version: 66.07.10.p01
glider: 575
mission: 3
dive: 200
start: 1 14 113 17 45 47
data:
$ID,575
$MISSION,3
$DIVE,200
$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,353
$T_MISSION,368
$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,150
$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,250
$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,-3082.3311
$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,3172
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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,2050
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,60
$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,179
$GPS1,140113,173704,-4259.298,716.162,42,0.8,43,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-71.2
$GPS2,140113,174454,-4259.301,716.249,20,0.9,20,-24.6
$SPEED_LIMITS,0.164,0.255
$TGT_NAME,GH2
$TGT_LATLONG,-4300.000,720.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,-0.242
$KALMAN_X,383764.8,-447.6,-566.7,-376078.7,1683.5
$KALMAN_Y,576017.4,-1455.0,-561.4,-516875.4,8719.1
$MHEAD_RNG_PITCHd_Wd,186.3,5243,-17.4,-9.443
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.54,-145.9,0.0,0.0,0,35,0.00,0.00,-8.02,0.000,2,0.000,0.000,69,2068,2004,0,0,0,0,0,0
$GC,37,-0.54,-145.9,3.0,-0.0,1,122,12.10,2.17,-66.90,0.000,4,0.240,0.057,2983,3434,3439,0,0,0,0,0,0
$GC,361,-0.54,-145.9,37.4,-17.6,56,368,0.00,2.17,0.00,0.000,6,0.000,0.034,2984,2044,3441,0,0,0,0,0,0
$GC,597,-0.54,-145.9,80.2,-18.6,97,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2044,3441,0,0,0,0,0,0
$GC,935,-0.54,-145.9,134.8,-15.5,132,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2044,3442,0,0,0,0,0,0
$GC,1248,-0.54,-145.9,183.7,-15.5,152,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2043,3442,0,0,0,0,0,0
$GC,1559,-0.54,-145.9,230.8,-14.5,172,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2044,3442,0,0,0,0,0,0
$GC,1886,-0.54,-145.9,278.6,-14.5,190,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2044,3442,0,0,0,0,0,0
$GC,2197,-0.54,-145.9,320.8,-13.3,205,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2042,3443,0,0,0,0,0,0
$GC,2505,-0.54,-145.9,361.9,-13.0,220,2508,0.00,2.12,0.00,0.000,4,0.000,0.044,2983,644,3443,0,0,0,0,0,0
$GC,2548,-0.54,-145.9,368.0,-14.3,222,2553,0.00,2.15,0.00,0.000,6,0.000,0.032,2974,2040,3443,0,0,0,0,0,0
$GC,2885,-0.54,-145.9,415.0,-14.4,237,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2041,3443,0,0,0,0,0,0
$GC,3191,-0.54,-145.9,460.0,-14.9,247,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2041,3442,0,0,0,0,0,0
$GC,3497,-0.54,-145.9,506.0,-15.1,257,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2040,3443,0,0,0,0,0,0
$GC,3803,-0.54,-145.9,551.0,-14.4,267,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2040,3442,0,0,0,0,0,0
$GC,4109,-0.54,-145.9,595.7,-14.6,277,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2040,3442,0,0,0,0,0,0
$GC,4416,-0.54,-145.9,638.6,-13.9,287,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2040,3441,0,0,0,0,0,0
$GC,4722,-0.54,-145.9,680.4,-13.4,297,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2041,3441,0,0,0,0,0,0
$GC,5028,-0.54,-145.9,722.3,-13.6,307,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2040,3440,0,0,0,0,0,0
$GC,5334,-0.54,-145.9,763.8,-13.5,317,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2040,3440,0,0,0,0,0,0
$GC,5641,-0.54,-145.9,806.3,-13.9,327,5645,0.00,2.15,0.00,0.000,4,0.000,0.046,2974,648,3438,0,0,0,0,0,0
$GC,5712,-0.54,-145.9,816.9,-14.5,329,5718,0.08,2.17,0.00,0.000,6,0.162,0.034,2988,2050,3438,0,0,0,0,0,0
$GC,6041,-0.54,-145.9,858.3,-12.4,340,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2052,3438,0,0,0,0,0,0
$GC,6347,-0.54,-145.9,895.5,-12.1,350,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2052,3437,0,0,0,0,0,0
$GC,6654,-0.54,-145.9,931.6,-11.7,360,6658,0.00,2.20,0.00,0.000,4,0.000,0.047,2988,647,3437,0,0,0,0,0,0
$GC,6725,-0.54,-145.9,941.0,-13.3,362,6730,0.00,2.17,0.00,0.000,6,0.000,0.034,2979,2053,3437,0,0,0,0,0,0
$GC,7054,-0.54,-145.9,982.7,-12.8,373,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2054,3436,0,0,0,0,0,0
$STATE,7207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7207,begin apogee
$GC,7211,-0.15,0.0,1002.6,13.0,378,7336,0.45,0.00,121.12,1.310,6,0.138,0.000,3116,1924,2846,0,0,0,0,0,0
$STATE,7336,end apogee,CONTROL_FINISHED_OK
$STATE,7337,begin climb
$GC,7338,0.54,145.9,1008.9,0.0,382,7474,0.68,2.53,127.05,1.281,4,0.086,0.047,3342,3322,2251,0,0,0,0,0,0
$GC,7551,0.54,145.9,996.7,10.0,388,7557,0.00,2.33,0.00,0.000,6,0.000,0.036,3352,1944,2247,0,0,0,0,0,0
$GC,7864,0.54,145.9,964.6,10.3,399,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1944,2242,0,0,0,0,0,0
$GC,8170,0.54,145.9,932.5,10.4,409,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1944,2240,0,0,0,0,0,0
$GC,8476,0.54,145.9,899.5,10.7,419,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1944,2240,0,0,0,0,0,0
$GC,8783,0.54,145.9,867.1,10.6,429,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1944,2239,0,0,0,0,0,0
$GC,9089,0.54,145.9,834.3,10.8,439,9093,0.00,2.22,0.00,0.000,4,0.000,0.048,3352,3332,2238,0,0,0,0,0,0
$GC,9143,0.54,145.9,828.0,11.3,440,9149,0.00,2.22,0.00,0.000,6,0.000,0.037,3362,1923,2238,0,0,0,0,0,0
$GC,9456,0.54,145.9,792.5,11.4,451,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1923,2238,0,0,0,0,0,0
$GC,9762,0.54,145.9,757.5,11.6,461,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1922,2238,0,0,0,0,0,0
$GC,10068,0.54,145.9,722.0,11.5,471,10072,0.00,2.20,0.00,0.000,4,0.000,0.049,3372,518,2238,0,0,0,0,0,0
$GC,10123,0.54,145.9,715.0,12.8,472,10127,0.00,2.17,0.00,0.000,6,0.000,0.032,3372,1922,2237,0,0,0,0,0,0
$GC,10441,0.54,145.9,676.2,12.1,483,10445,0.00,2.20,0.00,0.000,4,0.000,0.046,3372,3335,2236,0,0,0,0,0,0
$GC,10541,0.54,145.9,663.0,12.8,486,10546,0.10,2.20,0.00,0.000,6,0.157,0.037,3351,1929,2237,0,0,0,0,0,0
$GC,10876,0.54,145.9,627.4,10.6,497,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1929,2237,0,0,0,0,0,0
$GC,11182,0.54,145.9,597.1,9.8,507,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1929,2237,0,0,0,0,0,0
$GC,11488,0.54,163.7,569.4,8.7,517,11504,0.00,0.00,14.12,0.993,6,0.000,0.000,3351,1929,2178,0,0,0,0,0,0
$GC,11794,0.54,163.7,539.9,9.8,527,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1929,2177,0,0,0,0,0,0
$GC,12101,0.54,169.7,511.6,9.2,537,12109,0.00,0.00,6.50,0.819,6,0.000,0.000,3351,1929,2154,0,0,0,0,0,0
$GC,12407,0.54,169.7,482.2,9.6,547,12411,0.00,2.20,0.00,0.000,4,0.000,0.047,3351,3328,2153,0,0,0,0,0,0
$GC,12455,0.54,169.7,477.1,10.0,548,12461,0.00,2.20,0.00,0.000,6,0.000,0.036,3359,1930,2153,0,0,0,0,0,0
$GC,12780,0.54,169.7,445.0,9.9,559,12784,0.00,2.22,0.00,0.000,4,0.000,0.049,3368,525,2153,0,0,0,0,0,0
$GC,12845,0.54,169.7,438.3,10.2,561,12850,0.00,2.17,0.00,0.000,6,0.000,0.031,3369,1928,2152,0,0,0,0,0,0
$GC,13181,0.54,169.7,402.2,11.3,572,13185,0.00,2.17,0.00,0.000,4,0.000,0.046,3368,3336,2152,0,0,0,0,0,0
$GC,13257,0.54,169.7,393.1,11.8,575,13264,0.10,2.20,0.00,0.000,6,0.151,0.036,3346,1929,2152,0,0,0,0,0,0
$GC,13576,0.54,169.7,360.2,10.7,591,13580,0.00,2.20,0.00,0.000,4,0.000,0.048,3356,525,2152,0,0,0,0,0,0
$GC,13643,0.54,169.7,352.5,11.0,594,13647,0.00,2.15,0.00,0.000,6,0.000,0.031,3356,1936,2151,0,0,0,0,0,0
$GC,13969,0.54,169.7,318.7,10.0,610,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1937,2151,0,0,0,0,0,0
$GC,14280,0.54,169.7,287.2,10.5,625,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1937,2152,0,0,0,0,0,0
$GC,14587,0.54,169.7,254.7,10.3,640,14589,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1936,2151,0,0,0,0,0,0
$GC,14901,0.54,169.7,222.9,10.0,659,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1936,2151,0,0,0,0,0,0
$GC,15214,0.54,169.7,191.0,10.7,679,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1937,2151,0,0,0,0,0,0
$GC,15526,0.54,169.7,157.8,10.3,699,15528,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1936,2152,0,0,0,0,0,0
$GC,15839,0.54,169.7,126.1,10.1,719,15843,0.00,2.20,0.00,0.000,4,0.000,0.047,3365,526,2153,0,0,0,0,0,0
$GC,15904,0.54,169.7,118.7,10.4,723,15909,0.00,2.15,0.00,0.000,6,0.000,0.029,3366,1937,2152,0,0,0,0,0,0
$GC,16233,0.54,169.7,83.7,10.3,761,16237,0.00,2.12,0.00,0.000,4,0.000,0.043,3366,3328,2153,0,0,0,0,0,0
$GC,16270,0.54,169.7,79.5,11.3,768,16277,0.00,2.15,0.00,0.000,6,0.000,0.035,3375,1928,2153,0,0,0,0,0,0
$GC,16618,0.54,169.7,45.5,9.7,829,16623,0.00,2.17,0.00,0.000,4,0.000,0.043,3375,3326,2153,0,0,0,0,0,0
$GC,16781,0.54,181.4,30.5,8.9,857,16794,0.15,2.12,7.38,0.606,6,0.160,0.034,3344,1929,2106,0,0,0,0,0,0
$GC,16866,0.54,201.7,23.0,8.6,871,16879,0.00,0.00,10.05,0.597,6,0.000,0.000,3344,1929,2022,0,0,0,0,0,0
$GC,16952,0.54,201.7,16.0,10.0,885,16959,0.00,2.20,0.00,0.000,4,0.000,0.046,3353,531,2018,0,0,0,0,0,0
$GC,16984,0.54,201.7,12.6,9.7,890,16992,0.00,2.15,0.00,0.000,6,0.000,0.030,3353,1924,2017,0,0,0,0,0,0
$GC,17064,0.54,201.7,5.3,9.8,903,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,1928,2017,0,0,0,0,0,0
$STATE,17089,end climb,SURFACE_DEPTH_REACHED
$STATE,17089,begin surface coast
$FINISH,1.7,1.025960
$STATE,17120,end surface coast,CONTROL_FINISHED_OK
$STATE,17120,begin surface
$SM_CCo,17136,21.17,0.555,0,0,1825,250.20
$SM_GC,3.58,0.00,0.00,21.17,0.000,0.000,0.555,85,2084,1825,-9.65,0.96,250.20
$IRIDIUM_FIX,-4242.04,719.54,140113,121236
$TT8_MAMPS,0.026215
$HUMID,49.25
$INTERNAL_PRESSURE,8.91648
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.8,34.132
$10V_AH,10.3,20.813
$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,22.275,70.550,286.225,21.175,0.000,25.732,41.689,282.653,0.250,0.000,23.781,2181.598,12339.100,378.924,2609.849,123.008,33.367,1266.752,0.000,2213.472,0.000,2.825,0.000
$DEVICE_MAMPS,240.210,68.850,1310.445,554.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.236,1057.041,599.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,50160,912
$CAP_FILE_SIZE,121412,0
$CFSIZE,2097086464,2070052864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140113,223304,-4301.062,717.803,44,0.8,45,-24.6