version: 66.07.10.p01
glider: 574
mission: 18
dive: 30
start: 3 9 112 4 23 19
data:
$ID,574
$MISSION,18
$DIVE,30
$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,100
$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,-2328283.2
$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,21
$R_STBD_OVSHOOT,37
$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,2730
$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,29
$GPS1,111215,151851,-4459.540,624.055,47,0.9,48,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-78.9
$GPS2,111215,152939,-4459.503,624.190,5,0.9,5,-24.4
$SPEED_LIMITS,0.172,0.215
$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,4.6,6492,-22.3,-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,-0.69,-97.3,0.0,0.0,0,82,0.00,0.00,-56.62,0.000,2,0.000,0.000,141,2318,2982,0,0,0,0,0,0
$GC,84,-0.69,-97.3,3.1,-2.0,7,104,11.07,2.35,-3.33,0.000,4,0.270,0.055,2644,873,3128,0,0,0,0,0,0
$GC,275,-0.69,-97.3,46.4,-20.6,37,282,0.00,2.28,0.00,0.000,6,0.000,0.047,2635,2295,3129,0,0,0,0,0,0
$GC,615,-0.69,-97.3,124.9,-22.6,88,619,0.00,2.22,0.00,0.000,4,0.000,0.055,2625,3711,3129,0,0,0,0,0,0
$GC,658,-0.69,-97.3,134.8,-21.9,91,666,0.00,2.25,0.00,0.000,6,0.000,0.044,2631,2298,3130,0,0,0,0,0,0
$GC,984,-0.69,-97.3,203.8,-21.2,122,988,0.00,2.22,0.00,0.000,4,0.000,0.051,2632,874,3130,0,0,0,0,0,0
$GC,1073,-0.69,-97.3,223.0,-20.6,129,1081,0.00,2.30,0.00,0.000,6,0.000,0.048,2622,2298,3130,0,0,0,0,0,0
$GC,1398,-0.69,-97.3,295.2,-22.8,160,1402,0.00,2.22,0.00,0.000,4,0.000,0.057,2612,3719,3131,0,0,0,0,0,0
$GC,1472,-0.69,-97.3,312.0,-21.3,166,1477,0.00,2.22,0.00,0.000,6,0.000,0.048,2618,2292,3131,0,0,0,0,0,0
$GC,1796,-0.69,-97.3,383.7,-21.5,196,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2288,3130,0,0,0,0,0,0
$GC,2109,-0.69,-97.3,448.7,-20.2,215,2113,0.00,2.25,0.00,0.000,4,0.000,0.060,2609,3713,3130,0,0,0,0,0,0
$GC,2140,-0.69,-97.3,455.6,-21.4,216,2149,0.00,2.25,0.00,0.000,6,0.000,0.050,2617,2302,3130,0,0,0,0,0,0
$GC,2457,-0.69,-97.3,520.7,-20.9,232,2462,0.12,2.25,0.00,0.000,4,0.225,0.062,2636,3711,3130,0,0,0,0,0,0
$GC,2496,-0.69,-97.3,528.8,-20.5,234,2500,0.00,2.22,0.00,0.000,6,0.000,0.054,2645,2292,3130,0,0,0,0,0,0
$GC,2824,-0.69,-97.3,590.6,-18.7,250,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2289,3130,0,0,0,0,0,0
$GC,3131,-0.69,-97.3,648.8,-18.8,265,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2289,3129,0,0,0,0,0,0
$GC,3440,-0.69,-97.3,705.6,-18.1,280,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2289,3129,0,0,0,0,0,0
$GC,3749,-0.69,-97.3,758.5,-16.4,295,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2289,3129,0,0,0,0,0,0
$GC,4059,-0.69,-97.3,808.5,-15.6,310,4063,0.00,2.28,0.00,0.000,4,0.000,0.067,2635,3719,3129,0,0,0,0,0,0
$GC,4090,-0.69,-97.3,813.6,-15.6,311,4098,0.00,2.30,0.00,0.000,6,0.000,0.060,2643,2300,3129,0,0,0,0,0,0
$GC,4406,-0.69,-97.3,863.9,-15.9,327,4410,0.00,2.25,0.00,0.000,4,0.000,0.067,2644,881,3128,0,0,0,0,0,0
$GC,4438,-0.69,-97.3,869.3,-15.8,328,4448,0.00,2.30,0.00,0.000,6,0.000,0.058,2635,2300,3128,0,0,0,0,0,0
$GC,4757,-0.69,-97.3,921.4,-16.9,344,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2300,3128,0,0,0,0,0,0
$GC,5064,-0.69,-97.3,972.5,-16.6,359,5068,0.00,2.25,0.00,0.000,4,0.000,0.070,2624,3715,3128,0,0,0,0,0,0
$GC,5095,-0.69,-97.3,978.0,-17.0,360,5104,0.00,2.30,0.00,0.000,6,0.000,0.062,2629,2298,3128,0,0,0,0,0,0
$STATE,5246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5246,begin apogee
$GC,5250,-0.13,0.0,1002.1,16.3,368,5332,0.68,0.00,79.12,1.294,6,0.178,0.000,2823,2044,2729,0,0,0,0,0,0
$STATE,5333,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5334,0.69,97.3,1006.6,0.0,372,5425,0.88,2.42,83.53,1.262,4,0.106,0.057,3100,653,2331,0,0,0,0,0,0
$GC,5441,0.69,97.3,998.0,12.5,376,5450,0.00,2.45,0.00,0.000,6,0.000,0.050,3100,2063,2329,0,0,0,0,0,0
$GC,5757,0.69,97.3,951.5,14.7,392,5761,0.00,2.35,0.00,0.000,4,0.000,0.057,3109,643,2325,0,0,0,0,0,0
$GC,5795,0.69,97.3,945.5,15.7,394,5800,0.00,2.33,0.00,0.000,6,0.000,0.051,3103,2068,2324,0,0,0,0,0,0
$GC,6121,0.69,97.3,898.6,13.9,410,6126,0.00,2.33,0.00,0.000,4,0.000,0.057,3112,642,2324,0,0,0,0,0,0
$GC,6164,0.69,97.3,892.1,14.8,412,6169,0.00,2.33,0.00,0.000,6,0.000,0.050,3111,2057,2324,0,0,0,0,0,0
$GC,6493,0.69,97.3,846.3,13.9,428,6497,0.00,2.28,0.00,0.000,4,0.000,0.057,3120,646,2323,0,0,0,0,0,0
$GC,6532,0.69,97.3,840.6,14.8,430,6537,0.00,2.28,0.00,0.000,6,0.000,0.050,3115,2069,2323,0,0,0,0,0,0
$GC,6858,0.69,97.3,794.0,14.6,446,6862,0.00,2.28,0.00,0.000,4,0.000,0.057,3125,650,2323,0,0,0,0,0,0
$GC,6929,0.69,97.3,783.2,14.7,449,6934,0.00,2.30,0.00,0.000,6,0.000,0.050,3124,2067,2322,0,0,0,0,0,0
$GC,7252,0.69,97.3,734.5,15.7,465,7256,0.00,2.28,0.00,0.000,4,0.000,0.057,3133,640,2322,0,0,0,0,0,0
$GC,7278,0.69,97.3,730.0,16.6,466,7283,0.10,2.30,0.00,0.000,6,0.215,0.050,3100,2060,2322,0,0,0,0,0,0
$GC,7599,0.69,97.3,683.0,14.3,482,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2060,2322,0,0,0,0,0,0
$GC,7909,0.69,97.3,639.5,13.9,497,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2060,2322,0,0,0,0,0,0
$GC,8218,0.69,97.3,598.1,13.0,512,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2060,2322,0,0,0,0,0,0
$GC,8527,0.69,97.3,560.2,12.0,527,8532,0.00,2.25,0.00,0.000,4,0.000,0.055,3109,642,2321,0,0,0,0,0,0
$GC,8559,0.69,97.3,556.3,11.1,528,8568,0.00,2.28,0.00,0.000,6,0.000,0.050,3109,2057,2322,0,0,0,0,0,0
$GC,8875,0.69,97.3,519.6,11.7,544,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2059,2321,0,0,0,0,0,0
$GC,9185,0.69,97.3,483.5,11.6,559,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2059,2321,0,0,0,0,0,0
$GC,9495,0.69,97.3,446.9,11.9,574,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2059,2321,0,0,0,0,0,0
$GC,9805,0.69,97.3,410.8,11.8,589,9809,0.00,2.22,0.00,0.000,4,0.000,0.058,3109,3478,2320,0,0,0,0,0,0
$GC,9844,0.69,97.3,405.6,13.7,591,9848,0.00,2.20,0.00,0.000,6,0.000,0.047,3119,2052,2321,0,0,0,0,0,0
$GC,10168,0.69,97.3,365.0,12.8,619,10172,0.00,2.20,0.00,0.000,4,0.000,0.057,3131,650,2321,0,0,0,0,0,0
$GC,10310,0.69,97.3,346.4,12.6,631,10315,0.15,2.22,0.00,0.000,6,0.215,0.050,3097,2073,2321,0,0,0,0,0,0
$GC,10638,0.69,97.3,308.9,11.2,661,10642,0.00,2.25,0.00,0.000,4,0.000,0.056,3105,646,2321,0,0,0,0,0,0
$GC,10711,0.69,97.3,300.2,11.3,667,10715,0.00,2.22,0.00,0.000,6,0.000,0.050,3105,2069,2321,0,0,0,0,0,0
$GC,11038,0.69,98.5,265.7,9.9,697,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2069,2321,0,0,0,0,0,0
$GC,11354,0.69,98.5,232.2,10.9,727,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2069,2321,0,0,0,0,0,0
$GC,11675,0.69,98.5,196.1,11.2,757,11679,0.00,2.17,0.00,0.000,4,0.000,0.058,3105,3473,2321,0,0,0,0,0,0
$GC,11786,0.69,98.5,181.4,12.7,766,11795,0.00,2.22,0.00,0.000,6,0.000,0.047,3115,2059,2321,0,0,0,0,0,0
$GC,12115,0.69,98.5,144.8,10.8,797,12119,0.00,2.20,0.00,0.000,4,0.000,0.057,3127,648,2322,0,0,0,0,0,0
$GC,12328,0.69,99.2,121.4,9.9,815,12337,0.10,2.25,0.00,0.000,6,0.192,0.049,3099,2061,2321,0,0,0,0,0,0
$GC,12660,0.72,120.2,91.6,8.5,854,12682,0.00,2.33,16.90,0.713,4,0.000,0.055,3107,646,2239,0,0,0,0,0,0
$GC,12713,0.72,120.2,86.5,10.5,862,12719,0.00,2.22,0.00,0.000,6,0.000,0.049,3108,2062,2238,0,0,0,0,0,0
$GC,13060,0.72,123.3,48.3,9.7,923,13076,0.00,2.30,3.80,0.428,4,0.000,0.055,3119,648,2227,0,0,0,0,0,0
$GC,13207,0.72,123.3,31.5,12.5,947,13215,0.00,2.28,0.00,0.000,6,0.000,0.050,3119,2063,2227,0,0,0,0,0,0
$GC,13362,0.72,123.3,13.1,11.6,972,13371,0.00,2.25,0.00,0.000,4,0.000,0.057,3119,3478,2227,0,0,0,0,0,0
$GC,13379,0.72,123.3,10.8,12.5,974,13388,0.00,2.25,0.00,0.000,6,0.000,0.048,3129,2059,2226,0,0,0,0,0,0
$GC,13437,0.72,123.3,3.2,13.7,983,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2056,2227,0,0,0,0,0,0
$STATE,13453,end climb,SURFACE_DEPTH_REACHED
$STATE,13453,begin surface coast
$FINISH,1.1,1.015743
$STATE,13479,end surface coast,CONTROL_FINISHED_OK
$STATE,13479,begin surface
$SM_CCo,13494,76.68,0.051,0,0,1506,300.24
$SM_GC,2.20,0.00,0.00,76.68,0.000,0.000,0.051,143,2315,1506,-8.53,0.45,300.24
$IRIDIUM_FIX,-4441.36,624.45,071008,040443
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.4,11.265
$10V_AH,10.3,6.183
$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,21.375,109.750,183.350,76.675,0.000,31.536,23.870,480.860,24.750,0.000,8.959,2584.320,8359.545,424.635,2737.040,104.758,0.000,1326.825,0.000,2122.538,0.000,148.748,0.000
$DEVICE_MAMPS,270.045,71.910,1294.380,51.255,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.500,669.899,72.273,739.602,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354344
$DATA_FILE_SIZE,56958,989
$CAP_FILE_SIZE,137574,0
$CFSIZE,2097086464,2092171264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.083, 20.4,1
$GPS,111215,191727,-4457.516,623.878,41,0.9,41,-24.4