version: 66.07.10.p01
glider: 574
mission: 18
dive: 31
start: 3 9 112 8 22 11
data:
$ID,574
$MISSION,18
$DIVE,31
$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,-2328339.5
$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,24
$R_STBD_OVSHOOT,26
$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,30
$GPS1,111215,191727,-4457.516,623.878,41,0.9,41,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-80.0
$GPS2,111215,192830,-4457.371,623.995,5,0.9,6,-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,15.0,2539,-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,-62.6,0.0,0.0,0,88,0.00,0.00,-58.65,0.000,6,0.000,0.000,143,2315,2987,0,0,0,0,0,0
$GC,90,-0.83,-97.3,3.5,-2.8,8,116,10.68,2.33,-3.03,0.000,4,0.263,0.054,2591,874,3129,0,0,0,0,0,0
$GC,227,-0.83,-97.3,42.0,-25.9,29,234,0.00,2.30,0.00,0.000,6,0.000,0.048,2582,2305,3130,0,0,0,0,0,0
$GC,581,-0.83,-97.3,139.6,-27.5,78,585,0.00,2.25,0.00,0.000,4,0.000,0.047,2591,873,3130,0,0,0,0,0,0
$GC,684,-0.83,-97.3,166.6,-24.7,87,693,0.00,2.30,0.00,0.000,6,0.000,0.047,2582,2295,3130,0,0,0,0,0,0
$GC,1009,-0.83,-97.3,248.9,-24.6,118,1014,0.00,2.22,0.00,0.000,4,0.000,0.054,2572,3721,3130,0,0,0,0,0,0
$GC,1138,-0.83,-97.3,280.2,-23.3,129,1145,0.00,2.22,0.00,0.000,6,0.000,0.047,2577,2298,3130,0,0,0,0,0,0
$GC,1463,-0.83,-97.3,360.0,-24.1,160,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2295,3130,0,0,0,0,0,0
$GC,1777,-0.83,-97.3,435.9,-23.8,183,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2295,3131,0,0,0,0,0,0
$GC,2086,-0.83,-97.3,507.8,-23.4,198,2090,0.00,2.22,0.00,0.000,4,0.000,0.059,2568,3709,3131,0,0,0,0,0,0
$GC,2140,-0.83,-97.3,520.5,-22.3,200,2149,0.08,2.25,0.00,0.000,6,0.205,0.051,2592,2303,3131,0,0,0,0,0,0
$GC,2458,-0.83,-97.3,588.0,-21.0,216,2462,0.00,2.25,0.00,0.000,4,0.000,0.061,2584,3710,3131,0,0,0,0,0,0
$GC,2512,-0.83,-97.3,600.5,-21.0,218,2519,0.00,2.25,0.00,0.000,6,0.000,0.054,2590,2307,3130,0,0,0,0,0,0
$GC,2828,-0.83,-97.3,667.2,-21.3,234,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2303,3130,0,0,0,0,0,0
$GC,3138,-0.83,-97.3,731.6,-20.6,249,3142,0.00,2.22,0.00,0.000,4,0.000,0.064,2582,3709,3130,0,0,0,0,0,0
$GC,3159,-0.83,-97.3,736.3,-20.6,250,3163,0.00,2.22,0.00,0.000,6,0.000,0.055,2586,2291,3129,0,0,0,0,0,0
$GC,3480,-0.83,-97.3,802.5,-20.2,266,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2287,3129,0,0,0,0,0,0
$GC,3789,-0.83,-97.3,867.1,-20.9,281,3793,0.00,2.28,0.00,0.000,4,0.000,0.069,2577,3711,3129,0,0,0,0,0,0
$GC,3855,-0.83,-97.3,881.0,-21.0,284,3859,0.00,2.28,0.00,0.000,6,0.000,0.062,2577,2281,3129,0,0,0,0,0,0
$GC,4182,-0.83,-97.3,948.2,-20.2,300,4186,0.00,2.30,0.00,0.000,4,0.000,0.070,2568,3716,3128,0,0,0,0,0,0
$GC,4202,-0.83,-97.3,952.9,-20.9,301,4208,0.08,2.30,0.00,0.000,6,0.198,0.061,2592,2299,3129,0,0,0,0,0,0
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4473,-0.13,0.0,1002.8,18.9,314,4556,0.82,0.00,79.38,1.304,6,0.185,0.000,2825,2044,2729,0,0,0,0,0,0
$STATE,4556,end apogee,CONTROL_FINISHED_OK
$STATE,4556,begin climb
$GC,4558,0.83,97.3,1007.7,0.0,318,4645,0.98,0.00,83.03,1.264,6,0.107,0.000,3129,2044,2333,0,0,0,0,0,0
$GC,4950,0.83,97.3,949.8,17.0,337,4954,0.00,2.30,0.00,0.000,4,0.000,0.059,3139,646,2327,0,0,0,0,0,0
$GC,5037,0.83,97.3,934.2,17.7,341,5043,0.00,2.35,0.00,0.000,6,0.000,0.050,3138,2061,2326,0,0,0,0,0,0
$GC,5366,0.83,97.3,877.3,17.2,357,5370,0.00,2.30,0.00,0.000,4,0.000,0.058,3148,645,2326,0,0,0,0,0,0
$GC,5415,0.83,97.3,868.3,17.2,359,5420,0.00,2.33,0.00,0.000,6,0.000,0.050,3139,2063,2326,0,0,0,0,0,0
$GC,5737,0.83,97.3,817.7,15.5,375,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2067,2326,0,0,0,0,0,0
$GC,6046,0.83,97.3,770.1,15.6,390,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2067,2325,0,0,0,0,0,0
$GC,6355,0.83,97.3,721.1,16.3,405,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2067,2324,0,0,0,0,0,0
$GC,6666,0.83,97.3,670.3,16.6,420,6671,0.00,2.28,0.00,0.000,4,0.000,0.059,3149,644,2324,0,0,0,0,0,0
$GC,6715,0.83,97.3,661.6,16.9,422,6720,0.00,2.30,0.00,0.000,6,0.000,0.050,3144,2068,2324,0,0,0,0,0,0
$GC,7037,0.83,97.3,610.1,15.6,438,7041,0.00,2.28,0.00,0.000,4,0.000,0.058,3154,646,2323,0,0,0,0,0,0
$GC,7090,0.83,97.3,601.1,16.2,440,7098,0.00,2.28,0.00,0.000,6,0.000,0.049,3153,2060,2323,0,0,0,0,0,0
$GC,7407,0.83,97.3,551.8,15.4,456,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2063,2323,0,0,0,0,0,0
$GC,7717,0.83,97.3,506.2,14.8,471,7721,0.00,2.22,0.00,0.000,4,0.000,0.059,3152,3476,2323,0,0,0,0,0,0
$GC,7743,0.83,97.3,501.7,15.3,472,7749,0.00,2.25,0.00,0.000,6,0.000,0.048,3162,2059,2323,0,0,0,0,0,0
$GC,8065,0.83,97.3,454.1,14.5,488,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2056,2323,0,0,0,0,0,0
$GC,8376,0.83,97.3,408.5,14.8,503,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2056,2323,0,0,0,0,0,0
$GC,8691,0.83,97.3,362.8,14.7,530,8695,0.00,2.22,0.00,0.000,4,0.000,0.058,3173,649,2323,0,0,0,0,0,0
$GC,8707,0.83,97.3,360.6,14.1,531,8712,0.12,2.22,0.00,0.000,6,0.234,0.050,3145,2068,2323,0,0,0,0,0,0
$GC,9034,0.83,97.3,316.5,13.4,561,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2068,2322,0,0,0,0,0,0
$GC,9350,0.83,97.3,274.5,12.8,591,9353,0.00,2.20,0.00,0.000,4,0.000,0.057,3144,3476,2322,0,0,0,0,0,0
$GC,9367,0.83,97.3,272.2,12.7,592,9371,0.00,2.20,0.00,0.000,6,0.000,0.049,3154,2053,2323,0,0,0,0,0,0
$GC,9690,0.83,97.3,229.3,13.3,622,9694,0.00,2.20,0.00,0.000,4,0.000,0.057,3164,652,2322,0,0,0,0,0,0
$GC,9812,0.83,97.3,212.5,14.0,632,9822,0.00,2.25,0.00,0.000,6,0.000,0.049,3164,2060,2322,0,0,0,0,0,0
$GC,10137,0.83,97.3,167.8,13.5,663,10141,0.00,2.20,0.00,0.000,4,0.000,0.057,3165,3474,2322,0,0,0,0,0,0
$GC,10292,0.83,97.3,148.0,12.4,676,10304,0.10,2.22,0.00,0.000,6,0.228,0.047,3149,2056,2323,0,0,0,0,0,0
$GC,10618,0.84,106.6,113.8,9.0,707,10630,0.00,0.00,6.82,0.624,6,0.000,0.000,3149,2057,2295,0,0,0,0,0,0
$GC,10960,0.84,106.6,77.7,10.4,756,10968,0.00,2.25,0.00,0.000,4,0.000,0.058,3158,656,2295,0,0,0,0,0,0
$GC,11005,0.84,106.6,73.3,10.2,763,11012,0.00,2.20,0.00,0.000,6,0.000,0.049,3158,2063,2295,0,0,0,0,0,0
$GC,11356,0.84,106.6,38.7,10.4,824,11365,0.00,2.22,0.00,0.000,4,0.000,0.057,3158,3468,2295,0,0,0,0,0,0
$GC,11517,0.84,106.6,19.8,12.0,850,11526,0.00,2.20,0.00,0.000,6,0.000,0.049,3168,2070,2295,0,0,0,0,0,0
$GC,11575,0.84,106.6,12.3,13.0,859,11585,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2066,2295,0,0,0,0,0,0
$GC,11634,0.84,106.6,5.3,11.4,868,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2066,2295,0,0,0,0,0,0
$STATE,11655,end climb,SURFACE_DEPTH_REACHED
$STATE,11655,begin surface coast
$FINISH,1.1,1.014797
$STATE,11687,end surface coast,CONTROL_FINISHED_OK
$STATE,11687,begin surface
$SM_CCo,11702,83.70,0.054,0,0,1505,300.24
$SM_GC,2.07,0.00,0.00,83.70,0.000,0.000,0.054,136,2317,1505,-8.55,0.51,300.24
$IRIDIUM_FIX,-4441.36,627.47,071008,080821
$TT8_MAMPS,0.026215
$HUMID,47.59
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.3,11.363
$10V_AH,10.3,6.276
$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,21.100,86.450,169.225,83.700,0.000,35.832,23.266,492.913,24.750,0.000,8.932,2309.836,7114.189,398.761,2524.353,93.640,0.000,1207.729,0.000,1897.174,0.000,148.705,0.000
$DEVICE_MAMPS,263.160,72.675,1303.560,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.247,591.121,70.030,686.835,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,50230,876
$CAP_FILE_SIZE,121558,0
$CFSIZE,2097086464,2092072960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.105, 30.5,1
$GPS,111215,224633,-4455.570,624.274,39,0.9,39,-24.4