version: 66.07.10.p01
glider: 574
mission: 18
dive: 39
start: 3 10 112 15 34 53
data:
$ID,574
$MISSION,18
$DIVE,39
$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,-2328800.2
$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,23
$R_STBD_OVSHOOT,22
$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,38
$GPS1,131215,022933,-4456.351,635.753,28,0.9,28,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-78.7
$GPS2,131215,024121,-4456.334,635.953,5,1.0,6,-24.4
$SPEED_LIMITS,0.172,0.187
$TGT_NAME,SAF_BUT4
$TGT_LATLONG,-4504.000,636.000
$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,224.9,14197,-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,24,-0.75,-73.0,0.0,0.0,0,82,0.00,0.00,-56.10,0.000,2,0.000,0.000,134,2304,2927,0,0,0,0,0,0
$GC,84,-0.75,-73.0,3.4,-2.7,7,103,10.77,2.35,-2.40,0.000,4,0.260,0.063,2606,3725,3030,0,0,0,0,0,0
$GC,279,-0.75,-73.0,49.9,-22.1,38,286,0.00,2.28,0.00,0.000,6,0.000,0.046,2606,2295,3031,0,0,0,0,0,0
$GC,625,-0.75,-73.0,133.2,-23.0,87,629,0.00,2.28,0.00,0.000,4,0.000,0.056,2595,3720,3031,0,0,0,0,0,0
$GC,738,-0.75,-73.0,160.6,-24.9,96,747,0.00,2.30,0.00,0.000,6,0.000,0.050,2598,2299,3031,0,0,0,0,0,0
$GC,1062,-0.75,-73.0,235.4,-23.6,127,1067,0.12,2.28,0.00,0.000,4,0.223,0.059,2616,3714,3031,0,0,0,0,0,0
$GC,1151,-0.75,-73.0,254.5,-20.5,134,1159,0.00,2.30,0.00,0.000,6,0.000,0.051,2619,2290,3031,0,0,0,0,0,0
$GC,1479,-0.75,-73.0,321.1,-21.4,165,1483,0.00,2.30,0.00,0.000,4,0.000,0.063,2611,3713,3031,0,0,0,0,0,0
$GC,1496,-0.75,-73.0,325.1,-20.7,166,1500,0.00,2.28,0.00,0.000,6,0.000,0.053,2611,2288,3032,0,0,0,0,0,0
$GC,1828,-0.75,-73.0,394.2,-20.6,197,1833,0.00,2.28,0.00,0.000,4,0.000,0.063,2602,3709,3032,0,0,0,0,0,0
$GC,1858,-0.75,-73.0,400.6,-21.1,199,1862,0.00,2.25,0.00,0.000,6,0.000,0.054,2604,2289,3031,0,0,0,0,0,0
$GC,2176,-0.75,-73.0,465.7,-20.3,214,2180,0.00,2.25,0.00,0.000,4,0.000,0.062,2604,877,3032,0,0,0,0,0,0
$GC,2185,-0.75,-73.0,468.4,-20.1,214,2193,0.10,2.30,0.00,0.000,6,0.208,0.054,2621,2294,3031,0,0,0,0,0,0
$GC,2501,-0.75,-73.0,528.6,-18.7,230,2505,0.00,2.25,0.00,0.000,4,0.000,0.066,2612,3709,3032,0,0,0,0,0,0
$GC,2550,-0.75,-73.0,538.4,-19.2,232,2555,0.00,2.28,0.00,0.000,6,0.000,0.055,2612,2302,3031,0,0,0,0,0,0
$GC,2872,-0.75,-73.0,598.6,-18.8,248,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2299,3031,0,0,0,0,0,0
$GC,3183,-0.75,-73.0,655.3,-18.0,263,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2298,3031,0,0,0,0,0,0
$GC,3492,-0.75,-73.0,711.0,-18.0,278,3496,0.00,2.30,0.00,0.000,4,0.000,0.069,2603,3714,3031,0,0,0,0,0,0
$GC,3542,-0.75,-73.0,720.7,-18.2,280,3546,0.00,2.28,0.00,0.000,6,0.000,0.060,2604,2291,3031,0,0,0,0,0,0
$GC,3859,-0.75,-73.0,778.2,-18.2,295,3863,0.00,2.30,0.00,0.000,4,0.000,0.072,2595,3710,3030,0,0,0,0,0,0
$GC,3897,-0.75,-73.0,786.0,-19.9,297,3902,0.12,2.28,0.00,0.000,6,0.213,0.062,2626,2286,3030,0,0,0,0,0,0
$GC,4223,-0.75,-73.0,838.8,-16.0,313,4227,0.00,2.33,0.00,0.000,4,0.000,0.075,2617,3715,3030,0,0,0,0,0,0
$GC,4242,-0.75,-73.0,842.6,-17.6,314,4248,0.00,2.33,0.00,0.000,6,0.000,0.064,2619,2300,3030,0,0,0,0,0,0
$GC,4571,-0.75,-73.0,894.1,-15.5,330,4575,0.00,2.28,0.00,0.000,4,0.000,0.071,2619,883,3029,0,0,0,0,0,0
$GC,4587,-0.75,-73.0,896.8,-15.2,331,4591,0.00,2.30,0.00,0.000,6,0.000,0.064,2610,2296,3030,0,0,0,0,0,0
$GC,4912,-0.75,-73.0,948.4,-15.6,347,4916,0.00,2.28,0.00,0.000,4,0.000,0.075,2600,3710,3029,0,0,0,0,0,0
$GC,4966,-0.75,-73.0,957.9,-17.2,349,4975,0.00,2.33,0.00,0.000,6,0.000,0.064,2604,2294,3029,0,0,0,0,0,0
$STATE,5242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5242,begin apogee
$GC,5245,-0.13,0.0,1002.2,16.1,363,5309,0.77,0.00,59.70,1.304,6,0.182,0.000,2823,2045,2729,0,0,0,0,0,0
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5311,0.75,73.0,1006.0,0.0,366,5382,0.88,2.55,62.33,1.270,4,0.106,0.063,3100,3472,2431,0,0,0,0,0,0
$GC,5386,0.77,88.5,1001.1,8.5,369,5408,0.00,2.45,14.85,1.166,6,0.000,0.052,3110,2060,2369,0,0,0,0,0,0
$GC,5724,0.77,88.5,951.4,14.8,386,5728,0.00,2.35,0.00,0.000,4,0.000,0.063,3122,649,2365,0,0,0,0,0,0
$GC,5800,0.77,88.5,939.5,15.3,389,5805,0.00,2.38,0.00,0.000,6,0.000,0.053,3121,2066,2364,0,0,0,0,0,0
$GC,6123,0.77,88.5,889.3,15.3,405,6127,0.00,2.33,0.00,0.000,4,0.000,0.059,3131,642,2364,0,0,0,0,0,0
$GC,6185,0.77,88.5,879.5,15.1,408,6189,0.00,2.33,0.00,0.000,6,0.000,0.054,3128,2076,2364,0,0,0,0,0,0
$GC,6510,0.77,88.5,829.8,15.0,424,6514,0.00,2.33,0.00,0.000,4,0.000,0.060,3137,642,2364,0,0,0,0,0,0
$GC,6586,0.77,88.5,817.9,15.4,427,6594,0.00,2.33,0.00,0.000,6,0.000,0.053,3134,2060,2363,0,0,0,0,0,0
$GC,6902,0.77,88.5,771.7,14.2,443,6907,0.00,2.30,0.00,0.000,4,0.000,0.057,3144,643,2363,0,0,0,0,0,0
$GC,6934,0.77,88.5,766.9,14.2,444,6942,0.00,2.33,0.00,0.000,6,0.000,0.050,3140,2069,2363,0,0,0,0,0,0
$GC,7250,0.77,88.5,719.9,15.3,460,7254,0.00,2.28,0.00,0.000,4,0.000,0.058,3149,650,2363,0,0,0,0,0,0
$GC,7305,0.77,88.5,711.5,16.2,462,7312,0.00,2.25,0.00,0.000,6,0.000,0.052,3146,2063,2363,0,0,0,0,0,0
$GC,7621,0.77,88.5,665.2,14.7,478,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2066,2363,0,0,0,0,0,0
$GC,7929,0.77,88.5,620.4,14.2,493,7933,0.00,2.28,0.00,0.000,4,0.000,0.057,3155,650,2362,0,0,0,0,0,0
$GC,7946,0.77,88.5,617.9,14.4,494,7951,0.12,2.28,0.00,0.000,6,0.235,0.051,3127,2071,2362,0,0,0,0,0,0
$GC,8273,0.77,88.5,575.3,12.5,510,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2073,2362,0,0,0,0,0,0
$GC,8581,0.77,88.5,535.7,12.7,525,8586,0.00,2.28,0.00,0.000,4,0.000,0.057,3136,639,2362,0,0,0,0,0,0
$GC,8608,0.77,88.5,532.0,13.0,526,8613,0.00,2.30,0.00,0.000,6,0.000,0.050,3136,2064,2362,0,0,0,0,0,0
$GC,8930,0.77,88.5,490.4,13.0,542,8934,0.00,2.25,0.00,0.000,4,0.000,0.057,3146,646,2361,0,0,0,0,0,0
$GC,8972,0.77,88.5,484.6,12.4,544,8977,0.00,2.28,0.00,0.000,6,0.000,0.049,3146,2061,2362,0,0,0,0,0,0
$GC,9300,0.77,88.5,444.2,11.9,560,9304,0.00,2.25,0.00,0.000,4,0.000,0.057,3155,643,2362,0,0,0,0,0,0
$GC,9392,0.77,88.5,432.5,12.1,564,9398,0.10,2.30,0.00,0.000,6,0.216,0.050,3129,2067,2362,0,0,0,0,0,0
$GC,9716,0.77,88.5,396.5,11.1,581,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2067,2361,0,0,0,0,0,0
$GC,10033,0.77,88.5,360.7,11.1,611,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2068,2361,0,0,0,0,0,0
$GC,10354,0.77,88.5,325.7,10.6,641,10358,0.00,2.25,0.00,0.000,4,0.000,0.057,3138,643,2361,0,0,0,0,0,0
$GC,10441,0.77,88.5,315.1,12.3,648,10452,0.00,2.30,0.00,0.000,6,0.000,0.050,3138,2072,2361,0,0,0,0,0,0
$GC,10766,0.77,88.5,277.0,11.8,679,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2072,2361,0,0,0,0,0,0
$GC,11088,0.77,88.5,240.4,11.0,709,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2072,2361,0,0,0,0,0,0
$GC,11404,0.77,88.5,206.7,11.2,739,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2072,2361,0,0,0,0,0,0
$GC,11725,0.78,96.7,174.4,9.2,769,11739,0.00,2.28,6.62,0.647,4,0.000,0.057,3138,3471,2334,0,0,0,0,0,0
$GC,11788,0.78,96.7,167.1,11.7,774,11796,0.08,2.25,0.00,0.000,6,0.234,0.048,3130,2054,2334,0,0,0,0,0,0
$GC,12117,0.78,96.7,133.9,10.4,805,12121,0.00,2.20,0.00,0.000,4,0.000,0.057,3139,652,2334,0,0,0,0,0,0
$GC,12403,0.78,96.7,102.8,10.8,830,12408,0.00,2.22,0.00,0.000,6,0.000,0.050,3140,2061,2334,0,0,0,0,0,0
$GC,12747,0.78,96.7,66.7,10.9,888,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2061,2334,0,0,0,0,0,0
$GC,13102,0.78,96.7,28.6,10.0,949,13112,0.00,2.25,0.00,0.000,4,0.000,0.059,3139,3474,2335,0,0,0,0,0,0
$STATE,13371,end climb,SURFACE_DEPTH_REACHED
$STATE,13371,begin surface coast
$FINISH,1.1,1.026535
$STATE,13403,end surface coast,CONTROL_FINISHED_OK
$STATE,13403,begin surface
$SM_CCo,13420,87.30,0.054,0,0,1504,300.24
$SM_GC,2.45,0.00,0.00,87.30,0.000,0.000,0.054,137,2285,1504,-8.55,-0.42,300.24
$IRIDIUM_FIX,-4438.33,639.57,081008,151527
$TT8_MAMPS,0.026215
$HUMID,47.36
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.5,12.159
$10V_AH,10.3,7.103
$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,21.300,119.325,143.500,87.300,0.000,30.896,18.770,546.104,24.750,0.000,8.968,2651.076,8159.247,390.943,2896.498,104.885,0.000,1310.806,0.000,2222.919,0.000,148.116,0.000
$DEVICE_MAMPS,260.100,75.735,1303.560,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.277,673.764,81.164,792.370,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354156
$DATA_FILE_SIZE,56965,998
$CAP_FILE_SIZE,140469,0
$CFSIZE,2097086464,2090991616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.066, 37.1,1
$GPS,131215,062803,-4457.002,635.486,40,0.9,40,-24.4