version: 66.07.10.p01
glider: 574
mission: 18
dive: 42
start: 3 11 112 3 57 42
data:
$ID,574
$MISSION,18
$DIVE,42
$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,-2328962.2
$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,25
$R_STBD_OVSHOOT,26
$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,41
$GPS1,131215,145233,-4458.427,635.640,35,0.9,35,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-76.5
$GPS2,131215,150412,-4458.455,635.767,5,0.8,5,-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,225.2,10274,-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,-73.0,0.0,0.0,0,88,0.00,0.00,-60.58,0.000,6,0.000,0.000,135,2291,3028,0,0,0,0,0,0
$GC,90,-0.75,-73.0,3.5,-2.3,8,108,10.88,2.28,0.00,0.000,4,0.264,0.042,2607,3717,3030,0,0,0,0,0,0
$GC,201,-0.75,-73.0,31.8,-22.1,25,210,0.00,2.30,0.00,0.000,6,0.000,0.043,2607,2298,3030,0,0,0,0,0,0
$GC,355,-0.75,-73.0,71.0,-26.1,50,362,0.00,2.28,0.00,0.000,4,0.000,0.054,2598,3717,3030,0,0,0,0,0,0
$GC,494,-0.75,-73.0,106.8,-24.3,72,499,0.12,2.25,0.00,0.000,6,0.219,0.043,2625,2287,3030,0,0,0,0,0,0
$GC,818,-0.75,-73.0,179.7,-22.0,102,823,0.00,2.28,0.00,0.000,4,0.000,0.056,2616,3711,3030,0,0,0,0,0,0
$GC,889,-0.75,-73.0,195.1,-20.6,108,899,0.00,2.25,0.00,0.000,6,0.000,0.045,2619,2307,3031,0,0,0,0,0,0
$GC,1215,-0.75,-73.0,262.2,-20.4,139,1219,0.00,2.25,0.00,0.000,4,0.000,0.054,2619,880,3030,0,0,0,0,0,0
$GC,1275,-0.75,-73.0,274.5,-19.1,144,1279,0.00,2.25,0.00,0.000,6,0.000,0.050,2610,2296,3030,0,0,0,0,0,0
$GC,1600,-0.75,-73.0,340.1,-19.4,174,1604,0.00,2.22,0.00,0.000,4,0.000,0.057,2600,3711,3030,0,0,0,0,0,0
$GC,1686,-0.75,-73.0,357.6,-19.6,181,1694,0.00,2.25,0.00,0.000,6,0.000,0.047,2604,2302,3030,0,0,0,0,0,0
$GC,2010,-0.75,-73.0,421.3,-20.1,207,2014,0.00,2.25,0.00,0.000,4,0.000,0.054,2604,884,3031,0,0,0,0,0,0
$GC,2041,-0.75,-73.0,428.1,-21.0,208,2050,0.10,2.30,0.00,0.000,6,0.207,0.051,2621,2297,3031,0,0,0,0,0,0
$GC,2357,-0.75,-73.0,486.4,-18.0,224,2361,0.00,2.25,0.00,0.000,4,0.000,0.060,2611,3722,3030,0,0,0,0,0,0
$GC,2445,-0.75,-73.0,503.0,-17.5,228,2449,0.00,2.28,0.00,0.000,6,0.000,0.049,2615,2299,3031,0,0,0,0,0,0
$GC,2773,-0.75,-73.0,563.0,-18.9,244,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2296,3030,0,0,0,0,0,0
$GC,3084,-0.75,-73.0,621.7,-18.7,259,3088,0.00,2.25,0.00,0.000,4,0.000,0.062,2606,3711,3030,0,0,0,0,0,0
$GC,3127,-0.75,-73.0,630.8,-19.4,261,3131,0.00,2.25,0.00,0.000,6,0.000,0.052,2606,2305,3030,0,0,0,0,0,0
$GC,3454,-0.75,-73.0,694.3,-19.8,277,3458,0.00,2.25,0.00,0.000,4,0.000,0.060,2606,879,3030,0,0,0,0,0,0
$GC,3474,-0.75,-73.0,698.8,-20.5,278,3479,0.10,2.30,0.00,0.000,6,0.207,0.054,2622,2296,3030,0,0,0,0,0,0
$GC,3801,-0.75,-73.0,758.4,-18.1,294,3805,0.00,2.25,0.00,0.000,4,0.000,0.063,2612,3720,3029,0,0,0,0,0,0
$GC,3818,-0.75,-73.0,761.5,-18.2,295,3822,0.00,2.25,0.00,0.000,6,0.000,0.053,2617,2288,3029,0,0,0,0,0,0
$GC,4145,-0.75,-73.0,818.8,-16.6,311,4149,0.00,2.30,0.00,0.000,4,0.000,0.066,2608,3710,3029,0,0,0,0,0,0
$GC,4161,-0.75,-73.0,821.6,-16.6,312,4165,0.00,2.22,0.00,0.000,6,0.000,0.056,2608,2300,3029,0,0,0,0,0,0
$GC,4486,-0.75,-73.0,877.3,-16.7,328,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2296,3029,0,0,0,0,0,0
$GC,4796,-0.75,-73.0,927.9,-16.1,343,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2296,3029,0,0,0,0,0,0
$GC,5105,-0.75,-73.0,976.2,-15.6,358,5109,0.00,2.28,0.00,0.000,4,0.000,0.067,2598,3721,3028,0,0,0,0,0,0
$GC,5170,-0.75,-73.0,987.0,-16.4,361,5175,0.00,2.30,0.00,0.000,6,0.000,0.058,2599,2299,3028,0,0,0,0,0,0
$STATE,5271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5272,begin apogee
$GC,5275,-0.13,0.0,1002.6,15.9,366,5338,0.77,0.00,59.40,1.304,6,0.184,0.000,2820,2043,2730,0,0,0,0,0,0
$STATE,5339,end apogee,CONTROL_FINISHED_OK
$STATE,5339,begin climb
$GC,5340,0.75,73.0,1006.3,0.0,369,5406,0.95,0.00,62.62,1.267,6,0.108,0.000,3112,2043,2431,0,0,0,0,0,0
$GC,5701,0.75,73.0,960.5,14.5,387,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2043,2429,0,0,0,0,0,0
$GC,6010,0.75,73.0,917.2,13.6,402,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2043,2429,0,0,0,0,0,0
$GC,6319,0.75,73.0,877.4,12.3,417,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2043,2429,0,0,0,0,0,0
$GC,6629,0.75,73.0,840.4,11.7,432,6633,0.00,2.25,0.00,0.000,4,0.000,0.057,3123,652,2430,0,0,0,0,0,0
$GC,6655,0.75,73.0,837.2,11.5,433,6660,0.00,2.33,0.00,0.000,6,0.000,0.051,3122,2067,2430,0,0,0,0,0,0
$GC,6976,0.75,73.0,799.7,11.9,449,6981,0.00,2.28,0.00,0.000,4,0.000,0.057,3131,649,2430,0,0,0,0,0,0
$GC,7082,0.75,73.0,787.3,12.0,454,7087,0.00,2.28,0.00,0.000,6,0.000,0.052,3126,2070,2431,0,0,0,0,0,0
$GC,7409,0.75,73.0,750.2,11.5,470,7413,0.00,2.22,0.00,0.000,4,0.000,0.060,3126,3473,2431,0,0,0,0,0,0
$GC,7429,0.75,73.0,747.4,12.3,471,7434,0.00,2.28,0.00,0.000,6,0.000,0.048,3135,2056,2431,0,0,0,0,0,0
$GC,7758,0.75,73.0,709.1,11.8,487,7763,0.00,2.25,0.00,0.000,4,0.000,0.059,3146,645,2432,0,0,0,0,0,0
$GC,7880,0.75,73.0,694.0,13.0,492,7889,0.08,2.30,0.00,0.000,6,0.223,0.051,3123,2062,2432,0,0,0,0,0,0
$GC,8196,0.75,73.0,657.4,11.2,508,8200,0.00,2.25,0.00,0.000,4,0.000,0.057,3132,649,2433,0,0,0,0,0,0
$GC,8295,0.75,73.0,645.6,10.9,512,8303,0.00,2.30,0.00,0.000,6,0.000,0.050,3125,2066,2433,0,0,0,0,0,0
$GC,8612,0.75,73.0,610.0,11.7,528,8616,0.00,2.22,0.00,0.000,4,0.000,0.060,3125,3478,2433,0,0,0,0,0,0
$GC,8632,0.75,73.0,607.1,13.3,529,8637,0.00,2.25,0.00,0.000,6,0.000,0.047,3134,2065,2433,0,0,0,0,0,0
$GC,8959,0.75,73.0,569.2,11.2,545,8963,0.00,2.25,0.00,0.000,4,0.000,0.058,3132,3475,2433,0,0,0,0,0,0
$GC,8985,0.75,73.0,566.0,11.9,546,8991,0.08,2.25,0.00,0.000,6,0.243,0.047,3123,2063,2433,0,0,0,0,0,0
$GC,9307,0.75,73.0,532.0,10.5,562,9311,0.00,2.25,0.00,0.000,4,0.000,0.058,3133,644,2434,0,0,0,0,0,0
$GC,9495,0.75,73.0,512.1,10.3,570,9504,0.00,2.28,0.00,0.000,6,0.000,0.049,3132,2061,2434,0,0,0,0,0,0
$GC,9812,0.75,75.8,480.7,9.7,586,9821,0.00,2.28,4.32,0.628,4,0.000,0.059,3129,3466,2420,0,0,0,0,0,0
$GC,9833,0.75,75.8,478.4,10.8,587,9837,0.00,2.20,0.00,0.000,6,0.000,0.048,3138,2056,2421,0,0,0,0,0,0
$GC,10160,0.75,75.8,445.6,10.0,603,10164,0.00,2.22,0.00,0.000,4,0.000,0.057,3138,3472,2421,0,0,0,0,0,0
$GC,10176,0.75,75.8,443.9,10.1,604,10180,0.15,2.20,0.00,0.000,6,0.254,0.048,3117,2062,2421,0,0,0,0,0,0
$GC,10501,0.77,91.6,416.2,8.5,620,10524,0.00,2.33,13.88,0.879,4,0.000,0.058,3117,3476,2355,0,0,0,0,0,0
$GC,10561,0.77,91.6,410.0,10.6,622,10570,0.00,2.28,0.00,0.000,6,0.000,0.049,3126,2063,2355,0,0,0,0,0,0
$GC,10884,0.77,91.6,375.0,10.7,648,10888,0.00,2.28,0.00,0.000,4,0.000,0.057,3137,652,2355,0,0,0,0,0,0
$GC,11128,0.77,91.6,348.0,11.8,669,11132,0.00,2.25,0.00,0.000,6,0.000,0.050,3137,2070,2355,0,0,0,0,0,0
$GC,11452,0.77,91.6,310.5,11.6,699,11456,0.00,2.22,0.00,0.000,4,0.000,0.058,3134,3483,2354,0,0,0,0,0,0
$GC,11536,0.77,91.6,300.0,12.2,706,11540,0.00,2.22,0.00,0.000,6,0.000,0.049,3143,2062,2354,0,0,0,0,0,0
$GC,11860,0.77,91.6,260.9,12.0,736,11864,0.00,2.22,0.00,0.000,4,0.000,0.057,3154,654,2355,0,0,0,0,0,0
$GC,11879,0.77,91.6,258.9,11.6,737,11883,0.12,2.22,0.00,0.000,6,0.220,0.050,3127,2062,2354,0,0,0,0,0,0
$GC,12203,0.77,91.6,221.6,11.4,767,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2062,2354,0,0,0,0,0,0
$GC,12524,0.77,91.6,185.8,11.9,797,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2062,2355,0,0,0,0,0,0
$GC,12840,0.77,91.6,150.5,11.3,827,12844,0.00,2.25,0.00,0.000,4,0.000,0.056,3136,653,2355,0,0,0,0,0,0
$GC,13019,0.79,107.2,132.3,8.5,842,13040,0.00,2.25,13.25,0.726,6,0.000,0.049,3136,2056,2290,0,0,0,0,0,0
$GC,13361,0.79,107.2,95.7,10.6,877,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2056,2289,0,0,0,0,0,0
$GC,13710,0.79,107.2,56.7,10.0,938,13717,0.00,2.22,0.00,0.000,4,0.000,0.057,3136,3472,2289,0,0,0,0,0,0
$GC,14061,0.79,107.2,15.0,12.8,997,14070,0.00,2.25,0.00,0.000,6,0.000,0.048,3146,2061,2290,0,0,0,0,0,0
$GC,14120,0.79,107.2,8.0,11.9,1006,14130,0.00,2.28,0.00,0.000,4,0.000,0.056,3146,3477,2290,0,0,0,0,0,0
$STATE,14166,end climb,SURFACE_DEPTH_REACHED
$STATE,14166,begin surface coast
$FINISH,1.0,1.016304
$STATE,14192,end surface coast,CONTROL_FINISHED_OK
$STATE,14192,begin surface
$SM_CCo,14209,82.85,0.050,0,0,1504,300.24
$SM_GC,2.20,0.00,0.00,82.85,0.000,0.000,0.050,146,2281,1504,-8.52,-0.51,300.24
$IRIDIUM_FIX,-4441.36,636.54,091008,040431
$TT8_MAMPS,0.026215
$HUMID,48.14
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.5,12.445
$10V_AH,10.3,7.426
$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,21.625,131.025,153.475,82.850,0.000,31.726,41.505,510.030,24.750,0.000,8.976,2715.229,8800.898,415.893,2933.959,109.989,0.000,1387.486,0.000,2270.070,0.000,148.425,0.000
$DEVICE_MAMPS,263.925,68.085,1303.560,50.490,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.363,698.525,70.980,736.220,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,60289,1017
$CAP_FILE_SIZE,149202,0
$CFSIZE,2097086464,2090598400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.050, 59.0,1
$GPS,131215,190421,-4459.370,635.425,63,1.0,63,-24.4