version: 66.07.10.p01
glider: 574
mission: 18
dive: 20
start: 3 7 112 18 56 34
data:
$ID,574
$MISSION,18
$DIVE,20
$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,-2327555
$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,29
$R_STBD_OVSHOOT,28
$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,19
$GPS1,101215,055121,-4503.300,624.455,99,0.8,99,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.8
$GPS2,101215,060247,-4503.333,624.641,5,1.0,5,-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,262.2,1493,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.79,-62.6,0.0,0.0,0,83,0.00,0.00,-57.72,0.000,2,0.000,0.000,144,2312,3146,0,0,0,0,0,0
$GC,85,-0.88,-131.5,3.2,-2.6,7,110,10.48,2.25,-6.57,0.000,4,0.259,0.060,2569,3707,3465,0,0,0,0,0,0
$GC,192,-0.88,-131.5,39.9,-32.9,23,202,0.00,2.22,0.00,0.000,6,0.000,0.037,2574,2305,3465,0,0,0,0,0,0
$GC,344,-0.88,-131.5,91.6,-33.6,48,353,0.00,2.28,0.00,0.000,4,0.000,0.051,2566,3711,3465,0,0,0,0,0,0
$GC,477,-0.88,-131.5,133.0,-30.7,61,481,0.00,2.20,0.00,0.000,6,0.000,0.041,2565,2298,3465,0,0,0,0,0,0
$GC,803,-0.88,-131.5,242.1,-33.2,91,807,0.00,2.20,0.00,0.000,4,0.000,0.044,2565,873,3465,0,0,0,0,0,0
$GC,842,-0.88,-131.5,255.6,-32.2,94,847,0.12,2.25,0.00,0.000,6,0.222,0.047,2581,2297,3466,0,0,0,0,0,0
$GC,1166,-0.88,-131.5,353.8,-30.3,124,1170,0.00,2.20,0.00,0.000,4,0.000,0.054,2572,3711,3465,0,0,0,0,0,0
$GC,1254,-0.88,-131.5,379.5,-27.4,131,1265,0.00,2.22,0.00,0.000,6,0.000,0.044,2576,2303,3466,0,0,0,0,0,0
$GC,1583,-0.88,-131.5,478.6,-30.0,151,1589,0.00,2.25,0.00,0.000,4,0.000,0.056,2567,3721,3466,0,0,0,0,0,0
$GC,1606,-0.88,-131.5,485.9,-30.5,152,1610,0.00,2.20,0.00,0.000,6,0.000,0.044,2571,2296,3465,0,0,0,0,0,0
$GC,1933,-0.88,-131.5,581.8,-28.6,168,1937,0.00,2.22,0.00,0.000,4,0.000,0.056,2562,3716,3466,0,0,0,0,0,0
$GC,1953,-0.88,-131.5,588.3,-29.5,169,1958,0.00,2.22,0.00,0.000,6,0.000,0.044,2564,2305,3465,0,0,0,0,0,0
$GC,2281,-0.88,-131.5,682.4,-28.3,185,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2300,3465,0,0,0,0,0,0
$GC,2591,-0.88,-131.5,768.9,-28.1,200,2596,0.00,2.20,0.00,0.000,4,0.000,0.057,2555,3710,3465,0,0,0,0,0,0
$GC,2635,-0.88,-131.5,781.8,-28.0,202,2640,0.12,2.20,0.00,0.000,6,0.204,0.050,2584,2296,3465,0,0,0,0,0,0
$GC,2961,-0.88,-131.5,865.4,-25.2,218,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2293,3465,0,0,0,0,0,0
$GC,3273,-0.88,-131.5,941.8,-24.7,233,3277,0.00,2.22,0.00,0.000,4,0.000,0.060,2576,3708,3464,0,0,0,0,0,0
$GC,3298,-0.88,-131.5,949.4,-25.5,234,3305,0.00,2.22,0.00,0.000,6,0.000,0.050,2577,2306,3465,0,0,0,0,0,0
$STATE,3518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3518,begin apogee
$GC,3522,-0.13,0.0,1003.6,25.0,245,3633,0.88,0.00,107.15,1.283,6,0.182,0.000,2824,2044,2929,0,0,0,0,0,0
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3634,begin climb
$GC,3635,0.88,131.5,1010.4,0.0,250,3753,1.02,2.40,110.35,1.252,4,0.098,0.048,3157,652,2391,0,0,0,0,0,0
$GC,3768,0.88,131.5,1006.0,11.8,256,3773,0.00,2.42,0.00,0.000,6,0.000,0.044,3153,2056,2389,0,0,0,0,0,0
$GC,4090,0.88,131.5,952.2,16.7,272,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2058,2388,0,0,0,0,0,0
$GC,4400,0.88,131.5,903.4,15.3,287,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2058,2387,0,0,0,0,0,0
$GC,4709,0.88,131.5,857.3,15.0,302,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2058,2387,0,0,0,0,0,0
$GC,5018,0.88,131.5,812.6,14.2,317,5022,0.00,2.22,0.00,0.000,4,0.000,0.050,3163,648,2386,0,0,0,0,0,0
$GC,5060,0.88,131.5,806.4,14.2,319,5066,0.00,2.28,0.00,0.000,6,0.000,0.044,3156,2061,2386,0,0,0,0,0,0
$GC,5389,0.88,131.5,762.9,13.5,335,5393,0.00,2.22,0.00,0.000,4,0.000,0.049,3165,648,2386,0,0,0,0,0,0
$GC,5414,0.88,131.5,758.9,14.6,336,5420,0.00,2.28,0.00,0.000,6,0.000,0.045,3163,2063,2386,0,0,0,0,0,0
$GC,5736,0.88,131.5,713.4,13.9,352,5740,0.00,2.22,0.00,0.000,4,0.000,0.049,3172,646,2385,0,0,0,0,0,0
$GC,5753,0.88,131.5,711.0,14.3,353,5757,0.00,2.22,0.00,0.000,6,0.000,0.045,3168,2067,2386,0,0,0,0,0,0
$GC,6078,0.88,131.5,664.8,14.0,369,6082,0.00,2.22,0.00,0.000,4,0.000,0.049,3177,644,2386,0,0,0,0,0,0
$GC,6098,0.88,131.5,661.8,14.5,370,6103,0.00,2.25,0.00,0.000,6,0.000,0.044,3177,2057,2385,0,0,0,0,0,0
$GC,6425,0.88,131.5,615.6,14.5,386,6429,0.00,2.20,0.00,0.000,4,0.000,0.050,3187,647,2385,0,0,0,0,0,0
$GC,6446,0.88,131.5,612.4,14.5,387,6451,0.10,2.25,0.00,0.000,6,0.226,0.044,3160,2063,2385,0,0,0,0,0,0
$GC,6774,0.88,131.5,568.1,13.4,403,6778,0.00,2.22,0.00,0.000,4,0.000,0.054,3159,3483,2385,0,0,0,0,0,0
$GC,6822,0.88,131.5,560.8,14.4,405,6827,0.00,2.22,0.00,0.000,6,0.000,0.041,3169,2061,2385,0,0,0,0,0,0
$GC,7144,0.88,131.5,518.1,13.6,421,7148,0.00,2.20,0.00,0.000,4,0.000,0.050,3179,645,2385,0,0,0,0,0,0
$GC,7198,0.88,131.5,510.3,14.4,423,7205,0.00,2.22,0.00,0.000,6,0.000,0.045,3179,2078,2385,0,0,0,0,0,0
$GC,7514,0.88,131.5,466.8,13.4,439,7518,0.00,2.22,0.00,0.000,4,0.000,0.049,3190,646,2385,0,0,0,0,0,0
$GC,7575,0.88,131.5,458.6,13.3,442,7580,0.15,2.20,0.00,0.000,6,0.252,0.044,3157,2063,2385,0,0,0,0,0,0
$GC,7902,0.88,131.5,420.9,11.1,458,7906,0.00,2.20,0.00,0.000,4,0.000,0.048,3167,646,2385,0,0,0,0,0,0
$GC,7972,0.88,131.5,412.6,11.2,461,7977,0.00,2.25,0.00,0.000,6,0.000,0.044,3167,2065,2385,0,0,0,0,0,0
$GC,8301,0.88,131.5,377.5,10.4,487,8305,0.00,2.17,0.00,0.000,4,0.000,0.052,3167,3478,2385,0,0,0,0,0,0
$GC,8367,0.88,131.5,369.8,11.8,492,8377,0.00,2.20,0.00,0.000,6,0.000,0.041,3177,2062,2385,0,0,0,0,0,0
$GC,8693,0.88,132.1,335.9,9.9,523,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2062,2385,0,0,0,0,0,0
$GC,9014,0.88,134.9,303.6,9.7,553,9018,0.00,2.20,0.00,0.000,4,0.000,0.050,3188,653,2385,0,0,0,0,0,0
$GC,9246,0.88,134.9,279.3,11.3,573,9251,0.15,2.20,0.00,0.000,6,0.248,0.044,3156,2078,2385,0,0,0,0,0,0
$GC,9571,0.88,134.9,246.2,11.2,603,9575,0.00,2.15,0.00,0.000,4,0.000,0.053,3156,3477,2385,0,0,0,0,0,0
$GC,9635,0.88,134.9,238.2,12.8,608,9645,0.00,2.20,0.00,0.000,6,0.000,0.041,3166,2060,2385,0,0,0,0,0,0
$GC,9962,0.88,134.9,201.1,11.7,639,9965,0.00,2.17,0.00,0.000,4,0.000,0.052,3165,3472,2385,0,0,0,0,0,0
$GC,10082,0.88,134.9,186.2,13.3,649,10086,0.00,2.15,0.00,0.000,6,0.000,0.042,3176,2057,2385,0,0,0,0,0,0
$GC,10406,0.88,134.9,146.9,11.0,679,10410,0.00,2.17,0.00,0.000,4,0.000,0.051,3186,646,2385,0,0,0,0,0,0
$GC,10937,0.90,152.2,98.3,8.1,727,10958,0.00,2.17,15.57,0.689,6,0.000,0.044,3186,2059,2308,0,0,0,0,0,0
$GC,11301,0.90,152.2,54.6,13.1,790,11309,0.00,2.17,0.00,0.000,4,0.000,0.047,3196,653,2307,0,0,0,0,0,0
$GC,11314,0.90,152.2,52.7,12.4,792,11324,0.10,2.22,0.00,0.000,6,0.220,0.045,3171,2056,2307,0,0,0,0,0,0
$GC,11682,0.93,174.5,15.1,7.6,853,11700,0.00,2.20,10.30,0.581,4,0.000,0.046,3180,653,2214,0,0,0,0,0,0
$STATE,11778,end climb,SURFACE_DEPTH_REACHED
$STATE,11779,begin surface coast
$FINISH,0.9,1.025954
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11822,54.80,0.055,0,0,1703,300.24
$SM_GC,2.64,0.00,0.00,54.80,0.000,0.000,0.055,147,2296,1703,-8.51,-0.08,300.24
$IRIDIUM_FIX,-4447.43,621.76,051008,191909
$TT8_MAMPS,0.026215
$HUMID,48.38
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.2,9.831
$10V_AH,10.3,5.301
$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,21.550,111.975,243.375,54.800,0.000,29.613,17.138,527.245,24.750,0.000,8.959,2346.495,7031.601,418.986,2664.083,97.700,0.000,1296.197,0.000,2004.532,0.000,148.375,0.000
$DEVICE_MAMPS,258.570,61.200,1282.905,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.013,598.538,66.868,690.032,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,50162,872
$CAP_FILE_SIZE,130757,0
$CFSIZE,2097086464,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.142, 74.8,1
$GPS,101215,092321,-4503.569,624.402,99,0.9,99,-24.4