version: 66.07.10.p01
glider: 574
mission: 18
dive: 297
start: 5 3 112 9 25 5
data:
$ID,574
$MISSION,18
$DIVE,297
$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,-2353635
$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,22
$R_STBD_OVSHOOT,30
$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,296
$GPS1,040216,202133,-4459.688,629.966,138,0.8,138,-24.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-78.3
$GPS2,040216,203431,-4459.739,630.125,5,0.8,5,-24.4
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,RECOVER
$TGT_LATLONG,-4500.000,630.000
$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,234.1,511,-27.8,-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,24,-0.68,-48.7,0.0,0.0,0,67,0.00,0.00,-40.58,0.000,2,0.000,0.000,142,2273,2749,0,0,0,0,0,0
$GC,69,-0.68,-48.7,3.0,-1.3,5,96,10.40,2.33,-2.83,0.000,4,0.236,0.061,2629,3678,2851,0,0,0,0,0,0
$GC,560,-0.68,-48.7,96.7,-18.1,87,570,0.00,2.28,0.00,0.000,6,0.000,0.038,2629,2257,2852,0,0,0,0,0,0
$GC,889,-0.68,-48.7,155.3,-16.7,119,893,0.00,2.22,0.00,0.000,4,0.000,0.044,2629,847,2852,0,0,0,0,0,0
$GC,910,-0.68,-48.7,159.3,-17.5,120,924,0.08,2.28,0.00,0.000,6,0.197,0.044,2641,2252,2852,0,0,0,0,0,0
$GC,1238,-0.68,-48.7,209.2,-14.9,151,1242,0.00,2.22,0.00,0.000,4,0.000,0.053,2631,3671,2852,0,0,0,0,0,0
$GC,1429,-0.68,-48.7,237.9,-15.1,168,1433,0.00,2.20,0.00,0.000,6,0.000,0.041,2631,2260,2852,0,0,0,0,0,0
$GC,1754,-0.68,-48.7,285.5,-14.0,198,1758,0.00,2.22,0.00,0.000,4,0.000,0.052,2622,3671,2852,0,0,0,0,0,0
$GC,1886,-0.68,-48.7,304.3,-14.7,209,1890,0.00,2.20,0.00,0.000,6,0.000,0.042,2622,2260,2853,0,0,0,0,0,0
$GC,2211,-0.68,-48.7,353.3,-14.9,239,2215,0.00,2.22,0.00,0.000,4,0.000,0.054,2612,3670,2852,0,0,0,0,0,0
$GC,2310,-0.68,-48.7,369.5,-17.0,247,2323,0.10,2.25,0.00,0.000,6,0.183,0.042,2642,2259,2852,0,0,0,0,0,0
$GC,2645,-0.68,-48.7,417.8,-14.4,273,2649,0.00,2.22,0.00,0.000,4,0.000,0.055,2632,3670,2852,0,0,0,0,0,0
$GC,2673,-0.68,-48.7,422.4,-15.7,274,2677,0.00,2.22,0.00,0.000,6,0.000,0.044,2632,2255,2852,0,0,0,0,0,0
$GC,2989,-0.68,-48.7,469.0,-14.7,289,2996,0.00,2.25,0.00,0.000,4,0.000,0.054,2622,3679,2851,0,0,0,0,0,0
$GC,3085,-0.68,-48.7,484.0,-15.0,293,3089,0.00,2.28,0.00,0.000,6,0.000,0.044,2622,2259,2851,0,0,0,0,0,0
$GC,3413,-0.68,-48.7,534.0,-15.6,309,3417,0.00,2.22,0.00,0.000,4,0.000,0.055,2612,3669,2851,0,0,0,0,0,0
$GC,3497,-0.68,-48.7,547.4,-16.1,313,3502,0.15,2.22,0.00,0.000,6,0.193,0.044,2648,2257,2851,0,0,0,0,0,0
$GC,3823,-0.68,-48.7,593.1,-13.6,329,3827,0.00,2.25,0.00,0.000,4,0.000,0.057,2639,3676,2850,0,0,0,0,0,0
$GC,3854,-0.68,-48.7,597.5,-13.8,330,3862,0.00,2.28,0.00,0.000,6,0.000,0.046,2642,2262,2851,0,0,0,0,0,0
$GC,4171,-0.68,-48.7,637.8,-12.5,346,4175,0.00,2.25,0.00,0.000,4,0.000,0.058,2633,3676,2850,0,0,0,0,0,0
$GC,4247,-0.68,-48.7,647.8,-12.5,349,4255,0.00,2.28,0.00,0.000,6,0.000,0.047,2632,2265,2850,0,0,0,0,0,0
$GC,4563,-0.68,-48.7,686.7,-12.1,365,4568,0.00,2.25,0.00,0.000,4,0.000,0.059,2623,3676,2850,0,0,0,0,0,0
$GC,4629,-0.68,-48.7,695.4,-13.1,368,4634,0.00,2.28,0.00,0.000,6,0.000,0.047,2622,2261,2850,0,0,0,0,0,0
$GC,4958,-0.68,-48.7,736.6,-12.5,384,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2258,2849,0,0,0,0,0,0
$GC,5266,-0.68,-48.7,773.8,-12.3,399,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2258,2849,0,0,0,0,0,0
$GC,5578,-0.68,-48.7,810.2,-11.5,414,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2257,2848,0,0,0,0,0,0
$GC,5885,-0.68,-48.7,846.9,-12.0,429,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2258,2848,0,0,0,0,0,0
$GC,6196,-0.68,-48.7,885.3,-12.3,444,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2257,2848,0,0,0,0,0,0
$GC,6503,-0.68,-48.7,923.5,-12.4,459,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2258,2848,0,0,0,0,0,0
$GC,6815,-0.68,-48.7,962.4,-12.5,474,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2258,2848,0,0,0,0,0,0
$STATE,7121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7121,begin apogee
$GC,7126,-0.11,0.0,1000.1,11.9,489,7169,0.75,0.00,40.00,1.282,6,0.174,0.000,2830,1971,2650,0,0,0,0,0,0
$STATE,7170,end apogee,CONTROL_FINISHED_OK
$STATE,7170,begin climb
$GC,7172,0.68,48.7,1002.7,0.0,491,7220,0.77,2.40,41.47,1.255,4,0.095,0.054,3097,578,2451,0,0,0,0,0,0
$GC,7271,0.68,51.1,996.3,9.7,495,7280,0.00,2.35,3.83,0.744,6,0.000,0.047,3096,1988,2440,0,0,0,0,0,0
$GC,7586,0.68,51.1,962.7,10.9,511,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1991,2440,0,0,0,0,0,0
$GC,7895,0.68,51.1,927.5,11.7,526,7899,0.00,2.30,0.00,0.000,4,0.000,0.054,3105,582,2440,0,0,0,0,0,0
$GC,7921,0.68,51.1,924.4,10.6,527,7926,0.00,2.33,0.00,0.000,6,0.000,0.046,3103,1991,2440,0,0,0,0,0,0
$GC,8243,0.68,51.1,886.8,11.5,543,8247,0.00,2.30,0.00,0.000,4,0.000,0.054,3112,578,2440,0,0,0,0,0,0
$GC,8331,0.68,51.1,876.1,11.7,547,8335,0.00,2.33,0.00,0.000,6,0.000,0.047,3109,1993,2439,0,0,0,0,0,0
$GC,8660,0.68,51.1,838.9,11.2,563,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1997,2439,0,0,0,0,0,0
$GC,8968,0.68,51.1,805.3,10.9,578,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1997,2439,0,0,0,0,0,0
$GC,9278,0.69,54.1,774.4,9.6,593,9288,0.00,2.33,3.72,0.630,4,0.000,0.053,3118,584,2429,0,0,0,0,0,0
$GC,9401,0.69,54.1,762.3,10.4,598,9405,0.00,2.25,0.00,0.000,6,0.000,0.047,3110,1995,2429,0,0,0,0,0,0
$GC,9722,0.70,64.7,733.5,8.8,614,9737,0.00,2.33,10.02,1.005,4,0.000,0.054,3119,580,2386,0,0,0,0,0,0
$GC,9832,0.70,64.7,722.5,10.3,618,9836,0.00,2.30,0.00,0.000,6,0.000,0.047,3110,2001,2385,0,0,0,0,0,0
$GC,10159,0.70,64.8,689.5,9.9,634,10163,0.00,2.30,0.00,0.000,4,0.000,0.054,3120,583,2385,0,0,0,0,0,0
$GC,10243,0.70,64.8,680.5,11.0,638,10247,0.00,2.25,0.00,0.000,6,0.000,0.047,3111,1991,2385,0,0,0,0,0,0
$GC,10569,0.70,64.8,647.0,10.3,654,10573,0.00,2.28,0.00,0.000,4,0.000,0.054,3120,580,2384,0,0,0,0,0,0
$GC,10608,0.70,64.8,642.7,11.1,656,10612,0.00,2.25,0.00,0.000,6,0.000,0.046,3114,1991,2385,0,0,0,0,0,0
$GC,10935,0.70,64.8,609.0,10.3,672,10939,0.00,2.25,0.00,0.000,4,0.000,0.056,3114,3406,2384,0,0,0,0,0,0
$GC,10944,0.70,65.6,608.0,9.9,672,10949,0.00,2.28,0.00,0.000,6,0.000,0.045,3123,1992,2384,0,0,0,0,0,0
$GC,11267,0.70,65.6,575.5,10.0,688,11271,0.00,2.28,0.00,0.000,4,0.000,0.056,3134,577,2385,0,0,0,0,0,0
$GC,11441,0.70,65.6,557.6,10.0,696,11446,0.12,2.25,0.00,0.000,6,0.213,0.046,3100,1994,2384,0,0,0,0,0,0
$GC,11769,0.71,76.0,529.0,8.8,712,11784,0.00,2.25,10.50,0.886,4,0.000,0.054,3100,3409,2338,0,0,0,0,0,0
$GC,11830,0.71,76.0,522.2,11.3,714,11834,0.00,2.25,0.00,0.000,6,0.000,0.045,3108,1991,2338,0,0,0,0,0,0
$GC,12162,0.71,76.0,485.8,11.1,730,12166,0.00,2.28,0.00,0.000,4,0.000,0.055,3120,574,2338,0,0,0,0,0,0
$GC,12238,0.71,76.0,476.5,11.3,733,12246,0.00,2.30,0.00,0.000,6,0.000,0.045,3115,1989,2337,0,0,0,0,0,0
$GC,12555,0.71,76.0,439.3,11.5,749,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1990,2338,0,0,0,0,0,0
$GC,12864,0.71,76.0,405.5,10.5,764,12868,0.00,2.30,0.00,0.000,4,0.000,0.054,3125,576,2337,0,0,0,0,0,0
$GC,12897,0.71,76.0,401.8,10.6,765,12904,0.00,2.30,0.00,0.000,6,0.000,0.045,3125,1989,2337,0,0,0,0,0,0
$GC,13221,0.71,76.0,367.5,10.9,795,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1990,2337,0,0,0,0,0,0
$GC,13543,0.71,76.0,333.9,10.4,825,13547,0.00,2.25,0.00,0.000,4,0.000,0.054,3125,3403,2337,0,0,0,0,0,0
$GC,13608,0.71,76.0,325.8,12.0,830,13617,0.10,2.28,0.00,0.000,6,0.204,0.045,3108,1986,2337,0,0,0,0,0,0
$GC,13938,0.71,76.0,292.2,10.1,861,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1982,2337,0,0,0,0,0,0
$GC,14264,0.71,76.0,259.9,10.2,892,14268,0.00,2.25,0.00,0.000,4,0.000,0.054,3118,578,2337,0,0,0,0,0,0
$GC,14352,0.71,76.0,250.6,10.1,899,14360,0.00,2.30,0.00,0.000,6,0.000,0.046,3117,1996,2337,0,0,0,0,0,0
$GC,14678,0.71,76.0,215.8,10.9,930,14682,0.00,2.28,0.00,0.000,4,0.000,0.053,3128,577,2337,0,0,0,0,0,0
$GC,14719,0.71,76.0,211.5,11.2,933,14723,0.00,2.25,0.00,0.000,6,0.000,0.046,3128,1997,2337,0,0,0,0,0,0
$GC,15044,0.71,77.5,177.2,9.8,963,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1997,2337,0,0,0,0,0,0
$GC,15366,0.74,95.3,146.9,8.1,993,15389,0.00,2.30,15.98,0.731,4,0.000,0.052,3139,571,2260,0,0,0,0,0,0
$GC,15461,0.74,95.3,137.1,10.3,1001,15469,0.08,2.30,0.00,0.000,6,0.185,0.045,3117,1990,2259,0,0,0,0,0,0
$GC,15787,0.75,106.0,109.2,8.8,1032,15803,0.00,2.35,9.82,0.661,4,0.000,0.053,3127,580,2216,0,0,0,0,0,0
$GC,15850,0.76,115.4,103.9,9.0,1037,15865,0.00,2.25,9.07,0.666,6,0.000,0.045,3126,1992,2178,0,0,0,0,0,0
$GC,16207,0.76,115.4,64.1,10.5,1096,16214,0.00,2.28,0.00,0.000,4,0.000,0.053,3137,581,2176,0,0,0,0,0,0
$STATE,16750,end climb,SURFACE_DEPTH_REACHED
$STATE,16750,begin surface coast
$FINISH,1.6,1.026344
$STATE,16763,end surface coast,CONTROL_FINISHED_OK
$STATE,16763,begin surface
$SM_CCo,16782,44.20,0.054,0,0,1752,220.03
$SM_GC,2.91,0.00,0.00,44.20,0.000,0.000,0.054,142,2265,1752,-8.53,0.14,220.03
$IRIDIUM_FIX,-4441.36,627.47,011208,050507
$TT8_MAMPS,0.026215
$HUMID,49.37
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,9.30
$XPDR_PINGS,0
$24V_AH,23.8,35.672
$10V_AH,10.1,39.318
$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,20.675,132.700,144.425,44.200,0.000,22.631,25.072,564.348,24.750,0.000,8.775,3194.759,10506.279,341.442,3339.062,222.983,0.000,1453.154,0.000,2645.047,0.000,148.119,0.000
$DEVICE_MAMPS,236.385,61.200,1282.140,54.315,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.429,818.712,77.989,834.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,54.680,2.250,6.740,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354628
$DATA_FILE_SIZE,70261,1190
$CAP_FILE_SIZE,164853,0
$CFSIZE,2097086464,2057109504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.075, 66.8,1
$GPS,050216,011657,-4500.385,629.777,39,0.9,39,-24.4