version: 66.07.10.p01
glider: 574
mission: 18
dive: 47
start: 3 12 112 0 55 13
data:
$ID,574
$MISSION,18
$DIVE,47
$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,-2329335.5
$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,22
$R_STBD_OVSHOOT,20
$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,46
$GPS1,141215,115021,-4502.556,635.871,65,0.8,65,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-77.3
$GPS2,141215,120144,-4502.516,636.019,5,0.9,6,-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,229.9,2748,-27.8,-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,-0.79,-62.6,0.0,0.0,0,91,0.00,0.00,-60.08,0.000,6,0.000,0.000,142,2287,2986,0,0,0,0,0,0
$GC,93,-0.80,-73.0,3.4,-2.7,8,113,10.62,2.33,-0.93,0.000,4,0.259,0.055,2592,3722,3028,0,0,0,0,0,0
$GC,371,-0.80,-73.0,74.4,-24.7,54,379,0.00,2.30,0.00,0.000,6,0.000,0.042,2592,2291,3027,0,0,0,0,0,0
$GC,713,-0.80,-73.0,159.0,-23.9,94,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2288,3028,0,0,0,0,0,0
$GC,1031,-0.80,-73.0,233.6,-23.0,124,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2288,3029,0,0,0,0,0,0
$GC,1350,-0.80,-73.0,307.7,-23.0,154,1354,0.00,2.28,0.00,0.000,4,0.000,0.057,2582,3722,3029,0,0,0,0,0,0
$GC,1415,-0.80,-73.0,323.1,-22.0,159,1423,0.00,2.28,0.00,0.000,6,0.000,0.045,2584,2295,3029,0,0,0,0,0,0
$GC,1741,-0.80,-73.0,395.8,-21.6,190,1745,0.00,2.25,0.00,0.000,4,0.000,0.057,2576,3715,3029,0,0,0,0,0,0
$GC,1768,-0.80,-73.0,401.8,-22.5,192,1773,0.12,2.22,0.00,0.000,6,0.216,0.047,2605,2296,3029,0,0,0,0,0,0
$GC,2083,-0.80,-73.0,466.0,-20.3,207,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2293,3028,0,0,0,0,0,0
$GC,2394,-0.80,-73.0,528.9,-20.0,222,2399,0.00,2.25,0.00,0.000,4,0.000,0.060,2596,3712,3028,0,0,0,0,0,0
$GC,2409,-0.80,-73.0,532.7,-19.8,222,2418,0.00,2.25,0.00,0.000,6,0.000,0.050,2598,2307,3028,0,0,0,0,0,0
$GC,2726,-0.80,-73.0,595.8,-20.2,238,2730,0.00,2.25,0.00,0.000,4,0.000,0.061,2589,3722,3028,0,0,0,0,0,0
$GC,2752,-0.80,-73.0,601.7,-20.9,239,2757,0.00,2.28,0.00,0.000,6,0.000,0.050,2591,2303,3028,0,0,0,0,0,0
$GC,3074,-0.80,-73.0,665.8,-20.0,255,3078,0.00,2.28,0.00,0.000,4,0.000,0.062,2582,3716,3028,0,0,0,0,0,0
$GC,3123,-0.80,-73.0,676.2,-20.5,257,3128,0.00,2.28,0.00,0.000,6,0.000,0.054,2585,2303,3028,0,0,0,0,0,0
$GC,3446,-0.80,-73.0,740.1,-19.6,273,3450,0.00,2.25,0.00,0.000,4,0.000,0.063,2576,3714,3028,0,0,0,0,0,0
$GC,3477,-0.80,-73.0,746.7,-19.3,274,3485,0.10,2.28,0.00,0.000,6,0.198,0.053,2605,2299,3028,0,0,0,0,0,0
$GC,3794,-0.80,-73.0,803.8,-17.8,290,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2296,3027,0,0,0,0,0,0
$GC,4102,-0.80,-73.0,857.8,-16.7,305,4106,0.00,2.25,0.00,0.000,4,0.000,0.062,2606,879,3027,0,0,0,0,0,0
$GC,4120,-0.80,-73.0,860.7,-16.8,306,4124,0.00,2.28,0.00,0.000,6,0.000,0.057,2597,2303,3027,0,0,0,0,0,0
$GC,4446,-0.80,-73.0,916.7,-17.3,322,4450,0.00,2.25,0.00,0.000,4,0.000,0.068,2587,3712,3027,0,0,0,0,0,0
$GC,4485,-0.80,-73.0,923.7,-17.8,324,4489,0.00,2.25,0.00,0.000,6,0.000,0.058,2590,2296,3026,0,0,0,0,0,0
$GC,4811,-0.80,-73.0,977.5,-15.8,340,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2293,3026,0,0,0,0,0,0
$STATE,4955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4955,begin apogee
$GC,4959,-0.13,0.0,1000.7,16.4,347,5021,0.82,0.00,59.15,1.301,6,0.184,0.000,2824,2054,2730,0,0,0,0,0,0
$STATE,5022,end apogee,CONTROL_FINISHED_OK
$STATE,5022,begin climb
$GC,5023,0.80,73.0,1004.2,0.0,350,5093,0.98,2.45,62.12,1.263,4,0.106,0.059,3136,657,2430,0,0,0,0,0,0
$GC,5124,0.80,73.0,994.5,14.6,354,5129,0.00,2.42,0.00,0.000,6,0.000,0.051,3134,2056,2429,0,0,0,0,0,0
$GC,5447,0.80,73.0,946.0,15.1,370,5451,0.00,2.33,0.00,0.000,4,0.000,0.057,3144,656,2428,0,0,0,0,0,0
$GC,5461,0.80,73.0,943.5,14.8,370,5470,0.00,2.35,0.00,0.000,6,0.000,0.050,3139,2059,2428,0,0,0,0,0,0
$GC,5778,0.80,73.0,897.5,14.5,386,5782,0.00,2.33,0.00,0.000,4,0.000,0.057,3148,647,2427,0,0,0,0,0,0
$GC,5871,0.80,73.0,883.5,14.6,390,5876,0.00,2.33,0.00,0.000,6,0.000,0.050,3139,2057,2427,0,0,0,0,0,0
$GC,6193,0.80,73.0,836.8,14.1,406,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2059,2427,0,0,0,0,0,0
$GC,6502,0.80,73.0,795.3,13.3,421,6506,0.00,2.25,0.00,0.000,4,0.000,0.057,3148,656,2427,0,0,0,0,0,0
$GC,6567,0.80,73.0,786.1,13.9,424,6573,0.00,2.30,0.00,0.000,6,0.000,0.050,3139,2060,2427,0,0,0,0,0,0
$GC,6895,0.80,73.0,741.7,13.6,440,6899,0.00,2.25,0.00,0.000,4,0.000,0.056,3149,654,2426,0,0,0,0,0,0
$GC,6956,0.80,73.0,733.3,14.8,443,6960,0.00,2.25,0.00,0.000,6,0.000,0.050,3140,2066,2426,0,0,0,0,0,0
$GC,7282,0.80,73.0,688.3,13.7,459,7286,0.00,2.22,0.00,0.000,4,0.000,0.059,3140,3476,2426,0,0,0,0,0,0
$GC,7291,0.80,73.0,686.8,13.9,459,7300,0.00,2.25,0.00,0.000,6,0.000,0.047,3149,2071,2426,0,0,0,0,0,0
$GC,7608,0.80,73.0,643.0,13.8,475,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2068,2425,0,0,0,0,0,0
$GC,7918,0.80,73.0,602.3,12.9,490,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2069,2425,0,0,0,0,0,0
$GC,8226,0.80,73.0,563.6,12.4,505,8230,0.00,2.25,0.00,0.000,4,0.000,0.058,3160,652,2425,0,0,0,0,0,0
$GC,8320,0.80,73.0,552.1,12.0,509,8325,0.00,2.28,0.00,0.000,6,0.000,0.048,3156,2060,2425,0,0,0,0,0,0
$GC,8642,0.80,73.0,514.7,11.6,525,8646,0.00,2.25,0.00,0.000,4,0.000,0.057,3166,645,2425,0,0,0,0,0,0
$GC,8725,0.80,73.0,504.5,12.9,529,8730,0.15,2.25,0.00,0.000,6,0.233,0.050,3133,2073,2426,0,0,0,0,0,0
$GC,9052,0.80,73.0,468.0,10.9,545,9056,0.00,2.28,0.00,0.000,4,0.000,0.056,3142,642,2425,0,0,0,0,0,0
$GC,9114,0.80,73.0,460.9,11.4,548,9118,0.00,2.25,0.00,0.000,6,0.000,0.050,3142,2065,2425,0,0,0,0,0,0
$GC,9440,0.80,73.0,425.4,10.6,564,9444,0.00,2.25,0.00,0.000,4,0.000,0.056,3152,646,2425,0,0,0,0,0,0
$GC,9505,0.80,73.0,418.2,10.5,567,9510,0.00,2.28,0.00,0.000,6,0.000,0.049,3152,2058,2425,0,0,0,0,0,0
$GC,9830,0.80,73.0,384.5,10.7,589,9834,0.00,2.22,0.00,0.000,4,0.000,0.056,3162,650,2425,0,0,0,0,0,0
$GC,9847,0.80,73.0,382.3,10.6,590,9852,0.12,2.22,0.00,0.000,6,0.230,0.049,3136,2069,2425,0,0,0,0,0,0
$GC,10171,0.81,77.0,350.4,9.5,620,10185,0.00,2.33,3.33,0.459,4,0.000,0.057,3146,648,2417,0,0,0,0,0,0
$GC,10313,0.81,77.0,335.7,10.1,632,10324,0.00,2.28,0.00,0.000,6,0.000,0.048,3146,2061,2416,0,0,0,0,0,0
$GC,10639,0.81,80.3,303.6,9.6,663,10651,0.00,2.28,4.60,0.593,4,0.000,0.058,3146,3485,2401,0,0,0,0,0,0
$GC,10723,0.81,80.3,294.5,10.9,670,10731,0.00,2.28,0.00,0.000,6,0.000,0.047,3155,2055,2402,0,0,0,0,0,0
$GC,11052,0.81,81.3,261.8,9.8,701,11059,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2052,2401,0,0,0,0,0,0
$GC,11377,0.81,81.3,228.0,10.7,732,11381,0.00,2.22,0.00,0.000,4,0.000,0.057,3166,645,2401,0,0,0,0,0,0
$GC,11554,0.81,81.3,207.9,10.9,747,11563,0.10,2.28,0.00,0.000,6,0.207,0.049,3140,2058,2402,0,0,0,0,0,0
$GC,11881,0.83,97.3,178.3,8.3,778,11903,0.00,2.30,14.30,0.752,4,0.000,0.057,3140,3472,2332,0,0,0,0,0,0
$GC,11974,0.83,97.3,167.5,12.2,786,11983,0.00,2.25,0.00,0.000,6,0.000,0.047,3149,2069,2332,0,0,0,0,0,0
$GC,12303,0.83,97.3,130.1,10.4,817,12307,0.00,2.25,0.00,0.000,4,0.000,0.056,3160,648,2331,0,0,0,0,0,0
$GC,12477,0.83,97.3,110.7,10.4,832,12481,0.00,2.25,0.00,0.000,6,0.000,0.049,3160,2072,2331,0,0,0,0,0,0
$GC,12819,0.83,97.3,73.1,11.0,883,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2072,2332,0,0,0,0,0,0
$GC,13169,0.83,97.3,35.7,10.6,944,13178,0.00,2.30,0.00,0.000,4,0.000,0.056,3170,650,2332,0,0,0,0,0,0
$GC,13325,0.84,105.8,21.0,9.0,969,13336,0.00,2.28,3.72,0.440,6,0.000,0.049,3170,2065,2296,0,0,0,0,0,0
$GC,13482,0.84,105.8,4.2,11.8,994,13491,0.00,2.30,0.00,0.000,4,0.000,0.055,3180,643,2296,0,0,0,0,0,0
$STATE,13498,end climb,SURFACE_DEPTH_REACHED
$STATE,13498,begin surface coast
$FINISH,1.0,1.016041
$STATE,13523,end surface coast,CONTROL_FINISHED_OK
$STATE,13523,begin surface
$SM_CCo,13540,83.78,0.054,0,0,1504,300.24
$SM_GC,2.48,0.00,0.00,83.78,0.000,0.000,0.054,141,2307,1504,-8.53,0.23,300.24
$IRIDIUM_FIX,-4447.43,637.25,101008,010116
$TT8_MAMPS,0.026215
$HUMID,47.59
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.5,12.921
$10V_AH,10.3,7.964
$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,21.350,123.700,147.225,83.775,0.000,30.680,39.824,495.981,24.750,0.000,8.981,2662.193,8242.032,407.961,2878.651,105.037,0.000,1356.488,0.000,2231.025,0.000,148.407,0.000
$DEVICE_MAMPS,259.335,68.085,1301.265,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.635,681.209,75.438,772.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,56974,1000
$CAP_FILE_SIZE,143584,0
$CFSIZE,2097086464,2089943040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.123, 54.4,1
$GPS,141215,155021,-4502.955,636.072,36,0.9,36,-24.4