version: 66.07.10.p01
glider: 574
mission: 18
dive: 28
start: 3 8 112 21 14 47
data:
$ID,574
$MISSION,18
$DIVE,28
$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,-2328188
$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,30
$R_STBD_OVSHOOT,23
$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,2780
$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,27
$GPS1,111215,080857,-4503.851,623.520,55,0.9,56,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-80.3
$GPS2,111215,082104,-4503.821,623.465,5,0.9,5,-24.4
$SPEED_LIMITS,0.172,0.260
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,12.4,14501,-18.2,-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,-0.65,-146.0,0.0,0.0,0,82,0.00,0.00,-56.62,0.000,2,0.000,0.000,139,2308,3258,0,0,0,0,0,0
$GC,84,-0.65,-146.0,3.8,-3.4,7,103,10.65,2.30,-2.25,0.000,4,0.252,0.050,2662,879,3378,0,0,0,0,0,0
$GC,197,-0.65,-146.0,37.8,-22.4,24,206,0.00,2.35,0.00,0.000,6,0.000,0.050,2653,2303,3378,0,0,0,0,0,0
$GC,349,-0.65,-146.0,75.1,-26.2,49,356,0.00,2.28,0.00,0.000,4,0.000,0.056,2642,3723,3378,0,0,0,0,0,0
$GC,425,-0.65,-146.0,94.4,-22.9,62,432,0.00,2.22,0.00,0.000,6,0.000,0.045,2645,2306,3378,0,0,0,0,0,0
$GC,757,-0.65,-146.0,180.6,-25.3,95,761,0.00,2.22,0.00,0.000,4,0.000,0.051,2645,884,3378,0,0,0,0,0,0
$GC,787,-0.65,-146.0,187.8,-26.0,97,791,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2301,3379,0,0,0,0,0,0
$GC,1117,-0.65,-146.0,270.4,-25.0,128,1121,0.00,2.22,0.00,0.000,4,0.000,0.057,2625,3711,3378,0,0,0,0,0,0
$GC,1166,-0.65,-146.0,282.7,-22.4,132,1177,0.10,2.25,0.00,0.000,6,0.183,0.047,2653,2301,3378,0,0,0,0,0,0
$GC,1491,-0.65,-146.0,355.5,-22.6,163,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2298,3379,0,0,0,0,0,0
$GC,1807,-0.65,-146.0,423.2,-20.4,188,1811,0.00,2.22,0.00,0.000,4,0.000,0.054,2659,878,3378,0,0,0,0,0,0
$GC,1847,-0.65,-146.0,431.2,-19.7,190,1851,0.00,2.25,0.00,0.000,6,0.000,0.051,2649,2299,3378,0,0,0,0,0,0
$GC,2174,-0.65,-146.0,496.1,-19.6,206,2178,0.00,2.22,0.00,0.000,4,0.000,0.060,2639,3718,3378,0,0,0,0,0,0
$GC,2222,-0.65,-146.0,506.0,-17.4,208,2227,0.00,2.28,0.00,0.000,6,0.000,0.052,2638,2297,3378,0,0,0,0,0,0
$GC,2545,-0.65,-146.0,571.1,-21.1,224,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2293,3378,0,0,0,0,0,0
$GC,2853,-0.65,-146.0,638.1,-22.0,239,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2293,3378,0,0,0,0,0,0
$GC,3163,-0.65,-146.0,706.8,-21.9,254,3167,0.00,2.25,0.00,0.000,4,0.000,0.063,2629,3716,3378,0,0,0,0,0,0
$GC,3181,-0.65,-146.0,710.8,-22.3,255,3185,0.10,2.22,0.00,0.000,6,0.202,0.054,2655,2300,3377,0,0,0,0,0,0
$GC,3507,-0.65,-146.0,773.3,-18.4,271,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2296,3378,0,0,0,0,0,0
$GC,3816,-0.65,-146.0,828.9,-17.9,286,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2296,3377,0,0,0,0,0,0
$GC,4127,-0.65,-146.0,883.2,-16.9,301,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2296,3377,0,0,0,0,0,0
$GC,4434,-0.65,-146.0,935.9,-16.7,316,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2296,3376,0,0,0,0,0,0
$GC,4743,-0.65,-146.0,988.1,-16.6,331,4747,0.00,2.25,0.00,0.000,4,0.000,0.064,2658,878,3376,0,0,0,0,0,0
$GC,4769,-0.65,-146.0,992.8,-16.6,332,4774,0.00,2.30,0.00,0.000,6,0.000,0.058,2648,2294,3376,0,0,0,0,0,0
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4828,-0.13,0.0,1001.4,16.7,335,4950,0.60,0.00,119.12,1.294,6,0.156,0.000,2826,2043,2780,0,0,0,0,0,0
$STATE,4951,end apogee,CONTROL_FINISHED_OK
$STATE,4951,begin climb
$GC,4952,0.65,146.0,1007.1,0.0,341,5086,0.77,2.47,125.00,1.257,4,0.099,0.059,3078,652,2182,0,0,0,0,0,0
$GC,5112,0.65,146.0,993.1,15.9,348,5120,0.00,2.45,0.00,0.000,6,0.000,0.049,3077,2057,2179,0,0,0,0,0,0
$GC,5428,0.65,146.0,944.2,15.4,364,5433,0.00,2.33,0.00,0.000,4,0.000,0.057,3086,659,2175,0,0,0,0,0,0
$GC,5471,0.65,146.0,937.3,15.2,366,5476,0.00,2.35,0.00,0.000,6,0.000,0.050,3084,2062,2174,0,0,0,0,0,0
$GC,5800,0.65,146.0,887.2,14.9,382,5804,0.00,2.30,0.00,0.000,4,0.000,0.057,3094,657,2173,0,0,0,0,0,0
$GC,5820,0.65,146.0,883.6,15.0,383,5825,0.00,2.33,0.00,0.000,6,0.000,0.049,3093,2069,2173,0,0,0,0,0,0
$GC,6149,0.65,146.0,831.7,16.2,399,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2070,2172,0,0,0,0,0,0
$GC,6457,0.65,146.0,780.5,16.5,414,6461,0.00,2.28,0.00,0.000,4,0.000,0.057,3102,656,2172,0,0,0,0,0,0
$GC,6545,0.65,146.0,765.0,18.2,418,6550,0.00,2.28,0.00,0.000,6,0.000,0.049,3102,2060,2171,0,0,0,0,0,0
$GC,6873,0.65,146.0,707.1,18.1,434,6877,0.00,2.25,0.00,0.000,4,0.000,0.056,3111,650,2171,0,0,0,0,0,0
$GC,6915,0.65,146.0,698.6,19.7,436,6920,0.00,2.28,0.00,0.000,6,0.000,0.047,3111,2060,2171,0,0,0,0,0,0
$GC,7243,0.65,146.0,638.9,17.9,452,7248,0.12,2.25,0.00,0.000,4,0.223,0.057,3093,650,2171,0,0,0,0,0,0
$GC,7263,0.65,146.0,635.1,17.6,453,7268,0.00,2.28,0.00,0.000,6,0.000,0.048,3093,2059,2171,0,0,0,0,0,0
$GC,7590,0.65,146.0,581.3,16.2,469,7594,0.00,2.22,0.00,0.000,4,0.000,0.057,3102,656,2170,0,0,0,0,0,0
$GC,7622,0.65,146.0,575.7,16.7,470,7630,0.00,2.28,0.00,0.000,6,0.000,0.048,3102,2069,2171,0,0,0,0,0,0
$GC,7938,0.65,146.0,524.5,16.1,486,7942,0.00,2.25,0.00,0.000,4,0.000,0.057,3112,655,2170,0,0,0,0,0,0
$GC,7977,0.65,146.0,518.2,16.2,488,7982,0.12,2.22,0.00,0.000,6,0.207,0.047,3083,2071,2170,0,0,0,0,0,0
$GC,8303,0.65,146.0,471.5,14.1,504,8307,0.00,2.25,0.00,0.000,4,0.000,0.056,3092,654,2170,0,0,0,0,0,0
$GC,8335,0.65,146.0,466.6,14.0,505,8344,0.00,2.25,0.00,0.000,6,0.000,0.047,3092,2060,2170,0,0,0,0,0,0
$GC,8651,0.65,146.0,420.1,14.8,521,8655,0.00,2.22,0.00,0.000,4,0.000,0.057,3102,652,2170,0,0,0,0,0,0
$GC,8699,0.65,146.0,412.9,14.8,523,8704,0.00,2.25,0.00,0.000,6,0.000,0.048,3102,2057,2169,0,0,0,0,0,0
$GC,9028,0.65,146.0,363.7,15.2,550,9032,0.00,2.22,0.00,0.000,4,0.000,0.056,3112,655,2170,0,0,0,0,0,0
$GC,9105,0.65,146.0,351.1,15.9,556,9116,0.10,2.25,0.00,0.000,6,0.178,0.047,3083,2061,2169,0,0,0,0,0,0
$GC,9430,0.65,146.0,305.9,13.9,587,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2062,2170,0,0,0,0,0,0
$GC,9751,0.65,146.0,264.3,12.6,617,9755,0.00,2.20,0.00,0.000,4,0.000,0.057,3083,3476,2170,0,0,0,0,0,0
$GC,9783,0.65,146.0,259.7,13.2,619,9791,0.00,2.22,0.00,0.000,6,0.000,0.047,3092,2064,2170,0,0,0,0,0,0
$GC,10109,0.65,146.0,217.4,13.1,650,10113,0.00,2.22,0.00,0.000,4,0.000,0.058,3103,645,2170,0,0,0,0,0,0
$GC,10196,0.65,146.0,205.5,14.0,657,10200,0.00,2.22,0.00,0.000,6,0.000,0.048,3103,2069,2169,0,0,0,0,0,0
$GC,10520,0.65,146.0,154.6,14.8,687,10524,0.00,2.25,0.00,0.000,4,0.000,0.056,3114,643,2169,0,0,0,0,0,0
$GC,10614,0.65,146.0,139.7,17.1,695,10619,0.12,2.22,0.00,0.000,6,0.198,0.047,3085,2069,2169,0,0,0,0,0,0
$GC,10939,0.65,146.0,97.6,11.7,726,10948,0.00,2.22,0.00,0.000,4,0.000,0.057,3085,3466,2169,0,0,0,0,0,0
$GC,10967,0.65,146.0,94.4,12.3,730,10974,0.00,2.17,0.00,0.000,6,0.000,0.047,3093,2056,2170,0,0,0,0,0,0
$GC,11315,0.65,146.0,54.2,11.5,791,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2054,2170,0,0,0,0,0,0
$GC,11675,0.65,146.0,12.3,11.1,852,11684,0.00,2.25,0.00,0.000,4,0.000,0.055,3093,3472,2170,0,0,0,0,0,0
$GC,11745,0.65,146.0,3.2,13.0,863,11754,0.00,2.22,0.00,0.000,6,0.000,0.048,3104,2057,2170,0,0,0,0,0,0
$STATE,11761,end climb,SURFACE_DEPTH_REACHED
$STATE,11761,begin surface coast
$FINISH,1.2,1.004478
$STATE,11787,end surface coast,CONTROL_FINISHED_OK
$STATE,11787,begin surface
$SM_CCo,11801,65.25,0.054,0,0,1555,300.24
$SM_GC,2.61,0.00,0.00,65.25,0.000,0.000,0.054,141,2326,1555,-8.53,0.76,300.24
$IRIDIUM_FIX,-4447.43,622.10,061008,212151
$TT8_MAMPS,0.025466
$HUMID,47.87
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.30
$XPDR_PINGS,0
$24V_AH,23.1,11.037
$10V_AH,10.3,5.985
$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,20.750,109.400,244.125,65.250,0.000,31.947,48.198,534.986,24.750,0.000,8.906,2287.259,7182.266,438.854,2582.809,95.537,0.000,1266.965,0.000,1892.345,0.000,148.720,0.000
$DEVICE_MAMPS,252.450,65.025,1293.615,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.027,586.831,69.379,666.806,0.000,0.000,0.000,0.000,0.000,0.000
$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,50295,869
$CAP_FILE_SIZE,128055,0
$CFSIZE,2097086464,2092466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.104, 54.8,1
$GPS,111215,114006,-4501.772,623.887,17,0.9,17,-24.4