version: 66.07.10.p01
glider: 574
mission: 18
dive: 32
start: 3 9 112 11 54 17
data:
$ID,574
$MISSION,18
$DIVE,32
$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,-2328393.8
$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,22
$R_STBD_OVSHOOT,35
$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,31
$GPS1,111215,224633,-4455.570,624.274,39,0.9,39,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-78.2
$GPS2,111215,230035,-4455.427,624.248,6,0.8,6,-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,229.6,1110,-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,-58.65,0.000,6,0.000,0.000,136,2317,2984,0,0,0,0,0,0
$GC,90,-0.83,-97.3,3.6,-3.1,8,116,10.60,2.25,-3.08,0.000,4,0.259,0.061,2585,3701,3130,0,0,0,0,0,0
$GC,309,-0.83,-97.3,64.0,-24.6,43,317,0.00,2.22,0.00,0.000,6,0.000,0.044,2590,2288,3131,0,0,0,0,0,0
$GC,645,-0.83,-97.3,148.0,-25.4,86,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2285,3131,0,0,0,0,0,0
$GC,964,-0.83,-97.3,225.1,-23.3,116,968,0.00,2.25,0.00,0.000,4,0.000,0.057,2582,3709,3131,0,0,0,0,0,0
$GC,1006,-0.83,-97.3,235.6,-22.8,119,1016,0.00,2.25,0.00,0.000,6,0.000,0.047,2584,2302,3131,0,0,0,0,0,0
$GC,1332,-0.83,-97.3,313.7,-24.3,150,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2299,3131,0,0,0,0,0,0
$GC,1652,-0.83,-97.3,391.6,-24.1,180,1656,0.00,2.25,0.00,0.000,4,0.000,0.060,2576,3710,3131,0,0,0,0,0,0
$GC,1679,-0.83,-97.3,398.6,-25.3,182,1683,0.00,2.22,0.00,0.000,6,0.000,0.050,2577,2298,3131,0,0,0,0,0,0
$GC,2000,-0.83,-97.3,480.3,-25.5,198,2004,0.00,2.22,0.00,0.000,4,0.000,0.060,2568,3705,3131,0,0,0,0,0,0
$GC,2042,-0.83,-97.3,491.9,-25.5,200,2048,0.10,2.25,0.00,0.000,6,0.202,0.050,2596,2297,3130,0,0,0,0,0,0
$GC,2372,-0.83,-97.3,570.7,-23.6,216,2376,0.00,2.22,0.00,0.000,4,0.000,0.063,2587,3701,3130,0,0,0,0,0,0
$GC,2414,-0.83,-97.3,581.8,-23.5,218,2419,0.00,2.25,0.00,0.000,6,0.000,0.054,2592,2303,3130,0,0,0,0,0,0
$GC,2742,-0.83,-97.3,655.2,-22.4,234,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2299,3130,0,0,0,0,0,0
$GC,3052,-0.83,-97.3,722.6,-20.9,249,3056,0.00,2.25,0.00,0.000,4,0.000,0.065,2584,3702,3129,0,0,0,0,0,0
$GC,3117,-0.83,-97.3,737.2,-21.7,252,3122,0.00,2.28,0.00,0.000,6,0.000,0.057,2587,2290,3129,0,0,0,0,0,0
$GC,3445,-0.83,-97.3,806.4,-20.8,268,3449,0.00,2.25,0.00,0.000,4,0.000,0.068,2578,3697,3129,0,0,0,0,0,0
$GC,3483,-0.83,-97.3,814.5,-20.2,270,3487,0.00,2.22,0.00,0.000,6,0.000,0.060,2578,2296,3129,0,0,0,0,0,0
$GC,3811,-0.83,-97.3,880.5,-19.7,286,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2293,3129,0,0,0,0,0,0
$GC,4119,-0.83,-97.3,941.7,-19.5,301,4123,0.00,2.25,0.00,0.000,4,0.000,0.071,2569,3700,3128,0,0,0,0,0,0
$GC,4181,-0.83,-97.3,953.7,-19.3,304,4185,0.12,2.25,0.00,0.000,6,0.214,0.063,2596,2289,3129,0,0,0,0,0,0
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4450,-0.13,0.0,1000.9,17.7,317,4532,0.80,0.00,79.40,1.301,6,0.181,0.000,2825,2051,2729,0,0,0,0,0,0
$STATE,4533,end apogee,CONTROL_FINISHED_OK
$STATE,4533,begin climb
$GC,4535,0.83,97.3,1005.3,0.0,321,4625,0.98,2.45,82.55,1.261,4,0.106,0.057,3139,652,2333,0,0,0,0,0,0
$GC,4646,0.83,97.3,993.5,15.7,326,4651,0.00,2.42,0.00,0.000,6,0.000,0.050,3139,2047,2331,0,0,0,0,0,0
$GC,4968,0.83,97.3,936.7,17.5,342,4972,0.00,2.30,0.00,0.000,4,0.000,0.059,3148,652,2328,0,0,0,0,0,0
$GC,5033,0.83,97.3,924.7,17.8,345,5038,0.00,2.35,0.00,0.000,6,0.000,0.050,3143,2063,2327,0,0,0,0,0,0
$GC,5360,0.83,97.3,868.0,16.9,361,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2067,2326,0,0,0,0,0,0
$GC,5670,0.83,97.3,816.4,16.5,376,5674,0.00,2.28,0.00,0.000,4,0.000,0.057,3153,650,2326,0,0,0,0,0,0
$GC,5732,0.83,97.3,805.9,16.0,379,5736,0.00,2.28,0.00,0.000,6,0.000,0.050,3147,2075,2326,0,0,0,0,0,0
$GC,6057,0.83,97.3,751.1,17.0,395,6062,0.00,2.28,0.00,0.000,4,0.000,0.058,3156,653,2326,0,0,0,0,0,0
$GC,6151,0.83,97.3,734.4,17.6,399,6156,0.00,2.28,0.00,0.000,6,0.000,0.049,3153,2057,2325,0,0,0,0,0,0
$GC,6473,0.83,97.3,679.4,17.3,415,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2059,2325,0,0,0,0,0,0
$GC,6782,0.83,97.3,625.7,16.6,430,6786,0.00,2.25,0.00,0.000,4,0.000,0.058,3163,646,2325,0,0,0,0,0,0
$GC,6799,0.83,97.3,623.0,16.6,431,6803,0.00,2.28,0.00,0.000,6,0.000,0.050,3157,2072,2325,0,0,0,0,0,0
$GC,7124,0.83,97.3,569.8,16.2,447,7128,0.00,2.28,0.00,0.000,4,0.000,0.057,3166,647,2325,0,0,0,0,0,0
$GC,7155,0.83,97.3,564.6,16.1,448,7163,0.00,2.28,0.00,0.000,6,0.000,0.049,3165,2060,2325,0,0,0,0,0,0
$GC,7472,0.83,97.3,514.9,15.3,464,7476,0.00,2.22,0.00,0.000,4,0.000,0.057,3174,652,2325,0,0,0,0,0,0
$GC,7510,0.83,97.3,508.8,16.1,466,7515,0.12,2.22,0.00,0.000,6,0.228,0.050,3144,2066,2325,0,0,0,0,0,0
$GC,7836,0.83,97.3,465.1,12.7,482,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2066,2324,0,0,0,0,0,0
$GC,8147,0.83,97.3,426.0,12.8,497,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2066,2324,0,0,0,0,0,0
$GC,8461,0.83,97.3,386.4,12.5,517,8465,0.00,2.25,0.00,0.000,4,0.000,0.056,3154,646,2324,0,0,0,0,0,0
$GC,8481,0.83,97.3,383.2,12.7,518,8489,0.00,2.28,0.00,0.000,6,0.000,0.049,3154,2064,2324,0,0,0,0,0,0
$GC,8810,0.83,97.3,341.1,13.0,549,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2066,2324,0,0,0,0,0,0
$GC,9125,0.83,97.3,301.3,12.2,579,9129,0.00,2.25,0.00,0.000,4,0.000,0.057,3165,644,2323,0,0,0,0,0,0
$GC,9209,0.83,97.3,290.4,13.3,586,9213,0.00,2.22,0.00,0.000,6,0.000,0.050,3165,2065,2323,0,0,0,0,0,0
$GC,9533,0.83,97.3,249.2,12.6,616,9537,0.00,2.22,0.00,0.000,4,0.000,0.055,3174,652,2323,0,0,0,0,0,0
$GC,9599,0.83,97.3,240.4,13.2,621,9608,0.10,2.25,0.00,0.000,6,0.209,0.049,3148,2057,2323,0,0,0,0,0,0
$GC,9925,0.83,97.3,203.5,10.9,652,9929,0.00,2.22,0.00,0.000,4,0.000,0.058,3147,3478,2323,0,0,0,0,0,0
$GC,10159,0.83,97.3,176.0,10.7,672,10170,0.00,2.22,0.00,0.000,6,0.000,0.047,3157,2066,2323,0,0,0,0,0,0
$GC,10484,0.83,97.3,141.9,10.8,703,10488,0.00,2.22,0.00,0.000,4,0.000,0.057,3168,647,2324,0,0,0,0,0,0
$GC,10704,0.83,97.3,116.9,12.0,722,10708,0.00,2.22,0.00,0.000,6,0.000,0.049,3168,2075,2323,0,0,0,0,0,0
$GC,11039,0.83,97.3,76.7,12.2,768,11048,0.00,2.30,0.00,0.000,4,0.000,0.055,3178,645,2324,0,0,0,0,0,0
$GC,11137,0.83,97.3,64.6,13.3,784,11145,0.15,2.22,0.00,0.000,6,0.225,0.048,3144,2060,2324,0,0,0,0,0,0
$GC,11496,0.83,97.3,26.4,10.2,845,11505,0.00,2.28,0.00,0.000,4,0.000,0.055,3154,646,2324,0,0,0,0,0,0
$GC,11513,0.83,97.7,24.7,9.9,847,11523,0.00,2.25,0.00,0.000,6,0.000,0.048,3154,2059,2324,0,0,0,0,0,0
$GC,11669,0.83,97.7,8.1,10.9,872,11678,0.00,2.28,0.00,0.000,4,0.000,0.059,3154,3478,2324,0,0,0,0,0,0
$STATE,11721,end climb,SURFACE_DEPTH_REACHED
$STATE,11721,begin surface coast
$FINISH,1.1,1.026654
$STATE,11759,end surface coast,CONTROL_FINISHED_OK
$STATE,11759,begin surface
$SM_CCo,11775,86.05,0.053,0,0,1504,300.24
$SM_GC,1.98,0.00,0.00,86.05,0.000,0.000,0.053,137,2295,1504,-8.55,-0.11,300.24
$IRIDIUM_FIX,-4438.33,621.08,071008,121228
$TT8_MAMPS,0.026215
$HUMID,47.08
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.60
$XPDR_PINGS,0
$24V_AH,23.4,11.464
$10V_AH,10.2,6.374
$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,21.125,103.975,161.950,86.050,0.000,67.026,129.128,474.164,24.750,0.000,8.976,2371.221,7101.212,387.234,2741.373,98.056,0.000,1230.487,0.000,1994.388,0.000,149.017,0.000
$DEVICE_MAMPS,259.335,74.970,1301.265,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.716,600.099,73.229,723.149,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,50284,886
$CAP_FILE_SIZE,128579,0
$CFSIZE,2097086464,2091941888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.150, 36.5,1
$GPS,121215,021945,-4455.637,624.074,29,0.9,29,-24.4