version: 66.07.10.p01
glider: 574
mission: 18
dive: 29
start: 3 9 112 0 45 34
data:
$ID,574
$MISSION,18
$DIVE,29
$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,-2328220.8
$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,25
$R_STBD_OVSHOOT,40
$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,28
$GPS1,111215,114006,-4501.772,623.887,17,0.9,17,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-78.4
$GPS2,111215,115152,-4501.766,623.993,6,0.7,7,-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,5.5,10679,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.65,-146.0,0.0,0.0,0,82,0.00,0.00,-57.00,0.000,2,0.000,0.000,140,2326,3013,0,0,0,0,0,0
$GC,84,-0.65,-146.0,3.5,-3.1,7,111,10.70,2.30,-7.75,0.000,4,0.256,0.056,2658,882,3377,0,0,0,0,0,0
$GC,198,-0.65,-146.0,31.9,-21.2,24,207,0.00,2.30,0.00,0.000,6,0.000,0.050,2649,2278,3377,0,0,0,0,0,0
$GC,351,-0.65,-146.0,67.5,-24.1,49,358,0.00,2.28,0.00,0.000,4,0.000,0.056,2639,3711,3377,0,0,0,0,0,0
$GC,412,-0.65,-146.0,82.8,-22.7,59,419,0.00,2.25,0.00,0.000,6,0.000,0.048,2642,2291,3378,0,0,0,0,0,0
$GC,741,-0.65,-146.0,163.6,-25.0,96,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2288,3378,0,0,0,0,0,0
$GC,1061,-0.65,-146.0,241.8,-24.8,126,1065,0.00,2.22,0.00,0.000,4,0.000,0.055,2644,880,3378,0,0,0,0,0,0
$GC,1102,-0.65,-146.0,251.5,-23.2,129,1106,0.00,2.25,0.00,0.000,6,0.000,0.050,2635,2300,3378,0,0,0,0,0,0
$GC,1426,-0.65,-146.0,331.1,-23.9,159,1430,0.00,2.22,0.00,0.000,4,0.000,0.060,2624,3714,3378,0,0,0,0,0,0
$GC,1476,-0.65,-146.0,342.9,-22.2,163,1481,0.15,2.22,0.00,0.000,6,0.189,0.053,2660,2302,3378,0,0,0,0,0,0
$GC,1799,-0.65,-146.0,410.4,-21.1,191,1803,0.00,2.25,0.00,0.000,4,0.000,0.059,2663,877,3378,0,0,0,0,0,0
$GC,1825,-0.65,-146.0,416.5,-21.6,192,1830,0.00,2.30,0.00,0.000,6,0.000,0.053,2654,2297,3378,0,0,0,0,0,0
$GC,2148,-0.65,-146.0,484.2,-21.1,208,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2297,3378,0,0,0,0,0,0
$GC,2458,-0.65,-146.0,550.4,-21.2,223,2462,0.00,2.25,0.00,0.000,4,0.000,0.064,2643,3722,3378,0,0,0,0,0,0
$GC,2500,-0.65,-146.0,559.9,-19.6,225,2509,0.00,2.30,0.00,0.000,6,0.000,0.057,2644,2299,3378,0,0,0,0,0,0
$GC,2829,-0.65,-146.0,628.6,-21.2,241,2833,0.00,2.25,0.00,0.000,4,0.000,0.063,2644,878,3377,0,0,0,0,0,0
$GC,2850,-0.65,-146.0,633.5,-22.5,242,2855,0.00,2.30,0.00,0.000,6,0.000,0.055,2635,2297,3378,0,0,0,0,0,0
$GC,3178,-0.65,-146.0,704.9,-21.7,258,3182,0.00,2.25,0.00,0.000,4,0.000,0.065,2624,3722,3377,0,0,0,0,0,0
$GC,3232,-0.65,-146.0,716.9,-20.5,260,3240,0.10,2.30,0.00,0.000,6,0.175,0.058,2653,2299,3377,0,0,0,0,0,0
$GC,3548,-0.65,-146.0,780.0,-20.0,276,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2295,3377,0,0,0,0,0,0
$GC,3857,-0.65,-146.0,838.0,-18.1,291,3861,0.00,2.28,0.00,0.000,4,0.000,0.070,2645,3709,3377,0,0,0,0,0,0
$GC,3879,-0.65,-146.0,842.2,-19.2,292,3884,0.00,2.25,0.00,0.000,6,0.000,0.061,2644,2294,3377,0,0,0,0,0,0
$GC,4207,-0.65,-146.0,903.3,-18.8,308,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2291,3377,0,0,0,0,0,0
$GC,4515,-0.65,-146.0,961.0,-18.1,323,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2291,3377,0,0,0,0,0,0
$STATE,4741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4742,begin apogee
$GC,4745,-0.13,0.0,1002.5,18.2,334,4868,0.62,0.00,119.22,1.297,6,0.166,0.000,2827,2055,2779,0,0,0,0,0,0
$STATE,4869,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4870,0.65,146.0,1009.4,0.0,340,5003,0.77,2.50,124.65,1.259,4,0.103,0.061,3078,653,2182,0,0,0,0,0,0
$GC,5074,0.65,146.0,989.7,14.9,349,5083,0.00,2.42,0.00,0.000,6,0.000,0.050,3077,2059,2178,0,0,0,0,0,0
$GC,5391,0.65,146.0,940.0,16.1,365,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2061,2175,0,0,0,0,0,0
$GC,5700,0.65,146.0,890.1,16.2,380,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2061,2174,0,0,0,0,0,0
$GC,6009,0.65,146.0,840.4,15.5,395,6013,0.00,2.28,0.00,0.000,4,0.000,0.057,3086,650,2173,0,0,0,0,0,0
$GC,6086,0.65,146.0,828.6,15.0,398,6094,0.00,2.33,0.00,0.000,6,0.000,0.050,3085,2069,2172,0,0,0,0,0,0
$GC,6403,0.65,146.0,781.5,14.8,414,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2072,2172,0,0,0,0,0,0
$GC,6711,0.65,146.0,735.4,15.0,429,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2072,2172,0,0,0,0,0,0
$GC,7021,0.65,146.0,687.0,16.1,444,7025,0.00,2.28,0.00,0.000,4,0.000,0.057,3094,648,2171,0,0,0,0,0,0
$GC,7060,0.65,146.0,680.8,16.1,446,7064,0.00,2.25,0.00,0.000,6,0.000,0.050,3093,2070,2171,0,0,0,0,0,0
$GC,7385,0.65,146.0,629.4,14.9,462,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2073,2171,0,0,0,0,0,0
$GC,7694,0.65,146.0,585.0,14.2,477,7698,0.00,2.28,0.00,0.000,4,0.000,0.057,3103,645,2171,0,0,0,0,0,0
$GC,7748,0.65,146.0,576.7,15.2,479,7756,0.00,2.28,0.00,0.000,6,0.000,0.049,3102,2057,2170,0,0,0,0,0,0
$GC,8065,0.65,146.0,527.8,15.9,495,8069,0.00,2.25,0.00,0.000,4,0.000,0.057,3111,645,2170,0,0,0,0,0,0
$GC,8120,0.65,146.0,518.9,15.8,497,8128,0.12,2.22,0.00,0.000,6,0.207,0.049,3082,2060,2170,0,0,0,0,0,0
$GC,8435,0.65,146.0,471.7,15.0,513,8439,0.00,2.25,0.00,0.000,4,0.000,0.057,3091,644,2170,0,0,0,0,0,0
$GC,8473,0.65,146.0,465.9,14.5,515,8477,0.00,2.22,0.00,0.000,6,0.000,0.049,3092,2062,2170,0,0,0,0,0,0
$GC,8799,0.65,146.0,416.7,14.6,531,8803,0.00,2.25,0.00,0.000,4,0.000,0.057,3102,643,2170,0,0,0,0,0,0
$GC,8838,0.65,146.0,411.0,14.6,533,8842,0.00,2.22,0.00,0.000,6,0.000,0.049,3102,2062,2170,0,0,0,0,0,0
$GC,9161,0.65,146.0,365.4,13.0,560,9165,0.00,2.25,0.00,0.000,4,0.000,0.056,3112,642,2170,0,0,0,0,0,0
$GC,9189,0.65,146.0,361.7,13.4,562,9194,0.12,2.22,0.00,0.000,6,0.197,0.050,3083,2062,2170,0,0,0,0,0,0
$GC,9513,0.65,146.0,325.6,10.6,592,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2064,2170,0,0,0,0,0,0
$GC,9833,0.65,146.0,292.5,10.7,622,9837,0.00,2.25,0.00,0.000,4,0.000,0.056,3093,639,2169,0,0,0,0,0,0
$GC,9897,0.65,146.0,284.7,12.3,627,9906,0.00,2.28,0.00,0.000,6,0.000,0.049,3093,2062,2169,0,0,0,0,0,0
$GC,10223,0.65,146.0,245.8,12.5,658,10227,0.00,2.22,0.00,0.000,4,0.000,0.055,3102,646,2170,0,0,0,0,0,0
$GC,10245,0.65,146.0,242.9,13.4,659,10252,0.00,2.22,0.00,0.000,6,0.000,0.049,3103,2069,2170,0,0,0,0,0,0
$GC,10570,0.65,146.0,198.0,14.0,690,10574,0.00,2.25,0.00,0.000,4,0.000,0.056,3113,645,2170,0,0,0,0,0,0
$GC,10610,0.65,146.0,192.4,14.2,693,10615,0.12,2.22,0.00,0.000,6,0.193,0.048,3084,2071,2169,0,0,0,0,0,0
$GC,10934,0.65,146.0,152.2,11.8,723,10938,0.00,2.25,0.00,0.000,4,0.000,0.056,3093,643,2170,0,0,0,0,0,0
$GC,10999,0.65,146.0,145.0,10.8,728,11009,0.00,2.25,0.00,0.000,6,0.000,0.048,3093,2055,2170,0,0,0,0,0,0
$GC,11324,0.65,146.0,109.2,11.8,759,11328,0.00,2.22,0.00,0.000,4,0.000,0.056,3103,645,2170,0,0,0,0,0,0
$GC,11354,0.65,146.0,105.9,11.8,761,11358,0.00,2.22,0.00,0.000,6,0.000,0.048,3103,2073,2170,0,0,0,0,0,0
$GC,11701,0.65,146.0,63.4,13.1,817,11708,0.00,2.28,0.00,0.000,4,0.000,0.056,3115,644,2170,0,0,0,0,0,0
$GC,11760,0.65,146.0,55.3,13.6,827,11767,0.12,2.20,0.00,0.000,6,0.190,0.048,3084,2059,2170,0,0,0,0,0,0
$GC,12121,0.65,146.0,11.8,11.0,888,12130,0.00,2.28,0.00,0.000,4,0.000,0.056,3093,645,2170,0,0,0,0,0,0
$GC,12174,0.65,146.0,5.9,10.9,896,12182,0.00,2.25,0.00,0.000,6,0.000,0.050,3094,2058,2170,0,0,0,0,0,0
$STATE,12201,end climb,SURFACE_DEPTH_REACHED
$STATE,12201,begin surface coast
$FINISH,1.2,1.004494
$STATE,12233,end surface coast,CONTROL_FINISHED_OK
$STATE,12233,begin surface
$SM_CCo,12248,65.47,0.053,0,0,1555,300.24
$SM_GC,2.52,0.00,0.00,65.47,0.000,0.000,0.053,142,2317,1555,-8.53,0.54,300.24
$IRIDIUM_FIX,-4444.39,624.79,071008,010154
$TT8_MAMPS,0.026215
$HUMID,48.74
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.40
$XPDR_PINGS,0
$24V_AH,23.1,11.165
$10V_AH,10.3,6.081
$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,20.900,109.425,243.875,65.475,0.000,28.382,41.618,525.797,24.750,0.000,10.002,2359.393,7475.291,446.232,2636.226,96.399,0.000,1293.160,0.000,1964.363,0.000,148.422,0.000
$DEVICE_MAMPS,255.510,73.440,1297.440,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.216,618.961,70.349,713.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,53680,905
$CAP_FILE_SIZE,130203,0
$CFSIZE,2097086464,2092335104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.105, 36.4,1
$GPS,111215,151851,-4459.540,624.055,47,0.9,48,-24.4