version: 66.07.10.p01
glider: 574
mission: 18
dive: 48
start: 3 12 112 4 56 13
data:
$ID,574
$MISSION,18
$DIVE,48
$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,230
$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,-2329387
$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,21
$R_STBD_OVSHOOT,23
$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,2700
$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,47
$GPS1,141215,155021,-4502.955,636.072,36,0.9,36,-24.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-76.3
$GPS2,141215,160246,-4502.888,636.101,5,1.1,5,-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,238.8,2063,-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,-73.0,0.0,0.0,0,92,0.00,0.00,-61.15,0.000,6,0.000,0.000,141,2307,2997,0,0,0,0,0,0
$GC,94,-0.75,-73.0,3.7,-3.1,8,112,10.60,2.22,0.00,0.000,4,0.256,0.041,2605,3719,2998,0,0,0,0,0,0
$GC,297,-0.75,-73.0,54.5,-20.6,41,304,0.00,2.28,0.00,0.000,6,0.000,0.044,2605,2284,2998,0,0,0,0,0,0
$GC,639,-0.75,-73.0,129.4,-23.4,90,644,0.00,2.28,0.00,0.000,4,0.000,0.056,2596,3712,2999,0,0,0,0,0,0
$GC,664,-0.75,-73.0,136.0,-24.3,92,675,0.08,2.25,0.00,0.000,6,0.198,0.043,2618,2304,2999,0,0,0,0,0,0
$GC,990,-0.75,-73.0,205.4,-20.4,123,994,0.00,2.25,0.00,0.000,4,0.000,0.057,2610,3714,2999,0,0,0,0,0,0
$GC,1032,-0.75,-73.0,215.1,-21.7,126,1041,0.00,2.28,0.00,0.000,6,0.000,0.045,2612,2294,2999,0,0,0,0,0,0
$GC,1361,-0.75,-73.0,281.9,-20.7,157,1365,0.00,2.22,0.00,0.000,4,0.000,0.054,2619,881,2999,0,0,0,0,0,0
$GC,1377,-0.75,-73.0,285.7,-20.5,158,1381,0.00,2.25,0.00,0.000,6,0.000,0.050,2610,2299,2999,0,0,0,0,0,0
$GC,1702,-0.75,-73.0,350.9,-19.9,188,1706,0.00,2.25,0.00,0.000,4,0.000,0.060,2599,3710,2999,0,0,0,0,0,0
$GC,1779,-0.75,-73.0,367.4,-20.7,194,1788,0.00,2.25,0.00,0.000,6,0.000,0.047,2602,2304,2999,0,0,0,0,0,0
$GC,2110,-0.75,-73.0,434.4,-20.1,218,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2302,2999,0,0,0,0,0,0
$GC,2421,-0.75,-73.0,496.4,-19.0,233,2425,0.00,2.22,0.00,0.000,4,0.000,0.060,2594,3709,2999,0,0,0,0,0,0
$GC,2437,-0.75,-73.0,499.9,-19.4,234,2445,0.12,2.22,0.00,0.000,6,0.212,0.050,2622,2289,2998,0,0,0,0,0,0
$GC,2771,-0.75,-73.0,559.6,-17.6,250,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2286,2999,0,0,0,0,0,0
$GC,3081,-0.75,-73.0,613.1,-17.1,265,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2285,2998,0,0,0,0,0,0
$GC,3390,-0.75,-73.0,664.2,-16.2,280,3394,0.00,2.28,0.00,0.000,4,0.000,0.065,2613,3711,2998,0,0,0,0,0,0
$GC,3416,-0.75,-73.0,668.9,-17.0,281,3421,0.00,2.28,0.00,0.000,6,0.000,0.054,2617,2300,2998,0,0,0,0,0,0
$GC,3740,-0.75,-73.0,722.6,-16.3,297,3744,0.00,2.25,0.00,0.000,4,0.000,0.065,2608,3708,2997,0,0,0,0,0,0
$GC,3760,-0.75,-73.0,726.6,-16.7,298,3765,0.00,2.28,0.00,0.000,6,0.000,0.055,2608,2299,2997,0,0,0,0,0,0
$GC,4088,-0.75,-73.0,782.0,-17.0,314,4092,0.00,2.25,0.00,0.000,4,0.000,0.063,2608,880,2997,0,0,0,0,0,0
$GC,4105,-0.75,-73.0,785.0,-17.0,315,4110,0.12,2.28,0.00,0.000,6,0.225,0.057,2624,2304,2998,0,0,0,0,0,0
$GC,4432,-0.75,-73.0,837.6,-15.9,331,4436,0.00,2.25,0.00,0.000,4,0.000,0.068,2615,3712,2997,0,0,0,0,0,0
$GC,4525,-0.75,-73.0,853.5,-16.8,335,4530,0.00,2.30,0.00,0.000,6,0.000,0.058,2619,2298,2996,0,0,0,0,0,0
$GC,4848,-0.75,-73.0,905.0,-15.8,351,4852,0.00,2.25,0.00,0.000,4,0.000,0.064,2619,881,2997,0,0,0,0,0,0
$GC,4864,-0.75,-73.0,907.9,-16.4,352,4868,0.00,2.30,0.00,0.000,6,0.000,0.060,2611,2301,2997,0,0,0,0,0,0
$GC,5190,-0.75,-73.0,961.4,-16.4,368,5195,0.00,2.25,0.00,0.000,4,0.000,0.071,2599,3710,2997,0,0,0,0,0,0
$GC,5239,-0.75,-73.0,969.9,-17.0,370,5247,0.00,2.28,0.00,0.000,6,0.000,0.059,2604,2303,2996,0,0,0,0,0,0
$STATE,5438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5438,begin apogee
$GC,5442,-0.13,0.0,1002.8,16.3,380,5504,0.77,0.00,59.00,1.303,6,0.180,0.000,2824,2046,2700,0,0,0,0,0,0
$STATE,5505,end apogee,CONTROL_FINISHED_OK
$STATE,5505,begin climb
$GC,5506,0.75,73.0,1007.0,0.0,383,5575,0.90,2.42,62.00,1.268,4,0.108,0.057,3118,654,2402,0,0,0,0,0,0
$GC,5664,0.75,73.0,991.2,13.9,390,5669,0.00,2.42,0.00,0.000,6,0.000,0.052,3116,2068,2400,0,0,0,0,0,0
$GC,5987,0.75,73.0,947.6,13.6,406,5991,0.00,2.30,0.00,0.000,4,0.000,0.063,3116,3477,2400,0,0,0,0,0,0
$GC,6026,0.75,73.0,941.8,14.7,408,6030,0.00,2.28,0.00,0.000,6,0.000,0.050,3126,2063,2399,0,0,0,0,0,0
$GC,6352,0.75,73.0,896.2,14.2,424,6356,0.00,2.30,0.00,0.000,4,0.000,0.060,3137,647,2400,0,0,0,0,0,0
$GC,6505,0.75,73.0,874.3,14.3,431,6510,0.00,2.30,0.00,0.000,6,0.000,0.052,3132,2072,2401,0,0,0,0,0,0
$GC,6832,0.75,73.0,827.9,13.7,447,6836,0.00,2.25,0.00,0.000,4,0.000,0.062,3132,3478,2401,0,0,0,0,0,0
$GC,6880,0.75,73.0,820.4,15.7,449,6885,0.00,2.28,0.00,0.000,6,0.000,0.049,3141,2067,2401,0,0,0,0,0,0
$GC,7202,0.75,73.0,773.1,15.2,465,7206,0.00,2.28,0.00,0.000,4,0.000,0.059,3152,646,2402,0,0,0,0,0,0
$GC,7375,0.75,73.0,746.2,15.7,473,7380,0.15,2.30,0.00,0.000,6,0.227,0.052,3119,2071,2402,0,0,0,0,0,0
$GC,7701,0.75,73.0,700.4,14.0,489,7705,0.00,2.28,0.00,0.000,4,0.000,0.057,3128,647,2403,0,0,0,0,0,0
$GC,7732,0.75,73.0,695.8,13.9,490,7741,0.00,2.30,0.00,0.000,6,0.000,0.050,3127,2063,2402,0,0,0,0,0,0
$GC,8048,0.75,73.0,653.1,13.3,506,8052,0.00,2.22,0.00,0.000,4,0.000,0.060,3127,3474,2402,0,0,0,0,0,0
$GC,8113,0.75,73.0,643.5,13.8,509,8119,0.00,2.28,0.00,0.000,6,0.000,0.048,3136,2057,2402,0,0,0,0,0,0
$GC,8441,0.75,73.0,599.6,13.0,525,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2053,2403,0,0,0,0,0,0
$GC,8750,0.75,73.0,561.9,12.2,540,8754,0.00,2.22,0.00,0.000,4,0.000,0.058,3146,652,2404,0,0,0,0,0,0
$GC,8883,0.75,73.0,545.0,13.3,546,8889,0.10,2.28,0.00,0.000,6,0.216,0.049,3118,2059,2404,0,0,0,0,0,0
$GC,9210,0.75,73.0,507.3,11.7,562,9214,0.00,2.28,0.00,0.000,4,0.000,0.057,3128,646,2404,0,0,0,0,0,0
$GC,9354,0.75,73.0,490.7,10.8,568,9361,0.00,2.28,0.00,0.000,6,0.000,0.050,3128,2058,2404,0,0,0,0,0,0
$GC,9670,0.75,73.0,456.6,10.6,584,9674,0.00,2.22,0.00,0.000,4,0.000,0.058,3128,3476,2405,0,0,0,0,0,0
$GC,9686,0.75,73.0,454.7,10.6,585,9690,0.00,2.22,0.00,0.000,6,0.000,0.048,3138,2060,2404,0,0,0,0,0,0
$GC,10011,0.75,73.0,419.3,10.6,601,10016,0.00,2.25,0.00,0.000,4,0.000,0.056,3138,3476,2404,0,0,0,0,0,0
$GC,10028,0.75,73.0,417.4,11.1,602,10033,0.15,2.20,0.00,0.000,6,0.246,0.048,3117,2062,2405,0,0,0,0,0,0
$GC,10347,0.76,78.8,385.8,9.4,624,10362,0.00,2.28,6.82,0.749,4,0.000,0.057,3127,648,2378,0,0,0,0,0,0
$GC,10409,0.76,78.8,379.6,11.0,629,10414,0.00,2.25,0.00,0.000,6,0.000,0.050,3126,2071,2378,0,0,0,0,0,0
$GC,10734,0.76,78.8,344.9,11.0,659,10738,0.00,2.25,0.00,0.000,4,0.000,0.057,3136,653,2377,0,0,0,0,0,0
$GC,10798,0.76,78.8,337.5,10.9,664,10809,0.00,2.25,0.00,0.000,6,0.000,0.050,3137,2049,2378,0,0,0,0,0,0
$GC,11125,0.76,78.8,300.9,11.1,695,11129,0.00,2.25,0.00,0.000,4,0.000,0.057,3136,3482,2378,0,0,0,0,0,0
$GC,11146,0.76,78.8,298.3,12.1,696,11156,0.10,2.25,0.00,0.000,6,0.223,0.048,3121,2063,2377,0,0,0,0,0,0
$GC,11471,0.76,78.8,263.7,10.7,727,11475,0.00,2.22,0.00,0.000,4,0.000,0.057,3131,653,2378,0,0,0,0,0,0
$GC,11524,0.76,78.8,257.8,10.0,731,11533,0.00,2.28,0.00,0.000,6,0.000,0.049,3131,2065,2378,0,0,0,0,0,0
$GC,11850,0.76,78.8,222.7,11.1,762,11854,0.00,2.25,0.00,0.000,4,0.000,0.056,3141,645,2377,0,0,0,0,0,0
$GC,11960,0.76,78.8,210.5,10.8,771,11968,0.00,2.28,0.00,0.000,6,0.000,0.049,3141,2060,2378,0,0,0,0,0,0
$GC,12285,0.76,80.5,177.0,9.8,802,12289,0.00,2.22,0.00,0.000,4,0.000,0.056,3151,650,2377,0,0,0,0,0,0
$GC,12336,0.76,80.5,172.1,10.0,806,12341,0.15,2.25,0.00,0.000,6,0.214,0.049,3117,2069,2378,0,0,0,0,0,0
$GC,12660,0.80,110.2,146.6,7.2,836,12696,0.00,2.33,25.25,0.765,4,0.000,0.057,3115,3477,2248,0,0,0,0,0,0
$GC,12756,0.80,110.2,136.6,11.9,844,12767,0.00,2.28,0.00,0.000,6,0.000,0.047,3124,2066,2246,0,0,0,0,0,0
$GC,13085,0.80,110.2,96.5,12.3,877,13092,0.00,2.28,0.00,0.000,4,0.000,0.057,3135,641,2245,0,0,0,0,0,0
$GC,13218,0.80,110.2,78.7,13.8,900,13226,0.00,2.30,0.00,0.000,6,0.000,0.050,3135,2057,2245,0,0,0,0,0,0
$GC,13573,0.80,110.2,34.8,10.9,961,13582,0.00,2.28,0.00,0.000,4,0.000,0.055,3145,653,2244,0,0,0,0,0,0
$GC,13614,0.80,110.2,30.0,11.6,967,13623,0.00,2.30,0.00,0.000,6,0.000,0.051,3145,2070,2244,0,0,0,0,0,0
$GC,13769,0.80,110.2,9.6,19.1,992,13778,0.00,2.30,0.00,0.000,4,0.000,0.056,3156,655,2244,0,0,0,0,0,0
$GC,13786,0.80,110.2,6.7,18.7,994,13795,0.00,2.28,0.00,0.000,6,0.000,0.050,3156,2063,2244,0,0,0,0,0,0
$STATE,13814,end climb,SURFACE_DEPTH_REACHED
$STATE,13814,begin surface coast
$FINISH,0.9,1.018846
$STATE,13834,end surface coast,CONTROL_FINISHED_OK
$STATE,13834,begin surface
$SM_CCo,13849,50.35,0.053,0,0,1760,230.09
$SM_GC,2.23,0.00,0.00,50.35,0.000,0.000,0.053,145,2308,1760,-8.52,0.23,230.09
$IRIDIUM_FIX,-4441.36,636.90,101008,050517
$TT8_MAMPS,0.026215
$HUMID,47.91
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,23.5,13.015
$10V_AH,10.2,8.070
$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,21.900,150.475,153.075,50.350,0.000,32.067,48.729,549.185,24.750,0.000,8.971,2690.535,8455.999,396.103,2980.442,108.832,0.000,1406.402,0.000,2264.829,0.000,148.417,0.000
$DEVICE_MAMPS,256.275,71.145,1302.795,52.785,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.634,687.986,64.620,722.967,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,57105,1001
$CAP_FILE_SIZE,153370,0
$CFSIZE,2097086464,2089811968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.063, 46.1,1
$GPS,141215,195654,-4503.510,635.395,93,1.1,93,-24.4