version: 66.07.10.p01
glider: 574
mission: 18
dive: 22
start: 3 8 112 1 23 59
data:
$ID,574
$MISSION,18
$DIVE,22
$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,-2327708.5
$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,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,21
$GPS1,101215,121833,-4503.408,624.034,24,0.7,24,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-74.1
$GPS2,101215,122958,-4503.225,624.133,5,1.4,5,-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,252.7,1445,-22.7,-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,-0.70,-94.6,0.0,0.0,0,84,0.00,0.00,-58.47,0.000,2,0.000,0.000,144,2309,3217,0,0,0,0,0,0
$GC,86,-0.80,-179.8,3.9,-4.0,7,112,10.68,0.00,-8.35,0.000,6,0.262,0.000,2601,2309,3664,0,0,0,0,0,0
$GC,164,-0.80,-179.8,35.1,-39.2,18,171,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2309,3664,0,0,0,0,0,0
$GC,314,-0.80,-179.8,86.7,-36.0,43,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2309,3664,0,0,0,0,0,0
$GC,648,-0.80,-179.8,204.2,-32.5,77,652,0.00,2.20,0.00,0.000,4,0.000,0.055,2592,3708,3664,0,0,0,0,0,0
$GC,679,-0.80,-179.8,215.4,-31.3,79,688,0.00,2.22,0.00,0.000,6,0.000,0.043,2598,2308,3664,0,0,0,0,0,0
$GC,1005,-0.80,-179.8,318.7,-32.1,110,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2304,3665,0,0,0,0,0,0
$GC,1334,-0.80,-179.8,420.1,-30.2,138,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2304,3664,0,0,0,0,0,0
$GC,1643,-0.80,-179.8,512.5,-29.5,153,1647,0.00,2.22,0.00,0.000,4,0.000,0.051,2604,874,3664,0,0,0,0,0,0
$GC,1663,-0.80,-179.8,519.4,-30.3,154,1669,0.00,2.28,0.00,0.000,6,0.000,0.047,2595,2294,3664,0,0,0,0,0,0
$GC,1991,-0.80,-179.8,615.4,-29.6,170,1995,0.00,2.22,0.00,0.000,4,0.000,0.058,2585,3718,3664,0,0,0,0,0,0
$GC,2051,-0.80,-179.8,631.8,-24.0,173,2056,0.00,2.22,0.00,0.000,6,0.000,0.052,2591,2298,3664,0,0,0,0,0,0
$GC,2380,-0.80,-179.8,724.5,-28.8,189,2384,0.00,2.25,0.00,0.000,4,0.000,0.062,2582,3721,3664,0,0,0,0,0,0
$GC,2400,-0.80,-179.8,731.6,-29.9,190,2405,0.00,2.28,0.00,0.000,6,0.000,0.054,2584,2299,3664,0,0,0,0,0,0
$GC,2729,-0.80,-179.8,825.8,-28.9,206,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2296,3664,0,0,0,0,0,0
$GC,3038,-0.80,-179.8,915.2,-29.0,221,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2296,3664,0,0,0,0,0,0
$STATE,3348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3348,begin apogee
$GC,3351,-0.13,0.0,1002.2,28.1,236,3508,0.82,0.00,147.73,1.286,6,0.181,0.000,2821,2050,2928,0,0,0,0,0,0
$STATE,3508,end apogee,CONTROL_FINISHED_OK
$STATE,3509,begin climb
$GC,3510,0.80,179.8,1014.8,0.0,244,3670,0.93,2.45,151.93,1.262,4,0.076,0.052,3135,659,2195,0,0,0,0,0,0
$GC,3882,0.80,179.8,974.2,17.9,261,3887,0.00,2.38,0.00,0.000,6,0.000,0.047,3134,2063,2190,0,0,0,0,0,0
$GC,4209,0.80,179.8,913.2,18.8,277,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2067,2188,0,0,0,0,0,0
$GC,4519,0.80,179.8,855.9,18.3,292,4523,0.00,2.28,0.00,0.000,4,0.000,0.053,3143,652,2187,0,0,0,0,0,0
$GC,4580,0.80,179.8,843.9,19.3,295,4585,0.00,2.28,0.00,0.000,6,0.000,0.047,3140,2077,2186,0,0,0,0,0,0
$GC,4906,0.80,179.8,783.4,18.3,311,4910,0.00,2.28,0.00,0.000,4,0.000,0.051,3149,654,2186,0,0,0,0,0,0
$GC,4928,0.80,179.8,779.2,18.0,312,4932,0.00,2.25,0.00,0.000,6,0.000,0.045,3143,2070,2186,0,0,0,0,0,0
$GC,5248,0.80,179.8,721.6,17.5,328,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2073,2186,0,0,0,0,0,0
$GC,5558,0.80,179.8,666.9,17.6,343,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2073,2186,0,0,0,0,0,0
$GC,5869,0.80,179.8,613.3,17.3,358,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2073,2185,0,0,0,0,0,0
$GC,6178,0.80,179.8,561.8,16.3,373,6182,0.00,2.25,0.00,0.000,4,0.000,0.053,3152,648,2185,0,0,0,0,0,0
$GC,6243,0.80,179.8,550.1,16.4,376,6248,0.00,2.25,0.00,0.000,6,0.000,0.044,3148,2058,2185,0,0,0,0,0,0
$GC,6570,0.80,179.8,494.9,17.1,392,6574,0.00,2.22,0.00,0.000,4,0.000,0.051,3157,646,2185,0,0,0,0,0,0
$GC,6591,0.80,179.8,491.0,17.3,393,6596,0.00,2.25,0.00,0.000,6,0.000,0.044,3153,2059,2184,0,0,0,0,0,0
$GC,6918,0.80,179.8,435.0,16.8,409,6922,0.00,2.20,0.00,0.000,4,0.000,0.050,3162,654,2185,0,0,0,0,0,0
$GC,6961,0.80,179.8,427.2,18.2,411,6966,0.00,2.25,0.00,0.000,6,0.000,0.045,3157,2064,2184,0,0,0,0,0,0
$GC,7284,0.80,179.8,371.7,17.7,434,7288,0.00,2.22,0.00,0.000,4,0.000,0.050,3167,647,2184,0,0,0,0,0,0
$GC,7326,0.80,179.8,363.8,18.2,437,7336,0.10,2.25,0.00,0.000,6,0.200,0.045,3140,2063,2184,0,0,0,0,0,0
$GC,7652,0.80,179.8,312.1,15.8,468,7656,0.00,2.20,0.00,0.000,4,0.000,0.054,3139,3477,2184,0,0,0,0,0,0
$GC,7670,0.80,179.8,309.3,16.4,469,7674,0.00,2.17,0.00,0.000,6,0.000,0.043,3148,2056,2184,0,0,0,0,0,0
$GC,7994,0.80,179.8,254.9,17.4,499,7998,0.00,2.20,0.00,0.000,4,0.000,0.053,3159,649,2184,0,0,0,0,0,0
$GC,8082,0.80,179.8,239.5,17.3,506,8091,0.08,2.25,0.00,0.000,6,0.196,0.045,3139,2065,2184,0,0,0,0,0,0
$GC,8411,0.80,179.8,187.5,15.8,537,8415,0.00,2.22,0.00,0.000,4,0.000,0.051,3148,645,2184,0,0,0,0,0,0
$GC,8487,0.80,179.8,174.2,15.6,543,8495,0.00,2.25,0.00,0.000,6,0.000,0.046,3148,2059,2184,0,0,0,0,0,0
$GC,8813,0.80,179.8,126.0,15.0,574,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2059,2184,0,0,0,0,0,0
$GC,9140,0.80,179.8,75.8,14.9,618,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2059,2184,0,0,0,0,0,0
$GC,9498,0.80,179.8,24.5,13.3,679,9507,0.00,2.25,0.00,0.000,4,0.000,0.050,3159,649,2184,0,0,0,0,0,0
$STATE,9640,end climb,SURFACE_DEPTH_REACHED
$STATE,9640,begin surface coast
$FINISH,1.0,1.026010
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9660,begin surface
$SM_CCo,9676,51.17,0.055,0,0,1704,300.24
$SM_GC,2.58,0.00,0.00,51.17,0.000,0.000,0.055,137,2311,1704,-8.55,0.34,300.24
$IRIDIUM_FIX,-4444.39,621.76,061008,010120
$TT8_MAMPS,0.026215
$HUMID,48.34
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.20
$XPDR_PINGS,0
$24V_AH,22.9,10.116
$10V_AH,10.3,5.461
$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,20.875,68.275,299.650,51.175,0.000,31.916,40.900,507.189,24.750,0.000,9.323,1890.997,5803.014,442.584,2206.888,81.286,0.000,1131.055,0.000,1552.968,0.000,148.121,0.000
$DEVICE_MAMPS,261.630,62.730,1285.965,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.199,482.244,53.468,534.818,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,40243,705
$CAP_FILE_SIZE,103700,0
$CFSIZE,2097086464,2093187072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.121, 58.3,1
$GPS,101215,151355,-4503.636,623.211,36,0.9,36,-24.3