version: 66.07.10.p01
glider: 574
mission: 18
dive: 56
start: 3 13 112 17 35 44
data:
$ID,574
$MISSION,18
$DIVE,56
$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,50
$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,220
$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,-2330519
$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,41
$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,23
$R_STBD_OVSHOOT,29
$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,2670
$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,55
$GPS1,161215,042807,-4503.172,633.016,52,0.9,52,-24.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.1
$GPS2,161215,044202,-4503.248,633.106,5,1.6,5,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT1
$TGT_LATLONG,-4504.000,624.000
$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,288.3,11991,-26.4,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.70,-48.7,0.0,0.0,0,73,0.00,0.00,-44.35,0.000,6,0.000,0.000,137,2318,2869,0,0,0,0,0,0
$GC,74,-0.70,-48.7,3.2,-2.2,6,91,10.70,0.00,0.00,0.000,6,0.256,0.000,2632,2318,2870,0,0,0,0,0,0
$GC,141,-0.70,-48.7,18.6,-23.3,16,154,0.00,2.28,0.00,0.000,4,0.000,0.054,2622,3700,2869,0,0,0,0,0,0
$GC,234,-0.70,-48.7,38.3,-21.0,30,243,0.00,2.28,0.00,0.000,6,0.000,0.040,2631,2293,2869,0,0,0,0,0,0
$GC,382,-0.70,-48.7,67.5,-19.0,55,389,0.00,2.28,0.00,0.000,4,0.000,0.057,2622,3705,2870,0,0,0,0,0,0
$GC,488,-0.70,-48.7,89.1,-20.7,73,498,0.00,2.22,0.00,0.000,6,0.000,0.040,2631,2286,2870,0,0,0,0,0,0
$GC,819,-0.70,-48.7,149.6,-18.3,108,826,0.00,2.28,0.00,0.000,4,0.000,0.057,2622,3706,2871,0,0,0,0,0,0
$GC,901,-0.70,-48.7,164.5,-17.7,115,906,0.00,2.20,0.00,0.000,6,0.000,0.041,2631,2299,2870,0,0,0,0,0,0
$GC,1228,-0.70,-48.7,218.0,-17.6,145,1232,0.00,2.25,0.00,0.000,4,0.000,0.056,2621,3714,2870,0,0,0,0,0,0
$GC,1250,-0.70,-48.7,222.5,-17.9,146,1257,0.00,2.20,0.00,0.000,6,0.000,0.043,2627,2300,2871,0,0,0,0,0,0
$GC,1577,-0.70,-48.7,277.9,-16.8,177,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2297,2870,0,0,0,0,0,0
$GC,1892,-0.70,-48.7,332.8,-17.0,207,1896,0.00,2.22,0.00,0.000,4,0.000,0.050,2631,877,2871,0,0,0,0,0,0
$GC,1932,-0.70,-48.7,339.6,-17.2,210,1937,0.00,2.25,0.00,0.000,6,0.000,0.050,2622,2296,2870,0,0,0,0,0,0
$GC,2264,-0.70,-48.7,395.7,-16.8,241,2268,0.00,2.25,0.00,0.000,4,0.000,0.059,2612,3710,2870,0,0,0,0,0,0
$GC,2283,-0.70,-48.7,399.9,-17.8,242,2293,0.00,2.22,0.00,0.000,6,0.000,0.044,2618,2304,2871,0,0,0,0,0,0
$GC,2602,-0.70,-48.7,451.7,-15.8,258,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2300,2870,0,0,0,0,0,0
$GC,2910,-0.70,-48.7,500.1,-15.2,273,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2300,2870,0,0,0,0,0,0
$GC,3218,-0.70,-48.7,546.9,-15.5,288,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2300,2870,0,0,0,0,0,0
$GC,3530,-0.70,-48.7,592.1,-14.3,303,3534,0.00,2.25,0.00,0.000,4,0.000,0.061,2610,3719,2870,0,0,0,0,0,0
$GC,3584,-0.70,-48.7,600.7,-15.0,305,3592,0.08,2.28,0.00,0.000,6,0.211,0.049,2633,2293,2870,0,0,0,0,0,0
$GC,3900,-0.70,-48.7,646.1,-14.2,321,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2290,2869,0,0,0,0,0,0
$GC,4208,-0.70,-48.7,687.9,-13.5,336,4212,0.00,2.22,0.00,0.000,4,0.000,0.058,2633,879,2869,0,0,0,0,0,0
$GC,4230,-0.70,-48.7,691.0,-13.1,337,4235,0.00,2.30,0.00,0.000,6,0.000,0.054,2623,2298,2870,0,0,0,0,0,0
$GC,4558,-0.70,-48.7,734.8,-13.5,353,4562,0.00,2.25,0.00,0.000,4,0.000,0.063,2613,3721,2869,0,0,0,0,0,0
$GC,4579,-0.70,-48.7,737.9,-14.2,354,4583,0.00,2.22,0.00,0.000,6,0.000,0.052,2619,2300,2869,0,0,0,0,0,0
$GC,4902,-0.70,-48.7,780.9,-13.6,370,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2296,2868,0,0,0,0,0,0
$GC,5210,-0.70,-48.7,820.1,-11.8,385,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2296,2868,0,0,0,0,0,0
$GC,5518,-0.70,-48.7,856.0,-11.2,400,5522,0.00,2.22,0.00,0.000,4,0.000,0.059,2619,887,2868,0,0,0,0,0,0
$GC,5558,-0.70,-48.7,860.7,-11.7,402,5563,0.12,2.25,0.00,0.000,6,0.221,0.055,2637,2300,2868,0,0,0,0,0,0
$GC,5884,-0.70,-48.7,894.4,-10.3,418,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2300,2868,0,0,0,0,0,0
$GC,6194,-0.70,-48.7,924.4,-9.6,433,6198,0.00,2.25,0.00,0.000,4,0.000,0.067,2627,3715,2867,0,0,0,0,0,0
$GC,6359,-0.70,-48.7,942.8,-11.5,440,6368,0.00,2.28,0.00,0.000,6,0.000,0.057,2632,2303,2868,0,0,0,0,0,0
$GC,6677,-0.70,-48.7,973.7,-9.7,456,6681,0.00,2.25,0.00,0.000,4,0.000,0.062,2632,886,2868,0,0,0,0,0,0
$GC,6716,-0.70,-48.7,977.8,-10.4,458,6720,0.00,2.28,0.00,0.000,6,0.000,0.058,2622,2307,2867,0,0,0,0,0,0
$STATE,6961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6961,begin apogee
$GC,6965,-0.12,0.0,1001.8,9.7,470,7007,0.73,0.00,39.65,1.293,6,0.181,0.000,2828,2055,2669,0,0,0,0,0,0
$STATE,7008,end apogee,CONTROL_FINISHED_OK
$STATE,7008,begin climb
$GC,7010,0.70,48.7,1003.6,0.0,472,7055,0.82,0.00,41.92,1.265,6,0.106,0.000,3094,2055,2470,0,0,0,0,0,0
$GC,7360,0.70,48.7,964.8,11.6,489,7364,0.00,2.30,0.00,0.000,4,0.000,0.059,3104,656,2469,0,0,0,0,0,0
$GC,7437,0.70,48.7,955.6,11.7,492,7446,0.00,2.35,0.00,0.000,6,0.000,0.052,3103,2060,2469,0,0,0,0,0,0
$GC,7753,0.70,48.7,919.9,11.1,508,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2063,2469,0,0,0,0,0,0
$GC,8062,0.70,48.7,885.3,11.1,523,8066,0.00,2.30,0.00,0.000,4,0.000,0.062,3102,3476,2468,0,0,0,0,0,0
$GC,8161,0.70,48.7,873.0,12.5,527,8169,0.00,2.28,0.00,0.000,6,0.000,0.049,3111,2070,2467,0,0,0,0,0,0
$GC,8477,0.70,48.7,836.5,11.3,543,8481,0.00,2.28,0.00,0.000,4,0.000,0.059,3123,652,2468,0,0,0,0,0,0
$GC,8598,0.70,48.7,821.8,12.1,548,8607,0.00,2.30,0.00,0.000,6,0.000,0.051,3115,2059,2467,0,0,0,0,0,0
$GC,8914,0.70,48.7,785.6,11.2,564,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2061,2467,0,0,0,0,0,0
$GC,9224,0.70,48.7,750.8,11.4,579,9228,0.00,2.25,0.00,0.000,4,0.000,0.057,3125,650,2467,0,0,0,0,0,0
$GC,9249,0.70,48.7,747.8,11.1,580,9255,0.00,2.30,0.00,0.000,6,0.000,0.051,3125,2061,2467,0,0,0,0,0,0
$GC,9571,0.70,48.7,712.5,10.6,596,9575,0.00,2.28,0.00,0.000,4,0.000,0.057,3134,641,2467,0,0,0,0,0,0
$GC,9748,0.71,50.8,693.5,9.7,604,9754,0.08,2.30,0.00,0.000,6,0.213,0.050,3108,2056,2467,0,0,0,0,0,0
$GC,10076,0.71,58.0,662.8,9.3,620,10090,0.00,2.33,8.38,0.921,4,0.000,0.057,3117,652,2432,0,0,0,0,0,0
$GC,10100,0.74,77.3,660.4,8.1,621,10122,0.00,2.30,16.85,1.026,6,0.000,0.050,3117,2063,2353,0,0,0,0,0,0
$GC,10449,0.74,77.3,617.7,12.6,638,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2063,2352,0,0,0,0,0,0
$GC,10760,0.74,77.3,579.5,12.4,653,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2063,2352,0,0,0,0,0,0
$GC,11068,0.74,77.3,540.9,12.2,668,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2063,2352,0,0,0,0,0,0
$GC,11377,0.74,77.3,503.9,12.1,683,11381,0.00,2.25,0.00,0.000,4,0.000,0.059,3117,3480,2352,0,0,0,0,0,0
$GC,11397,0.74,77.3,500.9,13.7,684,11402,0.00,2.28,0.00,0.000,6,0.000,0.047,3127,2061,2351,0,0,0,0,0,0
$GC,11725,0.74,77.3,457.8,13.9,700,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2058,2351,0,0,0,0,0,0
$GC,12034,0.74,77.3,414.7,14.1,715,12038,0.00,2.25,0.00,0.000,4,0.000,0.059,3139,646,2351,0,0,0,0,0,0
$GC,12099,0.74,77.3,405.5,13.8,718,12104,0.00,2.30,0.00,0.000,6,0.000,0.049,3139,2065,2351,0,0,0,0,0,0
$GC,12424,0.74,77.3,360.6,13.9,746,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2068,2351,0,0,0,0,0,0
$GC,12743,0.74,77.3,317.3,13.5,776,12747,0.00,2.25,0.00,0.000,4,0.000,0.057,3149,650,2351,0,0,0,0,0,0
$GC,12782,0.74,77.3,311.8,13.7,779,12787,0.15,2.25,0.00,0.000,6,0.210,0.050,3115,2072,2351,0,0,0,0,0,0
$GC,13109,0.74,77.3,272.9,11.4,809,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2073,2351,0,0,0,0,0,0
$GC,13425,0.74,77.3,236.3,11.3,839,13429,0.00,2.28,0.00,0.000,4,0.000,0.057,3124,640,2351,0,0,0,0,0,0
$GC,13475,0.74,77.3,230.3,12.1,843,13479,0.00,2.25,0.00,0.000,6,0.000,0.050,3124,2063,2351,0,0,0,0,0,0
$GC,13802,0.74,77.3,195.5,10.4,873,13806,0.00,2.25,0.00,0.000,4,0.000,0.056,3135,645,2351,0,0,0,0,0,0
$GC,13886,0.74,77.3,185.6,11.5,880,13890,0.00,2.25,0.00,0.000,6,0.000,0.050,3135,2070,2351,0,0,0,0,0,0
$GC,14210,0.74,77.3,151.5,10.2,910,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2070,2351,0,0,0,0,0,0
$GC,14529,0.74,77.3,121.1,10.8,940,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2070,2351,0,0,0,0,0,0
$GC,14860,0.74,77.4,85.3,9.9,982,14867,0.00,2.20,0.00,0.000,4,0.000,0.058,3135,3476,2352,0,0,0,0,0,0
$GC,15446,0.76,95.0,29.6,8.3,1083,15464,0.00,2.25,8.10,0.623,6,0.000,0.047,3145,2057,2281,0,0,0,0,0,0
$GC,15611,0.76,95.0,9.5,15.7,1109,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2054,2279,0,0,0,0,0,0
$STATE,15668,end climb,SURFACE_DEPTH_REACHED
$STATE,15668,begin surface coast
$FINISH,1.1,1.026673
$STATE,15700,end surface coast,CONTROL_FINISHED_OK
$STATE,15700,begin surface
$SM_CCo,15714,52.47,0.052,0,0,1771,220.03
$SM_GC,2.96,0.00,0.00,52.47,0.000,0.000,0.052,143,2304,1771,-8.53,0.14,220.03
$IRIDIUM_FIX,-4447.43,631.19,111008,131328
$TT8_MAMPS,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,9.20
$XPDR_PINGS,0
$24V_AH,23.7,13.824
$10V_AH,10.3,9.024
$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,20.900,109.375,114.900,52.475,0.000,32.754,57.238,626.735,24.750,0.000,8.977,2987.284,9975.820,328.070,3192.180,122.390,0.000,1329.239,0.000,2401.623,0.000,148.781,0.000
$DEVICE_MAMPS,255.510,71.145,1292.850,52.020,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,793.860,770.107,79.256,802.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,63610,1123
$CAP_FILE_SIZE,152194,0
$CFSIZE,2097086464,2088763392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.077, 76.1,1
$GPS,161215,090727,-4503.165,632.220,82,0.9,82,-24.4