version: 66.07.10.p01
glider: 574
mission: 18
dive: 97
start: 3 22 112 6 16 46
data:
$ID,574
$MISSION,18
$DIVE,97
$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,-2334107.2
$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,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,27
$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,96
$GPS1,241215,170552,-4456.034,633.233,108,1.5,108,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-73.5
$GPS2,241215,172333,-4455.999,633.437,4,0.9,5,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,SAF_BUT3
$TGT_LATLONG,-4456.000,636.000
$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,123.6,3361,-27.5,-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,24,-0.67,-48.7,0.0,0.0,0,75,0.00,0.00,-44.30,0.000,6,0.000,0.000,144,2283,2848,0,0,0,0,0,0
$GC,77,-0.67,-48.7,3.4,-2.4,6,95,10.68,2.22,0.00,0.000,4,0.261,0.044,2636,3678,2850,0,0,0,0,0,0
$GC,370,-0.67,-48.7,59.4,-18.5,54,382,0.00,2.28,0.00,0.000,6,0.000,0.044,2636,2266,2850,0,0,0,0,0,0
$GC,722,-0.67,-48.7,123.0,-17.6,104,727,0.00,2.25,0.00,0.000,4,0.000,0.050,2636,842,2851,0,0,0,0,0,0
$GC,742,-0.67,-48.7,126.1,-18.8,105,746,0.00,2.28,0.00,0.000,6,0.000,0.050,2626,2264,2851,0,0,0,0,0,0
$GC,1066,-0.67,-48.7,182.6,-16.2,135,1070,0.00,2.22,0.00,0.000,4,0.000,0.056,2615,3678,2850,0,0,0,0,0,0
$GC,1269,-0.67,-48.7,216.0,-15.6,152,1281,0.10,2.28,0.00,0.000,6,0.230,0.044,2647,2252,2850,0,0,0,0,0,0
$GC,1594,-0.67,-48.7,264.1,-15.0,183,1599,0.00,2.25,0.00,0.000,4,0.000,0.057,2638,3673,2850,0,0,0,0,0,0
$GC,1660,-0.67,-48.7,274.4,-15.3,188,1671,0.00,2.25,0.00,0.000,6,0.000,0.046,2639,2260,2850,0,0,0,0,0,0
$GC,1985,-0.67,-48.7,322.4,-15.0,219,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2261,2850,0,0,0,0,0,0
$GC,2307,-0.67,-48.7,370.4,-15.4,249,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2261,2850,0,0,0,0,0,0
$GC,2619,-0.67,-48.7,416.4,-14.4,274,2623,0.00,2.22,0.00,0.000,4,0.000,0.060,2631,3668,2850,0,0,0,0,0,0
$GC,2639,-0.67,-48.7,419.6,-14.8,275,2645,0.00,2.25,0.00,0.000,6,0.000,0.048,2631,2259,2850,0,0,0,0,0,0
$GC,2966,-0.67,-48.7,467.2,-14.6,291,2971,0.00,2.25,0.00,0.000,4,0.000,0.060,2622,3680,2850,0,0,0,0,0,0
$GC,3032,-0.67,-48.7,477.5,-15.0,294,3037,0.00,2.28,0.00,0.000,6,0.000,0.049,2625,2260,2849,0,0,0,0,0,0
$GC,3360,-0.67,-48.7,527.2,-15.2,310,3364,0.00,2.25,0.00,0.000,4,0.000,0.060,2616,3679,2849,0,0,0,0,0,0
$GC,3414,-0.67,-48.7,536.2,-16.7,312,3423,0.10,2.28,0.00,0.000,6,0.230,0.050,2647,2256,2849,0,0,0,0,0,0
$GC,3730,-0.67,-48.7,578.4,-13.1,328,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2254,2849,0,0,0,0,0,0
$GC,4039,-0.67,-48.7,617.9,-12.5,343,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2254,2849,0,0,0,0,0,0
$GC,4348,-0.67,-48.7,655.4,-12.0,358,4352,0.00,2.25,0.00,0.000,4,0.000,0.063,2638,3669,2848,0,0,0,0,0,0
$GC,4365,-0.67,-48.7,657.5,-11.9,359,4369,0.00,2.22,0.00,0.000,6,0.000,0.054,2638,2257,2848,0,0,0,0,0,0
$GC,4691,-0.67,-48.7,697.1,-12.1,375,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2253,2848,0,0,0,0,0,0
$GC,5000,-0.67,-48.7,733.8,-11.8,390,5004,0.00,2.22,0.00,0.000,4,0.000,0.060,2639,849,2848,0,0,0,0,0,0
$GC,5016,-0.67,-48.7,735.8,-12.1,391,5020,0.00,2.25,0.00,0.000,6,0.000,0.055,2630,2264,2848,0,0,0,0,0,0
$GC,5342,-0.67,-48.7,773.6,-11.7,407,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2264,2847,0,0,0,0,0,0
$GC,5651,-0.67,-48.7,809.5,-11.7,422,5658,0.00,2.22,0.00,0.000,4,0.000,0.066,2619,3669,2847,0,0,0,0,0,0
$GC,5697,-0.67,-48.7,815.3,-12.8,424,5702,0.12,2.22,0.00,0.000,6,0.275,0.055,2647,2260,2847,0,0,0,0,0,0
$GC,6025,-0.67,-48.7,851.1,-10.5,440,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2256,2846,0,0,0,0,0,0
$GC,6332,-0.67,-48.7,883.1,-10.2,455,6336,0.00,2.25,0.00,0.000,4,0.000,0.062,2647,842,2846,0,0,0,0,0,0
$GC,6352,-0.67,-48.7,885.4,-10.4,456,6357,0.00,2.30,0.00,0.000,6,0.000,0.057,2638,2252,2846,0,0,0,0,0,0
$GC,6679,-0.67,-48.7,919.7,-10.2,472,6686,0.00,2.28,0.00,0.000,4,0.000,0.067,2627,3679,2846,0,0,0,0,0,0
$GC,6706,-0.67,-48.7,922.8,-11.5,473,6712,0.00,2.30,0.00,0.000,6,0.000,0.057,2627,2261,2846,0,0,0,0,0,0
$GC,7035,-0.67,-48.7,957.4,-10.5,489,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2257,2846,0,0,0,0,0,0
$GC,7343,-0.67,-48.7,989.8,-10.0,504,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2257,2846,0,0,0,0,0,0
$STATE,7467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7467,begin apogee
$GC,7471,-0.11,0.0,1001.9,9.8,510,7513,0.73,0.00,39.38,1.287,6,0.212,0.000,2830,1975,2650,0,0,0,0,0,0
$STATE,7514,end apogee,CONTROL_FINISHED_OK
$STATE,7514,begin climb
$GC,7515,0.67,48.7,1003.5,0.0,512,7564,0.80,2.40,41.53,1.262,4,0.147,0.060,3094,585,2450,0,0,0,0,0,0
$GC,7598,0.67,48.7,996.6,11.5,516,7602,0.00,2.38,0.00,0.000,6,0.000,0.052,3094,1995,2450,0,0,0,0,0,0
$GC,7925,0.67,48.7,955.1,12.7,532,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1999,2449,0,0,0,0,0,0
$GC,8233,0.67,48.7,915.7,12.6,547,8237,0.00,2.28,0.00,0.000,4,0.000,0.062,3094,3406,2448,0,0,0,0,0,0
$GC,8275,0.67,48.7,909.7,13.4,549,8280,0.00,2.30,0.00,0.000,6,0.000,0.049,3102,1996,2448,0,0,0,0,0,0
$GC,8603,0.67,48.7,869.1,12.5,565,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1992,2448,0,0,0,0,0,0
$GC,8912,0.67,48.7,832.0,11.7,580,8916,0.00,2.28,0.00,0.000,4,0.000,0.059,3114,579,2447,0,0,0,0,0,0
$GC,9041,0.67,48.7,816.6,11.9,586,9045,0.00,2.28,0.00,0.000,6,0.000,0.052,3112,1999,2449,0,0,0,0,0,0
$GC,9366,0.67,48.7,777.6,11.8,602,9370,0.00,2.30,0.00,0.000,4,0.000,0.057,3121,570,2448,0,0,0,0,0,0
$GC,9421,0.67,48.7,771.0,12.7,604,9429,0.00,2.28,0.00,0.000,6,0.000,0.051,3112,1995,2448,0,0,0,0,0,0
$GC,9736,0.67,48.7,735.2,11.1,620,9740,0.00,2.28,0.00,0.000,4,0.000,0.056,3122,573,2447,0,0,0,0,0,0
$GC,9778,0.67,48.7,730.3,11.4,622,9783,0.00,2.30,0.00,0.000,6,0.000,0.050,3115,1991,2448,0,0,0,0,0,0
$GC,10106,0.67,48.7,696.4,10.2,638,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1994,2447,0,0,0,0,0,0
$GC,10416,0.67,48.7,664.4,10.4,653,10420,0.00,2.22,0.00,0.000,4,0.000,0.058,3115,3406,2447,0,0,0,0,0,0
$GC,10477,0.67,48.7,657.6,10.7,656,10482,0.15,2.22,0.00,0.000,6,0.326,0.049,3093,1983,2447,0,0,0,0,0,0
$GC,10804,0.68,55.0,626.9,9.3,672,10812,0.00,0.00,6.10,0.812,6,0.000,0.000,3094,1980,2424,0,0,0,0,0,0
$GC,11113,0.68,55.7,596.7,9.9,687,11117,0.00,2.25,0.00,0.000,4,0.000,0.058,3094,3405,2425,0,0,0,0,0,0
$GC,11129,0.68,55.7,595.0,10.0,688,11133,0.00,2.22,0.00,0.000,6,0.000,0.050,3103,1987,2424,0,0,0,0,0,0
$GC,11454,0.68,59.8,563.4,9.5,704,11465,0.00,2.25,5.40,0.741,4,0.000,0.057,3113,583,2405,0,0,0,0,0,0
$GC,11485,0.68,60.0,560.1,9.9,705,11493,0.00,2.28,0.00,0.000,6,0.000,0.050,3113,1986,2405,0,0,0,0,0,0
$GC,11802,0.68,60.6,528.1,9.9,721,11806,0.00,2.25,0.00,0.000,4,0.000,0.057,3123,581,2405,0,0,0,0,0,0
$GC,12367,0.69,64.3,472.3,9.6,746,12380,0.00,2.28,5.03,0.676,6,0.000,0.049,3122,1992,2387,0,0,0,0,0,0
$GC,12688,0.69,66.0,440.0,9.8,762,12692,0.00,2.25,0.00,0.000,4,0.000,0.057,3121,3406,2388,0,0,0,0,0,0
$GC,12985,0.69,66.0,409.0,10.3,775,12990,0.15,2.22,0.00,0.000,6,0.304,0.048,3099,1983,2387,0,0,0,0,0,0
$GC,13314,0.70,75.3,379.4,9.0,801,13329,0.00,2.25,10.25,0.810,4,0.000,0.058,3108,583,2342,0,0,0,0,0,0
$GC,13900,0.70,76.9,317.7,9.8,852,13910,0.00,2.28,0.00,0.000,6,0.000,0.050,3108,1988,2342,0,0,0,0,0,0
$GC,14224,0.71,78.8,285.2,9.7,883,14236,0.00,2.28,4.40,0.561,4,0.000,0.057,3118,578,2328,0,0,0,0,0,0
$GC,14615,0.71,78.8,242.4,11.6,917,14620,0.00,2.25,0.00,0.000,6,0.000,0.050,3118,1996,2328,0,0,0,0,0,0
$GC,14940,0.71,78.8,204.2,12.0,947,14944,0.00,2.25,0.00,0.000,4,0.000,0.056,3129,582,2328,0,0,0,0,0,0
$GC,15063,0.71,78.8,188.9,11.6,957,15072,0.08,2.28,0.00,0.000,6,0.273,0.049,3109,1991,2329,0,0,0,0,0,0
$GC,15389,0.71,84.3,156.5,9.4,988,15404,0.00,2.28,5.25,0.570,4,0.000,0.057,3104,3402,2309,0,0,0,0,0,0
$GC,15484,0.71,84.3,146.7,10.7,996,15488,0.00,2.22,0.00,0.000,6,0.000,0.048,3113,1989,2309,0,0,0,0,0,0
$GC,15813,0.71,84.3,113.3,10.0,1027,15817,0.00,2.22,0.00,0.000,4,0.000,0.057,3113,3401,2309,0,0,0,0,0,0
$GC,16008,0.72,92.2,93.8,9.1,1049,16023,0.00,2.20,8.32,0.634,6,0.000,0.048,3123,1990,2273,0,0,0,0,0,0
$GC,16367,0.72,92.2,54.9,12.0,1111,16373,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1988,2273,0,0,0,0,0,0
$GC,16730,0.72,92.2,10.2,15.4,1172,16739,0.00,2.28,0.00,0.000,4,0.000,0.057,3123,3403,2273,0,0,0,0,0,0
$GC,16759,0.72,92.2,6.0,15.1,1176,16768,0.00,2.25,0.00,0.000,6,0.000,0.047,3134,1988,2272,0,0,0,0,0,0
$STATE,16787,end climb,SURFACE_DEPTH_REACHED
$STATE,16787,begin surface coast
$FINISH,1.4,1.026656
$STATE,16819,end surface coast,CONTROL_FINISHED_OK
$STATE,16819,begin surface
$SM_CCo,16834,53.80,0.057,0,0,1752,220.03
$SM_GC,3.12,0.00,0.00,53.80,0.000,0.000,0.057,133,2276,1752,-8.56,0.45,220.03
$IRIDIUM_FIX,-4438.33,630.15,201008,060624
$TT8_MAMPS,0.026215
$HUMID,47.55
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,23.9,17.572
$10V_AH,10.2,14.125
$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,21.225,127.500,125.650,53.800,0.000,69.667,93.009,678.024,24.750,0.000,8.378,3210.713,10521.534,345.420,3734.844,142.077,0.000,1523.581,0.000,2772.529,0.000,148.512,0.000
$DEVICE_MAMPS,325.890,67.320,1286.730,56.610,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.603,817.839,77.030,819.112,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,66899,1185
$CAP_FILE_SIZE,172088,0
$CFSIZE,2097086464,2083323904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.020, 34.4,1
$GPS,241215,220704,-4456.261,635.156,43,1.2,44,-24.4