version: 66.07.10.p01
glider: 573
mission: 9
dive: 16
start: 4 23 115 1 36 59
data:
$ID,573
$MISSION,9
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,850
$D_NO_BLEED,500
$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,220
$T_MISSION,250
$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,230
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,-13534.628
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3050
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$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,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,15
$GPS1,230415,012835,-3432.653,2558.295,30,1.5,30,-28.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.2
$GPS2,230415,013635,-3432.929,2557.912,43,1.2,43,-28.0
$SPEED_LIMITS,0.197,0.329
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3430.000,2600.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,84.8,6291,-16.3,-11.364
$D_GRID,750
$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,-1.08,-223.8,0.0,0.0,0,119,0.00,0.00,-93.22,0.000,2,0.000,0.000,82,2210,2920,0,0,0,0,0,0
$GC,121,-1.08,-223.8,3.4,-4.7,11,157,11.35,2.45,-15.82,0.000,4,0.265,0.096,2695,774,3776,0,0,0,0,0,0
$GC,215,-0.95,-223.8,26.9,-19.1,24,224,0.17,2.53,0.00,0.000,6,0.170,0.094,2737,2202,3779,0,0,0,0,0,0
$GC,297,-0.86,-223.8,41.5,-16.6,37,305,0.12,2.33,0.00,0.000,4,0.181,0.078,2759,3622,3780,0,0,0,0,0,0
$GC,355,-0.86,-223.8,50.0,-13.5,46,364,0.00,2.38,0.00,0.000,6,0.000,0.071,2758,2203,3781,0,0,0,0,0,0
$GC,471,-0.82,-223.8,66.4,-16.2,65,479,0.10,2.42,0.00,0.000,4,0.177,0.092,2783,767,3781,0,0,0,0,0,0
$GC,488,-0.79,-223.8,69.2,-16.5,67,496,0.08,2.50,0.00,0.000,6,0.210,0.099,2789,2202,3781,0,0,0,0,0,0
$GC,602,-0.83,-223.8,82.1,-10.9,86,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2202,3782,0,0,0,0,0,0
$GC,718,-0.88,-223.8,93.7,-11.0,105,726,0.08,2.33,0.00,0.000,4,0.117,0.079,2736,3629,3782,0,0,0,0,0,0
$GC,757,-0.88,-223.8,98.9,-13.9,111,765,0.10,2.35,0.00,0.000,6,0.164,0.074,2761,2200,3782,0,0,0,0,0,0
$GC,872,-0.88,-223.8,113.5,-12.8,130,880,0.00,2.45,0.00,0.000,4,0.000,0.103,2761,780,3782,0,0,0,0,0,0
$GC,906,-0.88,-223.8,117.8,-12.9,135,913,0.00,2.50,0.00,0.000,6,0.000,0.107,2752,2195,3783,0,0,0,0,0,0
$GC,1021,-0.88,-223.8,133.7,-13.8,154,1030,0.00,2.40,0.00,0.000,4,0.000,0.087,2742,3627,3783,0,0,0,0,0,0
$GC,1056,-0.88,-223.8,138.2,-13.0,159,1064,0.08,2.40,0.00,0.000,6,0.173,0.084,2758,2194,3783,0,0,0,0,0,0
$GC,1170,-0.88,-223.8,153.0,-13.7,178,1179,0.00,2.50,0.00,0.000,4,0.000,0.109,2759,767,3783,0,0,0,0,0,0
$GC,1204,-0.88,-223.8,157.4,-13.5,183,1212,0.00,2.53,0.00,0.000,6,0.000,0.106,2749,2199,3783,0,0,0,0,0,0
$GC,1319,-0.88,-223.8,173.5,-14.0,202,1328,0.05,2.42,0.00,0.000,4,0.246,0.096,2748,3618,3782,0,0,0,0,0,0
$GC,1358,-0.88,-223.8,178.9,-13.3,208,1367,0.03,2.42,0.00,0.000,6,0.134,0.087,2757,2200,3782,0,0,0,0,0,0
$GC,1476,-0.88,-223.8,194.0,-13.6,227,1483,0.00,2.45,0.00,0.000,4,0.000,0.104,2757,765,3782,0,0,0,0,0,0
$GC,1521,-0.88,-223.8,200.0,-13.2,234,1530,0.03,2.55,0.00,0.000,6,0.216,0.103,2755,2203,3782,0,0,0,0,0,0
$GC,1637,-0.88,-223.8,215.4,-12.9,253,1645,0.00,2.40,0.00,0.000,4,0.000,0.101,2745,3628,3782,0,0,0,0,0,0
$GC,1677,-0.88,-223.8,220.5,-13.2,259,1685,0.08,2.42,0.00,0.000,6,0.177,0.093,2761,2198,3782,0,0,0,0,0,0
$GC,1791,-0.88,-223.8,234.6,-12.1,278,1800,0.00,2.50,0.00,0.000,4,0.000,0.113,2761,783,3782,0,0,0,0,0,0
$GC,1849,-0.88,-223.8,241.7,-13.2,287,1856,0.00,2.47,0.00,0.000,6,0.000,0.104,2751,2200,3782,0,0,0,0,0,0
$GC,1961,-0.88,-223.8,256.7,-13.3,306,1970,0.00,2.42,0.00,0.000,4,0.000,0.102,2741,3619,3781,0,0,0,0,0,0
$GC,1997,-0.88,-223.8,261.1,-13.2,311,2004,0.10,2.42,0.00,0.000,6,0.174,0.095,2765,2195,3781,0,0,0,0,0,0
$GC,2112,-0.91,-223.8,275.1,-11.9,330,2121,0.00,2.47,0.00,0.000,4,0.000,0.110,2765,783,3780,0,0,0,0,0,0
$GC,2162,-0.91,-223.8,281.5,-12.8,338,2171,0.00,2.55,0.00,0.000,6,0.000,0.112,2755,2196,3780,0,0,0,0,0,0
$GC,2278,-0.91,-223.8,295.7,-13.2,357,2285,0.00,2.47,0.00,0.000,4,0.000,0.113,2745,3630,3779,0,0,0,0,0,0
$GC,2306,-0.91,-223.8,299.1,-12.3,361,2314,0.00,2.42,0.00,0.000,6,0.000,0.092,2744,2200,3780,0,0,0,0,0,0
$GC,2421,-0.91,-223.8,314.0,-12.2,380,2430,0.00,2.50,0.00,0.000,4,0.000,0.111,2745,776,3779,0,0,0,0,0,0
$GC,2472,-0.89,-223.8,320.8,-13.9,388,2482,0.08,2.53,0.00,0.000,6,0.189,0.102,2756,2207,3779,0,0,0,0,0,0
$GC,2589,-0.89,-223.8,336.0,-13.3,407,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2207,3779,0,0,0,0,0,0
$GC,2703,-0.89,-223.8,351.0,-12.7,426,2712,0.00,2.47,0.00,0.000,4,0.000,0.114,2746,3617,3777,0,0,0,0,0,0
$GC,2725,-0.89,-223.8,354.1,-13.8,429,2734,0.08,2.40,0.00,0.000,6,0.180,0.093,2761,2201,3777,0,0,0,0,0,0
$GC,2841,-0.91,-223.8,368.9,-12.9,448,2851,0.00,2.47,0.00,0.000,4,0.000,0.106,2762,772,3776,0,0,0,0,0,0
$GC,2892,-0.91,-223.8,375.8,-13.9,456,2901,0.00,2.55,0.00,0.000,6,0.000,0.105,2753,2203,3776,0,0,0,0,0,0
$GC,3008,-0.91,-223.8,390.4,-14.3,475,3015,0.00,2.45,0.00,0.000,4,0.000,0.115,2742,3619,3775,0,0,0,0,0,0
$GC,3035,-0.91,-223.8,394.2,-12.8,479,3042,0.05,2.45,0.00,0.000,6,0.181,0.100,2752,2194,3774,0,0,0,0,0,0
$GC,3149,-0.91,-223.8,408.7,-12.7,498,3158,0.00,2.47,0.00,0.000,4,0.000,0.109,2753,776,3774,0,0,0,0,0,0
$GC,3202,-0.91,-223.8,415.4,-12.8,506,3211,0.00,2.50,0.00,0.000,6,0.000,0.099,2743,2197,3774,0,0,0,0,0,0
$GC,3318,-0.91,-223.8,431.6,-13.8,525,3326,0.00,2.47,0.00,0.000,4,0.000,0.116,2733,3625,3773,0,0,0,0,0,0
$GC,3345,-0.91,-223.8,435.4,-14.0,529,3354,0.10,2.47,0.00,0.000,6,0.171,0.103,2756,2194,3772,0,0,0,0,0,0
$GC,3463,-0.91,-223.8,450.3,-13.3,548,3471,0.00,2.47,0.00,0.000,4,0.000,0.107,2757,772,3772,0,0,0,0,0,0
$GC,3512,-0.91,-223.8,457.1,-13.0,556,3521,0.00,2.55,0.00,0.000,6,0.000,0.109,2747,2193,3772,0,0,0,0,0,0
$GC,3629,-0.91,-223.8,472.0,-13.2,575,3636,0.00,2.55,0.00,0.000,4,0.000,0.128,2737,3629,3771,0,0,0,0,0,0
$GC,3656,-0.91,-223.8,475.4,-12.2,579,3663,0.08,2.47,0.00,0.000,6,0.183,0.104,2752,2201,3772,0,0,0,0,0,0
$GC,3768,-0.91,-223.8,489.0,-12.1,598,3777,0.00,2.47,0.00,0.000,4,0.000,0.107,2752,777,3771,0,0,0,0,0,0
$GC,3825,-0.91,-223.8,496.2,-12.3,607,3832,0.00,2.47,0.00,0.000,6,0.000,0.101,2743,2201,3771,0,0,0,0,0,0
$GC,3938,-0.91,-223.8,510.9,-12.8,626,3947,0.03,0.00,0.00,0.000,6,0.284,0.000,2750,2202,3770,0,0,0,0,0,0
$GC,4053,-0.91,-223.8,525.2,-12.5,645,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2201,3770,0,0,0,0,0,0
$GC,4163,-0.91,-223.8,538.7,-11.8,664,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2201,3770,0,0,0,0,0,0
$GC,4276,-0.91,-223.8,552.1,-11.8,683,4283,0.00,2.53,0.00,0.000,4,0.000,0.129,2740,3622,3769,0,0,0,0,0,0
$GC,4302,-0.91,-223.8,555.3,-12.5,687,4310,0.08,2.50,0.00,0.000,6,0.184,0.109,2755,2192,3769,0,0,0,0,0,0
$GC,4415,-0.93,-223.8,568.6,-11.4,706,4423,0.00,2.45,0.00,0.000,4,0.000,0.108,2755,783,3769,0,0,0,0,0,0
$GC,4471,-0.93,-223.8,575.3,-11.9,715,4478,0.00,2.45,0.00,0.000,6,0.000,0.095,2746,2208,3769,0,0,0,0,0,0
$GC,4588,-0.93,-223.8,590.4,-14.0,734,4597,0.00,2.50,0.00,0.000,4,0.000,0.121,2736,3611,3768,0,0,0,0,0,0
$GC,4616,-0.93,-223.8,593.8,-12.6,738,4625,0.00,2.53,0.00,0.000,6,0.000,0.113,2736,2203,3768,0,0,0,0,0,0
$STATE,4669,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4669,begin apogee
$GC,4673,-0.25,0.0,600.3,12.6,746,4855,0.73,0.00,171.40,0.981,6,0.148,0.000,2964,1592,2866,0,0,0,0,0,0
$STATE,4855,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4857,1.08,223.8,611.7,0.0,771,5052,1.30,0.00,186.70,0.954,6,0.090,0.000,3395,1592,1949,0,0,0,0,0,0
$GC,5158,0.92,223.8,594.4,13.8,815,5166,0.17,0.00,0.00,0.000,6,0.172,0.000,3351,1593,1947,0,0,0,0,0,0
$GC,5271,0.82,223.8,580.9,11.9,834,5281,0.15,2.45,0.00,0.000,4,0.184,0.071,3324,174,1946,0,0,0,0,0,0
$GC,5295,0.74,237.4,578.5,10.9,837,5319,0.12,2.35,11.98,0.848,6,0.164,0.047,3292,1626,1894,0,0,0,0,0,0
$GC,5424,0.80,310.0,566.0,8.9,858,5491,0.00,0.00,62.85,0.929,6,0.000,0.000,3292,1626,1597,0,0,0,0,0,0
$GC,5597,0.86,358.7,549.0,9.7,885,5649,0.10,2.62,42.55,0.910,4,0.092,0.079,3349,168,1397,0,0,0,0,0,0
$GC,5670,0.82,358.7,540.3,12.3,895,5678,0.12,2.38,0.00,0.000,6,0.155,0.047,3318,1601,1396,0,0,0,0,0,0
$GC,5785,0.82,361.8,526.7,11.3,914,5793,0.00,2.38,0.00,0.000,4,0.000,0.070,3318,3000,1393,0,0,0,0,0,0
$GC,5812,0.82,361.8,523.3,12.6,918,5821,0.00,2.45,0.00,0.000,6,0.000,0.080,3327,1588,1393,0,0,0,0,0,0
$GC,5926,0.82,361.8,509.3,12.8,937,5933,0.00,2.38,0.00,0.000,4,0.000,0.074,3338,186,1392,0,0,0,0,0,0
$GC,5980,0.78,361.8,501.8,14.3,946,5989,0.10,2.30,0.00,0.000,6,0.137,0.045,3305,1602,1391,0,0,0,0,0,0
$GC,6095,0.80,377.1,489.2,10.8,965,6118,0.00,2.42,15.35,0.840,4,0.000,0.073,3315,185,1325,0,0,0,0,0,0
$GC,6138,0.81,388.0,484.4,11.0,971,6155,0.00,2.28,11.00,0.817,6,0.000,0.045,3316,1592,1280,0,0,0,0,0,0
$GC,6261,0.83,388.0,470.3,11.5,991,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1592,1279,0,0,0,0,0,0
$GC,6373,0.84,398.3,457.2,11.0,1010,6390,0.00,2.40,10.02,0.809,4,0.000,0.073,3325,187,1237,0,0,0,0,0,0
$GC,6415,0.84,398.3,452.3,11.8,1016,6424,0.00,2.33,0.00,0.000,6,0.000,0.047,3325,1601,1237,0,0,0,0,0,0
$GC,6529,0.84,398.3,438.6,12.2,1035,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1600,1237,0,0,0,0,0,0
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$STATE,10059,end climb,SURFACE_DEPTH_REACHED
$STATE,10060,begin surface coast
$FINISH,1.1,1.020983
$STATE,10092,end surface coast,CONTROL_FINISHED_OK
$STATE,10093,begin surface
$SM_CCo,10168,0.00,0.000,0,0,1148,420.44
$SM_GC,1.98,8.45,0.00,0.00,0.032,0.000,0.000,81,2223,1148,-9.19,0.65,420.44
$IRIDIUM_FIX,-3419.93,2557.62,170208,141419
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.3,7.4
$24V_AH,23.8,4.734
$10V_AH,10.3,2.931
$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,24.500,228.400,528.600,0.000,0.000,0.000,0.000,0.000,13.500,0.000,45.666,3848.329,817.338,871.378,4565.492,166.577,0.000,2482.867,0.000,4052.055,0.000,89.669,0.000
$DEVICE_MAMPS,283.815,146.880,980.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.779,4131.787,2772.819,4466.836,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331356
$DATA_FILE_SIZE,117084,1619
$CAP_FILE_SIZE,210629,0
$CFSIZE,2097086464,2090270720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.364,259.1,1
$GPS,230415,042736,-3432.257,2557.509,37,0.9,37,-28.0