version: 66.07.10.p01
glider: 574
mission: 18
dive: 19
start: 3 7 112 15 47 37
data:
$ID,574
$MISSION,18
$DIVE,19
$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,-2327441
$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,20
$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,18
$GPS1,101215,024134,-4502.349,625.216,72,0.9,72,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-78.4
$GPS2,101215,025339,-4502.396,625.239,5,1.1,5,-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,244.6,3385,-18.6,-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,24,-0.65,-140.0,0.0,0.0,0,85,0.00,0.00,-59.00,0.000,2,0.000,0.000,144,2301,3194,0,0,0,0,0,0
$GC,87,-0.72,-194.6,3.4,-3.5,7,113,10.60,2.33,-10.10,0.000,4,0.256,0.062,2618,3721,3725,0,0,0,0,0,0
$GC,322,-0.72,-194.6,72.5,-25.4,45,330,0.00,2.28,0.00,0.000,6,0.000,0.044,2619,2304,3725,0,0,0,0,0,0
$GC,659,-0.72,-194.6,178.6,-31.4,84,664,0.00,2.22,0.00,0.000,4,0.000,0.054,2611,3715,3726,0,0,0,0,0,0
$GC,672,-0.72,-194.6,182.0,-32.0,85,677,0.00,2.22,0.00,0.000,6,0.000,0.039,2615,2286,3726,0,0,0,0,0,0
$GC,997,-0.72,-194.6,279.9,-30.6,115,1002,0.00,2.17,0.00,0.000,4,0.000,0.048,2619,887,3726,0,0,0,0,0,0
$GC,1021,-0.72,-194.6,286.8,-31.3,117,1026,0.12,2.25,0.00,0.000,6,0.197,0.047,2638,2313,3726,0,0,0,0,0,0
$GC,1345,-0.72,-194.6,374.4,-27.3,147,1349,0.00,2.20,0.00,0.000,4,0.000,0.056,2629,3721,3726,0,0,0,0,0,0
$GC,1399,-0.72,-194.6,388.1,-20.5,151,1407,0.00,2.25,0.00,0.000,6,0.000,0.047,2631,2307,3726,0,0,0,0,0,0
$GC,1727,-0.72,-194.6,473.4,-26.6,170,1731,0.00,2.22,0.00,0.000,4,0.000,0.051,2631,878,3726,0,0,0,0,0,0
$GC,1759,-0.72,-194.6,482.5,-25.9,171,1767,0.00,2.28,0.00,0.000,6,0.000,0.049,2622,2294,3726,0,0,0,0,0,0
$GC,2076,-0.72,-194.6,564.8,-26.3,187,2080,0.00,2.22,0.00,0.000,4,0.000,0.057,2612,3719,3726,0,0,0,0,0,0
$GC,2164,-0.72,-194.6,584.7,-18.9,191,2169,0.00,2.28,0.00,0.000,6,0.000,0.050,2616,2293,3726,0,0,0,0,0,0
$GC,2491,-0.72,-194.6,667.2,-25.5,207,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2289,3726,0,0,0,0,0,0
$GC,2801,-0.72,-194.6,746.2,-25.2,222,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2289,3726,0,0,0,0,0,0
$GC,3111,-0.72,-194.6,824.1,-25.3,237,3115,0.00,2.20,0.00,0.000,4,0.000,0.056,2616,881,3725,0,0,0,0,0,0
$GC,3127,-0.72,-194.6,828.4,-24.8,238,3132,0.12,2.22,0.00,0.000,6,0.198,0.051,2636,2297,3725,0,0,0,0,0,0
$GC,3452,-0.72,-194.6,898.8,-21.3,254,3456,0.00,2.22,0.00,0.000,4,0.000,0.063,2626,3711,3725,0,0,0,0,0,0
$GC,3529,-0.72,-194.6,913.1,-16.5,257,3537,0.00,2.25,0.00,0.000,6,0.000,0.054,2629,2305,3725,0,0,0,0,0,0
$GC,3845,-0.72,-194.6,979.5,-21.9,273,3852,0.00,2.25,0.00,0.000,4,0.000,0.060,2632,873,3724,0,0,0,0,0,0
$GC,3862,-0.72,-194.6,983.6,-22.1,273,3870,0.00,2.30,0.00,0.000,6,0.000,0.054,2622,2296,3724,0,0,0,0,0,0
$STATE,3952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3952,begin apogee
$GC,3956,-0.13,0.0,1002.6,22.0,278,4120,0.68,0.00,159.93,1.277,6,0.162,0.000,2820,2042,2929,0,0,0,0,0,0
$STATE,4120,end apogee,CONTROL_FINISHED_OK
$STATE,4120,begin climb
$GC,4122,0.72,194.6,1012.1,0.0,286,4292,0.85,0.00,165.40,1.255,6,0.078,0.000,3097,2042,2134,0,0,0,0,0,0
$GC,4599,0.72,194.6,949.8,18.5,309,4603,0.00,2.28,0.00,0.000,4,0.000,0.051,3108,654,2128,0,0,0,0,0,0
$GC,4638,0.72,194.6,942.6,19.0,311,4642,0.00,2.33,0.00,0.000,6,0.000,0.045,3108,2078,2126,0,0,0,0,0,0
$GC,4965,0.72,194.6,881.1,18.8,327,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2080,2126,0,0,0,0,0,0
$GC,5274,0.72,194.6,824.3,18.0,342,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2080,2126,0,0,0,0,0,0
$GC,5582,0.72,194.6,769.5,17.0,357,5586,0.00,2.28,0.00,0.000,4,0.000,0.050,3118,653,2125,0,0,0,0,0,0
$GC,5666,0.72,194.6,754.8,16.6,361,5670,0.00,2.22,0.00,0.000,6,0.000,0.045,3117,2061,2124,0,0,0,0,0,0
$GC,5991,0.72,194.6,695.6,17.9,377,5995,0.00,2.22,0.00,0.000,4,0.000,0.050,3127,653,2124,0,0,0,0,0,0
$GC,6023,0.72,194.6,689.7,17.5,378,6032,0.00,2.25,0.00,0.000,6,0.000,0.044,3126,2057,2124,0,0,0,0,0,0
$GC,6339,0.72,194.6,635.2,17.0,394,6343,0.00,2.22,0.00,0.000,4,0.000,0.050,3135,649,2124,0,0,0,0,0,0
$GC,6393,0.72,194.6,625.5,17.7,396,6402,0.10,2.25,0.00,0.000,6,0.208,0.043,3106,2058,2124,0,0,0,0,0,0
$GC,6709,0.72,194.6,574.5,16.2,412,6713,0.00,2.22,0.00,0.000,4,0.000,0.050,3116,647,2124,0,0,0,0,0,0
$GC,6735,0.72,194.6,570.1,16.0,413,6741,0.00,2.28,0.00,0.000,6,0.000,0.045,3116,2065,2123,0,0,0,0,0,0
$GC,7057,0.72,194.6,518.0,16.4,429,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2068,2124,0,0,0,0,0,0
$GC,7367,0.72,194.6,467.9,16.2,444,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2069,2123,0,0,0,0,0,0
$GC,7676,0.72,194.6,417.8,16.0,459,7680,0.00,2.22,0.00,0.000,4,0.000,0.050,3127,644,2124,0,0,0,0,0,0
$GC,7693,0.72,194.6,415.1,15.9,460,7697,0.00,2.22,0.00,0.000,6,0.000,0.044,3127,2079,2123,0,0,0,0,0,0
$GC,8014,0.72,194.6,362.9,15.9,486,8018,0.00,2.22,0.00,0.000,4,0.000,0.049,3137,655,2122,0,0,0,0,0,0
$GC,8035,0.72,194.6,359.2,16.8,487,8044,0.10,2.22,0.00,0.000,6,0.201,0.044,3109,2057,2122,0,0,0,0,0,0
$GC,8360,0.72,194.6,310.8,15.6,518,8364,0.00,2.20,0.00,0.000,4,0.000,0.050,3119,651,2122,0,0,0,0,0,0
$GC,8426,0.72,194.6,300.4,15.8,523,8434,0.00,2.25,0.00,0.000,6,0.000,0.045,3119,2064,2122,0,0,0,0,0,0
$GC,8751,0.72,194.6,251.1,14.8,554,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2065,2122,0,0,0,0,0,0
$GC,9070,0.72,194.6,201.5,15.7,584,9074,0.00,2.20,0.00,0.000,4,0.000,0.050,3130,654,2122,0,0,0,0,0,0
$GC,9143,0.72,194.6,189.4,16.6,590,9147,0.00,2.20,0.00,0.000,6,0.000,0.044,3130,2076,2122,0,0,0,0,0,0
$GC,9467,0.72,194.6,135.4,15.7,620,9471,0.00,2.22,0.00,0.000,4,0.000,0.049,3140,649,2123,0,0,0,0,0,0
$GC,9709,0.72,194.6,97.5,15.2,642,9720,0.12,2.22,0.00,0.000,6,0.192,0.045,3105,2056,2122,0,0,0,0,0,0
$GC,10063,0.72,194.6,50.4,12.3,703,10069,0.00,2.20,0.00,0.000,4,0.000,0.054,3105,3477,2123,0,0,0,0,0,0
$GC,10186,0.72,194.6,34.1,13.2,724,10195,0.00,2.20,0.00,0.000,6,0.000,0.041,3114,2059,2124,0,0,0,0,0,0
$GC,10341,0.72,194.6,13.2,14.6,749,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2056,2123,0,0,0,0,0,0
$GC,10399,0.72,194.6,4.6,14.6,758,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2057,2123,0,0,0,0,0,0
$STATE,10415,end climb,SURFACE_DEPTH_REACHED
$STATE,10415,begin surface coast
$FINISH,0.8,1.026684
$STATE,10435,end surface coast,CONTROL_FINISHED_OK
$STATE,10435,begin surface
$SM_CCo,10449,44.78,0.054,0,0,1704,300.24
$SM_GC,2.37,0.00,0.00,44.78,0.000,0.000,0.054,144,2313,1704,-8.52,0.37,300.24
$IRIDIUM_FIX,-4444.39,627.81,051008,090957
$TT8_MAMPS,0.026215
$HUMID,48.70
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.40
$XPDR_PINGS,0
$24V_AH,22.9,9.709
$10V_AH,10.3,5.204
$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,20.700,90.325,325.325,44.775,0.000,35.515,70.210,504.551,24.750,0.000,8.945,2023.758,6257.679,491.305,2363.918,87.248,0.000,1241.726,0.000,1674.845,0.000,148.412,0.000
$DEVICE_MAMPS,255.510,66.555,1276.785,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.159,517.645,59.517,577.848,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,43599,763
$CAP_FILE_SIZE,115544,0
$CFSIZE,2097086464,2093547520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.100, 77.8,1
$GPS,101215,055121,-4503.300,624.455,99,0.8,99,-24.4