version: 66.07.10.p01
glider: 574
mission: 18
dive: 51
start: 3 12 112 17 31 11
data:
$ID,574
$MISSION,18
$DIVE,51
$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,-2329918.2
$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,27
$R_STBD_OVSHOOT,41
$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,50
$GPS1,151215,042522,-4503.682,636.858,41,0.8,41,-24.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.2
$GPS2,151215,043740,-4503.371,636.937,5,1.1,5,-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,260.8,1691,-26.3,-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,-0.76,-70.3,0.0,0.0,0,132,0.00,0.00,-100.20,0.000,6,0.000,0.000,140,2313,2987,0,0,0,0,0,0
$GC,134,-0.76,-73.0,3.6,-3.3,13,153,10.57,2.22,-0.20,0.000,4,0.256,0.057,2603,3714,2997,0,0,0,0,0,0
$GC,210,-0.76,-73.0,27.2,-30.2,24,218,0.00,2.30,0.00,0.000,6,0.000,0.041,2604,2291,2997,0,0,0,0,0,0
$GC,361,-0.76,-73.0,66.5,-21.4,49,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2287,2997,0,0,0,0,0,0
$GC,705,-0.76,-73.0,146.2,-23.7,93,709,0.00,2.22,0.00,0.000,4,0.000,0.047,2605,877,2997,0,0,0,0,0,0
$GC,748,-0.76,-73.0,157.2,-23.2,96,759,0.00,2.30,0.00,0.000,6,0.000,0.047,2596,2288,2998,0,0,0,0,0,0
$GC,1075,-0.76,-73.0,230.4,-22.3,127,1079,0.00,2.25,0.00,0.000,4,0.000,0.054,2585,3716,2998,0,0,0,0,0,0
$GC,1118,-0.76,-73.0,240.4,-22.1,130,1127,0.10,2.25,0.00,0.000,6,0.207,0.041,2616,2302,2998,0,0,0,0,0,0
$GC,1445,-0.76,-73.0,304.1,-19.7,161,1449,0.00,2.25,0.00,0.000,4,0.000,0.056,2607,3712,2998,0,0,0,0,0,0
$GC,1500,-0.76,-73.0,316.2,-19.7,165,1508,0.00,2.25,0.00,0.000,6,0.000,0.043,2607,2294,2998,0,0,0,0,0,0
$GC,1826,-0.76,-73.0,381.6,-19.9,196,1831,0.00,2.25,0.00,0.000,4,0.000,0.057,2598,3714,2998,0,0,0,0,0,0
$GC,1845,-0.76,-73.0,385.1,-20.0,197,1849,0.00,2.20,0.00,0.000,6,0.000,0.044,2603,2298,2998,0,0,0,0,0,0
$GC,2173,-0.76,-73.0,450.8,-19.6,216,2177,0.00,2.25,0.00,0.000,4,0.000,0.057,2594,3722,2998,0,0,0,0,0,0
$GC,2189,-0.76,-73.0,454.1,-19.3,217,2194,0.10,2.22,0.00,0.000,6,0.229,0.044,2616,2290,2998,0,0,0,0,0,0
$GC,2514,-0.76,-73.0,516.4,-18.6,233,2518,0.00,2.25,0.00,0.000,4,0.000,0.059,2607,3710,2998,0,0,0,0,0,0
$GC,2535,-0.76,-73.0,520.5,-19.0,234,2540,0.00,2.25,0.00,0.000,6,0.000,0.047,2607,2301,2998,0,0,0,0,0,0
$GC,2863,-0.76,-73.0,583.2,-19.1,250,2867,0.00,2.25,0.00,0.000,4,0.000,0.060,2598,3721,2998,0,0,0,0,0,0
$GC,2895,-0.76,-73.0,590.0,-20.6,251,2902,0.00,2.28,0.00,0.000,6,0.000,0.047,2602,2291,2998,0,0,0,0,0,0
$GC,3211,-0.76,-73.0,649.2,-18.6,267,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2288,2997,0,0,0,0,0,0
$GC,3520,-0.76,-73.0,706.3,-18.0,282,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2288,2997,0,0,0,0,0,0
$GC,3831,-0.76,-73.0,760.5,-17.2,297,3835,0.00,2.25,0.00,0.000,4,0.000,0.062,2594,3710,2997,0,0,0,0,0,0
$GC,3851,-0.76,-73.0,765.0,-18.1,298,3857,0.00,2.25,0.00,0.000,6,0.000,0.049,2594,2299,2997,0,0,0,0,0,0
$GC,4182,-0.76,-73.0,821.9,-17.9,314,4186,0.12,2.28,0.00,0.000,4,0.227,0.063,2611,3718,2996,0,0,0,0,0,0
$GC,4246,-0.76,-73.0,834.1,-16.2,317,4252,0.00,2.28,0.00,0.000,6,0.000,0.054,2618,2303,2996,0,0,0,0,0,0
$GC,4574,-0.76,-73.0,886.5,-15.8,333,4578,0.00,2.25,0.00,0.000,4,0.000,0.060,2619,880,2996,0,0,0,0,0,0
$GC,4600,-0.76,-73.0,890.9,-17.4,334,4605,0.00,2.30,0.00,0.000,6,0.000,0.055,2610,2293,2996,0,0,0,0,0,0
$GC,4923,-0.76,-73.0,942.7,-16.4,350,4927,0.00,2.25,0.00,0.000,4,0.000,0.064,2600,3716,2996,0,0,0,0,0,0
$GC,5000,-0.76,-73.0,956.4,-17.9,353,5008,0.00,2.28,0.00,0.000,6,0.000,0.054,2604,2302,2996,0,0,0,0,0,0
$STATE,5276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5276,begin apogee
$GC,5280,-0.13,0.0,1002.7,16.8,367,5342,0.77,0.00,58.75,1.304,6,0.181,0.000,2824,2044,2700,0,0,0,0,0,0
$STATE,5343,end apogee,CONTROL_FINISHED_OK
$STATE,5343,begin climb
$GC,5344,0.76,73.0,1007.2,0.0,370,5414,0.93,2.42,62.55,1.270,4,0.107,0.056,3120,653,2401,0,0,0,0,0,0
$GC,5446,0.76,73.0,999.1,12.5,374,5451,0.00,2.45,0.00,0.000,6,0.000,0.051,3118,2068,2399,0,0,0,0,0,0
$GC,5769,0.76,73.0,956.4,13.4,390,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2072,2397,0,0,0,0,0,0
$GC,6077,0.76,73.0,916.0,13.3,405,6082,0.00,2.28,0.00,0.000,4,0.000,0.062,3116,3476,2397,0,0,0,0,0,0
$GC,6098,0.76,73.0,913.0,14.2,406,6103,0.00,2.30,0.00,0.000,6,0.000,0.050,3126,2068,2396,0,0,0,0,0,0
$GC,6426,0.76,73.0,868.8,13.3,422,6430,0.00,2.30,0.00,0.000,4,0.000,0.060,3137,647,2396,0,0,0,0,0,0
$GC,6468,0.76,73.0,862.8,13.6,424,6474,0.00,2.35,0.00,0.000,6,0.000,0.052,3132,2071,2396,0,0,0,0,0,0
$GC,6796,0.76,73.0,818.1,14.0,440,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2074,2395,0,0,0,0,0,0
$GC,7106,0.76,73.0,772.2,15.1,455,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2074,2395,0,0,0,0,0,0
$GC,7414,0.76,73.0,727.1,14.2,470,7419,0.00,2.30,0.00,0.000,4,0.000,0.058,3141,641,2395,0,0,0,0,0,0
$GC,7463,0.76,73.0,719.8,15.1,472,7468,0.00,2.30,0.00,0.000,6,0.000,0.050,3139,2054,2394,0,0,0,0,0,0
$GC,7785,0.76,73.0,674.7,13.9,488,7789,0.00,2.25,0.00,0.000,4,0.000,0.058,3148,650,2395,0,0,0,0,0,0
$GC,7810,0.76,73.0,670.9,14.4,489,7815,0.00,2.30,0.00,0.000,6,0.000,0.051,3143,2066,2394,0,0,0,0,0,0
$GC,8132,0.76,73.0,627.4,13.7,505,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2069,2394,0,0,0,0,0,0
$GC,8441,0.76,73.0,587.2,12.9,520,8445,0.00,2.28,0.00,0.000,4,0.000,0.057,3152,648,2394,0,0,0,0,0,0
$GC,8484,0.76,73.0,581.5,13.4,522,8490,0.10,2.30,0.00,0.000,6,0.213,0.050,3123,2070,2395,0,0,0,0,0,0
$GC,8813,0.76,73.0,542.7,11.7,538,8817,0.00,2.28,0.00,0.000,4,0.000,0.056,3132,647,2394,0,0,0,0,0,0
$GC,8974,0.76,73.0,523.7,10.9,545,8979,0.00,2.28,0.00,0.000,6,0.000,0.050,3132,2055,2394,0,0,0,0,0,0
$GC,9295,0.76,73.0,486.9,11.3,561,9299,0.00,2.25,0.00,0.000,4,0.000,0.060,3132,3475,2395,0,0,0,0,0,0
$GC,9350,0.76,73.0,480.0,13.6,563,9357,0.00,2.20,0.00,0.000,6,0.000,0.048,3141,2059,2394,0,0,0,0,0,0
$GC,9665,0.76,73.0,443.8,11.5,579,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2055,2394,0,0,0,0,0,0
$GC,9974,0.76,73.0,406.6,11.6,594,9978,0.00,2.25,0.00,0.000,4,0.000,0.058,3153,645,2394,0,0,0,0,0,0
$GC,10001,0.76,73.0,403.3,11.5,595,10006,0.10,2.28,0.00,0.000,6,0.223,0.049,3127,2060,2394,0,0,0,0,0,0
$GC,10334,0.76,73.0,365.2,11.6,625,10338,0.00,2.25,0.00,0.000,4,0.000,0.056,3136,648,2394,0,0,0,0,0,0
$GC,10376,0.76,73.0,359.4,12.7,628,10386,0.00,2.28,0.00,0.000,6,0.000,0.049,3136,2063,2393,0,0,0,0,0,0
$GC,10702,0.76,73.0,319.5,12.2,659,10706,0.00,2.22,0.00,0.000,4,0.000,0.057,3136,3479,2393,0,0,0,0,0,0
$GC,10755,0.76,73.0,312.3,14.2,663,10763,0.00,2.25,0.00,0.000,6,0.000,0.047,3146,2063,2393,0,0,0,0,0,0
$GC,11081,0.76,73.0,273.4,11.1,694,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2060,2393,0,0,0,0,0,0
$GC,11400,0.77,74.9,239.7,9.8,724,11404,0.00,2.22,0.00,0.000,4,0.000,0.057,3143,3482,2393,0,0,0,0,0,0
$GC,11418,0.77,74.9,237.7,11.1,725,11423,0.15,2.22,0.00,0.000,6,0.243,0.048,3120,2054,2393,0,0,0,0,0,0
$GC,11742,0.77,74.9,204.4,11.0,755,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2049,2393,0,0,0,0,0,0
$GC,12064,0.77,76.6,170.5,9.8,785,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2049,2394,0,0,0,0,0,0
$GC,12380,0.81,108.6,143.5,6.9,815,12416,0.00,2.33,27.05,0.777,4,0.000,0.057,3130,648,2254,0,0,0,0,0,0
$GC,12488,0.81,108.6,133.4,10.9,824,12498,0.00,2.30,0.00,0.000,6,0.000,0.050,3130,2059,2252,0,0,0,0,0,0
$GC,12814,0.83,127.6,100.8,8.1,855,12838,0.00,2.30,15.90,0.718,4,0.000,0.057,3140,648,2177,0,0,0,0,0,0
$GC,12947,0.83,127.6,86.6,11.2,877,12954,0.00,2.30,0.00,0.000,6,0.000,0.052,3140,2074,2175,0,0,0,0,0,0
$GC,13299,0.83,127.6,36.9,16.3,938,13309,0.00,2.33,0.00,0.000,4,0.000,0.055,3150,653,2174,0,0,0,0,0,0
$STATE,13484,end climb,SURFACE_DEPTH_REACHED
$STATE,13484,begin surface coast
$FINISH,1.2,1.026695
$STATE,13497,end surface coast,CONTROL_FINISHED_OK
$STATE,13497,begin surface
$SM_CCo,13514,42.55,0.050,0,0,1761,230.09
$SM_GC,2.66,0.00,0.00,42.55,0.000,0.000,0.050,138,2302,1761,-8.54,0.08,230.09
$IRIDIUM_FIX,-4447.43,640.27,101008,131319
$TT8_MAMPS,0.026215
$HUMID,48.66
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,8.00
$XPDR_PINGS,0
$24V_AH,23.5,13.345
$10V_AH,10.3,8.402
$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,21.350,123.600,164.250,42.550,0.000,32.742,37.769,541.145,24.750,0.000,8.984,2572.078,8451.979,393.855,2763.437,105.068,0.000,1317.955,0.000,2063.128,0.000,148.729,0.000
$DEVICE_MAMPS,256.275,64.260,1303.560,49.725,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.798,666.287,55.397,666.841,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,57011,970
$CAP_FILE_SIZE,140951,0
$CFSIZE,2097086464,2089418752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.061, 56.4,1
$GPS,151215,082733,-4503.692,635.882,175,1.5,176,-24.4