version: 66.07.10.p01
glider: 575
mission: 3
dive: 210
start: 1 16 113 21 4 26
data:
$ID,575
$MISSION,3
$DIVE,210
$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,-3112.5955
$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,36
$R_STBD_OVSHOOT,37
$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,189
$GPS1,160113,205526,-4301.423,702.140,99,3.4,118,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-72.9
$GPS2,160113,210335,-4301.358,702.304,51,0.9,51,-24.5
$SPEED_LIMITS,0.154,0.250
$TGT_NAME,GH4
$TGT_LATLONG,-4330.000,700.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,-0.235
$KALMAN_X,391885.6,-282.6,-356.1,-403341.3,2101.6
$KALMAN_Y,609290.2,-564.9,-997.9,-554428.9,7845.5
$MHEAD_RNG_PITCHd_Wd,224.8,53135,-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,-13.65,0.000,2,0.000,0.000,70,2042,2278,0,0,0,0,0,0
$GC,42,-0.51,-145.9,3.2,-3.7,2,109,12.40,2.25,-47.47,0.000,4,0.246,0.060,2991,3444,3441,0,0,0,0,0,0
$GC,182,-0.51,-145.9,14.3,-15.6,25,189,0.00,2.22,0.00,0.000,6,0.000,0.034,2991,2029,3443,0,0,0,0,0,0
$GC,262,-0.51,-145.9,27.0,-15.8,38,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2027,3444,0,0,0,0,0,0
$GC,339,-0.51,-145.9,39.4,-15.4,51,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2027,3444,0,0,0,0,0,0
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$GC,601,-0.51,-145.9,82.6,-17.1,97,605,0.00,2.17,0.00,0.000,6,0.000,0.033,2981,2038,3444,0,0,0,0,0,0
$GC,934,-0.51,-145.9,136.0,-16.5,131,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2035,3444,0,0,0,0,0,0
$GC,1246,-0.51,-145.9,185.1,-15.8,151,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2035,3445,0,0,0,0,0,0
$GC,1559,-0.51,-145.9,234.2,-15.4,171,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2035,3444,0,0,0,0,0,0
$GC,1872,-0.51,-145.9,282.3,-15.1,188,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2035,3445,0,0,0,0,0,0
$GC,2184,-0.51,-145.9,327.5,-14.4,203,2188,0.00,2.15,0.00,0.000,4,0.000,0.044,2981,640,3446,0,0,0,0,0,0
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$GC,2879,-0.51,-145.9,414.8,-11.7,235,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2053,3446,0,0,0,0,0,0
$GC,3186,-0.51,-145.9,450.2,-11.3,245,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2053,3446,0,0,0,0,0,0
$GC,3492,-0.51,-145.9,484.7,-11.2,255,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2053,3446,0,0,0,0,0,0
$GC,3798,-0.51,-145.9,519.0,-11.3,265,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2053,3446,0,0,0,0,0,0
$GC,4104,-0.51,-145.9,554.4,-11.7,275,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2053,3446,0,0,0,0,0,0
$GC,4411,-0.51,-145.9,590.8,-12.1,285,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2053,3446,0,0,0,0,0,0
$GC,4717,-0.51,-145.9,628.1,-12.2,295,4721,0.00,2.20,0.00,0.000,4,0.000,0.045,3002,643,3446,0,0,0,0,0,0
$GC,4765,-0.51,-145.9,634.7,-13.2,296,4770,0.00,2.15,0.00,0.000,6,0.000,0.031,2993,2037,3446,0,0,0,0,0,0
$GC,5084,-0.51,-145.9,676.4,-13.4,307,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2037,3446,0,0,0,0,0,0
$GC,5391,-0.51,-145.9,717.7,-13.5,317,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2037,3445,0,0,0,0,0,0
$GC,5697,-0.51,-145.9,758.6,-12.9,327,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2037,3444,0,0,0,0,0,0
$GC,6003,-0.51,-145.9,797.0,-12.3,337,6007,0.00,2.20,0.00,0.000,4,0.000,0.046,2993,634,3443,0,0,0,0,0,0
$GC,6051,-0.51,-145.9,803.5,-13.4,338,6056,0.00,2.17,0.00,0.000,6,0.000,0.032,2983,2042,3443,0,0,0,0,0,0
$GC,6370,-0.51,-145.9,845.4,-13.3,349,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2042,3444,0,0,0,0,0,0
$GC,6676,-0.51,-145.9,885.5,-13.1,359,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2042,3443,0,0,0,0,0,0
$GC,6982,-0.51,-145.9,925.0,-12.9,369,6986,0.00,2.20,0.00,0.000,4,0.000,0.047,2983,643,3442,0,0,0,0,0,0
$GC,7037,-0.51,-145.9,932.6,-13.3,370,7043,0.08,2.17,0.00,0.000,6,0.158,0.032,2997,2044,3442,0,0,0,0,0,0
$GC,7350,-0.51,-145.9,967.3,-10.7,381,7354,0.00,2.20,0.00,0.000,4,0.000,0.047,2997,639,3441,0,0,0,0,0,0
$GC,7398,-0.51,-145.9,973.0,-12.0,382,7403,0.00,2.17,0.00,0.000,6,0.000,0.032,2988,2044,3440,0,0,0,0,0,0
$STATE,7662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7662,begin apogee
$GC,7667,-0.15,0.0,1002.8,11.4,391,7793,0.43,0.00,122.57,1.308,6,0.135,0.000,3117,1885,2845,0,0,0,0,0,0
$STATE,7793,end apogee,CONTROL_FINISHED_OK
$STATE,7793,begin climb
$GC,7795,0.51,145.9,1007.5,0.0,395,7931,0.65,0.00,129.35,1.274,6,0.086,0.000,3331,1884,2250,0,0,0,0,0,0
$GC,8237,0.51,145.9,969.8,10.0,410,8241,0.00,2.30,0.00,0.000,4,0.000,0.046,3331,3285,2241,0,0,0,0,0,0
$GC,8319,0.51,145.9,960.7,10.7,412,8324,0.00,2.22,0.00,0.000,6,0.000,0.037,3341,1911,2241,0,0,0,0,0,0
$GC,8643,0.51,145.9,926.6,10.3,423,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1911,2240,0,0,0,0,0,0
$GC,8950,0.51,145.9,895.3,10.1,433,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1911,2240,0,0,0,0,0,0
$GC,9256,0.51,145.9,865.4,9.5,443,9260,0.00,2.20,0.00,0.000,4,0.000,0.046,3341,3287,2239,0,0,0,0,0,0
$GC,9310,0.51,145.9,859.5,10.5,444,9316,0.00,2.22,0.00,0.000,6,0.000,0.037,3351,1884,2239,0,0,0,0,0,0
$GC,9623,0.51,145.9,829.8,9.2,455,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1884,2239,0,0,0,0,0,0
$GC,9929,0.51,145.9,799.8,10.0,465,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1884,2239,0,0,0,0,0,0
$GC,10235,0.51,145.9,770.3,9.5,475,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1884,2238,0,0,0,0,0,0
$GC,10541,0.51,145.9,741.9,9.1,485,10545,0.00,2.25,0.00,0.000,4,0.000,0.046,3351,3297,2238,0,0,0,0,0,0
$GC,10624,0.51,145.9,733.6,9.3,487,10629,0.00,2.22,0.00,0.000,6,0.000,0.036,3361,1885,2238,0,0,0,0,0,0
$GC,10943,0.51,145.9,701.1,10.6,498,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1885,2238,0,0,0,0,0,0
$GC,11249,0.51,145.9,667.7,11.0,508,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1885,2238,0,0,0,0,0,0
$GC,11555,0.51,145.9,636.4,10.2,518,11559,0.00,2.22,0.00,0.000,4,0.000,0.045,3361,3286,2238,0,0,0,0,0,0
$GC,11632,0.51,145.9,627.5,12.0,520,11637,0.10,2.17,0.00,0.000,6,0.145,0.037,3338,1894,2238,0,0,0,0,0,0
$GC,11957,0.51,147.0,598.5,8.8,531,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1894,2238,0,0,0,0,0,0
$GC,12263,0.51,156.3,572.2,8.5,541,12273,0.00,0.00,8.38,0.913,6,0.000,0.000,3338,1894,2208,0,0,0,0,0,0
$GC,12569,0.51,156.3,544.9,9.0,551,12573,0.00,2.20,0.00,0.000,4,0.000,0.045,3338,3297,2207,0,0,0,0,0,0
$GC,12640,0.51,156.3,537.8,10.7,553,12644,0.00,2.20,0.00,0.000,6,0.000,0.036,3346,1894,2208,0,0,0,0,0,0
$GC,12975,0.51,156.3,505.6,9.5,564,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1894,2207,0,0,0,0,0,0
$GC,13281,0.51,156.3,477.2,9.2,574,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1894,2207,0,0,0,0,0,0
$GC,13588,0.51,162.0,450.4,8.7,584,13599,0.00,2.20,6.25,0.778,4,0.000,0.046,3357,479,2185,0,0,0,0,0,0
$GC,13660,0.51,162.0,443.6,9.3,586,13664,0.00,2.17,0.00,0.000,6,0.000,0.030,3357,1886,2184,0,0,0,0,0,0
$GC,13989,0.51,162.0,413.5,9.2,597,13993,0.00,2.20,0.00,0.000,4,0.000,0.044,3357,3294,2184,0,0,0,0,0,0
$GC,14051,0.51,162.0,407.3,10.1,599,14055,0.00,2.17,0.00,0.000,6,0.000,0.036,3366,1889,2184,0,0,0,0,0,0
$GC,14370,0.51,162.0,376.4,10.0,613,14371,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1888,2184,0,0,0,0,0,0
$GC,14677,0.51,162.0,344.4,10.9,628,14681,0.00,2.20,0.00,0.000,4,0.000,0.047,3376,479,2184,0,0,0,0,0,0
$GC,14770,0.51,162.0,333.9,11.4,632,14776,0.10,2.17,0.00,0.000,6,0.129,0.030,3343,1896,2183,0,0,0,0,0,0
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$GC,15470,0.51,173.7,272.1,9.5,666,15474,0.00,2.17,0.00,0.000,6,0.000,0.035,3351,1887,2137,0,0,0,0,0,0
$GC,15794,0.51,173.7,242.7,9.2,683,15798,0.00,2.17,0.00,0.000,4,0.000,0.047,3362,488,2137,0,0,0,0,0,0
$GC,15859,0.51,173.7,236.2,9.6,687,15864,0.00,2.17,0.00,0.000,6,0.000,0.030,3361,1900,2136,0,0,0,0,0,0
$GC,16184,0.51,173.7,203.8,10.2,708,16185,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1903,2136,0,0,0,0,0,0
$GC,16497,0.51,173.7,171.9,10.7,728,16498,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1903,2137,0,0,0,0,0,0
$GC,16811,0.51,173.7,139.0,10.3,748,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1903,2136,0,0,0,0,0,0
$GC,17122,0.51,173.7,106.6,10.6,768,17126,0.00,2.15,0.00,0.000,4,0.000,0.044,3361,3287,2136,0,0,0,0,0,0
$GC,17171,0.51,173.7,101.1,10.5,771,17176,0.10,2.17,0.00,0.000,6,0.139,0.034,3338,1888,2137,0,0,0,0,0,0
$GC,17513,0.51,204.3,72.6,7.6,829,17546,0.00,2.20,27.30,0.701,4,0.000,0.041,3338,3284,2012,0,0,0,0,0,0
$GC,17607,0.51,204.3,64.0,9.0,846,17614,0.00,2.17,0.00,0.000,6,0.000,0.034,3347,1894,2010,0,0,0,0,0,0
$GC,17959,0.51,213.4,32.8,8.5,907,17972,0.00,2.20,6.97,0.607,4,0.000,0.044,3358,483,1976,0,0,0,0,0,0
$GC,18104,0.51,213.4,18.3,10.6,931,18111,0.00,2.17,0.00,0.000,6,0.000,0.029,3357,1899,1973,0,0,0,0,0,0
$GC,18184,0.51,213.4,9.7,10.7,944,18191,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1903,1974,0,0,0,0,0,0
$STATE,18250,end climb,SURFACE_DEPTH_REACHED
$STATE,18250,begin surface coast
$FINISH,1.9,1.026230
$STATE,18281,end surface coast,CONTROL_FINISHED_OK
$STATE,18281,begin surface
$SM_CCo,18297,1.90,0.071,0,0,1949,220.03
$SM_GC,3.91,0.00,0.00,1.90,0.000,0.000,0.071,91,2039,1949,-9.63,-0.03,220.03
$IRIDIUM_FIX,-4242.04,704.58,160113,151554
$TT8_MAMPS,0.025466
$HUMID,48.93
$INTERNAL_PRESSURE,8.91648
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,22.8,35.393
$10V_AH,10.2,21.861
$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,22.650,88.225,314.300,1.900,0.000,24.611,23.520,285.207,0.250,0.000,53.823,2307.107,13211.572,419.623,2708.254,143.062,33.369,1339.873,0.000,2302.346,0.000,2.826,0.000
$DEVICE_MAMPS,246.330,74.970,1308.150,71.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.128,1051.267,631.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53553,960
$CAP_FILE_SIZE,131084,0
$CFSIZE,2097086464,2068709376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170113,021134,-4302.864,700.747,93,1.3,94,-24.5