version: 66.07.10.p01
glider: 574
mission: 18
dive: 37
start: 3 10 112 7 15 48
data:
$ID,574
$MISSION,18
$DIVE,37
$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,75
$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,-2328705.5
$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,22
$R_STBD_OVSHOOT,21
$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,36
$GPS1,121215,180657,-4456.274,631.690,38,0.9,38,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.9
$GPS2,121215,182215,-4456.228,631.559,5,0.8,6,-24.4
$SPEED_LIMITS,0.172,0.187
$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,124.5,5837,-25.8,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-0.75,-73.0,0.0,0.0,0,85,0.00,0.00,-59.22,0.000,2,0.000,0.000,143,2310,3011,0,0,0,0,0,0
$GC,87,-0.75,-73.0,3.1,-2.3,7,105,10.90,2.28,-0.35,0.000,4,0.268,0.050,2627,871,3028,0,0,0,0,0,0
$GC,355,-0.75,-73.0,63.1,-20.9,51,363,0.00,2.35,0.00,0.000,6,0.000,0.047,2617,2308,3028,0,0,0,0,0,0
$GC,693,-0.75,-73.0,140.1,-23.3,96,697,0.00,2.22,0.00,0.000,4,0.000,0.054,2606,3721,3028,0,0,0,0,0,0
$GC,743,-0.75,-73.0,151.8,-23.4,100,747,0.00,2.22,0.00,0.000,6,0.000,0.041,2607,2291,3028,0,0,0,0,0,0
$GC,1068,-0.75,-73.0,227.7,-22.1,130,1072,0.00,2.25,0.00,0.000,4,0.000,0.054,2598,3712,3029,0,0,0,0,0,0
$GC,1111,-0.75,-73.0,237.9,-22.6,133,1120,0.00,2.25,0.00,0.000,6,0.000,0.041,2601,2297,3029,0,0,0,0,0,0
$GC,1436,-0.75,-73.0,309.2,-22.8,164,1443,0.00,2.22,0.00,0.000,4,0.000,0.055,2592,3712,3029,0,0,0,0,0,0
$GC,1450,-0.75,-73.0,311.9,-22.1,165,1455,0.15,2.20,0.00,0.000,6,0.216,0.041,2626,2286,3029,0,0,0,0,0,0
$GC,1774,-0.75,-73.0,377.0,-19.6,195,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2283,3029,0,0,0,0,0,0
$GC,2087,-0.75,-73.0,436.7,-18.7,216,2091,0.00,2.25,0.00,0.000,4,0.000,0.058,2617,3711,3029,0,0,0,0,0,0
$GC,2135,-0.75,-73.0,446.4,-19.5,218,2140,0.00,2.22,0.00,0.000,6,0.000,0.047,2619,2307,3029,0,0,0,0,0,0
$GC,2458,-0.75,-73.0,508.8,-19.9,234,2462,0.00,2.22,0.00,0.000,4,0.000,0.060,2611,3714,3028,0,0,0,0,0,0
$GC,2478,-0.75,-73.0,513.3,-19.4,235,2483,0.00,2.25,0.00,0.000,6,0.000,0.047,2611,2298,3028,0,0,0,0,0,0
$GC,2805,-0.75,-73.0,578.0,-20.1,251,2809,0.00,2.22,0.00,0.000,4,0.000,0.060,2603,3711,3028,0,0,0,0,0,0
$GC,2822,-0.75,-73.0,581.2,-19.9,252,2826,0.00,2.20,0.00,0.000,6,0.000,0.047,2604,2293,3028,0,0,0,0,0,0
$GC,3147,-0.75,-73.0,644.0,-18.6,268,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2289,3028,0,0,0,0,0,0
$GC,3457,-0.75,-73.0,700.8,-17.8,283,3461,0.00,2.25,0.00,0.000,4,0.000,0.062,2595,3711,3027,0,0,0,0,0,0
$GC,3506,-0.75,-73.0,709.9,-17.5,285,3513,0.08,2.25,0.00,0.000,6,0.199,0.051,2616,2303,3028,0,0,0,0,0,0
$GC,3828,-0.75,-73.0,764.0,-16.7,301,3832,0.00,2.25,0.00,0.000,4,0.000,0.063,2607,3709,3027,0,0,0,0,0,0
$GC,3859,-0.75,-73.0,769.5,-17.3,302,3868,0.00,2.25,0.00,0.000,6,0.000,0.052,2607,2301,3028,0,0,0,0,0,0
$GC,4178,-0.75,-73.0,823.5,-17.1,318,4182,0.00,2.25,0.00,0.000,4,0.000,0.063,2598,3717,3027,0,0,0,0,0,0
$GC,4204,-0.75,-73.0,828.8,-17.3,319,4210,0.00,2.28,0.00,0.000,6,0.000,0.054,2598,2297,3027,0,0,0,0,0,0
$GC,4527,-0.75,-73.0,885.8,-18.1,335,4528,0.12,0.00,0.00,0.000,6,0.219,0.000,2626,2294,3026,0,0,0,0,0,0
$GC,4838,-0.75,-73.0,935.2,-15.9,350,4842,0.00,2.25,0.00,0.000,4,0.000,0.067,2617,3708,3027,0,0,0,0,0,0
$GC,4863,-0.75,-73.0,940.0,-17.3,351,4869,0.00,2.28,0.00,0.000,6,0.000,0.056,2619,2294,3026,0,0,0,0,0,0
$GC,5186,-0.75,-73.0,988.3,-14.8,367,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2291,3027,0,0,0,0,0,0
$STATE,5268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5268,begin apogee
$GC,5272,-0.13,0.0,1000.1,14.3,371,5334,0.73,0.00,58.90,1.290,6,0.204,0.000,2824,2052,2729,0,0,0,0,0,0
$STATE,5335,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5336,0.75,73.0,1003.2,0.0,374,5402,0.93,0.00,62.38,1.255,6,0.107,0.000,3110,2052,2431,0,0,0,0,0,0
$GC,5696,0.75,73.0,955.1,15.0,392,5700,0.00,2.30,0.00,0.000,4,0.000,0.058,3121,653,2427,0,0,0,0,0,0
$GC,5767,0.75,73.0,943.9,14.8,395,5772,0.00,2.35,0.00,0.000,6,0.000,0.052,3120,2059,2428,0,0,0,0,0,0
$GC,6089,0.75,73.0,896.3,14.6,411,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2062,2427,0,0,0,0,0,0
$GC,6398,0.75,73.0,852.7,13.5,426,6402,0.00,2.30,0.00,0.000,4,0.000,0.057,3129,647,2427,0,0,0,0,0,0
$GC,6424,0.75,73.0,848.8,13.5,427,6429,0.00,2.33,0.00,0.000,6,0.000,0.051,3126,2065,2427,0,0,0,0,0,0
$GC,6746,0.75,73.0,803.8,13.9,443,6750,0.00,2.28,0.00,0.000,4,0.000,0.057,3135,649,2427,0,0,0,0,0,0
$GC,6879,0.75,73.0,785.0,13.8,449,6884,0.00,2.30,0.00,0.000,6,0.000,0.050,3128,2063,2427,0,0,0,0,0,0
$GC,7208,0.75,73.0,742.8,12.6,465,7212,0.00,2.25,0.00,0.000,4,0.000,0.057,3138,652,2427,0,0,0,0,0,0
$GC,7250,0.75,73.0,736.7,14.1,467,7255,0.00,2.28,0.00,0.000,6,0.000,0.050,3131,2059,2427,0,0,0,0,0,0
$GC,7578,0.75,73.0,695.8,12.5,483,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2061,2426,0,0,0,0,0,0
$GC,7888,0.75,73.0,657.5,13.0,498,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2061,2426,0,0,0,0,0,0
$GC,8196,0.75,73.0,619.1,12.6,513,8200,0.00,2.22,0.00,0.000,4,0.000,0.060,3130,3474,2426,0,0,0,0,0,0
$GC,8228,0.75,73.0,614.8,13.2,514,8236,0.00,2.25,0.00,0.000,6,0.000,0.047,3139,2060,2426,0,0,0,0,0,0
$GC,8545,0.75,73.0,578.1,11.0,530,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2057,2426,0,0,0,0,0,0
$GC,8854,0.75,73.0,545.2,10.5,545,8858,0.00,2.22,0.00,0.000,4,0.000,0.059,3150,652,2427,0,0,0,0,0,0
$GC,8871,0.75,73.0,543.2,10.9,546,8875,0.12,2.22,0.00,0.000,6,0.243,0.050,3120,2065,2426,0,0,0,0,0,0
$GC,9202,0.75,74.4,510.4,9.8,562,9206,0.00,2.25,0.00,0.000,4,0.000,0.057,3130,643,2426,0,0,0,0,0,0
$GC,9219,0.75,74.4,508.6,10.3,563,9223,0.00,2.22,0.00,0.000,6,0.000,0.050,3129,2063,2426,0,0,0,0,0,0
$GC,9544,0.75,74.4,474.4,10.7,579,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2066,2426,0,0,0,0,0,0
$GC,9854,0.75,74.4,441.8,10.6,594,9858,0.00,2.22,0.00,0.000,4,0.000,0.057,3140,651,2426,0,0,0,0,0,0
$GC,9887,0.75,74.4,438.2,10.9,595,9894,0.00,2.22,0.00,0.000,6,0.000,0.049,3140,2071,2425,0,0,0,0,0,0
$GC,10202,0.75,74.4,404.2,10.9,611,10206,0.00,2.25,0.00,0.000,4,0.000,0.057,3149,646,2425,0,0,0,0,0,0
$GC,10312,0.75,74.4,391.9,11.0,618,10321,0.10,2.25,0.00,0.000,6,0.224,0.049,3122,2054,2426,0,0,0,0,0,0
$GC,10640,0.76,78.7,359.6,9.6,649,10653,0.00,2.25,4.88,0.632,4,0.000,0.058,3115,3480,2409,0,0,0,0,0,0
$GC,10665,0.77,85.3,357.0,9.3,651,10677,0.00,2.20,6.82,0.756,6,0.000,0.047,3124,2057,2381,0,0,0,0,0,0
$GC,10994,0.77,85.3,322.0,10.4,682,10998,0.00,2.22,0.00,0.000,4,0.000,0.057,3125,3474,2381,0,0,0,0,0,0
$GC,11026,0.77,85.3,318.2,11.0,684,11036,0.00,2.22,0.00,0.000,6,0.000,0.047,3134,2070,2382,0,0,0,0,0,0
$GC,11351,0.77,85.3,283.8,10.4,715,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2069,2381,0,0,0,0,0,0
$GC,11673,0.77,85.3,249.5,11.0,745,11677,0.00,2.22,0.00,0.000,4,0.000,0.057,3145,653,2382,0,0,0,0,0,0
$GC,11760,0.77,85.3,239.0,12.1,752,11771,0.00,2.28,0.00,0.000,6,0.000,0.049,3145,2067,2381,0,0,0,0,0,0
$GC,12086,0.77,85.3,203.0,10.8,783,12090,0.00,2.25,0.00,0.000,4,0.000,0.057,3155,644,2381,0,0,0,0,0,0
$GC,12296,0.77,85.3,181.3,10.3,801,12300,0.15,2.22,0.00,0.000,6,0.226,0.050,3122,2062,2382,0,0,0,0,0,0
$GC,12620,0.80,115.7,154.2,7.2,831,12649,0.00,2.25,24.45,0.770,4,0.000,0.055,3115,3475,2257,0,0,0,0,0,0
$GC,12687,0.80,115.7,147.7,11.0,836,12698,0.00,2.28,0.00,0.000,6,0.000,0.047,3124,2057,2255,0,0,0,0,0,0
$GC,13012,0.80,115.7,108.1,11.7,867,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2055,2254,0,0,0,0,0,0
$GC,13348,0.81,118.3,71.7,9.7,920,13355,0.00,2.22,0.00,0.000,4,0.000,0.057,3135,650,2253,0,0,0,0,0,0
$GC,13532,0.81,118.3,50.7,12.0,952,13539,0.00,2.25,0.00,0.000,6,0.000,0.049,3135,2062,2253,0,0,0,0,0,0
$GC,13895,0.81,118.3,7.8,11.0,1013,13905,0.00,2.28,0.00,0.000,4,0.000,0.054,3145,652,2253,0,0,0,0,0,0
$STATE,13936,end climb,SURFACE_DEPTH_REACHED
$STATE,13936,begin surface coast
$FINISH,1.3,1.025857
$STATE,13962,end surface coast,CONTROL_FINISHED_OK
$STATE,13962,begin surface
$SM_CCo,13979,79.35,0.053,0,0,1506,300.24
$SM_GC,2.41,0.00,0.00,79.35,0.000,0.000,0.053,145,2305,1506,-8.52,0.14,300.24
$IRIDIUM_FIX,-4438.33,630.15,081008,070706
$TT8_MAMPS,0.025466
$HUMID,47.91
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.5,11.977
$10V_AH,10.2,6.893
$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,21.525,122.350,157.425,79.350,0.000,75.283,84.053,566.669,24.750,0.000,8.969,2702.091,8722.026,408.251,3023.162,107.291,0.000,1337.734,0.000,2199.984,0.000,148.754,0.000
$DEVICE_MAMPS,267.750,68.085,1289.790,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.777,698.672,74.481,766.052,0.000,0.000,0.000,0.000,0.000,0.000
$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,60354,1023
$CAP_FILE_SIZE,145462,0
$CFSIZE,2097086464,2091253760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.015,189.3,1
$GPS,121215,221803,-4456.726,633.233,36,0.8,36,-24.4