version: 66.07.10.p01
glider: 574
mission: 18
dive: 299
start: 5 3 112 19 36 30
data:
$ID,574
$MISSION,18
$DIVE,299
$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,-2353769.2
$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,24
$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,298
$GPS1,050216,062803,-4459.007,629.158,66,1.5,66,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-78.2
$GPS2,050216,064559,-4458.958,629.037,5,1.7,5,-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,181.4,2306,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.68,-48.7,0.0,0.0,0,75,0.00,0.00,-44.58,0.000,6,0.000,0.000,137,2266,2849,0,0,0,0,0,0
$GC,77,-0.68,-48.7,3.4,-1.8,6,95,10.60,2.28,0.00,0.000,4,0.253,0.044,2625,3686,2850,0,0,0,0,0,0
$GC,333,-0.68,-48.7,54.3,-17.7,48,343,0.00,2.33,0.00,0.000,6,0.000,0.041,2625,2253,2851,0,0,0,0,0,0
$GC,679,-0.68,-48.7,113.3,-17.2,102,683,0.00,2.22,0.00,0.000,4,0.000,0.045,2625,844,2851,0,0,0,0,0,0
$GC,781,-0.68,-48.7,131.4,-16.2,110,789,0.10,2.30,0.00,0.000,6,0.194,0.044,2642,2263,2852,0,0,0,0,0,0
$GC,1109,-0.68,-48.7,179.4,-15.3,141,1113,0.00,2.22,0.00,0.000,4,0.000,0.052,2632,3681,2853,0,0,0,0,0,0
$GC,1247,-0.68,-48.7,201.6,-15.8,153,1251,0.00,2.22,0.00,0.000,6,0.000,0.040,2632,2254,2852,0,0,0,0,0,0
$GC,1571,-0.68,-48.7,254.2,-15.6,183,1575,0.00,2.25,0.00,0.000,4,0.000,0.052,2622,3681,2852,0,0,0,0,0,0
$GC,1672,-0.68,-48.7,270.8,-16.3,191,1679,0.00,2.25,0.00,0.000,6,0.000,0.041,2622,2265,2851,0,0,0,0,0,0
$GC,1997,-0.68,-48.7,323.5,-15.7,222,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2262,2852,0,0,0,0,0,0
$GC,2316,-0.68,-48.7,375.4,-16.6,252,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2262,2852,0,0,0,0,0,0
$GC,2640,-0.68,-48.7,427.5,-15.8,275,2644,0.00,2.22,0.00,0.000,4,0.000,0.054,2613,3675,2852,0,0,0,0,0,0
$GC,2763,-0.68,-48.7,447.4,-16.0,280,2772,0.15,2.22,0.00,0.000,6,0.197,0.044,2649,2256,2851,0,0,0,0,0,0
$GC,3079,-0.68,-48.7,489.7,-13.0,296,3084,0.00,2.25,0.00,0.000,4,0.000,0.056,2640,3677,2851,0,0,0,0,0,0
$GC,3105,-0.68,-48.7,493.6,-14.1,297,3110,0.00,2.28,0.00,0.000,6,0.000,0.045,2644,2255,2851,0,0,0,0,0,0
$GC,3435,-0.68,-48.7,537.2,-13.5,313,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2252,2850,0,0,0,0,0,0
$GC,3742,-0.68,-48.7,578.7,-13.4,328,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2252,2850,0,0,0,0,0,0
$GC,4051,-0.68,-48.7,618.5,-12.2,343,4055,0.00,2.22,0.00,0.000,4,0.000,0.053,2644,846,2849,0,0,0,0,0,0
$GC,4091,-0.68,-48.7,623.6,-12.6,345,4095,0.00,2.25,0.00,0.000,6,0.000,0.048,2635,2268,2850,0,0,0,0,0,0
$GC,4418,-0.68,-48.7,665.2,-12.7,361,4422,0.00,2.25,0.00,0.000,4,0.000,0.050,2635,848,2849,0,0,0,0,0,0
$GC,4435,-0.68,-48.7,667.6,-13.0,362,4439,0.00,2.25,0.00,0.000,6,0.000,0.048,2625,2269,2849,0,0,0,0,0,0
$GC,4770,-0.68,-48.7,711.8,-13.1,378,4774,0.00,2.22,0.00,0.000,4,0.000,0.057,2614,3681,2848,0,0,0,0,0,0
$GC,4818,-0.68,-48.7,719.1,-14.1,380,4823,0.10,2.28,0.00,0.000,6,0.184,0.047,2643,2267,2848,0,0,0,0,0,0
$GC,5141,-0.68,-48.7,757.6,-11.7,396,5145,0.00,2.25,0.00,0.000,4,0.000,0.060,2634,3672,2848,0,0,0,0,0,0
$GC,5172,-0.68,-48.7,761.8,-12.3,397,5180,0.00,2.28,0.00,0.000,6,0.000,0.051,2633,2266,2848,0,0,0,0,0,0
$GC,5489,-0.68,-48.7,799.5,-11.9,413,5494,0.00,2.25,0.00,0.000,4,0.000,0.061,2623,3669,2847,0,0,0,0,0,0
$GC,5543,-0.68,-48.7,806.6,-13.0,415,5548,0.00,2.28,0.00,0.000,6,0.000,0.052,2622,2264,2847,0,0,0,0,0,0
$GC,5865,-0.68,-48.7,846.1,-12.4,431,5869,0.00,2.28,0.00,0.000,4,0.000,0.063,2613,3667,2847,0,0,0,0,0,0
$GC,5930,-0.68,-48.7,854.4,-13.3,434,5936,0.10,2.30,0.00,0.000,6,0.182,0.054,2642,2254,2847,0,0,0,0,0,0
$GC,6261,-0.68,-48.7,890.6,-11.2,450,6265,0.00,2.28,0.00,0.000,4,0.000,0.062,2633,3669,2846,0,0,0,0,0,0
$GC,6326,-0.68,-48.7,898.6,-11.5,453,6331,0.00,2.30,0.00,0.000,6,0.000,0.054,2633,2255,2846,0,0,0,0,0,0
$GC,6655,-0.68,-48.7,933.9,-10.6,469,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2251,2846,0,0,0,0,0,0
$GC,6963,-0.68,-48.7,966.2,-10.5,484,6967,0.00,2.28,0.00,0.000,4,0.000,0.057,2633,835,2845,0,0,0,0,0,0
$GC,6980,-0.68,-48.7,967.9,-10.6,485,6984,0.00,2.28,0.00,0.000,6,0.000,0.053,2622,2258,2845,0,0,0,0,0,0
$STATE,7287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7287,begin apogee
$GC,7292,-0.11,0.0,1001.7,11.2,500,7335,0.75,0.00,39.65,1.282,6,0.176,0.000,2829,1979,2650,0,0,0,0,0,0
$STATE,7335,end apogee,CONTROL_FINISHED_OK
$STATE,7335,begin climb
$GC,7337,0.68,48.7,1004.1,0.0,502,7385,0.77,2.42,41.35,1.256,4,0.094,0.056,3084,3405,2452,0,0,0,0,0,0
$GC,7390,0.72,83.6,1001.6,6.2,504,7428,0.00,2.38,31.48,1.239,6,0.000,0.047,3094,1992,2308,0,0,0,0,0,0
$GC,7749,0.72,83.6,952.6,14.2,522,7753,0.00,2.35,0.00,0.000,4,0.000,0.057,3105,576,2303,0,0,0,0,0,0
$GC,7879,0.72,83.6,934.2,14.2,528,7883,0.00,2.30,0.00,0.000,6,0.000,0.047,3099,1992,2302,0,0,0,0,0,0
$GC,8205,0.72,83.6,889.5,13.6,544,8209,0.00,2.30,0.00,0.000,4,0.000,0.054,3108,582,2302,0,0,0,0,0,0
$GC,8214,0.72,83.6,888.0,13.6,544,8222,0.00,2.30,0.00,0.000,6,0.000,0.046,3102,1984,2302,0,0,0,0,0,0
$GC,8530,0.72,83.6,843.5,14.2,560,8534,0.00,2.30,0.00,0.000,4,0.000,0.055,3111,579,2301,0,0,0,0,0,0
$GC,8548,0.72,83.6,841.0,14.5,561,8552,0.00,2.28,0.00,0.000,6,0.000,0.048,3103,1994,2300,0,0,0,0,0,0
$GC,8881,0.72,83.6,795.6,12.9,577,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1996,2300,0,0,0,0,0,0
$GC,9189,0.72,83.6,755.2,13.0,592,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1996,2300,0,0,0,0,0,0
$GC,9498,0.72,83.6,714.9,13.0,607,9503,0.00,2.30,0.00,0.000,4,0.000,0.054,3111,578,2300,0,0,0,0,0,0
$GC,9560,0.72,83.6,706.7,13.9,610,9564,0.00,2.25,0.00,0.000,6,0.000,0.047,3106,1991,2299,0,0,0,0,0,0
$GC,9887,0.72,83.6,665.4,12.5,626,9891,0.00,2.28,0.00,0.000,4,0.000,0.054,3116,584,2299,0,0,0,0,0,0
$GC,9942,0.72,83.6,658.0,12.4,628,9950,0.00,2.28,0.00,0.000,6,0.000,0.047,3111,1985,2299,0,0,0,0,0,0
$GC,10258,0.72,83.6,618.2,13.2,644,10262,0.00,2.28,0.00,0.000,4,0.000,0.054,3120,583,2299,0,0,0,0,0,0
$GC,10275,0.72,83.6,616.0,12.7,645,10279,0.00,2.25,0.00,0.000,6,0.000,0.047,3118,1995,2299,0,0,0,0,0,0
$GC,10601,0.72,83.6,574.0,12.5,661,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1998,2299,0,0,0,0,0,0
$GC,10910,0.72,83.6,535.9,12.1,676,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1998,2299,0,0,0,0,0,0
$GC,11220,0.72,83.6,499.4,11.7,691,11224,0.00,2.30,0.00,0.000,4,0.000,0.054,3127,577,2299,0,0,0,0,0,0
$GC,11308,0.72,83.6,488.5,12.2,695,11312,0.00,2.30,0.00,0.000,6,0.000,0.047,3125,1992,2298,0,0,0,0,0,0
$GC,11635,0.72,83.6,451.3,11.4,711,11639,0.00,2.28,0.00,0.000,4,0.000,0.053,3134,583,2298,0,0,0,0,0,0
$GC,11743,0.72,83.6,439.0,11.6,716,11747,0.00,2.25,0.00,0.000,6,0.000,0.046,3130,2000,2298,0,0,0,0,0,0
$GC,12070,0.72,83.6,401.1,11.5,732,12074,0.00,2.22,0.00,0.000,4,0.000,0.055,3129,3403,2298,0,0,0,0,0,0
$GC,12092,0.72,83.6,398.4,12.1,733,12099,0.15,2.22,0.00,0.000,6,0.225,0.045,3105,1989,2298,0,0,0,0,0,0
$GC,12416,0.72,83.6,364.1,10.0,764,12420,0.00,2.28,0.00,0.000,4,0.000,0.055,3115,578,2298,0,0,0,0,0,0
$GC,12459,0.72,83.6,359.5,10.7,767,12467,0.00,2.28,0.00,0.000,6,0.000,0.046,3115,1987,2298,0,0,0,0,0,0
$GC,12785,0.72,83.6,325.1,10.6,798,12789,0.00,2.28,0.00,0.000,4,0.000,0.054,3125,579,2298,0,0,0,0,0,0
$GC,12826,0.72,83.6,320.8,10.4,801,12831,0.00,2.25,0.00,0.000,6,0.000,0.047,3125,1996,2298,0,0,0,0,0,0
$GC,13151,0.72,83.6,285.4,10.3,831,13155,0.00,2.28,0.00,0.000,4,0.000,0.054,3135,583,2298,0,0,0,0,0,0
$GC,13183,0.72,83.6,281.5,11.4,833,13191,0.10,2.28,0.00,0.000,6,0.181,0.047,3107,1989,2298,0,0,0,0,0,0
$GC,13509,0.72,85.0,248.5,9.8,864,13513,0.00,2.22,0.00,0.000,4,0.000,0.055,3106,3403,2297,0,0,0,0,0,0
$GC,13609,0.72,85.0,237.6,11.4,872,13620,0.00,2.28,0.00,0.000,6,0.000,0.046,3115,1984,2298,0,0,0,0,0,0
$GC,13935,0.73,86.6,205.9,9.8,903,13939,0.00,2.25,0.00,0.000,4,0.000,0.055,3126,579,2298,0,0,0,0,0,0
$GC,14066,0.73,86.6,191.8,10.3,914,14070,0.00,2.25,0.00,0.000,6,0.000,0.046,3126,2000,2299,0,0,0,0,0,0
$GC,14399,0.73,86.6,156.7,11.1,945,14403,0.00,2.28,0.00,0.000,4,0.000,0.054,3136,582,2298,0,0,0,0,0,0
$GC,14625,0.73,86.6,131.3,10.5,964,14636,0.10,2.28,0.00,0.000,6,0.181,0.047,3108,1987,2298,0,0,0,0,0,0
$GC,14950,0.76,115.1,105.7,6.9,995,14980,0.00,2.25,24.30,0.730,4,0.000,0.054,3108,3404,2179,0,0,0,0,0,0
$GC,14985,0.79,139.5,103.1,7.4,997,15014,0.00,2.22,20.98,0.714,6,0.000,0.046,3117,1988,2079,0,0,0,0,0,0
$GC,15354,0.79,139.5,60.2,11.1,1059,15363,0.00,2.33,0.00,0.000,4,0.000,0.056,3128,589,2073,0,0,0,0,0,0
$GC,15385,0.79,139.5,56.4,12.0,1064,15393,0.00,2.28,0.00,0.000,6,0.000,0.046,3128,2004,2073,0,0,0,0,0,0
$GC,15749,0.79,139.5,6.4,15.4,1125,15758,0.00,2.35,0.00,0.000,4,0.000,0.054,3138,589,2072,0,0,0,0,0,0
$STATE,15771,end climb,SURFACE_DEPTH_REACHED
$STATE,15771,begin surface coast
$FINISH,1.5,1.019671
$STATE,15791,end surface coast,CONTROL_FINISHED_OK
$STATE,15791,begin surface
$SM_CCo,15809,33.55,0.056,0,0,1752,220.03
$SM_GC,2.13,0.00,0.00,33.55,0.000,0.000,0.056,132,2265,1752,-8.56,0.14,220.03
$IRIDIUM_FIX,-4441.36,627.47,011208,141400
$TT8_MAMPS,0.026215
$HUMID,49.84
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,23.6,35.888
$10V_AH,10.0,39.566
$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,21.075,150.900,157.750,33.550,0.000,48.184,35.827,746.884,24.750,0.000,8.145,3037.268,9861.303,349.641,3426.197,242.566,0.000,1436.634,0.000,2511.407,0.000,150.575,0.000
$DEVICE_MAMPS,253.215,62.730,1282.140,55.845,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.398,785.094,70.346,785.158,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,67001,1131
$CAP_FILE_SIZE,167561,0
$CFSIZE,2097086464,2056847360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.047, 32.1,1
$GPS,050216,111257,-4459.861,629.686,97,1.2,97,-24.4