version: 66.07.10.p01
glider: 574
mission: 18
dive: 300
start: 5 4 112 0 19 46
data:
$ID,574
$MISSION,18
$DIVE,300
$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,-2353881.2
$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,28
$R_STBD_OVSHOOT,24
$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,299
$GPS1,050216,111257,-4459.861,629.686,97,1.2,97,-24.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-77.7
$GPS2,050216,112915,-4459.999,629.834,5,0.8,6,-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,128.4,218,-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,-40.67,0.000,2,0.000,0.000,132,2265,2748,0,0,0,0,0,0
$GC,69,-0.68,-48.7,3.1,-1.6,5,96,10.65,2.35,-2.78,0.000,4,0.244,0.051,2638,834,2851,0,0,0,0,0,0
$GC,274,-0.68,-48.7,40.4,-17.7,37,281,0.00,2.30,0.00,0.000,6,0.000,0.043,2629,2271,2852,0,0,0,0,0,0
$GC,619,-0.68,-48.7,107.9,-17.9,94,623,0.00,2.25,0.00,0.000,4,0.000,0.042,2629,848,2853,0,0,0,0,0,0
$GC,717,-0.68,-48.7,125.7,-17.7,102,725,0.00,2.30,0.00,0.000,6,0.000,0.043,2619,2264,2853,0,0,0,0,0,0
$GC,1045,-0.68,-48.7,179.8,-15.0,133,1050,0.12,2.22,0.00,0.000,4,0.219,0.052,2637,3672,2854,0,0,0,0,0,0
$GC,1137,-0.68,-48.7,193.8,-15.0,141,1141,0.00,2.22,0.00,0.000,6,0.000,0.038,2639,2258,2853,0,0,0,0,0,0
$GC,1462,-0.68,-48.7,241.9,-15.1,171,1466,0.00,2.22,0.00,0.000,4,0.000,0.052,2629,3672,2853,0,0,0,0,0,0
$GC,1537,-0.68,-48.7,253.5,-15.6,177,1541,0.00,2.20,0.00,0.000,6,0.000,0.038,2631,2256,2853,0,0,0,0,0,0
$GC,1861,-0.68,-48.7,304.2,-15.8,207,1865,0.00,2.22,0.00,0.000,4,0.000,0.051,2622,3670,2853,0,0,0,0,0,0
$GC,1983,-0.68,-48.7,323.3,-15.6,217,1987,0.00,2.20,0.00,0.000,6,0.000,0.040,2622,2256,2853,0,0,0,0,0,0
$GC,2307,-0.68,-48.7,376.3,-16.0,247,2311,0.00,2.22,0.00,0.000,4,0.000,0.052,2613,3671,2853,0,0,0,0,0,0
$GC,2328,-0.68,-48.7,379.9,-15.9,248,2342,0.08,2.25,0.00,0.000,6,0.190,0.039,2635,2252,2853,0,0,0,0,0,0
$GC,2650,-0.68,-48.7,427.2,-14.5,270,2654,0.00,2.22,0.00,0.000,4,0.000,0.053,2625,3672,2853,0,0,0,0,0,0
$GC,2715,-0.68,-48.7,437.6,-15.2,273,2720,0.00,2.25,0.00,0.000,6,0.000,0.041,2625,2256,2852,0,0,0,0,0,0
$GC,3044,-0.68,-48.7,486.5,-14.7,289,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2253,2852,0,0,0,0,0,0
$GC,3355,-0.68,-48.7,530.0,-14.1,304,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2253,2852,0,0,0,0,0,0
$GC,3662,-0.68,-48.7,572.9,-13.8,319,3666,0.00,2.25,0.00,0.000,4,0.000,0.054,2616,3679,2851,0,0,0,0,0,0
$GC,3727,-0.68,-48.7,582.7,-14.5,322,3732,0.10,2.28,0.00,0.000,6,0.180,0.042,2645,2259,2851,0,0,0,0,0,0
$GC,4055,-0.68,-48.7,624.7,-12.7,338,4059,0.00,2.25,0.00,0.000,4,0.000,0.056,2635,3677,2851,0,0,0,0,0,0
$GC,4120,-0.68,-48.7,633.9,-13.4,341,4124,0.00,2.28,0.00,0.000,6,0.000,0.044,2635,2257,2851,0,0,0,0,0,0
$GC,4450,-0.68,-48.7,677.0,-13.0,357,4454,0.00,2.25,0.00,0.000,4,0.000,0.056,2625,3676,2850,0,0,0,0,0,0
$GC,4504,-0.68,-48.7,684.9,-13.7,359,4512,0.00,2.28,0.00,0.000,6,0.000,0.045,2625,2260,2851,0,0,0,0,0,0
$GC,4820,-0.68,-48.7,727.3,-13.1,375,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2256,2850,0,0,0,0,0,0
$GC,5129,-0.68,-48.7,766.8,-12.6,390,5133,0.00,2.25,0.00,0.000,4,0.000,0.057,2616,3675,2849,0,0,0,0,0,0
$GC,5191,-0.68,-48.7,774.6,-12.9,393,5195,0.12,2.22,0.00,0.000,6,0.199,0.047,2645,2260,2849,0,0,0,0,0,0
$GC,5518,-0.68,-48.7,811.3,-11.2,409,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2256,2849,0,0,0,0,0,0
$GC,5827,-0.68,-48.7,843.6,-10.2,424,5831,0.00,2.25,0.00,0.000,4,0.000,0.054,2645,847,2848,0,0,0,0,0,0
$GC,5843,-0.68,-48.7,845.6,-10.1,425,5848,0.00,2.25,0.00,0.000,6,0.000,0.049,2636,2263,2848,0,0,0,0,0,0
$GC,6171,-0.68,-48.7,879.5,-10.3,441,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2263,2847,0,0,0,0,0,0
$GC,6482,-0.68,-48.7,911.2,-10.2,456,6486,0.00,2.22,0.00,0.000,4,0.000,0.059,2625,3669,2846,0,0,0,0,0,0
$GC,6611,-0.68,-48.7,925.7,-11.2,462,6615,0.00,2.22,0.00,0.000,6,0.000,0.049,2625,2260,2847,0,0,0,0,0,0
$GC,6938,-0.68,-48.7,962.3,-11.6,478,6942,0.00,2.25,0.00,0.000,4,0.000,0.055,2625,841,2847,0,0,0,0,0,0
$GC,6954,-0.68,-48.7,964.5,-11.5,479,6959,0.12,2.28,0.00,0.000,6,0.213,0.050,2643,2262,2847,0,0,0,0,0,0
$STATE,7282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7282,begin apogee
$GC,7287,-0.11,0.0,1001.4,11.0,495,7330,0.65,0.00,40.08,1.285,6,0.169,0.000,2826,1978,2650,0,0,0,0,0,0
$STATE,7331,end apogee,CONTROL_FINISHED_OK
$STATE,7331,begin climb
$GC,7332,0.68,48.7,1004.2,0.0,497,7381,0.77,2.40,41.60,1.258,4,0.096,0.051,3092,578,2451,0,0,0,0,0,0
$GC,7394,0.72,83.4,1001.9,6.3,500,7431,0.00,2.38,31.08,1.237,6,0.000,0.047,3090,1994,2309,0,0,0,0,0,0
$GC,7741,0.72,83.4,959.1,13.0,516,7745,0.00,2.33,0.00,0.000,4,0.000,0.054,3098,586,2303,0,0,0,0,0,0
$GC,7825,0.72,83.4,947.5,13.4,520,7830,0.00,2.30,0.00,0.000,6,0.000,0.047,3094,1995,2302,0,0,0,0,0,0
$GC,8152,0.72,83.4,904.7,12.8,536,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1999,2302,0,0,0,0,0,0
$GC,8461,0.72,83.4,864.7,13.0,551,8465,0.00,2.30,0.00,0.000,4,0.000,0.054,3104,584,2302,0,0,0,0,0,0
$GC,8510,0.72,83.4,858.0,13.5,553,8515,0.00,2.33,0.00,0.000,6,0.000,0.047,3100,1995,2301,0,0,0,0,0,0
$GC,8832,0.72,83.4,815.2,13.4,569,8836,0.00,2.30,0.00,0.000,4,0.000,0.054,3109,585,2301,0,0,0,0,0,0
$GC,8920,0.72,83.4,802.9,14.7,573,8924,0.00,2.30,0.00,0.000,6,0.000,0.047,3101,1989,2301,0,0,0,0,0,0
$GC,9247,0.72,83.4,758.6,13.6,589,9251,0.00,2.28,0.00,0.000,4,0.000,0.053,3110,584,2301,0,0,0,0,0,0
$GC,9279,0.72,83.4,754.3,13.0,590,9287,0.00,2.30,0.00,0.000,6,0.000,0.047,3102,1992,2300,0,0,0,0,0,0
$GC,9596,0.72,83.4,712.5,13.4,606,9600,0.00,2.28,0.00,0.000,4,0.000,0.053,3111,582,2301,0,0,0,0,0,0
$GC,9639,0.72,83.4,706.5,13.1,608,9644,0.00,2.30,0.00,0.000,6,0.000,0.048,3110,1991,2300,0,0,0,0,0,0
$GC,9968,0.72,83.4,663.1,13.3,624,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1992,2301,0,0,0,0,0,0
$GC,10277,0.72,83.4,623.0,13.0,639,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1993,2300,0,0,0,0,0,0
$GC,10585,0.72,83.4,584.9,12.2,654,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1993,2300,0,0,0,0,0,0
$GC,10896,0.72,83.4,548.7,11.6,669,10900,0.00,2.25,0.00,0.000,4,0.000,0.057,3109,3410,2300,0,0,0,0,0,0
$GC,10912,0.72,83.4,546.5,11.7,670,10916,0.00,2.22,0.00,0.000,6,0.000,0.045,3118,1992,2300,0,0,0,0,0,0
$GC,11239,0.72,83.4,508.7,11.3,686,11243,0.00,2.28,0.00,0.000,4,0.000,0.056,3130,579,2300,0,0,0,0,0,0
$GC,11323,0.72,83.4,499.2,11.1,690,11327,0.00,2.25,0.00,0.000,6,0.000,0.046,3125,1997,2299,0,0,0,0,0,0
$GC,11648,0.72,83.4,460.9,11.5,706,11653,0.00,2.30,0.00,0.000,4,0.000,0.054,3134,571,2299,0,0,0,0,0,0
$GC,11675,0.72,83.4,457.6,12.1,707,11680,0.00,2.30,0.00,0.000,6,0.000,0.046,3129,1987,2299,0,0,0,0,0,0
$GC,11997,0.72,83.4,419.8,11.9,723,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1989,2299,0,0,0,0,0,0
$GC,12314,0.72,83.4,380.6,13.0,745,12318,0.00,2.28,0.00,0.000,4,0.000,0.054,3138,576,2299,0,0,0,0,0,0
$GC,12334,0.72,83.4,377.4,11.7,746,12342,0.10,2.30,0.00,0.000,6,0.194,0.047,3110,1992,2298,0,0,0,0,0,0
$GC,12663,0.72,83.4,338.9,12.1,777,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1994,2299,0,0,0,0,0,0
$GC,12989,0.72,83.4,300.9,11.1,808,12993,0.00,2.25,0.00,0.000,4,0.000,0.054,3110,3406,2299,0,0,0,0,0,0
$GC,13008,0.72,83.4,298.7,11.6,809,13012,0.00,2.22,0.00,0.000,6,0.000,0.044,3119,1988,2298,0,0,0,0,0,0
$GC,13332,0.72,83.4,260.8,11.7,839,13336,0.00,2.28,0.00,0.000,4,0.000,0.055,3131,575,2299,0,0,0,0,0,0
$GC,13363,0.72,83.4,257.0,11.8,841,13371,0.00,2.30,0.00,0.000,6,0.000,0.046,3131,1995,2298,0,0,0,0,0,0
$GC,13690,0.72,83.4,220.4,10.6,872,13694,0.00,2.28,0.00,0.000,4,0.000,0.053,3141,582,2299,0,0,0,0,0,0
$GC,13729,0.72,83.4,216.1,10.4,875,13734,0.15,2.25,0.00,0.000,6,0.197,0.045,3106,2001,2299,0,0,0,0,0,0
$GC,14058,0.73,92.2,186.2,9.0,905,14066,0.00,0.00,6.75,0.644,6,0.000,0.000,3105,2002,2274,0,0,0,0,0,0
$GC,14383,0.73,92.9,154.6,9.9,936,14387,0.00,2.28,0.00,0.000,4,0.000,0.054,3115,582,2274,0,0,0,0,0,0
$GC,14695,0.73,93.1,123.4,9.9,963,14699,0.00,2.25,0.00,0.000,6,0.000,0.046,3115,1997,2274,0,0,0,0,0,0
$GC,15024,0.76,111.0,94.9,8.0,998,15046,0.00,2.30,16.12,0.702,4,0.000,0.054,3115,3405,2196,0,0,0,0,0,0
$GC,15071,0.76,111.0,90.2,10.4,1005,15079,0.00,2.28,0.00,0.000,6,0.000,0.046,3125,1990,2196,0,0,0,0,0,0
$GC,15424,0.78,127.2,56.1,8.2,1066,15446,0.00,2.28,14.10,0.666,4,0.000,0.052,3126,3408,2132,0,0,0,0,0,0
$GC,15517,0.78,127.2,46.7,11.2,1081,15524,0.00,2.25,0.00,0.000,6,0.000,0.046,3135,1988,2131,0,0,0,0,0,0
$STATE,15876,end climb,SURFACE_DEPTH_REACHED
$STATE,15876,begin surface coast
$FINISH,1.6,1.014035
$STATE,15908,end surface coast,CONTROL_FINISHED_OK
$STATE,15908,begin surface
$SM_CCo,15925,39.80,0.057,0,0,1752,220.03
$SM_GC,1.99,0.00,0.00,39.80,0.000,0.000,0.057,141,2270,1752,-8.53,0.31,220.03
$IRIDIUM_FIX,-4444.39,627.81,021208,000054
$TT8_MAMPS,0.025466
$HUMID,49.80
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,23.6,35.983
$10V_AH,10.0,39.686
$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,21.075,137.025,149.725,39.800,0.000,54.449,121.661,580.750,24.750,0.000,9.174,3068.155,9980.875,329.738,3346.408,218.130,0.000,1396.342,0.000,2515.498,0.000,148.129,0.000
$DEVICE_MAMPS,244.035,59.670,1285.200,57.375,0.000,91.030,160.000,223.000,420.000,0.000,32.960,13.570,2.190,13.570,41.280,48.030,0.000,15.640,0.000,19.470,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.967,794.297,80.210,824.712,0.000,0.000,0.000,0.000,0.000,0.000
$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,66998,1146
$CAP_FILE_SIZE,162185,0
$CFSIZE,2097086464,2056749056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.015,127.1,1
$GPS,050216,155751,-4500.555,631.811,72,0.9,72,-24.4