version: 66.07.10.p01
glider: 574
mission: 18
dive: 36
start: 3 10 112 3 16 1
data:
$ID,574
$MISSION,18
$DIVE,36
$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,-2328651.5
$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,27
$R_STBD_OVSHOOT,24
$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,35
$GPS1,121215,141133,-4456.129,630.271,30,1.0,30,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-76.5
$GPS2,121215,142224,-4455.990,630.248,5,0.9,5,-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,132.3,7541,-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,-97.3,0.0,0.0,0,82,0.00,0.00,-56.85,0.000,2,0.000,0.000,139,2281,2933,0,0,0,0,0,0
$GC,84,-0.69,-97.3,3.1,-2.2,7,111,11.12,2.33,-4.65,0.000,4,0.272,0.061,2627,3714,3128,0,0,0,0,0,0
$GC,240,-0.69,-97.3,38.9,-22.1,31,252,0.00,2.28,0.00,0.000,6,0.000,0.043,2631,2303,3129,0,0,0,0,0,0
$GC,391,-0.69,-97.3,73.6,-22.8,56,399,0.00,2.25,0.00,0.000,4,0.000,0.054,2622,3710,3128,0,0,0,0,0,0
$GC,416,-0.69,-97.3,79.9,-24.1,60,429,0.00,2.25,0.00,0.000,6,0.000,0.041,2629,2302,3129,0,0,0,0,0,0
$GC,759,-0.69,-97.3,163.5,-23.9,98,763,0.00,2.22,0.00,0.000,4,0.000,0.054,2620,3711,3129,0,0,0,0,0,0
$GC,780,-0.69,-97.3,168.8,-23.9,99,788,0.00,2.25,0.00,0.000,6,0.000,0.041,2620,2296,3129,0,0,0,0,0,0
$GC,1105,-0.69,-97.3,244.2,-22.7,130,1109,0.00,2.20,0.00,0.000,4,0.000,0.048,2620,882,3130,0,0,0,0,0,0
$GC,1126,-0.69,-97.3,249.2,-23.0,131,1135,0.12,2.30,0.00,0.000,6,0.194,0.048,2644,2303,3130,0,0,0,0,0,0
$GC,1451,-0.69,-97.3,314.6,-19.7,162,1455,0.00,2.22,0.00,0.000,4,0.000,0.057,2635,3719,3130,0,0,0,0,0,0
$GC,1517,-0.69,-97.3,328.3,-19.9,167,1526,0.00,2.25,0.00,0.000,6,0.000,0.045,2634,2302,3129,0,0,0,0,0,0
$GC,1843,-0.69,-97.3,395.6,-20.9,198,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2299,3130,0,0,0,0,0,0
$GC,2165,-0.69,-97.3,461.6,-20.4,215,2169,0.00,2.25,0.00,0.000,4,0.000,0.058,2625,3713,3130,0,0,0,0,0,0
$GC,2185,-0.69,-97.3,466.4,-20.6,216,2190,0.00,2.25,0.00,0.000,6,0.000,0.044,2629,2290,3129,0,0,0,0,0,0
$GC,2513,-0.69,-97.3,534.0,-20.1,232,2517,0.00,2.25,0.00,0.000,4,0.000,0.060,2620,3712,3129,0,0,0,0,0,0
$GC,2538,-0.69,-97.3,539.9,-21.3,233,2544,0.00,2.25,0.00,0.000,6,0.000,0.047,2620,2295,3129,0,0,0,0,0,0
$GC,2860,-0.69,-97.3,606.2,-20.4,249,2864,0.00,2.25,0.00,0.000,4,0.000,0.059,2610,3719,3129,0,0,0,0,0,0
$GC,2885,-0.69,-97.3,612.1,-21.3,250,2891,0.10,2.25,0.00,0.000,6,0.198,0.048,2639,2303,3129,0,0,0,0,0,0
$GC,3207,-0.69,-97.3,672.4,-18.5,266,3211,0.00,2.25,0.00,0.000,4,0.000,0.062,2630,3708,3128,0,0,0,0,0,0
$GC,3224,-0.69,-97.3,675.7,-18.6,267,3228,0.00,2.20,0.00,0.000,6,0.000,0.050,2631,2299,3128,0,0,0,0,0,0
$GC,3550,-0.69,-97.3,736.5,-18.2,283,3554,0.00,2.25,0.00,0.000,4,0.000,0.062,2622,3716,3128,0,0,0,0,0,0
$GC,3589,-0.69,-97.3,743.7,-18.7,285,3593,0.00,2.22,0.00,0.000,6,0.000,0.052,2624,2298,3128,0,0,0,0,0,0
$GC,3915,-0.69,-97.3,805.4,-19.2,301,3919,0.00,2.25,0.00,0.000,4,0.000,0.063,2615,3711,3128,0,0,0,0,0,0
$GC,3954,-0.69,-97.3,813.0,-19.0,303,3958,0.00,2.22,0.00,0.000,6,0.000,0.054,2619,2296,3127,0,0,0,0,0,0
$GC,4282,-0.69,-97.3,873.4,-18.8,319,4286,0.00,2.25,0.00,0.000,4,0.000,0.064,2610,3710,3128,0,0,0,0,0,0
$GC,4302,-0.69,-97.3,878.2,-19.8,320,4308,0.10,2.25,0.00,0.000,6,0.195,0.053,2638,2303,3127,0,0,0,0,0,0
$GC,4631,-0.69,-97.3,934.7,-17.3,336,4635,0.00,2.25,0.00,0.000,4,0.000,0.067,2629,3711,3127,0,0,0,0,0,0
$GC,4647,-0.69,-97.3,937.6,-16.5,337,4652,0.00,2.22,0.00,0.000,6,0.000,0.055,2630,2299,3127,0,0,0,0,0,0
$GC,4974,-0.69,-97.3,992.2,-16.1,353,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2295,3127,0,0,0,0,0,0
$STATE,5035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5035,begin apogee
$GC,5039,-0.13,0.0,1002.6,16.6,356,5121,0.68,0.00,78.88,1.292,6,0.177,0.000,2825,2053,2729,0,0,0,0,0,0
$STATE,5122,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5123,0.69,97.3,1007.1,0.0,360,5213,0.85,2.45,82.88,1.260,4,0.125,0.057,3098,657,2331,0,0,0,0,0,0
$GC,5225,0.69,97.3,999.7,11.9,365,5230,0.00,2.40,0.00,0.000,6,0.000,0.051,3097,2059,2330,0,0,0,0,0,0
$GC,5552,0.69,97.3,950.4,14.6,381,5556,0.00,2.35,0.00,0.000,4,0.000,0.058,3106,652,2326,0,0,0,0,0,0
$GC,5583,0.69,97.3,945.4,14.9,382,5591,0.00,2.35,0.00,0.000,6,0.000,0.050,3102,2058,2325,0,0,0,0,0,0
$GC,5899,0.69,97.3,899.8,14.1,398,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2060,2325,0,0,0,0,0,0
$GC,6209,0.69,97.3,857.1,13.3,413,6213,0.00,2.28,0.00,0.000,4,0.000,0.057,3111,655,2324,0,0,0,0,0,0
$GC,6247,0.69,97.3,851.8,13.4,415,6251,0.00,2.30,0.00,0.000,6,0.000,0.051,3105,2070,2324,0,0,0,0,0,0
$GC,6573,0.69,97.3,805.9,13.5,431,6578,0.00,2.30,0.00,0.000,4,0.000,0.057,3114,649,2324,0,0,0,0,0,0
$GC,6590,0.69,97.3,803.7,13.3,432,6594,0.00,2.28,0.00,0.000,6,0.000,0.052,3112,2069,2324,0,0,0,0,0,0
$GC,6917,0.69,97.3,758.4,14.2,448,6921,0.00,2.28,0.00,0.000,4,0.000,0.057,3121,653,2324,0,0,0,0,0,0
$GC,6933,0.69,97.3,755.8,14.2,449,6937,0.00,2.25,0.00,0.000,6,0.000,0.053,3117,2063,2323,0,0,0,0,0,0
$GC,7260,0.69,97.3,708.9,14.1,465,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2066,2323,0,0,0,0,0,0
$GC,7570,0.69,97.3,664.7,14.6,480,7574,0.00,2.28,0.00,0.000,4,0.000,0.057,3126,646,2323,0,0,0,0,0,0
$GC,7590,0.69,97.3,661.3,14.8,481,7595,0.08,2.30,0.00,0.000,6,0.209,0.051,3103,2063,2323,0,0,0,0,0,0
$GC,7919,0.69,97.3,617.1,13.4,497,7923,0.00,2.25,0.00,0.000,4,0.000,0.059,3102,3483,2323,0,0,0,0,0,0
$GC,7935,0.69,97.3,614.6,13.7,498,7939,0.00,2.22,0.00,0.000,6,0.000,0.049,3112,2060,2323,0,0,0,0,0,0
$GC,8262,0.69,97.3,570.5,13.2,514,8266,0.00,2.25,0.00,0.000,4,0.000,0.059,3123,649,2323,0,0,0,0,0,0
$GC,8278,0.69,97.3,568.0,13.5,515,8282,0.00,2.25,0.00,0.000,6,0.000,0.051,3122,2072,2323,0,0,0,0,0,0
$GC,8603,0.69,97.3,524.6,12.9,531,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2074,2322,0,0,0,0,0,0
$GC,8914,0.69,97.3,484.5,12.8,546,8918,0.00,2.28,0.00,0.000,4,0.000,0.057,3131,647,2322,0,0,0,0,0,0
$GC,8952,0.69,97.3,479.2,13.7,548,8957,0.15,2.22,0.00,0.000,6,0.219,0.050,3097,2060,2322,0,0,0,0,0,0
$GC,9278,0.69,97.3,441.4,11.7,564,9282,0.00,2.25,0.00,0.000,4,0.000,0.057,3106,647,2322,0,0,0,0,0,0
$GC,9295,0.69,97.3,439.6,11.6,565,9299,0.00,2.22,0.00,0.000,6,0.000,0.050,3106,2062,2322,0,0,0,0,0,0
$GC,9621,0.69,97.3,402.5,11.2,581,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2065,2322,0,0,0,0,0,0
$GC,9942,0.69,97.3,367.5,10.6,609,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2066,2323,0,0,0,0,0,0
$GC,10266,0.69,97.3,333.3,10.6,640,10270,0.00,2.22,0.00,0.000,4,0.000,0.058,3106,3479,2322,0,0,0,0,0,0
$GC,10306,0.69,97.3,328.7,11.6,643,10310,0.00,2.20,0.00,0.000,6,0.000,0.048,3116,2060,2322,0,0,0,0,0,0
$GC,10633,0.69,97.3,292.5,11.7,673,10637,0.00,2.22,0.00,0.000,4,0.000,0.058,3128,652,2322,0,0,0,0,0,0
$GC,10685,0.69,97.3,286.3,12.0,677,10690,0.12,2.25,0.00,0.000,6,0.228,0.050,3100,2075,2322,0,0,0,0,0,0
$GC,11009,0.69,97.3,249.1,11.6,707,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2075,2322,0,0,0,0,0,0
$GC,11331,0.69,97.3,213.8,10.8,737,11335,0.00,2.20,0.00,0.000,4,0.000,0.058,3094,3481,2322,0,0,0,0,0,0
$GC,11384,0.69,97.3,207.7,12.2,741,11388,0.00,2.22,0.00,0.000,6,0.000,0.048,3102,2056,2322,0,0,0,0,0,0
$GC,11714,0.70,102.8,172.8,9.6,772,11730,0.00,2.28,4.03,0.498,4,0.000,0.057,3102,3466,2310,0,0,0,0,0,0
$GC,11734,0.70,104.3,170.6,9.9,773,11742,0.00,2.22,0.00,0.000,6,0.000,0.049,3113,2064,2310,0,0,0,0,0,0
$GC,12059,0.70,104.3,133.7,12.0,804,12063,0.00,2.22,0.00,0.000,4,0.000,0.058,3124,650,2310,0,0,0,0,0,0
$GC,12110,0.70,104.3,127.8,11.9,808,12114,0.00,2.22,0.00,0.000,6,0.000,0.050,3124,2069,2310,0,0,0,0,0,0
$GC,12439,0.70,104.3,90.5,10.6,845,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2068,2310,0,0,0,0,0,0
$GC,12788,0.71,112.2,53.5,9.4,906,12803,0.00,2.28,9.07,0.632,4,0.000,0.055,3134,643,2270,0,0,0,0,0,0
$GC,13015,0.71,112.2,28.5,11.1,944,13025,0.10,2.28,0.00,0.000,6,0.184,0.050,3106,2059,2269,0,0,0,0,0,0
$GC,13171,0.71,112.2,12.5,10.4,969,13180,0.00,2.30,0.00,0.000,4,0.000,0.057,3116,650,2270,0,0,0,0,0,0
$STATE,13264,end climb,SURFACE_DEPTH_REACHED
$STATE,13265,begin surface coast
$FINISH,1.4,1.026600
$STATE,13278,end surface coast,CONTROL_FINISHED_OK
$STATE,13279,begin surface
$SM_CCo,13295,81.20,0.054,0,0,1504,300.24
$SM_GC,2.40,0.00,0.00,81.20,0.000,0.000,0.054,143,2311,1504,-8.53,0.34,300.24
$IRIDIUM_FIX,-4438.33,627.13,081008,030328
$TT8_MAMPS,0.025466
$HUMID,47.32
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.4,11.879
$10V_AH,10.3,6.786
$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,21.500,136.400,174.850,81.200,0.000,31.830,20.827,483.141,24.750,0.000,8.970,2599.694,8169.842,419.469,2721.169,108.360,0.000,1331.844,0.000,2107.541,0.000,148.394,0.000
$DEVICE_MAMPS,271.575,67.320,1292.085,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.626,666.573,75.442,762.791,0.000,0.000,0.000,0.000,0.000,0.000
$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,56891,986
$CAP_FILE_SIZE,144074,0
$CFSIZE,2097086464,2091384832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.059,317.7,1
$GPS,121215,180657,-4456.274,631.690,38,0.9,38,-24.4