version: 66.07.10.p01
glider: 574
mission: 18
dive: 16
start: 3 7 112 5 21 58
data:
$ID,574
$MISSION,18
$DIVE,16
$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,200
$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,300
$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,-2327220.8
$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,39
$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,2299
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,29
$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,2929
$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,15
$GPS1,091215,161323,-4500.776,628.652,30,0.9,30,-24.4
$_CALLS,1
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.3
$GPS2,091215,162811,-4500.535,629.094,9,1.0,10,-24.4
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,265.2,9250,-15.6,-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,23,-0.64,-194.6,0.0,0.0,0,90,0.00,0.00,-64.47,0.000,2,0.000,0.000,139,2306,3350,0,0,0,0,0,0
$GC,92,-0.64,-194.6,3.6,-4.6,8,119,10.73,2.22,-6.78,0.000,4,0.255,0.058,2642,3712,3724,0,0,0,0,0,0
$GC,152,-0.64,-194.6,28.0,-37.7,16,161,0.00,2.28,0.00,0.000,6,0.000,0.040,2644,2298,3725,0,0,0,0,0,0
$GC,301,-0.64,-194.6,67.9,-27.5,41,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2294,3725,0,0,0,0,0,0
$GC,641,-0.64,-194.6,159.9,-27.1,82,645,0.00,2.25,0.00,0.000,4,0.000,0.055,2635,3714,3725,0,0,0,0,0,0
$GC,711,-0.64,-194.6,177.5,-19.3,88,721,0.00,2.25,0.00,0.000,6,0.000,0.042,2635,2303,3725,0,0,0,0,0,0
$GC,1037,-0.64,-194.6,259.8,-26.7,119,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2299,3725,0,0,0,0,0,0
$GC,1358,-0.64,-194.6,340.6,-25.8,149,1362,0.00,2.22,0.00,0.000,4,0.000,0.048,2638,880,3725,0,0,0,0,0,0
$GC,1380,-0.64,-194.6,347.2,-26.5,150,1388,0.12,2.22,0.00,0.000,6,0.191,0.047,2659,2296,3725,0,0,0,0,0,0
$GC,1702,-0.64,-194.6,419.3,-22.1,177,1706,0.00,2.22,0.00,0.000,4,0.000,0.057,2649,3720,3725,0,0,0,0,0,0
$GC,1778,-0.64,-194.6,434.4,-17.2,180,1783,0.00,2.25,0.00,0.000,6,0.000,0.046,2649,2300,3725,0,0,0,0,0,0
$GC,2099,-0.64,-194.6,504.6,-22.6,196,2103,0.00,2.20,0.00,0.000,4,0.000,0.052,2650,882,3725,0,0,0,0,0,0
$GC,2138,-0.64,-194.6,512.9,-20.7,198,2142,0.00,2.22,0.00,0.000,6,0.000,0.049,2640,2298,3725,0,0,0,0,0,0
$GC,2466,-0.64,-194.6,588.2,-23.7,214,2470,0.00,2.22,0.00,0.000,4,0.000,0.058,2629,3709,3725,0,0,0,0,0,0
$GC,2549,-0.64,-194.6,605.9,-18.4,218,2554,0.12,2.20,0.00,0.000,6,0.171,0.049,2661,2292,3725,0,0,0,0,0,0
$GC,2875,-0.64,-194.6,669.8,-19.4,234,2882,0.00,2.20,0.00,0.000,4,0.000,0.054,2671,880,3725,0,0,0,0,0,0
$GC,2920,-0.64,-194.6,678.0,-15.6,236,2925,0.00,2.22,0.00,0.000,6,0.000,0.050,2662,2297,3725,0,0,0,0,0,0
$GC,3246,-0.64,-194.6,739.7,-19.4,252,3251,0.00,2.22,0.00,0.000,4,0.000,0.060,2651,3720,3724,0,0,0,0,0,0
$GC,3302,-0.64,-194.6,749.6,-15.2,254,3307,0.00,2.22,0.00,0.000,6,0.000,0.051,2651,2293,3724,0,0,0,0,0,0
$GC,3622,-0.64,-194.6,811.9,-19.7,270,3626,0.00,2.20,0.00,0.000,4,0.000,0.057,2652,886,3724,0,0,0,0,0,0
$GC,3676,-0.64,-194.6,821.9,-15.3,272,3685,0.00,2.28,0.00,0.000,6,0.000,0.051,2643,2296,3724,0,0,0,0,0,0
$GC,3993,-0.64,-194.6,885.1,-20.8,288,3997,0.00,2.22,0.00,0.000,4,0.000,0.060,2632,3721,3723,0,0,0,0,0,0
$GC,4064,-0.64,-194.6,899.0,-17.3,291,4069,0.08,2.28,0.00,0.000,6,0.151,0.053,2657,2296,3723,0,0,0,0,0,0
$GC,4385,-0.64,-194.6,957.4,-18.1,307,4389,0.00,2.22,0.00,0.000,4,0.000,0.057,2664,874,3723,0,0,0,0,0,0
$GC,4417,-0.64,-194.6,963.5,-17.1,308,4425,0.00,2.30,0.00,0.000,6,0.000,0.054,2655,2298,3723,0,0,0,0,0,0
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4630,begin apogee
$GC,4634,-0.13,0.0,1001.1,18.2,319,4797,0.57,0.00,159.57,1.287,6,0.149,0.000,2827,2042,2929,0,0,0,0,0,0
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4799,0.64,194.6,1010.7,0.0,327,4974,0.73,2.50,164.73,1.265,4,0.068,0.050,3080,662,2134,0,0,0,0,0,0
$GC,5085,0.64,194.6,988.9,16.8,340,5090,0.00,2.40,0.00,0.000,6,0.000,0.044,3079,2071,2129,0,0,0,0,0,0
$GC,5413,0.64,194.6,937.4,16.4,356,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2073,2127,0,0,0,0,0,0
$GC,5721,0.64,194.6,886.5,16.5,371,5726,0.00,2.30,0.00,0.000,4,0.000,0.050,3089,649,2126,0,0,0,0,0,0
$GC,5747,0.64,194.6,881.7,17.0,372,5752,0.00,2.30,0.00,0.000,6,0.000,0.044,3088,2056,2126,0,0,0,0,0,0
$GC,6070,0.64,194.6,825.2,17.7,388,6074,0.00,2.25,0.00,0.000,4,0.000,0.049,3098,647,2125,0,0,0,0,0,0
$GC,6096,0.64,194.6,820.1,18.3,389,6101,0.00,2.30,0.00,0.000,6,0.000,0.044,3098,2069,2125,0,0,0,0,0,0
$GC,6418,0.64,194.6,763.4,17.5,405,6422,0.00,2.25,0.00,0.000,4,0.000,0.049,3108,651,2125,0,0,0,0,0,0
$GC,6460,0.64,194.6,755.7,17.0,407,6466,0.10,2.28,0.00,0.000,6,0.183,0.043,3079,2067,2125,0,0,0,0,0,0
$GC,6789,0.64,194.6,704.4,16.1,423,6793,0.00,2.22,0.00,0.000,4,0.000,0.048,3088,656,2124,0,0,0,0,0,0
$GC,6808,0.64,194.6,700.8,16.1,424,6813,0.00,2.28,0.00,0.000,6,0.000,0.044,3088,2071,2124,0,0,0,0,0,0
$GC,7138,0.64,194.6,648.6,15.6,440,7142,0.00,2.22,0.00,0.000,4,0.000,0.047,3099,655,2124,0,0,0,0,0,0
$GC,7154,0.64,194.6,645.8,15.9,441,7158,0.00,2.22,0.00,0.000,6,0.000,0.044,3099,2077,2124,0,0,0,0,0,0
$GC,7481,0.64,194.6,594.5,15.9,457,7485,0.00,2.22,0.00,0.000,4,0.000,0.047,3109,655,2124,0,0,0,0,0,0
$GC,7507,0.64,194.6,589.9,15.7,458,7512,0.10,2.22,0.00,0.000,6,0.184,0.043,3080,2055,2124,0,0,0,0,0,0
$GC,7828,0.64,194.6,544.4,13.6,474,7832,0.00,2.20,0.00,0.000,4,0.000,0.053,3080,3469,2124,0,0,0,0,0,0
$GC,7848,0.64,194.6,541.3,15.1,475,7853,0.00,2.20,0.00,0.000,6,0.000,0.039,3089,2060,2124,0,0,0,0,0,0
$GC,8175,0.64,194.6,494.3,13.8,491,8179,0.00,2.20,0.00,0.000,4,0.000,0.049,3101,648,2124,0,0,0,0,0,0
$GC,8283,0.64,194.6,479.3,13.9,496,8287,0.00,2.20,0.00,0.000,6,0.000,0.044,3101,2061,2123,0,0,0,0,0,0
$GC,8609,0.64,194.6,431.9,14.4,512,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2064,2123,0,0,0,0,0,0
$GC,8920,0.64,194.6,387.6,14.0,531,8924,0.00,2.20,0.00,0.000,4,0.000,0.052,3101,3479,2123,0,0,0,0,0,0
$GC,8950,0.64,194.6,383.3,15.6,533,8955,0.12,2.15,0.00,0.000,6,0.216,0.039,3083,2062,2123,0,0,0,0,0,0
$GC,9274,0.64,194.6,340.6,13.4,563,9278,0.00,2.17,0.00,0.000,4,0.000,0.047,3092,654,2123,0,0,0,0,0,0
$GC,9350,0.64,194.6,330.5,14.0,569,9354,0.00,2.20,0.00,0.000,6,0.000,0.044,3092,2077,2122,0,0,0,0,0,0
$GC,9674,0.64,194.6,284.5,14.8,599,9678,0.00,2.20,0.00,0.000,4,0.000,0.047,3103,655,2122,0,0,0,0,0,0
$GC,9703,0.64,194.6,280.3,15.2,601,9707,0.00,2.17,0.00,0.000,6,0.000,0.044,3103,2059,2122,0,0,0,0,0,0
$GC,10027,0.64,194.6,232.6,13.9,631,10031,0.00,2.17,0.00,0.000,4,0.000,0.046,3113,654,2123,0,0,0,0,0,0
$GC,10103,0.64,194.6,221.6,15.1,637,10108,0.12,2.17,0.00,0.000,6,0.194,0.043,3084,2062,2123,0,0,0,0,0,0
$GC,10427,0.64,194.6,176.9,13.6,667,10431,0.00,2.20,0.00,0.000,4,0.000,0.046,3092,645,2123,0,0,0,0,0,0
$GC,10490,0.64,194.6,168.1,13.8,672,10494,0.00,2.20,0.00,0.000,6,0.000,0.043,3093,2069,2123,0,0,0,0,0,0
$GC,10814,0.64,194.6,123.4,13.1,702,10817,0.00,2.17,0.00,0.000,4,0.000,0.051,3093,3478,2123,0,0,0,0,0,0
$GC,10863,0.64,194.6,116.6,13.6,706,10867,0.00,2.15,0.00,0.000,6,0.000,0.039,3103,2056,2124,0,0,0,0,0,0
$GC,11203,0.64,194.6,69.4,15.1,754,11210,0.00,2.17,0.00,0.000,4,0.000,0.047,3114,653,2123,0,0,0,0,0,0
$GC,11360,0.64,194.6,47.0,15.7,781,11367,0.15,2.20,0.00,0.000,6,0.199,0.044,3078,2062,2122,0,0,0,0,0,0
$STATE,11708,end climb,SURFACE_DEPTH_REACHED
$STATE,11708,begin surface coast
$FINISH,0.6,1.014634
$STATE,11734,end surface coast,CONTROL_FINISHED_OK
$STATE,11735,begin surface
$SM_CCo,11749,44.72,0.051,0,0,1703,300.24
$SM_GC,2.19,0.00,0.00,44.72,0.000,0.000,0.051,137,2322,1703,-8.55,0.65,300.24
$IRIDIUM_FIX,-4441.36,627.47,051008,050513
$TT8_MAMPS,0.026215
$HUMID,49.80
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.40
$XPDR_PINGS,0
$24V_AH,22.9,9.247
$10V_AH,10.3,4.934
$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,20.875,121.225,324.300,44.725,0.000,31.650,23.565,714.247,24.750,0.000,12.937,2267.029,7050.354,481.346,2777.176,97.549,0.000,1345.888,0.000,1921.273,0.000,148.369,0.000
$DEVICE_MAMPS,254.745,60.435,1287.495,51.255,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.942,577.598,63.663,630.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,50350,843
$CAP_FILE_SIZE,135138,0
$CFSIZE,2097086464,2093907968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.075,103.8,1
$GPS,091215,194652,-4501.276,627.525,71,0.9,71,-24.4