version: 66.07.10.p01
glider: 574
mission: 18
dive: 33
start: 3 9 112 15 28 12
data:
$ID,574
$MISSION,18
$DIVE,33
$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,-2328476
$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,20
$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,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,32
$GPS1,121215,021945,-4455.637,624.074,29,0.9,29,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.4
$GPS2,121215,023433,-4455.687,623.994,43,0.9,43,-24.4
$SPEED_LIMITS,0.172,0.215
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,151.7,15752,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.69,-97.3,0.0,0.0,0,83,0.00,0.00,-57.97,0.000,2,0.000,0.000,137,2295,2976,0,0,0,0,0,0
$GC,85,-0.69,-97.3,3.1,-2.3,7,112,10.77,2.28,-3.45,0.000,4,0.262,0.055,2644,880,3128,0,0,0,0,0,0
$GC,350,-0.69,-97.3,62.4,-20.8,50,357,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2298,3129,0,0,0,0,0,0
$GC,694,-0.69,-97.3,144.3,-23.2,95,698,0.00,2.22,0.00,0.000,4,0.000,0.055,2624,3713,3129,0,0,0,0,0,0
$GC,714,-0.69,-97.3,149.4,-23.4,96,728,0.00,2.25,0.00,0.000,6,0.000,0.041,2631,2295,3129,0,0,0,0,0,0
$GC,1042,-0.69,-97.3,222.5,-21.9,127,1046,0.00,2.25,0.00,0.000,4,0.000,0.057,2622,3716,3129,0,0,0,0,0,0
$GC,1129,-0.69,-97.3,241.4,-20.3,134,1137,0.00,2.25,0.00,0.000,6,0.000,0.045,2624,2300,3129,0,0,0,0,0,0
$GC,1458,-0.69,-97.3,310.4,-20.6,165,1462,0.00,2.22,0.00,0.000,4,0.000,0.057,2615,3711,3129,0,0,0,0,0,0
$GC,1485,-0.69,-97.3,317.0,-22.2,167,1489,0.00,2.20,0.00,0.000,6,0.000,0.045,2619,2293,3128,0,0,0,0,0,0
$GC,1811,-0.69,-97.3,387.1,-22.0,197,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2289,3129,0,0,0,0,0,0
$GC,2121,-0.69,-97.3,455.3,-21.5,215,2125,0.00,2.25,0.00,0.000,4,0.000,0.058,2611,3719,3129,0,0,0,0,0,0
$GC,2163,-0.69,-97.3,465.1,-20.8,217,2169,0.10,2.25,0.00,0.000,6,0.190,0.048,2641,2303,3129,0,0,0,0,0,0
$GC,2492,-0.69,-97.3,528.6,-19.5,233,2496,0.00,2.22,0.00,0.000,4,0.000,0.061,2631,3709,3128,0,0,0,0,0,0
$GC,2523,-0.69,-97.3,535.5,-19.8,234,2531,0.00,2.25,0.00,0.000,6,0.000,0.050,2632,2298,3128,0,0,0,0,0,0
$GC,2840,-0.69,-97.3,596.7,-19.2,250,2844,0.00,2.25,0.00,0.000,4,0.000,0.062,2622,3719,3128,0,0,0,0,0,0
$GC,2879,-0.69,-97.3,604.6,-20.0,252,2883,0.00,2.22,0.00,0.000,6,0.000,0.053,2624,2299,3128,0,0,0,0,0,0
$GC,3204,-0.69,-97.3,666.9,-18.4,268,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2295,3127,0,0,0,0,0,0
$GC,3514,-0.69,-97.3,724.4,-18.5,283,3518,0.00,2.25,0.00,0.000,4,0.000,0.063,2615,3718,3128,0,0,0,0,0,0
$GC,3556,-0.69,-97.3,732.9,-18.9,285,3561,0.00,2.28,0.00,0.000,6,0.000,0.054,2619,2303,3127,0,0,0,0,0,0
$GC,3886,-0.69,-97.3,793.3,-18.3,301,3890,0.00,2.25,0.00,0.000,4,0.000,0.065,2610,3708,3126,0,0,0,0,0,0
$GC,3911,-0.69,-97.3,798.9,-19.2,302,3917,0.10,2.28,0.00,0.000,6,0.187,0.054,2639,2292,3127,0,0,0,0,0,0
$GC,4233,-0.69,-97.3,853.6,-17.0,318,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2289,3127,0,0,0,0,0,0
$GC,4544,-0.69,-97.3,905.7,-16.9,333,4548,0.00,2.28,0.00,0.000,4,0.000,0.070,2629,3710,3126,0,0,0,0,0,0
$GC,4609,-0.69,-97.3,917.4,-16.9,336,4614,0.00,2.28,0.00,0.000,6,0.000,0.059,2632,2300,3126,0,0,0,0,0,0
$GC,4939,-0.69,-97.3,971.3,-16.2,352,4943,0.00,2.25,0.00,0.000,4,0.000,0.066,2632,881,3126,0,0,0,0,0,0
$GC,4947,-0.69,-97.3,973.5,-16.4,352,4956,0.00,2.30,0.00,0.000,6,0.000,0.057,2622,2294,3125,0,0,0,0,0,0
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5123,-0.13,0.0,1002.8,17.4,361,5205,0.70,0.00,78.85,1.302,6,0.175,0.000,2823,2045,2729,0,0,0,0,0,0
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5207,0.69,97.3,1007.4,0.0,365,5297,0.85,2.42,82.78,1.265,4,0.107,0.057,3098,659,2333,0,0,0,0,0,0
$GC,5341,0.69,97.3,994.5,15.3,371,5346,0.00,2.42,0.00,0.000,6,0.000,0.051,3097,2061,2330,0,0,0,0,0,0
$GC,5663,0.69,97.3,946.1,15.1,387,5667,0.00,2.33,0.00,0.000,4,0.000,0.057,3106,647,2327,0,0,0,0,0,0
$GC,5784,0.69,97.3,927.1,15.4,392,5792,0.00,2.35,0.00,0.000,6,0.000,0.051,3101,2063,2327,0,0,0,0,0,0
$GC,6100,0.69,97.3,881.4,14.5,408,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2066,2326,0,0,0,0,0,0
$GC,6411,0.69,97.3,836.5,14.4,423,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2066,2325,0,0,0,0,0,0
$GC,6721,0.69,97.3,793.1,14.0,438,6725,0.00,2.28,0.00,0.000,4,0.000,0.057,3110,652,2325,0,0,0,0,0,0
$GC,6746,0.69,97.3,788.8,14.6,439,6752,0.00,2.30,0.00,0.000,6,0.000,0.051,3104,2063,2325,0,0,0,0,0,0
$GC,7068,0.69,97.3,744.5,13.5,455,7072,0.00,2.28,0.00,0.000,4,0.000,0.057,3114,647,2325,0,0,0,0,0,0
$GC,7088,0.69,97.3,741.6,13.6,456,7093,0.00,2.30,0.00,0.000,6,0.000,0.050,3114,2063,2324,0,0,0,0,0,0
$GC,7416,0.69,97.3,697.4,13.7,472,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2067,2324,0,0,0,0,0,0
$GC,7726,0.69,97.3,654.8,13.8,487,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2067,2324,0,0,0,0,0,0
$GC,8036,0.69,97.3,613.4,13.0,502,8040,0.00,2.25,0.00,0.000,4,0.000,0.058,3124,654,2324,0,0,0,0,0,0
$GC,8084,0.69,97.3,606.4,13.8,504,8089,0.00,2.28,0.00,0.000,6,0.000,0.051,3122,2061,2324,0,0,0,0,0,0
$GC,8406,0.69,97.3,564.1,12.9,520,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2064,2324,0,0,0,0,0,0
$GC,8715,0.69,97.3,524.9,12.5,535,8719,0.00,2.22,0.00,0.000,4,0.000,0.059,3122,3473,2324,0,0,0,0,0,0
$GC,8731,0.69,97.3,522.7,12.9,536,8736,0.15,2.20,0.00,0.000,6,0.241,0.050,3099,2063,2323,0,0,0,0,0,0
$GC,9057,0.69,97.3,484.2,11.4,552,9061,0.00,2.25,0.00,0.000,4,0.000,0.059,3108,647,2324,0,0,0,0,0,0
$GC,9073,0.69,97.3,482.3,11.5,553,9077,0.00,2.25,0.00,0.000,6,0.000,0.051,3109,2071,2323,0,0,0,0,0,0
$GC,9404,0.69,97.3,444.0,11.4,569,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2073,2323,0,0,0,0,0,0
$GC,9713,0.69,97.3,408.4,11.6,584,9717,0.00,2.20,0.00,0.000,4,0.000,0.060,3108,3470,2323,0,0,0,0,0,0
$GC,9753,0.69,97.3,403.6,13.3,586,9757,0.00,2.20,0.00,0.000,6,0.000,0.048,3119,2051,2323,0,0,0,0,0,0
$GC,10076,0.69,97.3,364.8,11.9,615,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2048,2323,0,0,0,0,0,0
$GC,10398,0.69,97.3,325.9,12.2,645,10402,0.00,2.22,0.00,0.000,4,0.000,0.058,3130,643,2324,0,0,0,0,0,0
$GC,10505,0.69,97.3,312.2,12.0,654,10509,0.12,2.22,0.00,0.000,6,0.216,0.050,3101,2061,2324,0,0,0,0,0,0
$GC,10829,0.69,97.3,275.0,11.4,684,10833,0.00,2.25,0.00,0.000,4,0.000,0.057,3110,643,2323,0,0,0,0,0,0
$GC,10847,0.69,97.3,273.0,11.6,685,10851,0.00,2.22,0.00,0.000,6,0.000,0.050,3110,2062,2323,0,0,0,0,0,0
$GC,11171,0.69,97.3,236.1,11.0,715,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2061,2323,0,0,0,0,0,0
$GC,11493,0.69,97.3,200.6,11.7,745,11497,0.00,2.20,0.00,0.000,4,0.000,0.057,3110,3472,2323,0,0,0,0,0,0
$GC,11599,0.69,97.3,187.7,11.8,754,11604,0.00,2.17,0.00,0.000,6,0.000,0.047,3120,2061,2323,0,0,0,0,0,0
$GC,11923,0.69,97.3,150.2,11.9,784,11927,0.00,2.22,0.00,0.000,4,0.000,0.058,3131,650,2324,0,0,0,0,0,0
$GC,12042,0.69,97.3,137.1,10.8,794,12047,0.15,2.22,0.00,0.000,6,0.203,0.050,3096,2075,2324,0,0,0,0,0,0
$GC,12366,0.71,111.9,107.2,9.0,824,12383,0.00,2.33,11.23,0.697,4,0.000,0.057,3105,653,2272,0,0,0,0,0,0
$GC,12445,0.71,111.9,99.2,11.0,831,12454,0.00,2.25,0.00,0.000,6,0.000,0.050,3105,2055,2272,0,0,0,0,0,0
$GC,12800,0.71,111.9,62.3,10.1,892,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2055,2272,0,0,0,0,0,0
$GC,13154,0.73,127.2,27.7,8.9,953,13172,0.00,2.28,7.38,0.607,4,0.000,0.058,3105,3469,2209,0,0,0,0,0,0
$GC,13180,0.73,130.2,25.1,9.7,956,13190,0.00,2.22,1.33,0.111,6,0.000,0.048,3115,2068,2198,0,0,0,0,0,0
$GC,13336,0.73,130.2,6.3,11.0,981,13346,0.00,2.25,0.00,0.000,4,0.000,0.058,3115,3469,2198,0,0,0,0,0,0
$GC,13355,0.73,130.2,4.0,11.6,983,13364,0.00,2.25,0.00,0.000,6,0.000,0.050,3126,2057,2198,0,0,0,0,0,0
$STATE,13371,end climb,SURFACE_DEPTH_REACHED
$STATE,13371,begin surface coast
$FINISH,1.0,1.026568
$STATE,13397,end surface coast,CONTROL_FINISHED_OK
$STATE,13397,begin surface
$SM_CCo,13411,73.70,0.053,0,0,1504,300.24
$SM_GC,2.38,0.00,0.00,73.70,0.000,0.000,0.053,146,2314,1504,-8.52,0.45,300.24
$IRIDIUM_FIX,-4441.36,636.54,071008,151510
$TT8_MAMPS,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.4,11.569
$10V_AH,10.2,6.479
$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,21.175,118.200,181.550,73.700,0.000,65.854,117.116,495.148,24.750,0.000,46.981,2617.621,8293.003,399.158,2950.156,105.632,0.000,1328.914,0.000,2155.299,0.000,148.112,0.000
$DEVICE_MAMPS,261.630,69.615,1302.030,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.964,667.540,75.133,759.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,57098,989
$CAP_FILE_SIZE,142058,0
$CFSIZE,2097086464,2091778048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.073,345.6,1
$GPS,121215,062051,-4456.167,625.230,35,0.9,35,-24.4