version: 66.07.10.p01
glider: 574
mission: 18
dive: 27
start: 3 8 112 17 40 42
data:
$ID,574
$MISSION,18
$DIVE,27
$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,150
$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,-2328117.2
$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,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,39
$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,3000
$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,26
$GPS1,111215,043521,-4503.479,623.919,54,0.8,54,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-80.3
$GPS2,111215,044656,-4503.325,623.906,5,1.1,5,-24.4
$SPEED_LIMITS,0.172,0.260
$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,231.5,1256,-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,-62.6,0.0,0.0,0,75,0.00,0.00,-49.92,0.000,2,0.000,0.000,140,2319,3044,0,0,0,0,0,0
$GC,77,-0.88,-136.4,3.0,-2.1,6,105,10.23,2.28,-10.90,0.000,4,0.249,0.062,2565,3709,3557,0,0,0,0,0,0
$GC,162,-0.88,-136.4,31.4,-33.2,18,171,0.00,2.25,0.00,0.000,6,0.000,0.042,2565,2306,3558,0,0,0,0,0,0
$GC,316,-0.88,-136.4,89.5,-38.8,43,324,0.00,2.22,0.00,0.000,4,0.000,0.045,2566,882,3558,0,0,0,0,0,0
$GC,356,-0.88,-136.4,106.1,-37.3,49,365,0.08,2.28,0.00,0.000,6,0.207,0.048,2575,2277,3558,0,0,0,0,0,0
$GC,682,-0.88,-136.4,222.8,-35.2,80,686,0.00,2.28,0.00,0.000,4,0.000,0.054,2566,3715,3558,0,0,0,0,0,0
$GC,762,-0.88,-136.4,248.8,-29.4,87,768,0.00,2.20,0.00,0.000,6,0.000,0.044,2566,2300,3559,0,0,0,0,0,0
$GC,1095,-0.88,-136.4,362.7,-33.9,118,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2297,3559,0,0,0,0,0,0
$GC,1416,-0.88,-136.4,471.2,-34.1,139,1420,0.00,2.22,0.00,0.000,4,0.000,0.055,2555,3716,3559,0,0,0,0,0,0
$GC,1465,-0.88,-136.4,487.7,-30.8,141,1471,0.08,2.25,0.00,0.000,6,0.183,0.048,2577,2307,3559,0,0,0,0,0,0
$GC,1787,-0.88,-136.4,586.9,-30.5,157,1791,0.00,2.22,0.00,0.000,4,0.000,0.052,2588,878,3559,0,0,0,0,0,0
$GC,1813,-0.88,-136.4,595.6,-30.5,158,1818,0.00,2.28,0.00,0.000,6,0.000,0.050,2579,2291,3559,0,0,0,0,0,0
$GC,2136,-0.88,-136.4,692.4,-30.2,174,2140,0.00,2.22,0.00,0.000,4,0.000,0.059,2568,3711,3559,0,0,0,0,0,0
$GC,2237,-0.88,-136.4,720.1,-25.5,178,2243,0.00,2.22,0.00,0.000,6,0.000,0.053,2568,2293,3559,0,0,0,0,0,0
$GC,2552,-0.88,-136.4,814.9,-30.2,194,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2289,3558,0,0,0,0,0,0
$GC,2862,-0.88,-136.4,905.5,-28.6,209,2866,0.00,2.25,0.00,0.000,4,0.000,0.063,2558,3711,3558,0,0,0,0,0,0
$GC,2910,-0.88,-136.4,919.5,-25.5,211,2916,0.08,2.28,0.00,0.000,6,0.181,0.055,2579,2296,3558,0,0,0,0,0,0
$STATE,3231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3231,begin apogee
$GC,3235,-0.13,0.0,1005.1,26.4,227,3354,0.85,0.00,112.07,1.300,6,0.176,0.000,2823,2051,2999,0,0,0,0,0,0
$STATE,3354,end apogee,CONTROL_FINISHED_OK
$STATE,3354,begin climb
$GC,3356,0.88,136.4,1013.1,0.0,233,3479,1.00,2.47,114.18,1.264,4,0.085,0.053,3158,657,2443,0,0,0,0,0,0
$GC,3741,0.88,136.4,977.3,15.2,250,3746,0.00,2.35,0.00,0.000,6,0.000,0.047,3155,2062,2441,0,0,0,0,0,0
$GC,4063,0.88,136.4,929.6,14.9,266,4067,0.00,2.28,0.00,0.000,4,0.000,0.057,3155,3477,2441,0,0,0,0,0,0
$GC,4089,0.88,136.4,925.3,15.3,267,4094,0.00,2.30,0.00,0.000,6,0.000,0.045,3165,2059,2440,0,0,0,0,0,0
$GC,4411,0.88,136.4,877.0,14.7,283,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2056,2439,0,0,0,0,0,0
$GC,4721,0.88,136.4,831.8,14.4,298,4725,0.00,2.22,0.00,0.000,4,0.000,0.054,3175,653,2439,0,0,0,0,0,0
$GC,4737,0.88,136.4,829.5,13.9,299,4741,0.00,2.25,0.00,0.000,6,0.000,0.048,3171,2070,2439,0,0,0,0,0,0
$GC,5062,0.88,136.4,784.6,13.7,315,5066,0.00,2.25,0.00,0.000,4,0.000,0.053,3180,653,2439,0,0,0,0,0,0
$GC,5207,0.88,136.4,764.2,14.0,321,5215,0.00,2.25,0.00,0.000,6,0.000,0.047,3178,2051,2439,0,0,0,0,0,0
$GC,5523,0.88,136.4,721.5,13.8,337,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2052,2438,0,0,0,0,0,0
$GC,5832,0.88,136.4,680.8,12.8,352,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2052,2438,0,0,0,0,0,0
$GC,6141,0.88,136.4,641.3,12.6,367,6145,0.00,2.22,0.00,0.000,4,0.000,0.056,3177,3478,2438,0,0,0,0,0,0
$GC,6173,0.88,136.4,636.9,13.2,368,6181,0.00,2.22,0.00,0.000,6,0.000,0.044,3186,2066,2438,0,0,0,0,0,0
$GC,6489,0.88,136.4,596.9,12.3,384,6494,0.12,2.25,0.00,0.000,4,0.256,0.054,3172,641,2438,0,0,0,0,0,0
$GC,6531,0.88,136.4,591.6,12.1,386,6537,0.00,2.28,0.00,0.000,6,0.000,0.046,3171,2063,2438,0,0,0,0,0,0
$GC,6861,0.88,136.4,552.9,12.2,402,6865,0.00,2.22,0.00,0.000,4,0.000,0.053,3180,644,2438,0,0,0,0,0,0
$GC,6931,0.88,136.4,543.9,11.9,405,6937,0.05,2.25,0.00,0.000,6,0.227,0.046,3165,2062,2438,0,0,0,0,0,0
$GC,7254,0.88,136.4,507.5,11.2,421,7258,0.00,2.22,0.00,0.000,4,0.000,0.052,3175,652,2438,0,0,0,0,0,0
$GC,7376,0.88,136.4,493.7,11.3,426,7384,0.00,2.25,0.00,0.000,6,0.000,0.046,3174,2064,2438,0,0,0,0,0,0
$GC,7692,0.88,136.4,460.1,10.5,442,7696,0.00,2.22,0.00,0.000,4,0.000,0.052,3184,642,2438,0,0,0,0,0,0
$GC,7763,0.88,136.4,452.7,10.2,445,7769,0.00,2.28,0.00,0.000,6,0.000,0.046,3182,2071,2438,0,0,0,0,0,0
$GC,8085,0.88,136.4,419.1,10.7,461,8089,0.00,2.17,0.00,0.000,4,0.000,0.054,3182,3479,2437,0,0,0,0,0,0
$GC,8263,0.88,136.4,399.5,10.7,469,8269,0.12,2.22,0.00,0.000,6,0.233,0.044,3160,2060,2437,0,0,0,0,0,0
$GC,8589,0.89,146.3,370.2,8.9,499,8602,0.00,2.30,8.07,0.767,4,0.000,0.054,3159,3481,2402,0,0,0,0,0,0
$GC,8615,0.90,151.8,367.9,9.4,501,8629,0.00,2.20,5.75,0.707,6,0.000,0.044,3169,2051,2381,0,0,0,0,0,0
$GC,8944,0.90,151.8,330.6,11.8,532,8948,0.00,2.20,0.00,0.000,4,0.000,0.054,3179,649,2381,0,0,0,0,0,0
$GC,9077,0.90,151.8,314.5,11.9,543,9085,0.00,2.25,0.00,0.000,6,0.000,0.046,3179,2058,2381,0,0,0,0,0,0
$GC,9403,0.90,151.8,273.5,12.2,574,9407,0.00,2.20,0.00,0.000,4,0.000,0.051,3189,651,2381,0,0,0,0,0,0
$GC,9524,0.90,151.8,258.6,12.1,584,9535,0.00,2.25,0.00,0.000,6,0.000,0.046,3189,2061,2381,0,0,0,0,0,0
$GC,9850,0.90,151.8,217.5,12.8,615,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2061,2382,0,0,0,0,0,0
$GC,10171,0.90,151.8,180.9,10.3,645,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2062,2382,0,0,0,0,0,0
$GC,10487,0.91,158.5,149.7,9.2,675,10498,0.00,0.00,7.28,0.637,6,0.000,0.000,3189,2062,2352,0,0,0,0,0,0
$GC,10816,0.91,158.5,116.1,10.6,706,10820,0.00,2.22,0.00,0.000,4,0.000,0.051,3199,652,2352,0,0,0,0,0,0
$GC,10962,0.91,158.5,99.9,11.2,718,10969,0.15,2.20,0.00,0.000,6,0.220,0.046,3166,2064,2353,0,0,0,0,0,0
$GC,11310,0.91,158.5,63.7,10.7,779,11317,0.00,2.20,0.00,0.000,4,0.000,0.051,3175,653,2353,0,0,0,0,0,0
$GC,11413,0.92,165.8,53.8,9.2,797,11429,0.00,2.22,6.65,0.576,6,0.000,0.047,3175,2071,2325,0,0,0,0,0,0
$GC,11786,0.92,165.8,15.9,10.0,859,11795,0.00,2.25,0.00,0.000,4,0.000,0.051,3185,657,2325,0,0,0,0,0,0
$STATE,11897,end climb,SURFACE_DEPTH_REACHED
$STATE,11898,begin surface coast
$FINISH,1.1,1.026614
$STATE,11930,end surface coast,CONTROL_FINISHED_OK
$STATE,11930,begin surface
$SM_CCo,11947,57.10,0.055,0,0,1774,300.24
$SM_GC,3.04,0.00,0.00,57.10,0.000,0.000,0.055,139,2308,1774,-8.54,0.25,300.24
$IRIDIUM_FIX,-4447.43,622.10,061008,141415
$TT8_MAMPS,0.025466
$HUMID,48.42
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.60
$XPDR_PINGS,0
$24V_AH,23.2,10.908
$10V_AH,10.3,5.891
$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,21.125,104.175,254.000,57.100,0.000,32.736,58.186,494.080,24.750,0.000,8.960,2369.190,7059.792,446.199,2719.223,100.901,0.000,1327.465,0.000,2055.101,0.000,148.106,0.000
$DEVICE_MAMPS,255.510,64.260,1299.735,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.209,599.203,69.709,686.763,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,50157,882
$CAP_FILE_SIZE,130550,0
$CFSIZE,2097086464,2092597248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.090, 49.8,1
$GPS,111215,080857,-4503.851,623.520,55,0.9,56,-24.4