version: 66.07.10.p01
glider: 575
mission: 3
dive: 216
start: 1 18 113 5 7 44
data:
$ID,575
$MISSION,3
$DIVE,216
$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,-3130.3384
$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,34
$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,1883
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,64
$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,195
$GPS1,180113,045852,-4311.770,659.370,67,1.1,67,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-74.7
$GPS2,180113,050654,-4311.776,659.391,18,0.9,18,-24.5
$SPEED_LIMITS,0.154,0.250
$TGT_NAME,GH4
$TGT_LATLONG,-4330.000,700.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.085,-0.235
$KALMAN_X,386317.1,129.0,220.8,-402682.5,-1887.3
$KALMAN_Y,621430.1,-319.7,-322.5,-586784.5,3805.8
$MHEAD_RNG_PITCHd_Wd,184.5,33760,-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,25,-0.49,-145.9,0.0,0.0,0,35,0.00,0.00,-7.97,0.000,2,0.000,0.000,70,2065,2115,0,0,0,0,0,0
$GC,37,-0.49,-145.9,3.1,-0.0,1,116,12.43,2.17,-57.97,0.000,4,0.246,0.059,2992,3413,3441,0,0,0,0,0,0
$GC,277,-0.49,-145.9,26.1,-15.0,41,284,0.00,2.15,0.00,0.000,6,0.000,0.034,2992,2034,3443,0,0,0,0,0,0
$GC,353,-0.49,-145.9,38.7,-15.9,54,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2032,3443,0,0,0,0,0,0
$GC,588,-0.49,-145.9,78.2,-17.2,95,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2031,3443,0,0,0,0,0,0
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$GC,1241,-0.49,-145.9,172.2,-14.5,154,1245,0.00,2.15,0.00,0.000,4,0.000,0.045,2982,3420,3444,0,0,0,0,0,0
$GC,1291,-0.49,-145.9,179.9,-14.3,157,1296,0.08,2.12,0.00,0.000,6,0.152,0.032,3006,2038,3444,0,0,0,0,0,0
$GC,1617,-0.49,-145.9,223.9,-13.7,178,1621,0.00,2.15,0.00,0.000,4,0.000,0.045,2997,3427,3444,0,0,0,0,0,0
$GC,1664,-0.49,-145.9,230.1,-13.3,181,1668,0.00,2.10,0.00,0.000,6,0.000,0.033,2997,2031,3444,0,0,0,0,0,0
$GC,1994,-0.49,-145.9,276.2,-13.8,199,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2028,3444,0,0,0,0,0,0
$GC,2301,-0.49,-145.9,318.4,-13.6,214,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2028,3444,0,0,0,0,0,0
$GC,2612,-0.49,-145.9,359.8,-13.1,229,2616,0.00,2.17,0.00,0.000,4,0.000,0.046,2987,3424,3444,0,0,0,0,0,0
$GC,2698,-0.49,-145.9,371.3,-12.8,233,2702,0.00,2.10,0.00,0.000,6,0.000,0.033,2987,2035,3444,0,0,0,0,0,0
$GC,3012,-0.49,-145.9,413.9,-13.2,247,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2032,3444,0,0,0,0,0,0
$GC,3319,-0.49,-145.9,454.3,-13.5,257,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2033,3444,0,0,0,0,0,0
$GC,3625,-0.49,-145.9,495.2,-13.4,267,3629,0.00,2.15,0.00,0.000,4,0.000,0.046,2977,3425,3445,0,0,0,0,0,0
$GC,3662,-0.49,-145.9,500.4,-13.6,268,3667,0.10,2.12,0.00,0.000,6,0.142,0.033,3010,2039,3444,0,0,0,0,0,0
$GC,3991,-0.49,-145.9,538.4,-11.3,279,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2036,3444,0,0,0,0,0,0
$GC,4297,-0.49,-145.9,573.7,-11.4,289,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2036,3444,0,0,0,0,0,0
$GC,4604,-0.49,-145.9,608.4,-11.4,299,4608,0.00,2.15,0.00,0.000,4,0.000,0.047,3001,3425,3443,0,0,0,0,0,0
$GC,4647,-0.49,-145.9,613.6,-11.8,300,4652,0.00,2.12,0.00,0.000,6,0.000,0.034,3001,2046,3443,0,0,0,0,0,0
$GC,4971,-0.49,-145.9,652.5,-12.1,311,4975,0.00,2.15,0.00,0.000,4,0.000,0.044,3001,635,3442,0,0,0,0,0,0
$GC,5009,-0.49,-145.9,657.9,-13.9,312,5014,0.00,2.12,0.00,0.000,6,0.000,0.031,2991,2019,3442,0,0,0,0,0,0
$GC,5339,-0.49,-145.9,702.6,-13.7,323,5343,0.00,2.20,0.00,0.000,4,0.000,0.047,2980,3436,3441,0,0,0,0,0,0
$GC,5376,-0.49,-145.9,708.1,-14.1,324,5381,0.08,2.17,0.00,0.000,6,0.142,0.034,3005,2028,3441,0,0,0,0,0,0
$GC,5711,-0.49,-145.9,749.4,-12.1,335,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2024,3440,0,0,0,0,0,0
$GC,6017,-0.49,-145.9,784.5,-11.1,345,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2025,3439,0,0,0,0,0,0
$GC,6323,-0.49,-145.9,818.5,-10.8,355,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2025,3438,0,0,0,0,0,0
$GC,6630,-0.49,-145.9,850.9,-10.4,365,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2025,3437,0,0,0,0,0,0
$GC,6936,-0.49,-145.9,882.6,-10.3,375,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2025,3437,0,0,0,0,0,0
$GC,7242,-0.49,-145.9,913.9,-10.5,385,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2025,3437,0,0,0,0,0,0
$GC,7548,-0.49,-145.9,945.0,-10.2,395,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2025,3436,0,0,0,0,0,0
$GC,7854,-0.49,-145.9,976.0,-10.1,405,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2024,3436,0,0,0,0,0,0
$STATE,8100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8101,begin apogee
$GC,8105,-0.15,0.0,1000.9,10.0,413,8230,0.38,0.00,121.38,1.313,6,0.130,0.000,3122,1865,2845,0,0,0,0,0,0
$STATE,8230,end apogee,CONTROL_FINISHED_OK
$STATE,8230,begin climb
$GC,8232,0.49,145.9,1005.7,0.0,417,8365,0.62,0.00,129.77,1.280,6,0.086,0.000,3327,1865,2251,0,0,0,0,0,0
$GC,8647,0.49,145.9,974.3,9.4,431,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1865,2241,0,0,0,0,0,0
$GC,8953,0.49,145.9,945.5,9.4,441,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1865,2240,0,0,0,0,0,0
$GC,9259,0.49,145.9,915.8,9.9,451,9263,0.00,2.20,0.00,0.000,4,0.000,0.050,3336,488,2239,0,0,0,0,0,0
$GC,9326,0.49,145.9,908.9,10.6,453,9330,0.00,2.17,0.00,0.000,6,0.000,0.032,3337,1900,2237,0,0,0,0,0,0
$GC,9660,0.49,145.9,873.7,10.6,464,9661,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1901,2238,0,0,0,0,0,0
$GC,9966,0.49,145.9,842.1,10.1,474,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1901,2237,0,0,0,0,0,0
$GC,10272,0.49,145.9,812.1,9.6,484,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1901,2237,0,0,0,0,0,0
$GC,10578,0.49,145.9,783.5,9.1,494,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1901,2236,0,0,0,0,0,0
$GC,10885,0.49,145.9,756.1,9.0,504,10889,0.00,2.22,0.00,0.000,4,0.000,0.050,3347,496,2237,0,0,0,0,0,0
$GC,10956,0.49,145.9,749.1,9.5,506,10961,0.00,2.12,0.00,0.000,6,0.000,0.031,3347,1877,2236,0,0,0,0,0,0
$GC,11291,0.49,145.9,717.9,9.3,517,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1879,2236,0,0,0,0,0,0
$GC,11598,0.49,158.9,691.2,8.4,527,11609,0.00,0.00,9.57,1.002,6,0.000,0.000,3347,1879,2198,0,0,0,0,0,0
$GC,11904,0.49,169.1,665.1,8.5,537,11920,0.00,2.20,10.70,1.003,4,0.000,0.048,3357,489,2156,0,0,0,0,0,0
$GC,11999,0.49,169.1,656.3,9.7,540,12003,0.00,2.12,0.00,0.000,6,0.000,0.031,3357,1897,2154,0,0,0,0,0,0
$GC,12333,0.49,169.1,623.6,9.8,551,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1899,2154,0,0,0,0,0,0
$GC,12639,0.49,169.1,592.6,10.3,561,12643,0.00,2.12,0.00,0.000,4,0.000,0.046,3357,3269,2154,0,0,0,0,0,0
$GC,12687,0.49,169.1,587.0,10.8,562,12693,0.10,2.15,0.00,0.000,6,0.143,0.035,3334,1894,2154,0,0,0,0,0,0
$GC,13011,0.49,169.1,556.3,9.7,573,13015,0.00,2.22,0.00,0.000,4,0.000,0.047,3344,471,2155,0,0,0,0,0,0
$GC,13106,0.49,169.1,546.4,11.2,576,13110,0.00,2.15,0.00,0.000,6,0.000,0.031,3344,1888,2154,0,0,0,0,0,0
$GC,13440,0.49,169.1,510.8,11.1,587,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1889,2155,0,0,0,0,0,0
$GC,13746,0.49,169.1,478.1,10.5,597,13750,0.00,2.22,0.00,0.000,4,0.000,0.049,3354,479,2155,0,0,0,0,0,0
$GC,13811,0.49,169.1,471.0,11.3,599,13816,0.00,2.15,0.00,0.000,6,0.000,0.030,3354,1880,2154,0,0,0,0,0,0
$GC,14147,0.49,169.1,436.9,10.1,610,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1882,2155,0,0,0,0,0,0
$GC,14453,0.49,169.1,404.6,10.5,620,14457,0.00,2.20,0.00,0.000,4,0.000,0.048,3364,469,2155,0,0,0,0,0,0
$GC,14514,0.49,169.1,397.6,10.9,622,14519,0.12,2.15,0.00,0.000,6,0.157,0.031,3331,1894,2155,0,0,0,0,0,0
$GC,14846,0.49,169.1,366.7,9.2,638,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1896,2155,0,0,0,0,0,0
$GC,15158,0.50,178.6,339.5,8.5,653,15170,0.00,0.00,10.18,0.826,6,0.000,0.000,3331,1896,2117,0,0,0,0,0,0
$GC,15465,0.50,178.7,312.7,8.9,668,15469,0.00,2.25,0.00,0.000,4,0.000,0.047,3340,469,2116,0,0,0,0,0,0
$GC,15576,0.50,180.0,302.9,8.8,673,15580,0.00,2.15,0.00,0.000,6,0.000,0.030,3341,1896,2116,0,0,0,0,0,0
$GC,15904,0.50,180.0,271.5,10.1,689,15908,0.00,2.12,0.00,0.000,4,0.000,0.044,3340,3276,2116,0,0,0,0,0,0
$GC,15951,0.50,180.0,266.7,10.1,691,15955,0.00,2.15,0.00,0.000,6,0.000,0.036,3350,1878,2115,0,0,0,0,0,0
$GC,16270,0.50,180.0,233.5,10.3,709,16274,0.00,2.17,0.00,0.000,4,0.000,0.047,3360,482,2116,0,0,0,0,0,0
$GC,16375,0.50,180.0,221.9,10.2,715,16382,0.00,2.12,0.00,0.000,6,0.000,0.029,3360,1875,2116,0,0,0,0,0,0
$GC,16696,0.50,180.0,188.6,10.4,736,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1877,2116,0,0,0,0,0,0
$GC,17008,0.50,180.0,154.8,11.2,756,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1877,2116,0,0,0,0,0,0
$GC,17320,0.50,180.0,120.5,11.0,776,17324,0.00,2.20,0.00,0.000,4,0.000,0.047,3370,473,2116,0,0,0,0,0,0
$GC,17402,0.50,180.0,111.6,12.4,781,17406,0.12,2.10,0.00,0.000,6,0.153,0.029,3337,1893,2116,0,0,0,0,0,0
$GC,17734,0.50,180.0,80.5,9.1,825,17739,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1896,2117,0,0,0,0,0,0
$GC,18077,0.50,211.3,53.7,7.6,886,18110,0.00,0.00,29.20,0.695,6,0.000,0.000,3337,1896,1984,0,0,0,0,0,0
$GC,18340,0.50,211.3,30.8,9.2,932,18346,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1896,1979,0,0,0,0,0,0
$GC,18583,0.50,211.3,9.2,9.1,973,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1896,1978,0,0,0,0,0,0
$STATE,18655,end climb,SURFACE_DEPTH_REACHED
$STATE,18655,begin surface coast
$FINISH,1.8,1.015131
$STATE,18698,end surface coast,CONTROL_FINISHED_OK
$STATE,18698,begin surface
$SM_CCo,18714,2.47,0.235,0,0,1948,220.03
$SM_GC,3.87,0.00,0.00,2.47,0.000,0.000,0.235,88,2046,1948,-9.64,0.17,220.03
$IRIDIUM_FIX,-4253.80,657.25,170113,232329
$TT8_MAMPS,0.025466
$HUMID,48.66
$INTERNAL_PRESSURE,8.93601
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,22.8,36.156
$10V_AH,10.2,22.525
$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,22.700,82.400,310.800,2.475,0.000,27.725,47.214,281.772,0.250,0.000,21.379,2395.501,13414.649,405.521,2829.700,151.936,33.369,1369.853,0.000,2432.914,0.000,2.825,0.000
$DEVICE_MAMPS,246.330,67.320,1312.740,234.855,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.613,1110.789,652.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,56871,992
$CAP_FILE_SIZE,133912,0
$CFSIZE,2097086464,2067922944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180113,102128,-4313.799,701.049,71,1.0,72,-24.5