version: 66.07.10.p01
glider: 575
mission: 3
dive: 209
start: 1 16 113 15 50 15
data:
$ID,575
$MISSION,3
$DIVE,209
$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,-3109.4639
$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,38
$R_STBD_OVSHOOT,40
$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,188
$GPS1,160113,154121,-4259.461,702.604,45,1.0,61,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-73.3
$GPS2,160113,154924,-4259.444,702.643,25,0.9,25,-24.5
$SPEED_LIMITS,0.154,0.250
$TGT_NAME,GH4
$TGT_LATLONG,-4330.000,700.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,-0.249
$KALMAN_X,391344.1,-319.4,225.5,-402897.2,416.9
$KALMAN_Y,606267.9,-829.3,342.7,-548947.5,4883.5
$MHEAD_RNG_PITCHd_Wd,209.2,56700,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-0.51,-145.9,0.0,0.0,0,45,0.00,0.00,-18.80,0.000,2,0.000,0.000,70,2036,2401,0,0,0,0,0,0
$GC,48,-0.51,-145.9,3.1,-1.5,3,109,12.48,2.28,-41.10,0.000,4,0.249,0.059,2988,3434,3440,0,0,0,0,0,0
$GC,269,-0.51,-145.9,27.9,-16.4,40,276,0.00,2.20,0.00,0.000,6,0.000,0.034,2988,2034,3442,0,0,0,0,0,0
$GC,347,-0.51,-145.9,41.1,-16.9,53,352,0.00,2.25,0.00,0.000,4,0.000,0.046,2978,3445,3442,0,0,0,0,0,0
$GC,406,-0.51,-145.9,51.1,-17.0,63,411,0.00,2.17,0.00,0.000,6,0.000,0.033,2978,2041,3442,0,0,0,0,0,0
$GC,636,-0.51,-145.9,88.2,-16.0,104,641,0.00,2.15,0.00,0.000,4,0.000,0.043,2978,641,3442,0,0,0,0,0,0
$GC,699,-0.51,-145.9,98.4,-16.7,115,704,0.15,2.15,0.00,0.000,6,0.175,0.032,3006,2044,3442,0,0,0,0,0,0
$GC,1025,-0.51,-145.9,144.7,-14.5,137,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2045,3443,0,0,0,0,0,0
$GC,1337,-0.51,-145.9,188.3,-13.9,157,1341,0.00,2.17,0.00,0.000,4,0.000,0.046,2997,3436,3443,0,0,0,0,0,0
$GC,1391,-0.51,-145.9,196.3,-13.3,160,1399,0.00,2.15,0.00,0.000,6,0.000,0.032,2996,2042,3443,0,0,0,0,0,0
$GC,1712,-0.51,-145.9,241.1,-14.3,181,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2038,3443,0,0,0,0,0,0
$GC,2036,-0.51,-145.9,287.0,-14.1,198,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2038,3444,0,0,0,0,0,0
$GC,2347,-0.51,-145.9,328.2,-13.1,213,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2038,3444,0,0,0,0,0,0
$GC,2655,-0.51,-145.9,369.5,-13.8,228,2658,0.00,2.15,0.00,0.000,4,0.000,0.043,2997,641,3444,0,0,0,0,0,0
$GC,2681,-0.51,-145.9,373.5,-14.6,229,2686,0.00,2.15,0.00,0.000,6,0.000,0.031,2987,2039,3444,0,0,0,0,0,0
$GC,3002,-0.51,-145.9,418.6,-14.0,243,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2040,3444,0,0,0,0,0,0
$GC,3308,-0.51,-145.9,460.2,-13.7,253,3312,0.00,2.17,0.00,0.000,4,0.000,0.046,2976,3442,3444,0,0,0,0,0,0
$GC,3357,-0.51,-145.9,467.4,-14.2,254,3362,0.08,2.15,0.00,0.000,6,0.146,0.033,3001,2041,3444,0,0,0,0,0,0
$GC,3680,-0.51,-145.9,508.5,-12.7,265,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3444,0,0,0,0,0,0
$GC,3987,-0.51,-145.9,546.0,-12.1,275,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3444,0,0,0,0,0,0
$GC,4293,-0.51,-145.9,583.4,-12.2,285,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3444,0,0,0,0,0,0
$GC,4599,-0.51,-145.9,622.2,-12.7,295,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3444,0,0,0,0,0,0
$GC,4905,-0.51,-145.9,660.2,-12.4,305,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3443,0,0,0,0,0,0
$GC,5212,-0.51,-145.9,698.2,-12.6,315,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2038,3443,0,0,0,0,0,0
$GC,5518,-0.51,-145.9,735.1,-12.0,325,5522,0.00,2.17,0.00,0.000,4,0.000,0.046,3001,636,3442,0,0,0,0,0,0
$GC,5555,-0.51,-145.9,740.2,-13.0,326,5560,0.00,2.17,0.00,0.000,6,0.000,0.032,2992,2042,3442,0,0,0,0,0,0
$GC,5885,-0.51,-145.9,781.8,-12.7,337,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2043,3442,0,0,0,0,0,0
$GC,6191,-0.51,-145.9,819.8,-12.3,347,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2043,3441,0,0,0,0,0,0
$GC,6498,-0.51,-145.9,855.9,-11.9,357,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2043,3440,0,0,0,0,0,0
$GC,6804,-0.51,-145.9,891.7,-11.4,367,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2043,3439,0,0,0,0,0,0
$GC,7110,-0.51,-145.9,926.4,-11.2,377,7114,0.00,2.20,0.00,0.000,4,0.000,0.049,2981,3445,3438,0,0,0,0,0,0
$GC,7153,-0.51,-145.9,931.5,-11.6,378,7158,0.00,2.17,0.00,0.000,6,0.000,0.035,2981,2044,3438,0,0,0,0,0,0
$GC,7478,-0.51,-145.9,966.7,-10.8,389,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2043,3438,0,0,0,0,0,0
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7788,-0.15,0.0,1000.6,11.1,399,7913,0.45,0.00,121.72,1.309,6,0.138,0.000,3117,1878,2846,0,0,0,0,0,0
$STATE,7914,end apogee,CONTROL_FINISHED_OK
$STATE,7914,begin climb
$GC,7915,0.51,145.9,1005.1,0.0,403,8048,0.65,0.00,129.02,1.276,6,0.086,0.000,3331,1877,2251,0,0,0,0,0,0
$GC,8330,0.51,145.9,971.1,10.0,417,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1878,2242,0,0,0,0,0,0
$GC,8636,0.51,145.9,939.9,10.2,427,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1878,2240,0,0,0,0,0,0
$GC,8943,0.51,145.9,909.9,9.8,437,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1878,2239,0,0,0,0,0,0
$GC,9249,0.51,145.9,881.9,8.9,447,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1878,2238,0,0,0,0,0,0
$GC,9556,0.51,151.4,855.0,8.7,457,9559,0.00,2.22,0.00,0.000,4,0.000,0.047,3331,3287,2237,0,0,0,0,0,0
$GC,9623,0.51,151.4,848.8,9.0,459,9632,0.00,2.17,3.88,0.711,6,0.000,0.037,3341,1893,2229,0,0,0,0,0,0
$GC,9962,0.51,151.4,817.2,9.4,470,9966,0.00,2.22,0.00,0.000,4,0.000,0.049,3352,484,2228,0,0,0,0,0,0
$GC,10033,0.51,151.4,809.9,10.3,472,10037,0.00,2.20,0.00,0.000,6,0.000,0.032,3352,1893,2227,0,0,0,0,0,0
$GC,10363,0.51,151.4,777.0,9.9,483,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1895,2227,0,0,0,0,0,0
$GC,10669,0.51,151.4,746.8,9.8,493,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1895,2227,0,0,0,0,0,0
$GC,10975,0.51,151.4,716.4,10.1,503,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1895,2226,0,0,0,0,0,0
$GC,11281,0.51,151.4,685.1,10.3,513,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,1895,2226,0,0,0,0,0,0
$GC,11588,0.51,151.4,651.7,10.9,523,11592,0.00,2.25,0.00,0.000,4,0.000,0.050,3362,475,2226,0,0,0,0,0,0
$GC,11653,0.51,151.4,644.0,11.4,525,11658,0.00,2.20,0.00,0.000,6,0.000,0.031,3362,1898,2225,0,0,0,0,0,0
$GC,11989,0.51,151.4,605.6,11.5,536,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1901,2225,0,0,0,0,0,0
$GC,12295,0.51,151.4,571.4,11.1,546,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1901,2225,0,0,0,0,0,0
$GC,12601,0.51,151.4,537.9,10.7,556,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1901,2225,0,0,0,0,0,0
$GC,12907,0.51,151.4,506.6,10.2,566,12912,0.00,2.25,0.00,0.000,4,0.000,0.049,3372,477,2225,0,0,0,0,0,0
$GC,12990,0.51,151.4,498.3,9.3,568,12996,0.10,2.17,0.00,0.000,6,0.135,0.031,3339,1889,2224,0,0,0,0,0,0
$GC,13309,0.51,182.1,473.9,7.6,579,13339,0.00,0.00,27.58,0.978,6,0.000,0.000,3339,1890,2103,0,0,0,0,0,0
$GC,13646,0.51,182.5,444.7,8.9,590,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2097,0,0,0,0,0,0
$GC,13951,0.51,182.5,417.2,9.0,600,13952,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2097,0,0,0,0,0,0
$GC,14269,0.51,182.5,388.3,9.3,612,14270,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2096,0,0,0,0,0,0
$GC,14580,0.51,182.5,356.1,10.8,627,14582,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2097,0,0,0,0,0,0
$GC,14888,0.51,182.5,320.5,12.0,642,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2097,0,0,0,0,0,0
$GC,15199,0.51,182.5,283.8,11.8,657,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2096,0,0,0,0,0,0
$GC,15506,0.51,182.5,249.9,10.4,672,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1890,2097,0,0,0,0,0,0
$GC,15818,0.51,182.5,218.9,9.6,692,15822,0.00,2.25,0.00,0.000,4,0.000,0.049,3349,478,2097,0,0,0,0,0,0
$GC,15866,0.51,182.5,214.3,10.1,695,15870,0.00,2.15,0.00,0.000,6,0.000,0.031,3349,1900,2096,0,0,0,0,0,0
$GC,16190,0.51,182.5,182.9,9.7,716,16191,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1902,2096,0,0,0,0,0,0
$GC,16502,0.51,182.5,149.9,10.7,736,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1902,2096,0,0,0,0,0,0
$GC,16816,0.51,182.5,117.6,9.9,756,16820,0.00,2.22,0.00,0.000,4,0.000,0.047,3359,483,2096,0,0,0,0,0,0
$GC,16863,0.51,182.5,112.9,9.6,759,16867,0.00,2.12,0.00,0.000,6,0.000,0.030,3359,1890,2096,0,0,0,0,0,0
$GC,17194,0.51,182.5,80.3,9.3,804,17202,0.00,2.17,0.00,0.000,4,0.000,0.043,3359,3276,2096,0,0,0,0,0,0
$GC,17238,0.51,182.5,76.3,9.7,811,17243,0.12,2.12,0.00,0.000,6,0.161,0.034,3335,1887,2097,0,0,0,0,0,0
$GC,17584,0.51,211.5,51.7,7.7,872,17617,0.00,2.25,25.33,0.686,4,0.000,0.046,3345,479,1982,0,0,0,0,0,0
$GC,17694,0.51,211.5,42.2,9.1,891,17699,0.00,2.15,0.00,0.000,6,0.000,0.029,3345,1886,1979,0,0,0,0,0,0
$GC,17934,0.51,211.5,19.7,9.8,932,17941,0.00,2.22,0.00,0.000,4,0.000,0.043,3345,3283,1978,0,0,0,0,0,0
$GC,18013,0.51,211.5,11.6,9.9,945,18021,0.00,2.17,0.00,0.000,6,0.000,0.035,3354,1892,1977,0,0,0,0,0,0
$GC,18093,0.51,211.5,3.7,9.8,958,18100,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1891,1977,0,0,0,0,0,0
$STATE,18106,end climb,SURFACE_DEPTH_REACHED
$STATE,18106,begin surface coast
$FINISH,1.7,1.013512
$STATE,18137,end surface coast,CONTROL_FINISHED_OK
$STATE,18138,begin surface
$SM_CCo,18153,2.53,0.239,0,0,1948,220.03
$SM_GC,3.47,0.00,0.00,2.53,0.000,0.000,0.239,77,2042,1948,-9.67,0.06,220.03
$IRIDIUM_FIX,-4242.04,707.50,160113,101024
$TT8_MAMPS,0.025466
$HUMID,48.93
$INTERNAL_PRESSURE,8.92625
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,22.8,35.269
$10V_AH,10.3,21.755
$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,22.550,74.850,307.525,2.525,0.000,30.249,21.172,303.403,0.250,0.000,28.539,2275.402,13197.696,404.233,2617.240,143.835,33.370,1273.802,0.000,2218.266,0.000,2.826,0.000
$DEVICE_MAMPS,249.390,65.025,1308.915,238.680,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.662,1067.598,634.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,53564,965
$CAP_FILE_SIZE,124085,0
$CFSIZE,2097086464,2068873216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160113,205526,-4301.423,702.140,99,3.4,118,-24.5