version: 66.07.10.p01
glider: 575
mission: 3
dive: 219
start: 1 18 113 21 0 55
data:
$ID,575
$MISSION,3
$DIVE,219
$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,-3139.0701
$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,37
$R_STBD_OVSHOOT,51
$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,198
$GPS1,180113,205205,-4316.759,700.712,89,1.0,89,-24.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-72.6
$GPS2,180113,210005,-4316.766,700.688,13,2.0,13,-24.5
$SPEED_LIMITS,0.154,0.250
$TGT_NAME,GH4
$TGT_LATLONG,-4330.000,700.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,-0.248
$KALMAN_X,385685.7,-191.1,-39.5,-399716.1,-860.0
$KALMAN_Y,627832.6,262.9,-222.8,-603122.8,3587.8
$MHEAD_RNG_PITCHd_Wd,196.5,24527,-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,-145.9,0.0,0.0,0,41,0.00,0.00,-14.02,0.000,2,0.000,0.000,73,2039,2284,0,0,0,0,0,0
$GC,43,-0.49,-145.9,3.2,-3.6,2,110,12.52,2.25,-46.38,0.000,4,0.249,0.058,2992,3425,3442,0,0,0,0,0,0
$GC,314,-0.49,-145.9,34.6,-15.8,48,321,0.00,2.17,0.00,0.000,6,0.000,0.034,2992,2038,3443,0,0,0,0,0,0
$GC,548,-0.49,-145.9,74.2,-16.1,89,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2035,3443,0,0,0,0,0,0
$GC,877,-0.49,-145.9,127.7,-16.0,128,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2036,3444,0,0,0,0,0,0
$GC,1190,-0.49,-145.9,176.9,-15.7,148,1194,0.00,2.20,0.00,0.000,4,0.000,0.045,2982,3436,3445,0,0,0,0,0,0
$GC,1252,-0.49,-145.9,186.6,-15.0,152,1257,0.10,2.12,0.00,0.000,6,0.171,0.033,3006,2026,3445,0,0,0,0,0,0
$GC,1578,-0.49,-145.9,231.6,-13.8,173,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2022,3445,0,0,0,0,0,0
$GC,1904,-0.49,-145.9,275.6,-13.8,191,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2022,3445,0,0,0,0,0,0
$GC,2211,-0.49,-145.9,318.0,-13.5,206,2215,0.00,2.20,0.00,0.000,4,0.000,0.045,2997,3431,3445,0,0,0,0,0,0
$GC,2283,-0.49,-145.9,327.8,-13.3,209,2287,0.00,2.12,0.00,0.000,6,0.000,0.032,2997,2032,3445,0,0,0,0,0,0
$GC,2599,-0.49,-145.9,370.9,-13.9,224,2603,0.00,2.20,0.00,0.000,4,0.000,0.044,2987,3437,3445,0,0,0,0,0,0
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$GC,3297,-0.49,-145.9,466.2,-13.8,250,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2037,3445,0,0,0,0,0,0
$GC,3603,-0.49,-145.9,508.3,-13.5,260,3607,0.00,2.17,0.00,0.000,4,0.000,0.045,2977,3436,3445,0,0,0,0,0,0
$GC,3662,-0.49,-145.9,516.8,-13.8,261,3669,0.08,2.15,0.00,0.000,6,0.145,0.032,3003,2035,3445,0,0,0,0,0,0
$GC,3975,-0.49,-145.9,555.3,-12.2,272,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2032,3445,0,0,0,0,0,0
$GC,4282,-0.49,-145.9,592.6,-11.8,282,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2032,3444,0,0,0,0,0,0
$GC,4588,-0.49,-145.9,627.5,-11.3,292,4592,0.00,2.20,0.00,0.000,4,0.000,0.047,2994,3434,3444,0,0,0,0,0,0
$GC,4649,-0.49,-145.9,634.3,-10.7,294,4653,0.00,2.12,0.00,0.000,6,0.000,0.034,2994,2042,3443,0,0,0,0,0,0
$GC,4983,-0.49,-145.9,675.5,-12.5,305,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2040,3443,0,0,0,0,0,0
$GC,5289,-0.49,-145.9,712.9,-12.2,315,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2040,3442,0,0,0,0,0,0
$GC,5595,-0.49,-145.9,748.9,-11.6,325,5599,0.00,2.20,0.00,0.000,4,0.000,0.047,2984,3438,3441,0,0,0,0,0,0
$GC,5657,-0.49,-145.9,756.1,-11.2,327,5661,0.00,2.15,0.00,0.000,6,0.000,0.034,2984,2027,3441,0,0,0,0,0,0
$GC,5992,-0.49,-145.9,795.3,-11.7,338,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2026,3441,0,0,0,0,0,0
$GC,6298,-0.49,-145.9,832.4,-12.3,348,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2026,3439,0,0,0,0,0,0
$GC,6604,-0.49,-145.9,869.1,-11.9,358,6608,0.00,2.22,0.00,0.000,4,0.000,0.047,2974,3436,3439,0,0,0,0,0,0
$GC,6647,-0.49,-145.9,874.7,-12.2,359,6652,0.10,2.15,0.00,0.000,6,0.139,0.034,3006,2047,3439,0,0,0,0,0,0
$GC,6970,-0.49,-145.9,909.1,-10.6,370,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2045,3438,0,0,0,0,0,0
$GC,7277,-0.49,-145.9,941.5,-10.5,380,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2044,3438,0,0,0,0,0,0
$GC,7583,-0.49,-145.9,971.8,-9.7,390,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2044,3437,0,0,0,0,0,0
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7893,-0.15,0.0,1001.1,9.7,400,8018,0.38,0.00,122.00,1.307,6,0.129,0.000,3123,1871,2845,0,0,0,0,0,0
$STATE,8019,end apogee,CONTROL_FINISHED_OK
$STATE,8019,begin climb
$GC,8021,0.49,145.9,1005.3,0.0,404,8161,0.62,2.47,128.90,1.276,4,0.084,0.048,3339,500,2250,0,0,0,0,0,0
$GC,8204,0.49,145.9,994.9,8.9,410,8209,0.00,2.30,0.00,0.000,6,0.000,0.030,3339,1863,2244,0,0,0,0,0,0
$GC,8534,0.49,145.9,963.5,9.6,421,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1865,2240,0,0,0,0,0,0
$GC,8841,0.49,145.9,933.9,9.4,431,8845,0.00,2.28,0.00,0.000,4,0.000,0.046,3339,3294,2239,0,0,0,0,0,0
$GC,8895,0.49,145.9,928.2,11.1,432,8901,0.00,2.22,0.00,0.000,6,0.000,0.037,3349,1899,2239,0,0,0,0,0,0
$GC,9208,0.49,145.9,896.8,9.9,443,9212,0.00,2.28,0.00,0.000,4,0.000,0.049,3360,476,2238,0,0,0,0,0,0
$GC,9313,0.49,145.9,885.3,11.0,446,9318,0.00,2.22,0.00,0.000,6,0.000,0.031,3360,1910,2237,0,0,0,0,0,0
$GC,9643,0.49,145.9,850.0,11.0,457,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1911,2236,0,0,0,0,0,0
$GC,9949,0.49,145.9,816.0,11.0,467,9953,0.00,2.30,0.00,0.000,4,0.000,0.049,3370,475,2236,0,0,0,0,0,0
$GC,10021,0.49,145.9,807.4,11.6,469,10026,0.10,2.17,0.00,0.000,6,0.147,0.031,3338,1880,2236,0,0,0,0,0,0
$GC,10350,0.49,145.9,774.8,9.9,480,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1881,2235,0,0,0,0,0,0
$GC,10656,0.49,145.9,744.2,10.0,490,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1881,2235,0,0,0,0,0,0
$GC,10962,0.49,145.9,713.3,10.3,500,10966,0.00,2.20,0.00,0.000,4,0.000,0.046,3338,3290,2235,0,0,0,0,0,0
$GC,11017,0.49,145.9,707.2,10.9,501,11023,0.00,2.22,0.00,0.000,6,0.000,0.036,3347,1874,2235,0,0,0,0,0,0
$GC,11330,0.49,145.9,673.5,10.8,512,11334,0.00,2.20,0.00,0.000,4,0.000,0.048,3358,475,2235,0,0,0,0,0,0
$GC,11425,0.49,145.9,662.7,11.3,515,11429,0.00,2.12,0.00,0.000,6,0.000,0.031,3358,1886,2235,0,0,0,0,0,0
$GC,11759,0.49,145.9,626.1,11.0,526,11763,0.00,2.22,0.00,0.000,4,0.000,0.049,3368,479,2235,0,0,0,0,0,0
$GC,11819,0.49,145.9,619.1,11.4,527,11826,0.10,2.15,0.00,0.000,6,0.139,0.030,3335,1878,2234,0,0,0,0,0,0
$GC,12132,0.49,145.9,589.1,9.4,538,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1879,2234,0,0,0,0,0,0
$GC,12438,0.49,145.9,559.9,9.5,548,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1879,2234,0,0,0,0,0,0
$GC,12745,0.49,149.6,532.8,8.7,558,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1879,2234,0,0,0,0,0,0
$GC,13051,0.49,157.6,506.1,8.6,568,13065,0.00,2.25,8.15,0.877,4,0.000,0.048,3344,479,2203,0,0,0,0,0,0
$GC,13126,0.49,157.6,499.0,9.7,570,13131,0.00,2.15,0.00,0.000,6,0.000,0.029,3344,1875,2202,0,0,0,0,0,0
$GC,13456,0.49,157.6,468.4,9.3,581,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1877,2202,0,0,0,0,0,0
$GC,13762,0.49,157.6,439.0,9.7,591,13766,0.00,2.20,0.00,0.000,4,0.000,0.047,3354,479,2202,0,0,0,0,0,0
$GC,13867,0.49,157.6,428.2,10.3,594,13872,0.00,2.15,0.00,0.000,6,0.000,0.029,3354,1884,2201,0,0,0,0,0,0
$GC,14190,0.49,157.6,395.5,10.2,605,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1887,2201,0,0,0,0,0,0
$GC,14497,0.49,157.6,364.6,9.7,620,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1887,2201,0,0,0,0,0,0
$GC,14808,0.49,157.6,335.6,9.1,635,14812,0.00,2.22,0.00,0.000,4,0.000,0.047,3364,474,2201,0,0,0,0,0,0
$GC,14925,0.49,157.6,324.0,9.7,640,14930,0.08,2.15,0.00,0.000,6,0.140,0.029,3338,1882,2201,0,0,0,0,0,0
$GC,15247,0.50,179.7,297.6,8.0,656,15272,0.00,2.20,20.48,0.846,4,0.000,0.044,3338,3273,2112,0,0,0,0,0,0
$GC,15335,0.50,179.7,290.0,9.3,660,15339,0.00,2.17,0.00,0.000,6,0.000,0.035,3347,1872,2111,0,0,0,0,0,0
$GC,15661,0.50,179.7,260.2,9.1,676,15665,0.00,2.17,0.00,0.000,4,0.000,0.046,3357,482,2109,0,0,0,0,0,0
$GC,15770,0.50,179.7,250.0,9.8,681,15774,0.00,2.12,0.00,0.000,6,0.000,0.029,3357,1889,2108,0,0,0,0,0,0
$GC,16099,0.50,179.7,218.6,9.8,702,16103,0.00,2.22,0.00,0.000,4,0.000,0.047,3366,481,2108,0,0,0,0,0,0
$GC,16149,0.50,179.7,213.4,10.2,705,16154,0.10,2.12,0.00,0.000,6,0.135,0.028,3334,1867,2108,0,0,0,0,0,0
$GC,16474,0.50,179.7,184.2,9.0,726,16475,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1870,2108,0,0,0,0,0,0
$GC,16787,0.50,179.7,154.1,9.8,746,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1870,2108,0,0,0,0,0,0
$GC,17098,0.50,179.7,123.1,9.8,766,17099,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1871,2108,0,0,0,0,0,0
$GC,17415,0.50,180.2,93.7,8.9,794,17420,0.00,2.17,0.00,0.000,4,0.000,0.046,3343,481,2108,0,0,0,0,0,0
$GC,17465,0.50,180.2,89.2,9.7,803,17469,0.00,2.12,0.00,0.000,6,0.000,0.028,3343,1894,2108,0,0,0,0,0,0
$GC,17806,0.50,216.0,62.2,7.4,864,17844,0.00,0.00,31.08,0.692,6,0.000,0.000,3343,1897,1965,0,0,0,0,0,0
$GC,18076,0.50,216.0,37.8,9.9,911,18080,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1897,1960,0,0,0,0,0,0
$GC,18316,0.50,226.5,17.0,8.5,952,18329,0.00,2.17,4.85,0.480,4,0.000,0.041,3343,3266,1921,0,0,0,0,0,0
$GC,18402,0.50,226.5,8.0,11.6,966,18409,0.00,2.15,0.00,0.000,6,0.000,0.035,3352,1889,1919,0,0,0,0,0,0
$STATE,18451,end climb,SURFACE_DEPTH_REACHED
$STATE,18451,begin surface coast
$FINISH,1.8,1.026238
$STATE,18482,end surface coast,CONTROL_FINISHED_OK
$STATE,18482,begin surface
$SM_CCo,18558,0.00,0.000,0,0,1913,228.62
$SM_GC,3.08,8.65,0.00,0.00,0.037,0.000,0.000,86,2036,1913,-9.56,-0.08,228.62
$IRIDIUM_FIX,-4302.64,426.42,180113,151551
$TT8_MAMPS,0.025466
$HUMID,48.85
$INTERNAL_PRESSURE,8.92625
$TCM_TEMP,12.40
$XPDR_PINGS,0
$24V_AH,22.7,36.535
$10V_AH,10.2,22.851
$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,22.825,101.375,315.450,0.000,0.000,25.063,44.755,291.429,0.250,0.000,16.105,2366.553,13250.073,388.491,2885.609,143.024,33.367,1403.966,0.000,2478.515,0.000,2.827,0.000
$DEVICE_MAMPS,249.390,61.965,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.399,1084.331,639.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,56855,979
$CAP_FILE_SIZE,138993,0
$CFSIZE,2097086464,2067529728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190113,021128,-4318.078,701.445,41,1.0,41,-24.6