version: 66.07.10.p01
glider: 574
mission: 18
dive: 41
start: 3 10 112 23 45 30
data:
$ID,574
$MISSION,18
$DIVE,41
$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,-2328911.5
$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,26
$R_STBD_OVSHOOT,31
$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,40
$GPS1,131215,103857,-4457.743,635.527,41,0.8,41,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-76.9
$GPS2,131215,105158,-4457.737,635.533,6,0.8,6,-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,217.9,11615,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.75,-73.0,0.0,0.0,0,88,0.00,0.00,-60.58,0.000,6,0.000,0.000,140,2324,3029,0,0,0,0,0,0
$GC,90,-0.75,-73.0,3.4,-2.4,8,108,10.82,2.20,0.00,0.000,4,0.262,0.037,2610,3723,3030,0,0,0,0,0,0
$GC,394,-0.75,-73.0,78.0,-21.8,58,401,0.00,2.28,0.00,0.000,6,0.000,0.041,2618,2289,3030,0,0,0,0,0,0
$GC,734,-0.75,-73.0,157.9,-22.5,97,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2286,3031,0,0,0,0,0,0
$GC,1051,-0.75,-73.0,225.9,-21.9,127,1055,0.00,2.25,0.00,0.000,4,0.000,0.055,2609,3708,3031,0,0,0,0,0,0
$GC,1090,-0.75,-73.0,234.3,-22.1,130,1094,0.00,2.20,0.00,0.000,6,0.000,0.042,2613,2292,3031,0,0,0,0,0,0
$GC,1414,-0.75,-73.0,301.7,-20.6,160,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2289,3031,0,0,0,0,0,0
$GC,1732,-0.75,-73.0,366.2,-19.7,190,1736,0.00,2.25,0.00,0.000,4,0.000,0.057,2604,3714,3031,0,0,0,0,0,0
$GC,1794,-0.75,-73.0,378.8,-20.7,195,1799,0.00,2.20,0.00,0.000,6,0.000,0.044,2604,2298,3031,0,0,0,0,0,0
$GC,2113,-0.75,-73.0,445.7,-21.1,215,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2295,3031,0,0,0,0,0,0
$GC,2421,-0.75,-73.0,508.1,-19.6,230,2425,0.00,2.22,0.00,0.000,4,0.000,0.057,2595,3710,3030,0,0,0,0,0,0
$GC,2487,-0.75,-73.0,521.3,-20.4,233,2493,0.08,2.22,0.00,0.000,6,0.201,0.044,2619,2303,3030,0,0,0,0,0,0
$GC,2815,-0.75,-73.0,580.9,-18.2,249,2819,0.00,2.22,0.00,0.000,4,0.000,0.054,2620,881,3031,0,0,0,0,0,0
$GC,2835,-0.75,-73.0,585.0,-18.9,250,2840,0.00,2.28,0.00,0.000,6,0.000,0.051,2610,2288,3030,0,0,0,0,0,0
$GC,3162,-0.75,-73.0,646.1,-18.8,266,3166,0.00,2.25,0.00,0.000,4,0.000,0.059,2600,3718,3030,0,0,0,0,0,0
$GC,3228,-0.75,-73.0,659.2,-19.5,269,3233,0.00,2.25,0.00,0.000,6,0.000,0.047,2604,2304,3030,0,0,0,0,0,0
$GC,3556,-0.75,-73.0,720.5,-18.8,285,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2300,3030,0,0,0,0,0,0
$GC,3864,-0.75,-73.0,777.3,-17.8,300,3868,0.00,2.22,0.00,0.000,4,0.000,0.061,2596,3712,3029,0,0,0,0,0,0
$GC,3913,-0.75,-73.0,786.5,-19.9,302,3919,0.08,2.25,0.00,0.000,6,0.196,0.050,2618,2298,3029,0,0,0,0,0,0
$GC,4234,-0.75,-73.0,839.2,-16.2,318,4238,0.00,2.22,0.00,0.000,4,0.000,0.057,2619,881,3029,0,0,0,0,0,0
$GC,4273,-0.75,-73.0,845.6,-16.3,320,4277,0.00,2.25,0.00,0.000,6,0.000,0.054,2610,2301,3029,0,0,0,0,0,0
$GC,4600,-0.75,-73.0,898.8,-15.9,336,4604,0.00,2.22,0.00,0.000,4,0.000,0.064,2599,3710,3028,0,0,0,0,0,0
$GC,4688,-0.75,-73.0,913.8,-17.2,340,4693,0.00,2.25,0.00,0.000,6,0.000,0.052,2604,2302,3029,0,0,0,0,0,0
$GC,5015,-0.75,-73.0,967.5,-16.3,356,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2298,3029,0,0,0,0,0,0
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5224,-0.13,0.0,1001.8,16.8,366,5287,0.77,0.00,59.60,1.303,6,0.181,0.000,2824,2042,2729,0,0,0,0,0,0
$STATE,5288,end apogee,CONTROL_FINISHED_OK
$STATE,5288,begin climb
$GC,5290,0.75,73.0,1005.8,0.0,369,5359,0.88,2.40,62.12,1.271,4,0.106,0.056,3113,656,2431,0,0,0,0,0,0
$GC,5397,0.75,73.0,997.1,13.5,374,5402,0.00,2.42,0.00,0.000,6,0.000,0.051,3111,2059,2429,0,0,0,0,0,0
$GC,5726,0.75,73.0,954.3,12.9,390,5730,0.00,2.30,0.00,0.000,4,0.000,0.057,3120,656,2428,0,0,0,0,0,0
$GC,5757,0.75,73.0,949.7,14.1,391,5765,0.00,2.35,0.00,0.000,6,0.000,0.051,3115,2062,2428,0,0,0,0,0,0
$GC,6074,0.75,73.0,909.2,12.7,407,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2064,2428,0,0,0,0,0,0
$GC,6383,0.75,73.0,868.8,12.8,422,6387,0.00,2.28,0.00,0.000,4,0.000,0.060,3115,3480,2427,0,0,0,0,0,0
$GC,6400,0.75,73.0,866.6,13.3,423,6404,0.00,2.25,0.00,0.000,6,0.000,0.048,3124,2058,2428,0,0,0,0,0,0
$GC,6727,0.75,73.0,822.0,13.2,439,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2055,2428,0,0,0,0,0,0
$GC,7036,0.75,73.0,780.9,13.3,454,7040,0.00,2.25,0.00,0.000,4,0.000,0.058,3135,650,2427,0,0,0,0,0,0
$GC,7166,0.75,73.0,762.9,13.8,460,7170,0.00,2.28,0.00,0.000,6,0.000,0.052,3132,2074,2427,0,0,0,0,0,0
$GC,7491,0.75,73.0,720.9,12.5,476,7495,0.00,2.28,0.00,0.000,4,0.000,0.057,3141,653,2427,0,0,0,0,0,0
$GC,7584,0.75,73.0,708.5,14.0,480,7589,0.00,2.28,0.00,0.000,6,0.000,0.050,3135,2056,2427,0,0,0,0,0,0
$GC,7906,0.75,73.0,667.4,12.6,496,7910,0.00,2.25,0.00,0.000,4,0.000,0.057,3144,646,2426,0,0,0,0,0,0
$GC,7922,0.75,73.0,665.4,12.3,497,7926,0.00,2.25,0.00,0.000,6,0.000,0.050,3141,2064,2426,0,0,0,0,0,0
$GC,8248,0.75,73.0,626.0,12.0,513,8252,0.00,2.22,0.00,0.000,4,0.000,0.059,3141,3476,2426,0,0,0,0,0,0
$GC,8257,0.75,73.0,624.6,12.0,513,8265,0.12,2.25,0.00,0.000,6,0.239,0.047,3120,2059,2426,0,0,0,0,0,0
$GC,8573,0.75,73.0,590.7,10.5,529,8577,0.00,2.22,0.00,0.000,4,0.000,0.058,3130,653,2426,0,0,0,0,0,0
$GC,8626,0.75,73.0,584.9,10.4,531,8634,0.00,2.28,0.00,0.000,6,0.000,0.049,3130,2064,2426,0,0,0,0,0,0
$GC,8943,0.75,73.0,552.2,10.2,547,8947,0.00,2.25,0.00,0.000,4,0.000,0.057,3139,647,2426,0,0,0,0,0,0
$GC,9027,0.75,73.0,543.2,11.0,551,9031,0.00,2.25,0.00,0.000,6,0.000,0.050,3135,2074,2426,0,0,0,0,0,0
$GC,9353,0.75,73.0,509.4,10.2,567,9357,0.00,2.25,0.00,0.000,4,0.000,0.057,3144,653,2426,0,0,0,0,0,0
$GC,9423,0.75,73.0,501.7,10.4,570,9428,0.00,2.25,0.00,0.000,6,0.000,0.049,3143,2056,2426,0,0,0,0,0,0
$GC,9753,0.75,73.7,468.5,9.9,586,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2058,2426,0,0,0,0,0,0
$GC,10061,0.76,80.2,438.8,9.4,601,10072,0.00,2.25,6.20,0.745,4,0.000,0.057,3143,3479,2401,0,0,0,0,0,0
$GC,10109,0.76,80.2,433.6,10.8,603,10115,0.10,2.25,0.00,0.000,6,0.233,0.047,3127,2065,2401,0,0,0,0,0,0
$GC,10433,0.76,80.2,400.1,10.6,619,10437,0.00,2.25,0.00,0.000,4,0.000,0.057,3136,642,2402,0,0,0,0,0,0
$GC,10476,0.76,80.2,394.8,11.0,622,10485,0.00,2.28,0.00,0.000,6,0.000,0.049,3132,2057,2402,0,0,0,0,0,0
$GC,10805,0.76,80.2,360.6,10.0,653,10809,0.00,2.22,0.00,0.000,4,0.000,0.057,3141,650,2403,0,0,0,0,0,0
$GC,11128,0.76,80.2,326.7,10.4,681,11132,0.00,2.22,0.00,0.000,6,0.000,0.050,3141,2061,2403,0,0,0,0,0,0
$GC,11452,0.76,80.2,293.7,10.3,711,11456,0.00,2.22,0.00,0.000,4,0.000,0.057,3141,3484,2403,0,0,0,0,0,0
$GC,11597,0.76,80.2,278.1,11.1,723,11606,0.10,2.25,0.00,0.000,6,0.223,0.047,3125,2062,2403,0,0,0,0,0,0
$GC,11923,0.76,82.8,246.9,9.7,754,11936,0.00,2.30,3.90,0.507,4,0.000,0.057,3134,645,2392,0,0,0,0,0,0
$GC,11960,0.76,82.8,243.3,10.0,757,11965,0.00,2.25,0.00,0.000,6,0.000,0.050,3134,2074,2392,0,0,0,0,0,0
$GC,12290,0.77,86.3,211.3,9.6,788,12305,0.00,2.33,4.55,0.606,4,0.000,0.057,3145,650,2378,0,0,0,0,0,0
$GC,12597,0.77,86.3,177.8,10.6,815,12601,0.00,2.22,0.00,0.000,6,0.000,0.050,3146,2062,2379,0,0,0,0,0,0
$GC,12924,0.77,88.9,143.5,9.7,845,12936,0.00,2.28,4.05,0.486,4,0.000,0.057,3145,3474,2366,0,0,0,0,0,0
$GC,13041,0.77,88.9,130.9,10.1,855,13049,0.10,2.25,0.00,0.000,6,0.223,0.047,3129,2052,2366,0,0,0,0,0,0
$GC,13366,0.79,108.7,103.3,8.2,886,13390,0.00,2.30,16.30,0.719,4,0.000,0.057,3122,3476,2285,0,0,0,0,0,0
$GC,13394,0.80,114.8,100.6,9.4,888,13405,0.00,2.28,6.38,0.617,6,0.000,0.047,3131,2058,2261,0,0,0,0,0,0
$GC,13740,0.80,114.8,62.5,11.5,948,13748,0.00,2.28,0.00,0.000,4,0.000,0.057,3142,658,2259,0,0,0,0,0,0
$GC,13772,0.80,114.8,58.9,11.5,953,13779,0.00,2.25,0.00,0.000,6,0.000,0.050,3142,2074,2259,0,0,0,0,0,0
$GC,14133,0.80,114.8,17.4,13.4,1014,14143,0.00,2.25,0.00,0.000,4,0.000,0.059,3142,3469,2259,0,0,0,0,0,0
$STATE,14240,end climb,SURFACE_DEPTH_REACHED
$STATE,14240,begin surface coast
$FINISH,1.7,1.026563
$STATE,14248,end surface coast,CONTROL_FINISHED_OK
$STATE,14248,begin surface
$SM_CCo,14264,79.93,0.053,0,0,1505,300.24
$SM_GC,2.18,0.00,0.00,79.93,0.000,0.000,0.053,136,2290,1505,-8.55,-0.25,300.24
$IRIDIUM_FIX,-4441.36,642.59,081008,202013
$TT8_MAMPS,0.025466
$HUMID,48.18
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.30
$XPDR_PINGS,0
$24V_AH,23.5,12.353
$10V_AH,10.3,7.320
$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,21.275,131.000,163.100,79.925,0.000,32.740,68.605,562.689,24.750,0.000,8.955,2771.173,8740.330,400.662,3089.122,110.994,0.000,1404.038,0.000,2337.290,0.000,148.735,0.000
$DEVICE_MAMPS,262.395,64.260,1302.795,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.730,706.131,68.752,749.388,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,60233,1032
$CAP_FILE_SIZE,151639,0
$CFSIZE,2097086464,2090729472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.089, 51.8,1
$GPS,131215,145233,-4458.427,635.640,35,0.9,35,-24.4