version: 66.07.10.p01
glider: 575
mission: 3
dive: 204
start: 1 15 113 13 35 14
data:
$ID,575
$MISSION,3
$DIVE,204
$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,375
$T_MISSION,390
$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,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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3094.0715
$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,2040
$C_ROLL_CLIMB,1890
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,62
$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,183
$GPS1,150113,132628,-4256.732,711.473,45,0.8,46,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-74.9
$GPS2,150113,133423,-4256.722,711.587,15,1.4,15,-24.6
$SPEED_LIMITS,0.154,0.250
$TGT_NAME,GH3
$TGT_LATLONG,-4300.000,700.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,-0.237
$KALMAN_X,389756.2,-122.1,278.9,-389546.1,1552.4
$KALMAN_Y,589380.9,158.0,-91.5,-527569.0,5226.4
$MHEAD_RNG_PITCHd_Wd,223.4,16827,-16.5,-8.889
$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,-0.51,-145.9,0.0,0.0,0,40,0.00,0.00,-13.65,0.000,2,0.000,0.000,81,2076,2142,0,0,0,0,0,0
$GC,42,-0.51,-145.9,3.1,-3.7,2,121,12.18,2.17,-60.33,0.000,4,0.241,0.063,3005,3419,3440,0,0,0,0,0,0
$GC,269,-0.51,-145.9,16.3,-14.1,40,276,0.00,2.17,0.00,0.000,6,0.000,0.034,3005,2036,3441,0,0,0,0,0,0
$GC,348,-0.51,-145.9,27.8,-15.1,53,355,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2032,3442,0,0,0,0,0,0
$GC,424,-0.51,-145.9,39.7,-15.6,66,431,0.00,2.20,0.00,0.000,4,0.000,0.044,3005,642,3442,0,0,0,0,0,0
$GC,468,-0.51,-145.9,46.4,-16.1,73,473,0.00,2.12,0.00,0.000,6,0.000,0.031,2996,2025,3441,0,0,0,0,0,0
$GC,698,-0.51,-145.9,82.9,-14.9,114,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2026,3442,0,0,0,0,0,0
$GC,1028,-0.51,-145.9,129.1,-14.3,149,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2026,3442,0,0,0,0,0,0
$GC,1341,-0.51,-145.9,175.8,-15.4,169,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2026,3443,0,0,0,0,0,0
$GC,1653,-0.51,-145.9,222.2,-14.9,189,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2026,3443,0,0,0,0,0,0
$GC,1978,-0.51,-145.9,269.8,-14.3,208,1982,0.00,2.20,0.00,0.000,4,0.000,0.045,2985,3444,3443,0,0,0,0,0,0
$GC,2020,-0.51,-145.9,276.3,-14.7,210,2025,0.00,2.17,0.00,0.000,6,0.000,0.033,2985,2033,3443,0,0,0,0,0,0
$GC,2348,-0.51,-145.9,322.5,-13.8,226,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2029,3443,0,0,0,0,0,0
$GC,2659,-0.51,-145.9,364.7,-13.3,241,2663,0.00,2.15,0.00,0.000,4,0.000,0.043,2985,634,3443,0,0,0,0,0,0
$GC,2703,-0.51,-145.9,371.3,-13.8,243,2708,0.08,2.15,0.00,0.000,6,0.160,0.031,2999,2036,3443,0,0,0,0,0,0
$GC,3039,-0.51,-145.9,412.5,-12.1,258,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2036,3444,0,0,0,0,0,0
$GC,3345,-0.51,-145.9,450.1,-12.4,268,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2037,3443,0,0,0,0,0,0
$GC,3651,-0.51,-145.9,488.6,-12.8,278,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2037,3444,0,0,0,0,0,0
$GC,3958,-0.51,-145.9,528.2,-13.2,288,3961,0.00,2.17,0.00,0.000,4,0.000,0.044,2999,637,3443,0,0,0,0,0,0
$GC,4006,-0.51,-145.9,535.2,-13.9,289,4011,0.00,2.17,0.00,0.000,6,0.000,0.031,2991,2052,3443,0,0,0,0,0,0
$GC,4325,-0.51,-145.9,579.5,-14.0,300,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2053,3443,0,0,0,0,0,0
$GC,4631,-0.51,-145.9,622.7,-14.0,310,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2053,3443,0,0,0,0,0,0
$GC,4937,-0.51,-145.9,664.8,-13.6,320,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2053,3443,0,0,0,0,0,0
$GC,5244,-0.51,-145.9,704.8,-12.8,330,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2053,3442,0,0,0,0,0,0
$GC,5550,-0.51,-145.9,743.0,-12.3,340,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2053,3441,0,0,0,0,0,0
$GC,5856,-0.51,-145.9,780.3,-12.2,350,5860,0.00,2.20,0.00,0.000,4,0.000,0.045,2990,643,3441,0,0,0,0,0,0
$GC,5910,-0.51,-145.9,787.7,-13.1,351,5916,0.00,2.15,0.00,0.000,6,0.000,0.031,2980,2040,3441,0,0,0,0,0,0
$GC,6223,-0.51,-145.9,828.0,-12.9,362,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2040,3441,0,0,0,0,0,0
$GC,6529,-0.51,-145.9,867.6,-12.9,372,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2041,3439,0,0,0,0,0,0
$GC,6836,-0.51,-145.9,904.9,-12.0,382,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2041,3438,0,0,0,0,0,0
$GC,7142,-0.51,-145.9,941.4,-11.9,392,7146,0.00,2.17,0.00,0.000,4,0.000,0.046,2981,644,3437,0,0,0,0,0,0
$GC,7202,-0.51,-145.9,949.4,-12.8,393,7208,0.10,2.15,0.00,0.000,6,0.157,0.033,3002,2032,3437,0,0,0,0,0,0
$GC,7515,-0.51,-145.9,983.5,-11.2,404,7519,0.00,2.17,0.00,0.000,4,0.000,0.046,3002,641,3436,0,0,0,0,0,0
$GC,7557,-0.51,-145.9,988.7,-12.6,405,7562,0.00,2.15,0.00,0.000,6,0.000,0.032,2993,2036,3437,0,0,0,0,0,0
$STATE,7667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7667,begin apogee
$GC,7672,-0.15,0.0,1001.5,11.8,409,7796,0.43,0.00,121.12,1.307,6,0.135,0.000,3123,1877,2846,0,0,0,0,0,0
$STATE,7797,end apogee,CONTROL_FINISHED_OK
$STATE,7797,begin climb
$GC,7798,0.51,145.9,1007.2,0.0,413,7930,0.65,0.00,128.48,1.274,6,0.083,0.000,3338,1877,2250,0,0,0,0,0,0
$GC,8214,0.51,145.9,976.4,9.4,427,8218,0.00,2.28,0.00,0.000,4,0.000,0.050,3348,493,2242,0,0,0,0,0,0
$GC,8290,0.51,145.9,968.6,10.0,429,8295,0.00,2.25,0.00,0.000,6,0.000,0.032,3348,1898,2240,0,0,0,0,0,0
$GC,8620,0.51,145.9,934.0,10.8,440,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1900,2239,0,0,0,0,0,0
$GC,8926,0.51,145.9,900.0,11.3,450,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1900,2238,0,0,0,0,0,0
$GC,9233,0.51,145.9,864.5,11.6,460,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,1900,2238,0,0,0,0,0,0
$GC,9539,0.51,145.9,829.5,11.3,470,9543,0.00,2.25,0.00,0.000,4,0.000,0.050,3358,493,2238,0,0,0,0,0,0
$GC,9609,0.51,145.9,820.7,13.2,472,9614,0.00,2.17,0.00,0.000,6,0.000,0.031,3358,1894,2237,0,0,0,0,0,0
$GC,9940,0.51,145.9,782.1,11.7,483,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1896,2236,0,0,0,0,0,0
$GC,10246,0.51,145.9,747.8,10.9,493,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1896,2237,0,0,0,0,0,0
$GC,10552,0.51,145.9,715.6,10.4,503,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1896,2236,0,0,0,0,0,0
$GC,10858,0.51,145.9,684.9,9.9,513,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1896,2236,0,0,0,0,0,0
$GC,11164,0.51,145.9,653.5,10.5,523,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1897,2236,0,0,0,0,0,0
$GC,11471,0.51,145.9,620.2,10.9,533,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1896,2235,0,0,0,0,0,0
$GC,11777,0.51,145.9,588.5,10.1,543,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1896,2235,0,0,0,0,0,0
$GC,12083,0.51,145.9,558.4,9.6,553,12087,0.00,2.22,0.00,0.000,4,0.000,0.049,3368,493,2235,0,0,0,0,0,0
$GC,12148,0.51,145.9,551.7,10.2,555,12154,0.08,2.15,0.00,0.000,6,0.142,0.031,3343,1886,2235,0,0,0,0,0,0
$GC,12484,0.51,157.4,523.0,8.4,566,12494,0.00,0.00,8.35,0.893,6,0.000,0.000,3343,1886,2203,0,0,0,0,0,0
$GC,12790,0.51,162.3,496.1,8.7,576,12801,0.00,2.20,5.80,0.777,4,0.000,0.048,3352,500,2183,0,0,0,0,0,0
$GC,12856,0.51,162.3,489.9,9.5,578,12861,0.00,2.17,0.00,0.000,6,0.000,0.031,3352,1901,2183,0,0,0,0,0,0
$GC,13191,0.51,162.3,457.3,9.8,589,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1903,2183,0,0,0,0,0,0
$GC,13497,0.51,162.3,426.2,10.2,599,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1903,2183,0,0,0,0,0,0
$GC,13814,0.51,162.3,394.9,9.8,610,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1904,2183,0,0,0,0,0,0
$GC,14125,0.51,162.3,364.7,10.0,625,14129,0.00,2.22,0.00,0.000,4,0.000,0.049,3362,489,2183,0,0,0,0,0,0
$GC,14174,0.51,162.3,359.3,9.9,627,14179,0.00,2.15,0.00,0.000,6,0.000,0.031,3362,1882,2182,0,0,0,0,0,0
$GC,14498,0.51,162.3,327.3,9.8,643,14499,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1886,2182,0,0,0,0,0,0
$GC,14806,0.51,162.8,298.2,8.9,658,14807,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1886,2182,0,0,0,0,0,0
$GC,15117,0.51,162.8,268.3,9.7,673,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1886,2182,0,0,0,0,0,0
$GC,15430,0.51,162.8,239.1,9.5,690,15434,0.00,2.20,0.00,0.000,4,0.000,0.045,3362,3297,2183,0,0,0,0,0,0
$GC,15485,0.51,162.8,233.4,10.6,693,15492,0.10,2.17,0.00,0.000,6,0.145,0.035,3339,1896,2183,0,0,0,0,0,0
$GC,15805,0.51,180.3,207.1,8.2,714,15824,0.00,0.00,17.02,0.778,6,0.000,0.000,3339,1896,2110,0,0,0,0,0,0
$GC,16134,0.51,198.4,179.5,8.1,735,16157,0.00,2.28,16.55,0.751,4,0.000,0.047,3349,487,2035,0,0,0,0,0,0
$GC,16207,0.51,198.4,172.6,9.6,739,16213,0.00,2.17,0.00,0.000,6,0.000,0.030,3349,1889,2034,0,0,0,0,0,0
$GC,16526,0.51,198.4,142.6,9.6,760,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1892,2033,0,0,0,0,0,0
$GC,16839,0.51,198.4,110.6,9.9,780,16843,0.00,2.22,0.00,0.000,4,0.000,0.047,3358,481,2033,0,0,0,0,0,0
$GC,16911,0.51,198.4,102.9,9.7,784,16919,0.00,2.17,0.00,0.000,6,0.000,0.030,3358,1901,2031,0,0,0,0,0,0
$GC,17255,0.51,198.4,67.3,10.2,841,17259,0.00,2.15,0.00,0.000,4,0.000,0.044,3358,3283,2031,0,0,0,0,0,0
$GC,17358,0.51,198.4,56.0,10.1,859,17363,0.00,2.15,0.00,0.000,6,0.000,0.035,3367,1886,2031,0,0,0,0,0,0
$GC,17593,0.51,198.4,32.2,9.7,900,17599,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1886,2031,0,0,0,0,0,0
$GC,17836,0.51,198.4,6.9,10.8,941,17843,0.00,2.20,0.00,0.000,4,0.000,0.048,3378,489,2031,0,0,0,0,0,0
$STATE,17867,end climb,SURFACE_DEPTH_REACHED
$STATE,17867,begin surface coast
$FINISH,1.9,1.026236
$STATE,17892,end surface coast,CONTROL_FINISHED_OK
$STATE,17892,begin surface
$SM_CCo,17911,8.62,0.523,0,0,1948,220.03
$SM_GC,4.68,0.00,0.00,8.62,0.000,0.000,0.523,84,2042,1948,-9.65,0.06,220.03
$IRIDIUM_FIX,-4242.04,716.25,150113,080823
$TT8_MAMPS,0.026215
$HUMID,48.58
$INTERNAL_PRESSURE,8.93601
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,22.8,34.648
$10V_AH,10.3,21.224
$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,22.325,79.125,297.325,8.625,0.000,26.811,46.577,285.324,0.250,0.000,18.085,2263.885,12914.075,421.673,2655.980,139.435,33.367,1310.470,0.000,2263.907,0.000,2.824,0.000
$DEVICE_MAMPS,240.975,63.495,1306.620,523.260,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.786,1093.930,628.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,53637,950
$CAP_FILE_SIZE,125313,0
$CFSIZE,2097086464,2069528576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150113,183629,-4257.994,709.580,119,0.7,119,-24.6