69,80.9,920.5,11.8,565,8574,0.00,2.30,0.00,0.000,4,0.000,0.054,3092,586,2314,0,0,0,0,0,0
$GC,8657,0.69,80.9,909.6,12.3,569,8661,0.00,2.30,0.00,0.000,6,0.000,0.046,3090,1984,2313,0,0,0,0,0,0
$GC,8985,0.69,80.9,869.8,12.2,585,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1987,2314,0,0,0,0,0,0
$GC,9294,0.69,80.9,830.4,13.2,600,9298,0.00,2.28,0.00,0.000,4,0.000,0.055,3098,586,2313,0,0,0,0,0,0
$GC,9370,0.69,80.9,819.2,15.2,603,9378,0.00,2.30,0.00,0.000,6,0.000,0.047,3097,1989,2312,0,0,0,0,0,0
$GC,9686,0.69,80.9,776.0,14.2,619,9690,0.00,2.25,0.00,0.000,4,0.000,0.056,3097,3402,2312,0,0,0,0,0,0
$GC,9707,0.69,80.9,772.6,15.4,620,9712,0.00,2.28,0.00,0.000,6,0.000,0.044,3106,1992,2312,0,0,0,0,0,0
$GC,10035,0.69,80.9,724.2,14.8,636,10039,0.00,2.25,0.00,0.000,4,0.000,0.055,3105,3402,2312,0,0,0,0,0,0
$GC,10077,0.69,80.9,717.1,16.7,638,10082,0.00,2.28,0.00,0.000,6,0.000,0.046,3114,1993,2311,0,0,0,0,0,0
$GC,10406,0.69,80.9,667.9,14.8,654,10411,0.00,2.30,0.00,0.000,4,0.000,0.056,3125,575,2312,0,0,0,0,0,0
$GC,10455,0.69,80.9,660.0,14.9,656,10460,0.00,2.28,0.00,0.000,6,0.000,0.046,3120,1980,2311,0,0,0,0,0,0
$GC,10777,0.69,80.9,613.6,14.3,672,10781,0.00,2.28,0.00,0.000,4,0.000,0.054,3129,576,2310,0,0,0,0,0,0
$GC,10826,0.69,80.9,606.3,15.8,674,10831,0.00,2.30,0.00,0.000,6,0.000,0.046,3121,1994,2311,0,0,0,0,0,0
$GC,11148,0.69,80.9,563.5,12.8,690,11152,0.00,2.30,0.00,0.000,4,0.000,0.054,3130,579,2310,0,0,0,0,0,0
$GC,11174,0.69,80.9,559.8,12.9,691,11179,0.08,2.28,0.00,0.000,6,0.196,0.046,3101,1988,2310,0,0,0,0,0,0
$GC,11501,0.69,80.9,522.3,11.1,707,11505,0.00,2.28,0.00,0.000,4,0.000,0.054,3110,574,2310,0,0,0,0,0,0
$GC,11521,0.69,80.9,519.8,11.0,708,11526,0.00,2.30,0.00,0.000,6,0.000,0.047,3111,1992,2310,0,0,0,0,0,0
$GC,11850,0.69,80.9,484.4,10.3,724,11854,0.00,2.28,0.00,0.000,4,0.000,0.053,3121,579,2310,0,0,0,0,0,0
$GC,11877,0.69,80.9,481.2,10.8,725,11882,0.00,2.28,0.00,0.000,6,0.000,0.045,3121,1989,2310,0,0,0,0,0,0
$GC,12199,0.69,80.9,446.5,10.3,741,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1992,2310,0,0,0,0,0,0
$GC,12508,0.69,80.9,413.8,10.6,756,12512,0.00,2.28,0.00,0.000,4,0.000,0.054,3131,576,2310,0,0,0,0,0,0
$GC,12542,0.69,80.9,410.3,10.6,757,12549,0.15,2.25,0.00,0.000,6,0.203,0.046,3097,1994,2310,0,0,0,0,0,0
$GC,12863,0.69,80.9,377.7,10.3,783,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1995,2310,0,0,0,0,0,0
$GC,13185,0.69,80.9,345.5,10.2,813,13189,0.00,2.28,0.00,0.000,4,0.000,0.053,3105,578,2310,0,0,0,0,0,0
$GC,13294,0.69,80.9,333.7,10.1,822,13298,0.00,2.25,0.00,0.000,6,0.000,0.046,3105,2002,2310,0,0,0,0,0,0
$GC,13618,0.69,80.9,299.9,10.2,852,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2002,2310,0,0,0,0,0,0
$GC,13938,0.69,80.9,266.1,10.7,882,13942,0.00,2.30,0.00,0.000,4,0.000,0.053,3116,571,2310,0,0,0,0,0,0
$GC,14011,0.69,80.9,257.4,11.6,888,14015,0.00,2.25,0.00,0.000,6,0.000,0.046,3116,1992,2310,0,0,0,0,0,0
$GC,14335,0.69,80.9,220.5,10.9,918,14339,0.00,2.30,0.00,0.000,4,0.000,0.053,3127,575,2310,0,0,0,0,0,0
$GC,14425,0.69,80.9,210.6,11.0,925,14433,0.10,2.28,0.00,0.000,6,0.178,0.047,3098,1985,2310,0,0,0,0,0,0
$GC,14751,0.69,85.3,178.9,9.5,956,14755,0.00,2.28,0.00,0.000,4,0.000,0.053,3107,577,2310,0,0,0,0,0,0
$GC,14817,0.70,93.6,173.0,9.2,961,14832,0.00,2.25,9.85,0.705,6,0.000,0.045,3107,2000,2267,0,0,0,0,0,0
$GC,15162,0.71,98.1,138.8,9.5,993,15169,0.00,0.00,5.12,0.554,6,0.000,0.000,3107,2000,2249,0,0,0,0,0,0
$GC,15487,0.71,98.1,104.9,10.1,1024,15491,0.00,2.20,0.00,0.000,4,0.000,0.054,3107,3403,2249,0,0,0,0,0,0
$GC,15568,0.71,98.1,96.8,10.0,1033,15575,0.00,2.22,0.00,0.000,6,0.000,0.045,3117,1983,2249,0,0,0,0,0,0
$GC,15916,0.75,133.7,65.2,6.5,1094,15952,0.00,2.28,29.50,0.706,4,0.000,0.050,3117,3400,2104,0,0,0,0,0,0
$GC,15989,0.75,133.7,59.1,10.6,1105,15995,0.00,2.25,0.00,0.000,6,0.000,0.045,3127,1983,2102,0,0,0,0,0,0
$GC,16347,0.75,133.7,15.6,13.1,1166,16356,0.00,2.30,0.00,0.000,4,0.000,0.056,3138,589,2099,0,0,0,0,0,0
$STATE,16440,end climb,SURFACE_DEPTH_REACHED
$STATE,16441,begin surface coast
$FINISH,1.6,1.026345
$STATE,16460,end surface coast,CONTROL_FINISHED_OK
$STATE,16461,begin surface
$SM_CCo,16479,36.15,0.055,0,0,1751,220.03
$SM_GC,2.46,0.00,0.00,36.15,0.000,0.000,0.055,131,2275,1751,-8.56,0.42,220.03
$IRIDIUM_FIX,-4441.36,630.50,301108,181826
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.7,35.484
$10V_AH,10.0,39.069
$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,20.675,145.450,154.300,36.150,0.000,52.201,124.521,657.788,24.750,0.000,19.498,3162.573,10342.586,337.427,3522.595,223.655,0.000,1438.835,0.000,2597.010,0.000,148.920,0.000
$DEVICE_MAMPS,236.385,59.670,1289.025,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.494,812.098,78.616,834.930,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354612
$DATA_FILE_SIZE,70268,1184
$CAP_FILE_SIZE,168541,0
$CFSIZE,2097086464,2057371648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.040, 75.2,1
$GPS,040216,153603,-4459.154,631.070,66,1.3,66,-24.4