version: 66.07.10.p01
glider: 574
mission: 18
dive: 43
start: 3 11 112 8 9 57
data:
$ID,574
$MISSION,18
$DIVE,43
$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,-2329040.5
$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,29
$R_STBD_OVSHOOT,25
$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,42
$GPS1,131215,190421,-4459.370,635.425,63,1.0,63,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.4
$GPS2,131215,191628,-4459.340,635.594,5,1.0,6,-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,214.6,8646,-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,-73.0,0.0,0.0,0,91,0.00,0.00,-60.90,0.000,6,0.000,0.000,146,2281,3028,0,0,0,0,0,0
$GC,93,-0.75,-73.0,3.6,-2.8,8,110,10.70,2.28,0.00,0.000,4,0.260,0.038,2608,3722,3029,0,0,0,0,0,0
$GC,275,-0.75,-73.0,48.7,-22.7,37,285,0.00,2.25,0.00,0.000,6,0.000,0.041,2608,2298,3029,0,0,0,0,0,0
$GC,625,-0.75,-73.0,129.8,-23.6,87,630,0.00,2.25,0.00,0.000,4,0.000,0.054,2598,3710,3029,0,0,0,0,0,0
$GC,706,-0.75,-73.0,149.9,-22.9,94,717,0.00,2.25,0.00,0.000,6,0.000,0.041,2604,2302,3030,0,0,0,0,0,0
$GC,1035,-0.75,-73.0,220.9,-22.0,125,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2299,3029,0,0,0,0,0,0
$GC,1351,-0.75,-73.0,287.6,-20.5,155,1355,0.00,2.25,0.00,0.000,4,0.000,0.055,2595,3711,3029,0,0,0,0,0,0
$GC,1415,-0.75,-73.0,301.7,-21.6,160,1426,0.08,2.25,0.00,0.000,6,0.207,0.043,2619,2295,3029,0,0,0,0,0,0
$GC,1741,-0.75,-73.0,364.0,-18.9,191,1745,0.00,2.25,0.00,0.000,4,0.000,0.057,2609,3716,3029,0,0,0,0,0,0
$GC,1770,-0.75,-73.0,369.3,-20.3,193,1775,0.00,2.22,0.00,0.000,6,0.000,0.045,2611,2298,3029,0,0,0,0,0,0
$GC,2095,-0.75,-73.0,432.6,-19.3,216,2099,0.00,2.20,0.00,0.000,4,0.000,0.051,2618,885,3030,0,0,0,0,0,0
$GC,2149,-0.75,-73.0,443.6,-19.2,218,2158,0.00,2.28,0.00,0.000,6,0.000,0.050,2609,2292,3030,0,0,0,0,0,0
$GC,2468,-0.75,-73.0,503.5,-18.7,234,2472,0.00,2.25,0.00,0.000,4,0.000,0.057,2598,3712,3029,0,0,0,0,0,0
$GC,2510,-0.75,-73.0,512.8,-19.8,236,2515,0.00,2.25,0.00,0.000,6,0.000,0.045,2604,2298,3030,0,0,0,0,0,0
$GC,2837,-0.75,-73.0,576.7,-19.9,252,2841,0.00,2.25,0.00,0.000,4,0.000,0.058,2595,3719,3030,0,0,0,0,0,0
$GC,2858,-0.75,-73.0,581.3,-20.0,253,2863,0.10,2.25,0.00,0.000,6,0.203,0.047,2622,2304,3029,0,0,0,0,0,0
$GC,3186,-0.75,-73.0,640.7,-18.4,269,3190,0.00,2.22,0.00,0.000,4,0.000,0.061,2613,3709,3029,0,0,0,0,0,0
$GC,3211,-0.75,-73.0,645.7,-18.5,270,3217,0.00,2.25,0.00,0.000,6,0.000,0.049,2619,2302,3029,0,0,0,0,0,0
$GC,3533,-0.75,-73.0,705.0,-18.0,286,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2298,3028,0,0,0,0,0,0
$GC,3843,-0.75,-73.0,761.0,-17.4,301,3847,0.00,2.22,0.00,0.000,4,0.000,0.057,2620,884,3028,0,0,0,0,0,0
$GC,3865,-0.75,-73.0,765.1,-17.7,302,3869,0.00,2.25,0.00,0.000,6,0.000,0.053,2610,2301,3029,0,0,0,0,0,0
$GC,4187,-0.75,-73.0,820.7,-16.5,318,4191,0.00,2.22,0.00,0.000,4,0.000,0.063,2599,3710,3028,0,0,0,0,0,0
$GC,4208,-0.75,-73.0,824.6,-17.9,319,4212,0.00,2.22,0.00,0.000,6,0.000,0.050,2603,2288,3028,0,0,0,0,0,0
$GC,4529,-0.75,-73.0,877.1,-16.2,335,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2284,3028,0,0,0,0,0,0
$GC,4837,-0.75,-73.0,927.0,-16.0,350,4841,0.00,2.28,0.00,0.000,4,0.000,0.065,2594,3711,3028,0,0,0,0,0,0
$GC,4869,-0.75,-73.0,932.4,-16.6,351,4878,0.10,2.28,0.00,0.000,6,0.197,0.054,2622,2296,3028,0,0,0,0,0,0
$GC,5186,-0.75,-73.0,978.7,-14.6,367,5190,0.00,2.25,0.00,0.000,4,0.000,0.060,2631,875,3027,0,0,0,0,0,0
$GC,5235,-0.75,-73.0,986.3,-14.4,369,5240,0.00,2.30,0.00,0.000,6,0.000,0.055,2622,2293,3026,0,0,0,0,0,0
$STATE,5329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5329,begin apogee
$GC,5333,-0.13,0.0,1000.0,14.6,374,5396,0.70,0.00,59.28,1.308,6,0.178,0.000,2821,2043,2730,0,0,0,0,0,0
$STATE,5397,end apogee,CONTROL_FINISHED_OK
$STATE,5397,begin climb
$GC,5398,0.75,73.0,1003.6,0.0,377,5467,0.90,2.42,61.97,1.272,4,0.105,0.057,3116,657,2432,0,0,0,0,0,0
$GC,5505,0.75,73.0,994.6,13.0,382,5510,0.00,2.42,0.00,0.000,6,0.000,0.051,3115,2061,2430,0,0,0,0,0,0
$GC,5834,0.75,73.0,950.6,13.2,398,5838,0.00,2.30,0.00,0.000,4,0.000,0.056,3125,660,2428,0,0,0,0,0,0
$GC,5918,0.75,73.0,939.3,13.1,402,5923,0.00,2.30,0.00,0.000,6,0.000,0.052,3120,2068,2429,0,0,0,0,0,0
$GC,6244,0.75,73.0,896.9,12.7,418,6248,0.00,2.30,0.00,0.000,4,0.000,0.057,3129,650,2428,0,0,0,0,0,0
$GC,6261,0.75,73.0,894.6,13.1,419,6266,0.00,2.30,0.00,0.000,6,0.000,0.052,3126,2071,2428,0,0,0,0,0,0
$GC,6588,0.75,73.0,853.5,12.5,435,6592,0.00,2.28,0.00,0.000,4,0.000,0.057,3135,659,2428,0,0,0,0,0,0
$GC,6641,0.75,73.0,846.6,12.3,437,6649,0.00,2.30,0.00,0.000,6,0.000,0.051,3127,2060,2428,0,0,0,0,0,0
$GC,6958,0.75,73.0,807.8,12.4,453,6962,0.00,2.28,0.00,0.000,4,0.000,0.056,3137,656,2427,0,0,0,0,0,0
$GC,7034,0.75,73.0,798.1,12.9,456,7042,0.00,2.30,0.00,0.000,6,0.000,0.050,3130,2060,2428,0,0,0,0,0,0
$GC,7350,0.75,73.0,758.6,12.8,472,7354,0.00,2.28,0.00,0.000,4,0.000,0.057,3139,654,2427,0,0,0,0,0,0
$GC,7399,0.75,73.0,752.1,12.8,474,7404,0.00,2.28,0.00,0.000,6,0.000,0.050,3133,2058,2427,0,0,0,0,0,0
$GC,7721,0.75,73.0,712.2,12.3,490,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2061,2427,0,0,0,0,0,0
$GC,8030,0.75,73.0,673.2,12.8,505,8034,0.00,2.25,0.00,0.000,4,0.000,0.057,3141,649,2427,0,0,0,0,0,0
$GC,8056,0.75,73.0,669.9,12.3,506,8061,0.00,2.30,0.00,0.000,6,0.000,0.050,3137,2066,2427,0,0,0,0,0,0
$GC,8377,0.75,73.0,630.3,12.5,522,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2069,2427,0,0,0,0,0,0
$GC,8687,0.75,73.0,590.1,12.8,537,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2069,2426,0,0,0,0,0,0
$GC,8997,0.75,73.0,552.0,12.0,552,9001,0.00,2.22,0.00,0.000,4,0.000,0.058,3134,3481,2426,0,0,0,0,0,0
$GC,9014,0.75,73.0,549.8,12.0,553,9018,0.00,2.22,0.00,0.000,6,0.000,0.048,3143,2055,2426,0,0,0,0,0,0
$GC,9340,0.75,73.0,510.7,12.0,569,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2051,2426,0,0,0,0,0,0
$GC,9649,0.75,73.0,476.2,10.6,584,9653,0.00,2.22,0.00,0.000,4,0.000,0.058,3154,646,2426,0,0,0,0,0,0
$GC,9832,0.75,73.0,457.1,10.3,592,9838,0.12,2.28,0.00,0.000,6,0.212,0.050,3117,2061,2426,0,0,0,0,0,0
$GC,10154,0.77,90.4,428.6,8.4,608,10176,0.00,2.30,13.80,0.886,4,0.000,0.058,3117,3470,2360,0,0,0,0,0,0
$GC,10230,0.77,90.4,420.5,12.0,611,10235,0.00,2.25,0.00,0.000,6,0.000,0.047,3126,2069,2360,0,0,0,0,0,0
$GC,10558,0.77,90.4,386.4,10.6,633,10562,0.00,2.25,0.00,0.000,4,0.000,0.058,3137,652,2359,0,0,0,0,0,0
$GC,10655,0.77,90.4,375.5,11.6,641,10659,0.00,2.28,0.00,0.000,6,0.000,0.050,3136,2073,2359,0,0,0,0,0,0
$GC,10979,0.77,90.4,336.7,11.9,671,10983,0.00,2.28,0.00,0.000,4,0.000,0.057,3147,646,2359,0,0,0,0,0,0
$GC,11197,0.77,90.4,309.4,12.2,690,11201,0.00,2.25,0.00,0.000,6,0.000,0.050,3147,2069,2359,0,0,0,0,0,0
$GC,11520,0.77,90.4,269.9,12.2,720,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2070,2359,0,0,0,0,0,0
$GC,11840,0.77,90.4,230.3,12.1,750,11844,0.00,2.20,0.00,0.000,4,0.000,0.057,3147,3473,2360,0,0,0,0,0,0
$GC,11916,0.77,90.4,220.5,12.1,756,11927,0.12,2.25,0.00,0.000,6,0.228,0.047,3125,2053,2359,0,0,0,0,0,0
$GC,12241,0.77,90.4,184.8,10.8,787,12245,0.00,2.25,0.00,0.000,4,0.000,0.057,3121,3474,2360,0,0,0,0,0,0
$GC,12250,0.77,90.4,183.6,10.5,787,12258,0.00,2.25,0.00,0.000,6,0.000,0.047,3130,2061,2360,0,0,0,0,0,0
$GC,12575,0.78,100.4,150.7,9.0,818,12589,0.00,2.33,9.05,0.689,4,0.000,0.057,3141,647,2319,0,0,0,0,0,0
$GC,12659,0.78,100.4,142.3,11.4,825,12663,0.00,2.25,0.00,0.000,6,0.000,0.050,3141,2067,2319,0,0,0,0,0,0
$GC,12983,0.78,100.4,105.3,11.4,855,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2066,2319,0,0,0,0,0,0
$GC,13323,0.78,100.4,66.5,11.3,910,13330,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2066,2320,0,0,0,0,0,0
$GC,13680,0.78,100.4,28.2,10.5,971,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2066,2319,0,0,0,0,0,0
$GC,13834,0.78,100.4,11.2,11.4,996,13843,0.00,2.30,0.00,0.000,4,0.000,0.057,3152,647,2320,0,0,0,0,0,0
$STATE,13928,end climb,SURFACE_DEPTH_REACHED
$STATE,13928,begin surface coast
$FINISH,1.2,1.026636
$STATE,13972,end surface coast,CONTROL_FINISHED_OK
$STATE,13972,begin surface
$SM_CCo,13988,85.80,0.055,0,0,1504,300.24
$SM_GC,2.66,0.00,0.00,85.80,0.000,0.000,0.055,140,2303,1504,-8.54,0.11,300.24
$IRIDIUM_FIX,-4444.39,636.90,091008,080823
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.90
$XPDR_PINGS,0
$24V_AH,23.5,12.537
$10V_AH,10.3,7.534
$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,21.100,127.725,144.100,85.800,0.000,36.408,20.307,554.635,24.750,0.000,8.936,2711.661,8602.523,398.709,2957.287,116.962,0.000,1367.451,0.000,2270.734,0.000,150.040,0.000
$DEVICE_MAMPS,260.100,65.025,1308.150,55.080,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.691,698.120,79.576,772.666,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,60355,1018
$CAP_FILE_SIZE,147562,0
$CFSIZE,2097086464,2090467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.068, 57.5,1
$GPS,131215,231233,-4500.250,635.688,37,1.1,37,-24.4