version: 66.07.10.p01
glider: 574
mission: 18
dive: 88
start: 3 20 112 8 13 14
data:
$ID,574
$MISSION,18
$DIVE,88
$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,-2333198.5
$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,45
$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,2260
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,2650
$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,87
$GPS1,221215,190757,-4503.647,624.255,55,1.1,56,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-78.1
$GPS2,221215,191958,-4503.559,624.308,5,1.2,5,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT2
$TGT_LATLONG,-4456.000,624.000
$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,357.3,14005,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.65,-48.7,0.0,0.0,0,74,0.00,0.00,-46.05,0.000,6,0.000,0.000,144,2268,2849,0,0,0,0,0,0
$GC,76,-0.65,-48.7,2.8,-1.8,6,94,10.50,2.25,0.00,0.000,4,0.246,0.033,2662,830,2851,0,0,0,0,0,0
$GC,187,-0.65,-48.7,22.8,-18.1,23,196,0.00,2.33,0.00,0.000,6,0.000,0.048,2653,2251,2852,0,0,0,0,0,0
$GC,338,-0.65,-48.7,49.4,-17.2,48,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2250,2851,0,0,0,0,0,0
$GC,692,-0.65,-48.7,109.6,-16.7,104,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2250,2852,0,0,0,0,0,0
$GC,1011,-0.65,-48.7,158.1,-14.8,134,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2251,2853,0,0,0,0,0,0
$GC,1330,-0.65,-48.7,203.6,-13.3,164,1334,0.00,2.22,0.00,0.000,4,0.000,0.057,2642,3671,2853,0,0,0,0,0,0
$GC,1419,-0.65,-48.7,216.7,-14.2,171,1427,0.00,2.22,0.00,0.000,6,0.000,0.041,2644,2260,2852,0,0,0,0,0,0
$GC,1745,-0.65,-48.7,262.3,-15.1,202,1749,0.00,2.22,0.00,0.000,4,0.000,0.057,2635,3673,2853,0,0,0,0,0,0
$GC,1818,-0.65,-48.7,273.3,-14.6,208,1822,0.00,2.20,0.00,0.000,6,0.000,0.044,2635,2260,2852,0,0,0,0,0,0
$GC,2148,-0.65,-48.7,320.1,-14.1,239,2152,0.00,2.22,0.00,0.000,4,0.000,0.057,2625,3676,2852,0,0,0,0,0,0
$GC,2168,-0.65,-48.7,323.3,-14.9,240,2179,0.10,2.22,0.00,0.000,6,0.187,0.041,2654,2258,2852,0,0,0,0,0,0
$GC,2493,-0.65,-48.7,368.2,-13.4,271,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2257,2852,0,0,0,0,0,0
$GC,2810,-0.65,-48.7,411.3,-13.5,297,2814,0.00,2.22,0.00,0.000,4,0.000,0.058,2645,3675,2852,0,0,0,0,0,0
$GC,2827,-0.65,-48.7,413.7,-13.2,298,2831,0.00,2.20,0.00,0.000,6,0.000,0.045,2645,2252,2852,0,0,0,0,0,0
$GC,3153,-0.65,-48.7,457.7,-13.0,314,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2249,2852,0,0,0,0,0,0
$GC,3462,-0.65,-48.7,498.3,-12.8,329,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2249,2852,0,0,0,0,0,0
$GC,3771,-0.65,-48.7,537.5,-12.5,344,3775,0.00,2.22,0.00,0.000,4,0.000,0.058,2635,3669,2851,0,0,0,0,0,0
$GC,3796,-0.65,-48.7,541.2,-13.7,345,3801,0.00,2.22,0.00,0.000,6,0.000,0.046,2635,2261,2851,0,0,0,0,0,0
$GC,4121,-0.65,-48.7,582.6,-13.0,361,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,2851,0,0,0,0,0,0
$GC,4428,-0.65,-48.7,621.2,-12.5,376,4432,0.00,2.22,0.00,0.000,4,0.000,0.060,2625,3672,2850,0,0,0,0,0,0
$GC,4467,-0.65,-48.7,626.4,-13.6,378,4472,0.12,2.20,0.00,0.000,6,0.203,0.048,2655,2256,2850,0,0,0,0,0,0
$GC,4793,-0.65,-48.7,666.2,-12.6,394,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2252,2850,0,0,0,0,0,0
$GC,5103,-0.65,-48.7,705.4,-12.6,409,5107,0.00,2.25,0.00,0.000,4,0.000,0.062,2646,3679,2850,0,0,0,0,0,0
$GC,5168,-0.65,-48.7,713.9,-12.6,412,5173,0.00,2.25,0.00,0.000,6,0.000,0.050,2645,2264,2849,0,0,0,0,0,0
$GC,5496,-0.65,-48.7,753.4,-12.2,428,5500,0.00,2.25,0.00,0.000,4,0.000,0.063,2635,3668,2850,0,0,0,0,0,0
$GC,5607,-0.65,-48.7,767.8,-12.5,433,5611,0.00,2.22,0.00,0.000,6,0.000,0.054,2638,2249,2849,0,0,0,0,0,0
$GC,5929,-0.65,-48.7,805.7,-11.6,449,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2246,2849,0,0,0,0,0,0
$GC,6237,-0.65,-48.7,839.5,-10.9,464,6242,0.00,2.22,0.00,0.000,4,0.000,0.060,2638,839,2849,0,0,0,0,0,0
$GC,6268,-0.65,-48.7,843.2,-11.3,465,6274,0.10,2.30,0.00,0.000,6,0.190,0.055,2657,2263,2849,0,0,0,0,0,0
$GC,6591,-0.65,-48.7,875.0,-10.1,481,6595,0.00,2.22,0.00,0.000,4,0.000,0.067,2647,3669,2849,0,0,0,0,0,0
$GC,6656,-0.65,-48.7,882.2,-10.2,484,6661,0.00,2.28,0.00,0.000,6,0.000,0.055,2647,2256,2848,0,0,0,0,0,0
$GC,6985,-0.65,-48.7,915.2,-10.2,500,6989,0.00,2.28,0.00,0.000,4,0.000,0.067,2637,3682,2848,0,0,0,0,0,0
$GC,7050,-0.65,-48.7,922.7,-11.5,503,7055,0.00,2.30,0.00,0.000,6,0.000,0.057,2637,2254,2848,0,0,0,0,0,0
$GC,7378,-0.65,-48.7,955.5,-9.7,519,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2251,2848,0,0,0,0,0,0
$GC,7687,-0.65,-48.7,985.7,-9.6,534,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2252,2848,0,0,0,0,0,0
$STATE,7851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7851,begin apogee
$GC,7855,-0.11,0.0,1001.2,9.5,542,7898,0.68,0.00,39.80,1.287,6,0.174,0.000,2831,1980,2649,0,0,0,0,0,0
$STATE,7899,end apogee,CONTROL_FINISHED_OK
$STATE,7899,begin climb
$GC,7900,0.65,48.7,1002.7,0.0,544,7945,0.77,0.00,41.80,1.257,6,0.106,0.000,3076,1980,2450,0,0,0,0,0,0
$GC,8241,0.65,48.7,966.0,12.0,561,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1980,2448,0,0,0,0,0,0
$GC,8550,0.65,48.7,930.5,11.5,576,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1980,2448,0,0,0,0,0,0
$GC,8860,0.65,48.7,897.0,10.4,591,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1980,2447,0,0,0,0,0,0
$GC,9169,0.65,48.7,863.5,10.9,606,9173,0.00,2.28,0.00,0.000,4,0.000,0.061,3076,3403,2447,0,0,0,0,0,0
$GC,9234,0.65,48.7,855.5,12.7,609,9239,0.00,2.28,0.00,0.000,6,0.000,0.048,3086,1986,2447,0,0,0,0,0,0
$GC,9562,0.65,48.7,818.9,11.1,625,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1982,2447,0,0,0,0,0,0
$GC,9872,0.65,48.7,786.1,10.2,640,9876,0.00,2.25,0.00,0.000,4,0.000,0.059,3097,577,2447,0,0,0,0,0,0
$GC,10049,0.65,48.7,767.8,10.2,648,10054,0.00,2.30,0.00,0.000,6,0.000,0.051,3092,1991,2446,0,0,0,0,0,0
$GC,10377,0.66,59.5,737.1,8.9,664,10391,0.00,2.30,9.43,0.974,4,0.000,0.057,3101,574,2407,0,0,0,0,0,0
$GC,10423,0.66,60.1,732.6,9.9,666,10428,0.00,2.30,0.00,0.000,6,0.000,0.051,3098,1986,2406,0,0,0,0,0,0
$GC,10752,0.66,60.1,698.3,11.2,682,10756,0.00,2.25,0.00,0.000,4,0.000,0.060,3097,3409,2406,0,0,0,0,0,0
$GC,10890,0.66,60.1,681.1,11.7,688,10895,0.00,2.28,0.00,0.000,6,0.000,0.048,3106,1987,2406,0,0,0,0,0,0
$GC,11212,0.66,60.1,643.5,12.0,704,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1984,2406,0,0,0,0,0,0
$GC,11521,0.66,60.1,606.4,12.1,719,11525,0.00,2.25,0.00,0.000,4,0.000,0.058,3117,574,2406,0,0,0,0,0,0
$GC,11569,0.66,60.1,600.2,12.7,721,11574,0.00,2.30,0.00,0.000,6,0.000,0.050,3112,1994,2406,0,0,0,0,0,0
$GC,11892,0.66,60.1,561.7,11.9,737,11896,0.00,2.25,0.00,0.000,4,0.000,0.058,3121,582,2405,0,0,0,0,0,0
$GC,11979,0.66,60.1,551.0,12.2,741,11985,0.08,2.28,0.00,0.000,6,0.206,0.049,3093,1991,2406,0,0,0,0,0,0
$GC,12308,0.66,60.1,516.2,10.6,757,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1992,2405,0,0,0,0,0,0
$GC,12617,0.66,60.1,484.0,10.2,772,12621,0.00,2.22,0.00,0.000,4,0.000,0.060,3089,3409,2405,0,0,0,0,0,0
$GC,12678,0.66,60.1,477.5,10.4,775,12682,0.00,2.20,0.00,0.000,6,0.000,0.048,3098,1990,2406,0,0,0,0,0,0
$GC,13004,0.66,61.2,445.8,9.8,791,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1986,2405,0,0,0,0,0,0
$GC,13313,0.67,69.9,417.5,9.1,806,13327,0.00,2.28,9.55,0.825,4,0.000,0.059,3109,576,2364,0,0,0,0,0,0
$GC,13349,0.68,77.8,414.1,9.2,807,13361,0.00,2.30,7.82,0.802,6,0.000,0.050,3109,1994,2331,0,0,0,0,0,0
$GC,13677,0.68,77.8,376.4,11.7,832,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1995,2330,0,0,0,0,0,0
$GC,13996,0.68,77.8,338.0,12.5,862,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1995,2330,0,0,0,0,0,0
$GC,14315,0.68,77.8,300.0,11.7,892,14316,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1994,2330,0,0,0,0,0,0
$GC,14634,0.68,77.8,263.9,11.3,922,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1994,2330,0,0,0,0,0,0
$GC,14952,0.68,77.8,229.6,10.8,952,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1994,2330,0,0,0,0,0,0
$GC,15271,0.68,77.8,194.8,10.7,982,15275,0.00,2.20,0.00,0.000,4,0.000,0.057,3109,3403,2329,0,0,0,0,0,0
$GC,15418,0.68,77.8,178.0,11.3,994,15425,0.00,2.20,0.00,0.000,6,0.000,0.047,3119,1986,2330,0,0,0,0,0,0
$GC,15746,0.69,81.7,144.6,9.6,1025,15754,0.00,0.00,4.35,0.509,6,0.000,0.000,3119,1983,2316,0,0,0,0,0,0
$GC,16071,0.69,84.6,111.8,9.7,1056,16085,0.00,0.00,4.22,0.543,6,0.000,0.000,3119,1983,2303,0,0,0,0,0,0
$GC,16416,0.69,84.6,79.6,10.0,1105,16423,0.00,2.22,0.00,0.000,4,0.000,0.057,3119,3403,2303,0,0,0,0,0,0
$GC,16453,0.69,84.6,75.6,10.7,1111,16460,0.15,2.20,0.00,0.000,6,0.219,0.048,3096,1988,2303,0,0,0,0,0,0
$GC,16803,0.70,94.2,42.5,9.0,1172,16818,0.00,0.00,8.93,0.649,6,0.000,0.000,3096,1984,2265,0,0,0,0,0,0
$STATE,17178,end climb,SURFACE_DEPTH_REACHED
$STATE,17179,begin surface coast
$FINISH,1.2,1.002987
$STATE,17211,end surface coast,CONTROL_FINISHED_OK
$STATE,17211,begin surface
$SM_CCo,17226,53.38,0.057,0,0,1752,220.03
$SM_GC,2.56,0.00,0.00,53.38,0.000,0.000,0.057,141,2280,1752,-8.53,0.57,220.03
$IRIDIUM_FIX,-4444.39,624.79,181008,080803
$TT8_MAMPS,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,16.716
$10V_AH,10.3,12.984
$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,20.575,99.775,125.900,53.375,0.000,30.177,18.877,547.993,24.750,0.000,8.325,3269.918,10953.134,321.245,3324.669,133.841,0.000,1399.609,0.000,2646.265,0.000,148.107,0.000
$DEVICE_MAMPS,246.330,66.555,1286.730,56.610,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.279,845.777,87.536,891.708,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354180
$DATA_FILE_SIZE,70258,1239
$CAP_FILE_SIZE,159067,0
$CFSIZE,2097086464,2084536320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.081, 40.3,1
$GPS,231215,001104,-4501.700,624.144,111,1.1,111,-24.4