version: 66.07.10.p01
glider: 574
mission: 18
dive: 40
start: 3 10 112 19 36 17
data:
$ID,574
$MISSION,18
$DIVE,40
$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,-2328856
$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,28
$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,39
$GPS1,131215,062803,-4457.002,635.486,40,0.9,40,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.9
$GPS2,131215,064246,-4456.879,635.593,5,0.8,6,-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,215.1,13198,-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,-73.0,0.0,0.0,0,82,0.00,0.00,-56.53,0.000,2,0.000,0.000,136,2284,2924,0,0,0,0,0,0
$GC,84,-0.75,-73.0,3.0,-1.6,7,103,10.68,2.38,-2.60,0.000,4,0.263,0.063,2606,3723,3030,0,0,0,0,0,0
$GC,258,-0.75,-73.0,42.2,-21.2,34,264,0.00,2.28,0.00,0.000,6,0.000,0.045,2607,2303,3030,0,0,0,0,0,0
$GC,607,-0.75,-73.0,124.2,-23.9,87,611,0.00,2.25,0.00,0.000,4,0.000,0.056,2597,3713,3031,0,0,0,0,0,0
$GC,685,-0.75,-73.0,143.7,-23.6,93,695,0.00,2.28,0.00,0.000,6,0.000,0.047,2604,2299,3031,0,0,0,0,0,0
$GC,1011,-0.75,-73.0,218.9,-22.7,124,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2296,3031,0,0,0,0,0,0
$GC,1330,-0.75,-73.0,288.1,-20.6,154,1334,0.00,2.25,0.00,0.000,4,0.000,0.058,2595,3715,3031,0,0,0,0,0,0
$GC,1373,-0.75,-73.0,296.2,-20.0,157,1378,0.12,2.22,0.00,0.000,6,0.217,0.050,2626,2299,3031,0,0,0,0,0,0
$GC,1697,-0.75,-73.0,358.5,-19.1,187,1701,0.00,2.25,0.00,0.000,4,0.000,0.060,2617,3711,3031,0,0,0,0,0,0
$GC,1750,-0.75,-73.0,369.0,-18.3,191,1758,0.00,2.28,0.00,0.000,6,0.000,0.051,2619,2296,3031,0,0,0,0,0,0
$GC,2082,-0.75,-73.0,433.0,-19.3,215,2086,0.00,2.25,0.00,0.000,4,0.000,0.062,2611,3709,3031,0,0,0,0,0,0
$GC,2158,-0.75,-73.0,448.8,-19.1,218,2166,0.00,2.28,0.00,0.000,6,0.000,0.052,2611,2296,3031,0,0,0,0,0,0
$GC,2476,-0.75,-73.0,511.3,-19.9,234,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2293,3031,0,0,0,0,0,0
$GC,2784,-0.75,-73.0,571.0,-19.6,249,2789,0.00,2.25,0.00,0.000,4,0.000,0.064,2602,3707,3031,0,0,0,0,0,0
$GC,2802,-0.75,-73.0,574.5,-19.7,250,2806,0.00,2.22,0.00,0.000,6,0.000,0.054,2604,2298,3031,0,0,0,0,0,0
$GC,3128,-0.75,-73.0,638.6,-19.6,266,3132,0.00,2.25,0.00,0.000,4,0.000,0.066,2596,3707,3030,0,0,0,0,0,0
$GC,3153,-0.75,-73.0,644.2,-20.6,267,3159,0.08,2.28,0.00,0.000,6,0.203,0.055,2619,2300,3031,0,0,0,0,0,0
$GC,3476,-0.75,-73.0,700.8,-17.4,283,3480,0.00,2.28,0.00,0.000,4,0.000,0.067,2610,3715,3030,0,0,0,0,0,0
$GC,3501,-0.75,-73.0,706.0,-19.0,284,3507,0.00,2.30,0.00,0.000,6,0.000,0.058,2610,2300,3030,0,0,0,0,0,0
$GC,3824,-0.75,-73.0,761.8,-17.4,300,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2297,3030,0,0,0,0,0,0
$GC,4133,-0.75,-73.0,815.3,-17.1,315,4137,0.00,2.28,0.00,0.000,4,0.000,0.068,2601,3713,3030,0,0,0,0,0,0
$GC,4198,-0.75,-73.0,826.8,-16.9,318,4203,0.00,2.30,0.00,0.000,6,0.000,0.060,2604,2303,3029,0,0,0,0,0,0
$GC,4527,-0.75,-73.0,882.1,-16.7,334,4531,0.00,2.28,0.00,0.000,4,0.000,0.070,2595,3711,3029,0,0,0,0,0,0
$GC,4543,-0.75,-73.0,885.3,-17.0,335,4548,0.12,2.25,0.00,0.000,6,0.265,0.060,2622,2296,3029,0,0,0,0,0,0
$GC,4869,-0.75,-73.0,934.8,-14.8,351,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2294,3029,0,0,0,0,0,0
$GC,5179,-0.75,-73.0,979.2,-14.4,366,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2293,3028,0,0,0,0,0,0
$STATE,5343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5343,begin apogee
$GC,5347,-0.13,0.0,1002.6,14.4,374,5410,0.70,0.00,59.53,1.300,6,0.234,0.000,2819,2044,2729,0,0,0,0,0,0
$STATE,5411,end apogee,CONTROL_FINISHED_OK
$STATE,5411,begin climb
$GC,5412,0.75,73.0,1005.6,0.0,377,5481,0.95,2.45,62.05,1.269,4,0.172,0.060,3117,647,2432,0,0,0,0,0,0
$GC,5490,0.75,73.0,999.3,11.1,380,5496,0.00,2.47,0.00,0.000,6,0.000,0.052,3116,2062,2430,0,0,0,0,0,0
$GC,5813,0.75,73.0,952.5,15.1,396,5817,0.00,2.33,0.00,0.000,4,0.000,0.058,3126,650,2428,0,0,0,0,0,0
$GC,5838,0.75,73.0,948.4,15.2,397,5844,0.00,2.38,0.00,0.000,6,0.000,0.052,3121,2069,2429,0,0,0,0,0,0
$GC,6160,0.75,73.0,901.8,14.2,413,6165,0.00,2.33,0.00,0.000,4,0.000,0.057,3130,645,2428,0,0,0,0,0,0
$GC,6259,0.75,73.0,887.5,14.5,417,6268,0.00,2.35,0.00,0.000,6,0.000,0.052,3126,2063,2428,0,0,0,0,0,0
$GC,6576,0.75,73.0,844.5,13.5,433,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2067,2427,0,0,0,0,0,0
$GC,6885,0.75,73.0,803.4,12.8,448,6889,0.00,2.28,0.00,0.000,4,0.000,0.057,3135,646,2427,0,0,0,0,0,0
$GC,6945,0.75,73.0,795.4,12.6,451,6950,0.00,2.28,0.00,0.000,6,0.000,0.051,3129,2069,2428,0,0,0,0,0,0
$GC,7271,0.75,73.0,753.4,13.2,467,7275,0.00,2.22,0.00,0.000,4,0.000,0.060,3129,3472,2427,0,0,0,0,0,0
$GC,7288,0.75,73.0,751.2,13.7,468,7292,0.00,2.22,0.00,0.000,6,0.000,0.050,3138,2058,2427,0,0,0,0,0,0
$GC,7613,0.75,73.0,708.0,12.9,484,7617,0.00,2.25,0.00,0.000,4,0.000,0.059,3149,647,2427,0,0,0,0,0,0
$GC,7678,0.75,73.0,699.2,13.3,487,7684,0.10,2.30,0.00,0.000,6,0.220,0.051,3120,2065,2427,0,0,0,0,0,0
$GC,8005,0.75,73.0,658.0,12.7,503,8009,0.00,2.22,0.00,0.000,4,0.000,0.059,3119,3475,2426,0,0,0,0,0,0
$GC,8022,0.75,73.0,655.9,12.9,504,8026,0.00,2.22,0.00,0.000,6,0.000,0.049,3128,2054,2426,0,0,0,0,0,0
$GC,8348,0.75,73.0,614.1,12.6,520,8352,0.00,2.22,0.00,0.000,4,0.000,0.059,3139,650,2427,0,0,0,0,0,0
$GC,8390,0.75,73.0,608.2,13.4,522,8396,0.00,2.28,0.00,0.000,6,0.000,0.050,3139,2058,2426,0,0,0,0,0,0
$GC,8720,0.75,73.0,567.4,12.2,538,8724,0.00,2.25,0.00,0.000,4,0.000,0.057,3149,643,2426,0,0,0,0,0,0
$GC,8751,0.75,73.0,563.2,12.2,539,8759,0.10,2.28,0.00,0.000,6,0.226,0.050,3117,2058,2426,0,0,0,0,0,0
$GC,9067,0.75,73.0,528.7,10.9,555,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2059,2426,0,0,0,0,0,0
$GC,9377,0.75,73.0,495.0,10.6,570,9381,0.00,2.22,0.00,0.000,4,0.000,0.057,3126,653,2426,0,0,0,0,0,0
$GC,9425,0.75,73.0,490.0,10.1,572,9430,0.00,2.28,0.00,0.000,6,0.000,0.050,3126,2066,2426,0,0,0,0,0,0
$GC,9747,0.76,77.0,458.0,9.6,588,9756,0.00,2.30,3.78,0.559,4,0.000,0.057,3137,657,2415,0,0,0,0,0,0
$GC,9791,0.76,77.0,453.7,10.3,590,9795,0.00,2.22,0.00,0.000,6,0.000,0.050,3136,2066,2415,0,0,0,0,0,0
$GC,10118,0.76,77.0,419.7,10.1,606,10122,0.00,2.25,0.00,0.000,4,0.000,0.057,3147,646,2415,0,0,0,0,0,0
$GC,10172,0.76,77.0,413.5,11.5,608,10181,0.10,2.28,0.00,0.000,6,0.212,0.049,3120,2060,2415,0,0,0,0,0,0
$GC,10494,0.76,77.7,381.9,9.9,632,10498,0.00,2.22,0.00,0.000,4,0.000,0.058,3119,3480,2415,0,0,0,0,0,0
$GC,10581,0.76,77.7,372.8,10.0,639,10589,0.00,2.25,0.00,0.000,6,0.000,0.048,3128,2060,2415,0,0,0,0,0,0
$GC,10907,0.76,77.7,339.3,10.4,670,10911,0.00,2.22,0.00,0.000,4,0.000,0.057,3128,3476,2415,0,0,0,0,0,0
$GC,11017,0.76,77.7,326.8,11.8,679,11025,0.00,2.25,0.00,0.000,6,0.000,0.048,3138,2057,2416,0,0,0,0,0,0
$GC,11343,0.76,77.7,293.0,10.4,710,11347,0.00,2.22,0.00,0.000,4,0.000,0.058,3150,645,2415,0,0,0,0,0,0
$GC,11453,0.76,77.7,280.9,10.7,719,11462,0.10,2.28,0.00,0.000,6,0.207,0.049,3123,2061,2415,0,0,0,0,0,0
$GC,11779,0.76,81.9,249.9,9.6,750,11792,0.00,2.25,5.35,0.624,4,0.000,0.054,3132,648,2395,0,0,0,0,0,0
$GC,12066,0.76,81.9,219.3,10.3,775,12074,0.00,2.28,0.00,0.000,6,0.000,0.049,3132,2061,2396,0,0,0,0,0,0
$GC,12392,0.76,81.9,184.7,10.6,806,12396,0.00,2.22,0.00,0.000,4,0.000,0.057,3132,3484,2396,0,0,0,0,0,0
$GC,12509,0.76,81.9,171.5,11.7,816,12513,0.00,2.22,0.00,0.000,6,0.000,0.049,3142,2055,2395,0,0,0,0,0,0
$GC,12839,0.80,115.3,142.7,6.9,847,12871,0.00,0.00,26.73,0.769,6,0.000,0.000,3142,2052,2259,0,0,0,0,0,0
$GC,13187,0.80,115.3,99.2,12.9,880,13194,0.00,2.25,0.00,0.000,4,0.000,0.057,3153,647,2256,0,0,0,0,0,0
$GC,13315,0.80,115.3,82.5,13.0,902,13322,0.00,2.28,0.00,0.000,6,0.000,0.050,3153,2076,2255,0,0,0,0,0,0
$GC,13666,0.80,115.3,38.5,10.8,963,13674,0.00,2.33,0.00,0.000,4,0.000,0.057,3164,650,2255,0,0,0,0,0,0
$GC,13850,0.80,115.3,15.9,12.6,993,13861,0.10,2.28,0.00,0.000,6,0.202,0.049,3137,2059,2256,0,0,0,0,0,0
$GC,13911,0.80,115.3,8.2,13.0,1002,13919,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2062,2255,0,0,0,0,0,0
$STATE,13956,end climb,SURFACE_DEPTH_REACHED
$STATE,13956,begin surface coast
$FINISH,1.1,1.026609
$STATE,13982,end surface coast,CONTROL_FINISHED_OK
$STATE,13982,begin surface
$SM_CCo,13997,79.70,0.055,0,0,1504,300.24
$SM_GC,2.68,0.00,0.00,79.70,0.000,0.000,0.055,140,2324,1504,-8.54,0.71,300.24
$IRIDIUM_FIX,-4438.33,642.59,081008,202058
$TT8_MAMPS,0.026215
$HUMID,47.63
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.30
$XPDR_PINGS,0
$24V_AH,23.5,12.256
$10V_AH,10.2,7.211
$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,21.500,132.600,157.425,79.700,0.000,64.656,47.915,573.386,24.750,0.000,8.962,2710.566,8681.996,413.961,3027.166,112.521,0.000,1377.855,0.000,2239.016,0.000,149.371,0.000
$DEVICE_MAMPS,264.690,72.675,1300.500,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.132,700.804,70.348,742.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,60159,1013
$CAP_FILE_SIZE,151298,0
$CFSIZE,2097086464,2090860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.063, 54.0,1
$GPS,131215,103857,-4457.743,635.527,41,0.8,41,-24.4