version: 66.07.10.p01
glider: 575
mission: 3
dive: 4
start: 12 9 112 20 9 34
data:
$ID,575
$MISSION,3
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0283
$MASS,53539
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,588.76752
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2485.8762
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,97
$PITCH_MAX,3857
$C_PITCH,3166
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,201
$ROLL_MAX,3827
$ROLL_DEG,40
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,405
$VBD_MAX,3960
$C_VBD,2846
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,5.9999998e-05
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.908466
$PRESSURE_SLOPE,0.00011644595
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.83999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$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,0.0042703953
$SEABIRD_T_H,0.00061866472
$SEABIRD_T_I,2.158102e-05
$SEABIRD_T_J,2.2042e-06
$SEABIRD_C_G,-9.6161814
$SEABIRD_C_H,1.1157404
$SEABIRD_C_I,-0.0016421394
$SEABIRD_C_J,0.00020073759
$EBE_ENABLE,0
$GC_WINDOW,20
$GC_LAST_COLLECTION,-1
$GPS1,091212,200353,-4329.818,714.121,17,1.0,17,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.9
$GPS2,091212,200841,-4329.818,714.196,17,1.8,17,-24.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,GH1
$TGT_LATLONG,-4330.000,720.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.293,-0.038
$KALMAN_X,772.3,509.3,429.6,2170.5,406.7
$KALMAN_Y,458.9,275.1,198.8,-360.9,495.7
$MHEAD_RNG_PITCHd_Wd,122.0,7805,-15.7,-10.010
$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,23,-0.54,-194.5,0.0,0.0,0,145,0.00,0.00,-118.22,0.000,2,0.000,0.000,87,2020,3414,0,0,0,0,0,0
$GC,147,-0.54,-194.5,3.4,-6.7,20,173,12.07,2.28,-4.22,0.000,4,0.256,0.064,2991,606,3642,0,0,0,0,0,0
$GC,343,-0.54,-194.5,52.3,-21.5,53,348,0.00,2.15,0.00,0.000,6,0.000,0.036,2982,2007,3644,0,0,0,0,0,0
$GC,580,-0.54,-194.5,103.3,-20.9,93,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2007,3644,0,0,0,0,0,0
$GC,893,-0.54,-194.5,166.5,-20.2,113,897,0.00,2.17,0.00,0.000,4,0.000,0.050,2971,3414,3644,0,0,0,0,0,0
$GC,964,-0.54,-194.5,181.5,-19.4,117,971,0.00,2.17,0.00,0.000,6,0.000,0.039,2971,2009,3644,0,0,0,0,0,0
$GC,1284,-0.54,-194.5,243.8,-19.5,138,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2005,3644,0,0,0,0,0,0
$GC,1599,-0.54,-194.5,305.9,-19.4,154,1603,0.00,2.20,0.00,0.000,4,0.000,0.050,2961,3418,3644,0,0,0,0,0,0
$GC,1639,-0.54,-194.5,313.5,-19.8,156,1644,0.12,2.15,0.00,0.000,6,0.178,0.039,2992,2006,3644,0,0,0,0,0,0
$GC,1964,-0.54,-194.5,369.6,-16.7,172,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2002,3644,0,0,0,0,0,0
$GC,2272,-0.54,-194.5,421.9,-16.5,185,2276,0.00,2.17,0.00,0.000,4,0.000,0.052,2983,3411,3644,0,0,0,0,0,0
$GC,2349,-0.54,-194.5,434.8,-16.8,187,2354,0.00,2.15,0.00,0.000,6,0.000,0.040,2983,2016,3644,0,0,0,0,0,0
$GC,2679,-0.54,-194.5,492.6,-17.9,198,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2015,3644,0,0,0,0,0,0
$GC,2985,-0.54,-194.5,547.5,-17.9,208,2989,0.00,2.15,0.00,0.000,4,0.000,0.052,2974,3412,3644,0,0,0,0,0,0
$GC,3039,-0.54,-194.5,557.3,-17.6,209,3045,0.00,2.15,0.00,0.000,6,0.000,0.040,2973,2012,3643,0,0,0,0,0,0
$GC,3352,-0.54,-194.5,612.1,-17.4,220,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2011,3643,0,0,0,0,0,0
$GC,3658,-0.54,-194.5,666.9,-18.0,230,3662,0.00,2.20,0.00,0.000,4,0.000,0.053,2964,3419,3642,0,0,0,0,0,0
$GC,3719,-0.54,-194.5,677.9,-17.6,232,3723,0.00,2.15,0.00,0.000,6,0.000,0.041,2964,2010,3642,0,0,0,0,0,0
$GC,4052,-0.54,-194.5,739.2,-18.3,243,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2009,3641,0,0,0,0,0,0
$GC,4359,-0.54,-194.5,794.3,-17.7,253,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2009,3641,0,0,0,0,0,0
$GC,4665,-0.54,-194.5,847.0,-16.8,263,4669,0.00,2.17,0.00,0.000,4,0.000,0.054,2954,3416,3640,0,0,0,0,0,0
$GC,4697,-0.54,-194.5,852.7,-16.8,264,4702,0.10,2.17,0.00,0.000,6,0.166,0.041,2984,2007,3640,0,0,0,0,0,0
$GC,5031,-0.54,-194.5,901.5,-14.9,275,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2004,3639,0,0,0,0,0,0
$GC,5338,-0.54,-194.5,946.9,-14.8,285,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2003,3639,0,0,0,0,0,0
$GC,5644,-0.54,-194.5,994.6,-15.9,295,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2003,3639,0,0,0,0,0,0
$STATE,5705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5705,begin apogee
$GC,5708,-0.17,0.0,1004.1,15.6,297,5874,0.40,0.00,163.38,1.305,6,0.158,0.000,3104,2002,2846,0,0,0,0,0,0
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5877,0.54,194.5,1014.6,0.0,302,6058,0.73,2.47,170.45,1.265,4,0.119,0.057,3332,614,2052,0,0,0,0,0,0
$GC,6092,0.54,226.1,1005.5,8.9,309,6127,0.00,2.28,28.80,1.192,6,0.000,0.038,3332,2000,1924,0,0,0,0,0,0
$GC,6462,0.54,226.1,965.7,11.1,321,6466,0.00,2.30,0.00,0.000,4,0.000,0.059,3340,606,1915,0,0,0,0,0,0
$GC,6523,0.54,226.1,958.4,12.4,323,6527,0.00,2.22,0.00,0.000,6,0.000,0.038,3340,2019,1914,0,0,0,0,0,0
$GC,6856,0.54,226.1,915.9,12.8,334,6860,0.00,2.30,0.00,0.000,4,0.000,0.059,3349,605,1913,0,0,0,0,0,0
$GC,6910,0.54,226.1,908.7,12.6,335,6917,0.00,2.20,0.00,0.000,6,0.000,0.037,3349,2001,1913,0,0,0,0,0,0
$GC,7224,0.54,226.1,868.9,12.7,346,7228,0.00,2.22,0.00,0.000,4,0.000,0.058,3358,609,1912,0,0,0,0,0,0
$GC,7289,0.54,226.1,860.0,13.4,348,7294,0.00,2.20,0.00,0.000,6,0.000,0.038,3359,2014,1912,0,0,0,0,0,0
$GC,7625,0.54,226.1,816.8,12.6,359,7629,0.00,2.25,0.00,0.000,4,0.000,0.057,3368,611,1912,0,0,0,0,0,0
$GC,7707,0.54,226.1,805.7,13.4,361,7712,0.00,2.17,0.00,0.000,6,0.000,0.037,3368,1999,1912,0,0,0,0,0,0
$GC,8025,0.54,226.1,762.4,13.8,372,8029,0.00,2.22,0.00,0.000,4,0.000,0.058,3377,604,1911,0,0,0,0,0,0
$GC,8096,0.54,226.1,751.8,14.4,374,8102,0.10,2.20,0.00,0.000,6,0.170,0.038,3347,2016,1911,0,0,0,0,0,0
$GC,8426,0.54,226.1,712.6,11.5,385,8430,0.00,2.25,0.00,0.000,4,0.000,0.057,3356,603,1911,0,0,0,0,0,0
$GC,8491,0.54,226.1,704.9,12.1,387,8496,0.00,2.20,0.00,0.000,6,0.000,0.037,3356,2019,1911,0,0,0,0,0,0
$GC,8826,0.54,226.1,664.4,11.9,398,8830,0.00,2.25,0.00,0.000,4,0.000,0.057,3365,605,1911,0,0,0,0,0,0
$GC,8880,0.54,226.1,657.4,12.3,399,8887,0.00,2.17,0.00,0.000,6,0.000,0.037,3365,2011,1910,0,0,0,0,0,0
$GC,9193,0.54,226.1,619.2,12.3,410,9197,0.00,2.22,0.00,0.000,4,0.000,0.057,3373,607,1910,0,0,0,0,0,0
$GC,9248,0.54,226.1,611.9,13.1,411,9253,0.10,2.17,0.00,0.000,6,0.167,0.037,3343,2015,1910,0,0,0,0,0,0
$GC,9566,0.54,226.1,578.5,10.0,422,9570,0.00,2.22,0.00,0.000,4,0.000,0.056,3351,610,1910,0,0,0,0,0,0
$GC,9648,0.54,226.1,569.8,10.9,424,9653,0.00,2.15,0.00,0.000,6,0.000,0.036,3351,2003,1910,0,0,0,0,0,0
$GC,9967,0.54,226.1,534.8,11.0,435,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2006,1910,0,0,0,0,0,0
$GC,10273,0.54,226.1,502.5,10.6,445,10277,0.00,2.20,0.00,0.000,4,0.000,0.056,3360,609,1909,0,0,0,0,0,0
$GC,10334,0.54,226.1,495.6,11.1,447,10338,0.00,2.12,0.00,0.000,6,0.000,0.037,3360,2011,1909,0,0,0,0,0,0
$GC,10668,0.54,226.1,457.8,11.3,458,10672,0.00,2.22,0.00,0.000,4,0.000,0.055,3369,603,1909,0,0,0,0,0,0
$GC,10744,0.54,226.1,448.8,11.8,460,10749,0.00,2.17,0.00,0.000,6,0.000,0.036,3369,2015,1909,0,0,0,0,0,0
$GC,11068,0.54,226.1,410.5,12.1,471,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2018,1910,0,0,0,0,0,0
$GC,11389,0.54,226.1,371.5,12.4,485,11393,0.00,2.22,0.00,0.000,4,0.000,0.056,3373,608,1909,0,0,0,0,0,0
$GC,11488,0.54,226.1,359.2,12.3,489,11495,0.10,2.15,0.00,0.000,6,0.158,0.036,3342,2007,1909,0,0,0,0,0,0
$GC,11806,0.54,242.4,329.0,9.4,505,11827,0.00,2.28,12.40,0.835,4,0.000,0.055,3350,609,1857,0,0,0,0,0,0
$GC,11898,0.54,242.4,319.4,11.0,509,11902,0.00,2.15,0.00,0.000,6,0.000,0.037,3350,2016,1856,0,0,0,0,0,0
$GC,12225,0.54,242.4,278.8,12.5,525,12229,0.00,2.22,0.00,0.000,4,0.000,0.055,3359,604,1856,0,0,0,0,0,0
$GC,12319,0.54,242.4,266.4,13.0,529,12324,0.00,2.17,0.00,0.000,6,0.000,0.036,3359,2013,1856,0,0,0,0,0,0
$GC,12643,0.54,242.4,225.5,12.1,548,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2016,1856,0,0,0,0,0,0
$GC,12955,0.54,242.4,188.7,11.3,568,12959,0.00,2.22,0.00,0.000,4,0.000,0.055,3367,599,1856,0,0,0,0,0,0
$GC,13010,0.54,242.4,181.9,12.4,571,13017,0.00,2.17,0.00,0.000,6,0.000,0.036,3367,2010,1856,0,0,0,0,0,0
$GC,13330,0.54,242.4,143.1,12.1,592,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2013,1856,0,0,0,0,0,0
$GC,13644,0.54,242.4,104.0,12.0,612,13648,0.00,2.20,0.00,0.000,4,0.000,0.054,3373,609,1856,0,0,0,0,0,0
$GC,13779,0.54,242.4,87.5,12.0,631,13784,0.12,2.12,0.00,0.000,6,0.169,0.036,3341,2014,1856,0,0,0,0,0,0
$GC,14125,0.54,245.4,52.7,9.9,692,14132,0.00,0.00,4.22,0.409,6,0.000,0.000,3341,2017,1844,0,0,0,0,0,0
$GC,14363,0.54,255.2,30.4,9.7,733,14376,0.00,2.22,7.85,0.646,4,0.000,0.052,3349,600,1805,0,0,0,0,0,0
$GC,14466,0.54,273.0,20.4,9.4,750,14485,0.00,2.17,9.50,0.609,6,0.000,0.036,3349,2015,1732,0,0,0,0,0,0
$GC,14558,0.54,273.0,10.5,10.6,765,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2016,1731,0,0,0,0,0,0
$STATE,14629,end climb,SURFACE_DEPTH_REACHED
$STATE,14629,begin surface coast
$FINISH,0.9,1.013053
$STATE,14660,end surface coast,CONTROL_FINISHED_OK
$STATE,14660,begin surface
$SM_CCo,14675,152.27,0.552,0,0,444,588.96
$SM_GC,1.97,0.00,0.00,152.27,0.000,0.000,0.552,91,2018,444,-9.61,0.25,588.96
$IRIDIUM_FIX,-4314.46,714.12,091212,191946
$TT8_MAMPS,0.026215
$HUMID,48.89
$INTERNAL_PRESSURE,8.75046
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,23.5,4.807
$10V_AH,10.3,2.120
$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,22.775,110.200,396.600,152.275,0.000,0.000,0.000,0.000,0.250,0.000,19.982,1908.857,10129.342,644.773,2136.467,81.976,32.339,1579.064,0.000,2115.385,0.000,2.823,0.000
$DEVICE_MAMPS,255.510,64.260,1305.090,552.330,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.209,895.405,507.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,43518,782
$CAP_FILE_SIZE,134951,0
$CFSIZE,2097086464,2094497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101212,001752,-4328.592,719.179,37,1.0,37,-24.7