version: 66.07.10.p01
glider: 574
mission: 18
dive: 45
start: 3 11 112 16 40 19
data:
$ID,574
$MISSION,18
$DIVE,45
$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,-2329175
$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,18
$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,44
$GPS1,141215,033428,-4500.630,635.757,67,0.9,67,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-75.9
$GPS2,141215,034651,-4500.568,635.760,5,0.8,5,-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,220.6,6364,-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,-56.15,0.000,2,0.000,0.000,136,2306,2901,0,0,0,0,0,0
$GC,84,-0.75,-73.0,3.2,-2.4,7,111,10.80,2.33,-3.08,0.000,4,0.262,0.061,2607,3716,3029,0,0,0,0,0,0
$GC,174,-0.75,-73.0,25.3,-23.1,20,183,0.00,2.30,0.00,0.000,6,0.000,0.040,2614,2292,3029,0,0,0,0,0,0
$GC,325,-0.75,-73.0,62.2,-24.7,45,335,0.00,2.28,0.00,0.000,4,0.000,0.047,2620,884,3031,0,0,0,0,0,0
$GC,371,-0.75,-73.0,72.7,-24.2,52,379,0.00,2.28,0.00,0.000,6,0.000,0.049,2611,2297,3030,0,0,0,0,0,0
$GC,715,-0.75,-73.0,152.8,-22.4,93,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,3030,0,0,0,0,0,0
$GC,1032,-0.75,-73.0,221.7,-21.4,123,1036,0.00,2.22,0.00,0.000,4,0.000,0.054,2600,3712,3031,0,0,0,0,0,0
$GC,1117,-0.75,-73.0,240.2,-22.0,130,1121,0.00,2.20,0.00,0.000,6,0.000,0.042,2604,2298,3030,0,0,0,0,0,0
$GC,1441,-0.75,-73.0,308.4,-20.7,160,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2295,3031,0,0,0,0,0,0
$GC,1760,-0.75,-73.0,373.6,-20.2,190,1764,0.00,2.22,0.00,0.000,4,0.000,0.057,2595,3711,3031,0,0,0,0,0,0
$GC,1825,-0.75,-73.0,387.4,-20.2,195,1834,0.08,2.25,0.00,0.000,6,0.202,0.044,2616,2292,3031,0,0,0,0,0,0
$GC,2145,-0.75,-73.0,448.3,-19.5,214,2149,0.00,2.25,0.00,0.000,4,0.000,0.058,2607,3711,3031,0,0,0,0,0,0
$GC,2177,-0.75,-73.0,455.3,-20.4,215,2185,0.00,2.25,0.00,0.000,6,0.000,0.046,2607,2299,3031,0,0,0,0,0,0
$GC,2493,-0.75,-73.0,517.9,-20.1,231,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2296,3030,0,0,0,0,0,0
$GC,2803,-0.75,-73.0,579.7,-19.7,246,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2296,3031,0,0,0,0,0,0
$GC,3113,-0.75,-73.0,639.3,-19.2,261,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2296,3031,0,0,0,0,0,0
$GC,3422,-0.75,-73.0,697.6,-18.6,276,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2296,3030,0,0,0,0,0,0
$GC,3730,-0.75,-73.0,754.6,-18.5,291,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2296,3030,0,0,0,0,0,0
$GC,4040,-0.75,-73.0,809.9,-17.7,306,4045,0.00,2.28,0.00,0.000,4,0.000,0.060,2598,3721,3029,0,0,0,0,0,0
$GC,4077,-0.75,-73.0,817.0,-19.1,307,4085,0.05,2.28,0.00,0.000,6,0.202,0.050,2613,2299,3030,0,0,0,0,0,0
$GC,4394,-0.75,-73.0,870.8,-17.0,323,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2296,3029,0,0,0,0,0,0
$GC,4704,-0.75,-73.0,921.5,-16.6,338,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2295,3029,0,0,0,0,0,0
$GC,5014,-0.75,-73.0,971.0,-16.0,353,5018,0.00,2.25,0.00,0.000,4,0.000,0.065,2604,3711,3028,0,0,0,0,0,0
$GC,5097,-0.75,-73.0,985.3,-16.9,357,5101,0.00,2.25,0.00,0.000,6,0.000,0.055,2604,2292,3028,0,0,0,0,0,0
$STATE,5196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5197,begin apogee
$GC,5200,-0.13,0.0,1001.1,15.7,362,5263,0.77,0.00,59.35,1.303,6,0.180,0.000,2825,2050,2729,0,0,0,0,0,0
$STATE,5264,end apogee,CONTROL_FINISHED_OK
$STATE,5264,begin climb
$GC,5265,0.75,73.0,1005.2,0.0,365,5334,0.93,2.42,62.35,1.270,4,0.106,0.056,3122,657,2431,0,0,0,0,0,0
$GC,5350,0.75,73.0,999.3,10.4,368,5358,0.00,2.45,0.00,0.000,6,0.000,0.050,3121,2063,2429,0,0,0,0,0,0
$GC,5666,0.75,73.0,956.9,13.4,384,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2066,2427,0,0,0,0,0,0
$GC,5975,0.75,73.0,915.9,12.9,399,5979,0.00,2.28,0.00,0.000,4,0.000,0.060,3118,3476,2426,0,0,0,0,0,0
$GC,6023,0.75,73.0,908.9,13.6,401,6028,0.00,2.30,0.00,0.000,6,0.000,0.048,3128,2066,2427,0,0,0,0,0,0
$GC,6345,0.75,73.0,866.9,12.6,417,6349,0.00,2.30,0.00,0.000,4,0.000,0.059,3139,642,2427,0,0,0,0,0,0
$GC,6460,0.75,73.0,851.8,12.3,422,6465,0.00,2.33,0.00,0.000,6,0.000,0.051,3136,2059,2427,0,0,0,0,0,0
$GC,6783,0.75,73.0,810.3,13.1,438,6787,0.00,2.25,0.00,0.000,4,0.000,0.059,3135,3473,2426,0,0,0,0,0,0
$GC,6814,0.75,73.0,805.6,14.0,439,6823,0.10,2.28,0.00,0.000,6,0.227,0.047,3120,2058,2426,0,0,0,0,0,0
$GC,7130,0.75,73.0,766.1,12.4,455,7134,0.00,2.25,0.00,0.000,4,0.000,0.057,3129,650,2426,0,0,0,0,0,0
$GC,7229,0.75,73.0,752.7,13.6,459,7238,0.00,2.30,0.00,0.000,6,0.000,0.050,3129,2063,2426,0,0,0,0,0,0
$GC,7546,0.75,73.0,711.6,12.9,475,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2068,2426,0,0,0,0,0,0
$GC,7857,0.75,73.0,673.6,11.8,490,7861,0.00,2.25,0.00,0.000,4,0.000,0.057,3138,653,2425,0,0,0,0,0,0
$GC,7877,0.75,73.0,670.8,12.0,491,7882,0.00,2.28,0.00,0.000,6,0.000,0.050,3135,2058,2425,0,0,0,0,0,0
$GC,8206,0.75,73.0,631.4,12.3,507,8210,0.00,2.25,0.00,0.000,4,0.000,0.057,3144,649,2425,0,0,0,0,0,0
$GC,8501,0.75,73.0,594.8,12.0,520,8506,0.00,2.28,0.00,0.000,6,0.000,0.049,3137,2060,2425,0,0,0,0,0,0
$GC,8823,0.75,73.0,556.4,11.8,536,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2063,2425,0,0,0,0,0,0
$GC,9132,0.75,73.0,521.8,10.9,551,9136,0.00,2.22,0.00,0.000,4,0.000,0.059,3137,3478,2425,0,0,0,0,0,0
$GC,9163,0.75,73.0,517.9,11.6,552,9172,0.12,2.25,0.00,0.000,6,0.227,0.047,3115,2059,2425,0,0,0,0,0,0
$GC,9479,0.75,73.0,486.2,10.0,568,9483,0.00,2.22,0.00,0.000,4,0.000,0.058,3125,654,2425,0,0,0,0,0,0
$GC,9555,0.75,73.0,478.5,10.5,571,9563,0.00,2.28,0.00,0.000,6,0.000,0.049,3125,2066,2425,0,0,0,0,0,0
$GC,9872,0.76,78.9,449.1,9.4,587,9882,0.00,2.28,4.97,0.682,4,0.000,0.057,3135,650,2407,0,0,0,0,0,0
$GC,9955,0.77,86.5,441.1,9.3,591,9969,0.00,2.25,7.53,0.823,6,0.000,0.050,3130,2075,2377,0,0,0,0,0,0
$GC,10285,0.77,86.5,406.7,10.7,607,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2075,2377,0,0,0,0,0,0
$GC,10603,0.77,86.5,374.0,10.3,633,10607,0.00,2.20,0.00,0.000,4,0.000,0.058,3130,3473,2377,0,0,0,0,0,0
$GC,10641,0.77,86.5,369.4,12.0,636,10645,0.00,2.20,0.00,0.000,6,0.000,0.047,3138,2063,2376,0,0,0,0,0,0
$GC,10966,0.77,86.5,332.4,11.8,666,10970,0.00,2.22,0.00,0.000,4,0.000,0.057,3149,652,2376,0,0,0,0,0,0
$GC,10982,0.77,86.5,330.5,11.4,667,10987,0.12,2.25,0.00,0.000,6,0.223,0.050,3123,2064,2376,0,0,0,0,0,0
$GC,11309,0.77,86.5,294.3,11.7,697,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2066,2376,0,0,0,0,0,0
$GC,11624,0.77,86.5,259.1,10.9,727,11628,0.00,2.25,0.00,0.000,4,0.000,0.056,3133,643,2376,0,0,0,0,0,0
$GC,11744,0.77,86.5,246.1,10.9,737,11748,0.00,2.25,0.00,0.000,6,0.000,0.050,3132,2072,2376,0,0,0,0,0,0
$GC,12068,0.77,86.5,211.3,10.5,767,12072,0.00,2.25,0.00,0.000,4,0.000,0.056,3142,650,2376,0,0,0,0,0,0
$GC,12128,0.77,86.5,204.4,11.2,772,12132,0.00,2.22,0.00,0.000,6,0.000,0.050,3144,2063,2376,0,0,0,0,0,0
$GC,12453,0.77,86.5,168.9,11.3,802,12457,0.00,2.20,0.00,0.000,4,0.000,0.057,3143,3472,2377,0,0,0,0,0,0
$GC,12480,0.77,86.5,165.7,10.9,804,12485,0.15,2.22,0.00,0.000,6,0.238,0.047,3121,2051,2377,0,0,0,0,0,0
$GC,12805,0.79,108.0,136.7,8.0,834,12827,0.00,2.33,17.60,0.751,4,0.000,0.057,3131,645,2288,0,0,0,0,0,0
$GC,12843,0.80,113.6,132.9,9.4,837,12856,0.00,2.30,6.00,0.628,6,0.000,0.048,3131,2064,2266,0,0,0,0,0,0
$GC,13177,0.80,113.6,93.3,12.0,873,13186,0.00,2.30,0.00,0.000,4,0.000,0.056,3141,654,2264,0,0,0,0,0,0
$GC,13260,0.80,113.6,82.8,12.9,887,13267,0.00,2.25,0.00,0.000,6,0.000,0.050,3141,2070,2264,0,0,0,0,0,0
$GC,13608,0.80,113.6,43.3,11.5,948,13617,0.00,2.25,0.00,0.000,4,0.000,0.057,3141,3469,2265,0,0,0,0,0,0
$GC,13623,0.80,113.6,41.4,11.6,950,13630,0.00,2.20,0.00,0.000,6,0.000,0.047,3151,2061,2264,0,0,0,0,0,0
$STATE,13932,end climb,SURFACE_DEPTH_REACHED
$STATE,13932,begin surface coast
$FINISH,1.3,1.026130
$STATE,13958,end surface coast,CONTROL_FINISHED_OK
$STATE,13958,begin surface
$SM_CCo,13972,80.53,0.054,0,0,1504,300.24
$SM_GC,2.25,0.00,0.00,80.53,0.000,0.000,0.054,137,2316,1504,-8.55,0.48,300.24
$IRIDIUM_FIX,-4444.39,633.87,091008,171727
$TT8_MAMPS,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.30
$XPDR_PINGS,0
$24V_AH,23.5,12.739
$10V_AH,10.3,7.753
$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,21.325,114.000,157.800,80.525,0.000,34.294,20.482,571.573,24.750,0.000,8.977,2671.374,8694.567,400.701,2906.351,108.881,0.000,1337.649,0.000,2203.481,0.000,148.118,0.000
$DEVICE_MAMPS,261.630,68.085,1302.795,53.550,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.925,688.258,69.073,736.249,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,56844,1005
$CAP_FILE_SIZE,144019,0
$CFSIZE,2097086464,2090205184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.041, 34.1,1
$GPS,141215,074304,-4501.438,635.286,65,1.0,65,-24.4