version: 66.07.10.p01
glider: 573
mission: 9
dive: 20
start: 4 23 115 11 15 28
data:
$ID,573
$MISSION,9
$DIVE,20
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,160
$T_MISSION,180
$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,-13548.272
$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,2169
$C_ROLL_CLIMB,1673
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,11
$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,2762
$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,19
$GPS1,230415,110005,-3431.616,2553.029,27,1.1,27,-28.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.2
$GPS2,230415,111505,-3431.763,2552.724,30,1.1,31,-28.0
$SPEED_LIMITS,0.180,0.319
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3425.000,2548.000
$TGT_RADIUS,1000.000
$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,43.0,14455,-15.1,-10.417
$D_GRID,500
$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,-1.02,-223.8,0.0,0.0,0,103,0.00,0.00,-75.93,0.000,2,0.000,0.000,63,2172,3026,0,0,0,0,0,0
$GC,105,-1.02,-223.8,3.2,-2.6,9,141,11.48,2.50,-13.98,0.000,4,0.261,0.109,2701,3589,3679,0,0,0,0,0,0
$GC,414,-0.93,-223.8,59.9,-14.4,58,425,0.12,2.40,0.00,0.000,6,0.147,0.078,2741,2177,3682,0,0,0,0,0,0
$GC,534,-0.88,-223.8,74.1,-12.3,77,541,0.10,0.00,0.00,0.000,6,0.187,0.000,2765,2177,3681,0,0,0,0,0,0
$GC,650,-0.86,-223.8,87.5,-11.6,96,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2177,3684,0,0,0,0,0,0
$GC,768,-0.86,-223.8,100.2,-11.0,115,775,0.00,2.47,0.00,0.000,4,0.000,0.103,2765,741,3685,0,0,0,0,0,0
$GC,800,-0.83,-223.8,104.3,-11.7,120,810,0.05,2.62,0.00,0.000,6,0.184,0.116,2771,2166,3685,0,0,0,0,0,0
$GC,918,-0.83,-223.8,116.9,-10.8,139,925,0.00,2.42,0.00,0.000,4,0.000,0.101,2761,3593,3686,0,0,0,0,0,0
$GC,951,-0.83,-223.8,120.8,-10.8,144,961,0.05,2.45,0.00,0.000,6,0.147,0.086,2777,2162,3685,0,0,0,0,0,0
$GC,1070,-0.83,-223.8,133.4,-10.7,163,1077,0.00,2.45,0.00,0.000,4,0.000,0.103,2777,735,3686,0,0,0,0,0,0
$GC,1101,-0.83,-223.8,137.4,-12.0,168,1111,0.03,2.62,0.00,0.000,6,0.216,0.116,2774,2169,3686,0,0,0,0,0,0
$GC,1223,-0.83,-223.8,150.4,-11.9,187,1230,0.00,2.45,0.00,0.000,4,0.000,0.106,2764,3598,3686,0,0,0,0,0,0
$GC,1255,-0.83,-223.8,154.6,-11.3,192,1264,0.05,2.47,0.00,0.000,6,0.160,0.090,2779,2162,3685,0,0,0,0,0,0
$GC,1373,-0.83,-223.8,167.2,-11.0,211,1380,0.00,2.45,0.00,0.000,4,0.000,0.107,2779,741,3686,0,0,0,0,0,0
$GC,1405,-0.83,-223.8,171.1,-11.0,216,1415,0.00,2.60,0.00,0.000,6,0.000,0.116,2770,2164,3686,0,0,0,0,0,0
$GC,1525,-0.83,-223.8,184.7,-11.4,235,1532,0.00,2.45,0.00,0.000,4,0.000,0.106,2759,3597,3686,0,0,0,0,0,0
$GC,1544,-0.83,-223.8,187.2,-11.5,238,1555,0.03,2.47,0.00,0.000,6,0.136,0.096,2768,2176,3685,0,0,0,0,0,0
$GC,1666,-0.83,-223.8,200.1,-11.3,257,1673,0.00,2.50,0.00,0.000,4,0.000,0.112,2768,739,3685,0,0,0,0,0,0
$GC,1716,-0.83,-223.8,206.2,-11.5,265,1724,0.08,2.55,0.00,0.000,6,0.226,0.111,2773,2172,3685,0,0,0,0,0,0
$GC,1833,-0.83,-223.8,219.0,-10.6,284,1842,0.00,2.47,0.00,0.000,4,0.000,0.111,2763,3583,3685,0,0,0,0,0,0
$GC,1857,-0.83,-223.8,221.4,-11.0,287,1865,0.08,2.42,0.00,0.000,6,0.181,0.093,2779,2161,3684,0,0,0,0,0,0
$GC,1973,-0.83,-223.8,233.7,-10.3,306,1983,0.00,2.50,0.00,0.000,4,0.000,0.109,2779,738,3684,0,0,0,0,0,0
$GC,2020,-0.83,-223.8,238.7,-11.0,313,2027,0.00,2.53,0.00,0.000,6,0.000,0.106,2770,2171,3684,0,0,0,0,0,0
$GC,2136,-0.83,-223.8,251.8,-11.2,332,2145,0.00,2.45,0.00,0.000,4,0.000,0.106,2759,3584,3684,0,0,0,0,0,0
$GC,2159,-0.83,-223.8,254.0,-11.0,335,2167,0.08,2.42,0.00,0.000,6,0.182,0.096,2774,2171,3683,0,0,0,0,0,0
$GC,2276,-0.83,-223.8,266.6,-10.2,354,2286,0.00,2.53,0.00,0.000,4,0.000,0.111,2774,739,3683,0,0,0,0,0,0
$GC,2335,-0.83,-223.8,272.8,-11.2,363,2342,0.05,2.50,0.00,0.000,6,0.265,0.102,2773,2169,3683,0,0,0,0,0,0
$GC,2451,-0.83,-223.8,285.8,-11.4,382,2460,0.00,2.47,0.00,0.000,4,0.000,0.107,2763,3592,3683,0,0,0,0,0,0
$GC,2474,-0.83,-223.8,288.0,-10.7,385,2482,0.08,2.50,0.00,0.000,6,0.185,0.106,2778,2161,3682,0,0,0,0,0,0
$GC,2592,-0.83,-223.8,300.0,-10.1,404,2601,0.00,2.50,0.00,0.000,4,0.000,0.109,2778,739,3682,0,0,0,0,0,0
$GC,2631,-0.83,-223.8,304.3,-10.7,410,2641,0.00,2.58,0.00,0.000,6,0.000,0.108,2769,2172,3682,0,0,0,0,0,0
$GC,2753,-0.83,-223.8,316.9,-10.4,429,2760,0.00,2.45,0.00,0.000,4,0.000,0.112,2758,3592,3681,0,0,0,0,0,0
$GC,2794,-0.83,-223.8,321.0,-10.7,435,2802,0.08,2.47,0.00,0.000,6,0.189,0.105,2773,2169,3681,0,0,0,0,0,0
$GC,2910,-0.83,-223.8,332.7,-10.1,454,2920,0.00,2.53,0.00,0.000,4,0.000,0.115,2774,739,3680,0,0,0,0,0,0
$GC,2958,-0.83,-223.8,337.1,-9.8,461,2966,0.03,2.55,0.00,0.000,6,0.294,0.109,2773,2175,3680,0,0,0,0,0,0
$GC,3076,-0.83,-223.8,348.9,-10.3,480,3085,0.00,2.53,0.00,0.000,4,0.000,0.118,2763,3596,3679,0,0,0,0,0,0
$GC,3103,-0.83,-223.8,351.8,-9.7,484,3113,0.03,2.53,0.00,0.000,6,0.142,0.106,2772,2174,3679,0,0,0,0,0,0
$GC,3224,-0.83,-223.8,362.9,-9.2,503,3231,0.00,2.50,0.00,0.000,4,0.000,0.112,2771,734,3679,0,0,0,0,0,0
$GC,3276,-0.83,-223.8,368.1,-10.5,511,3284,0.08,2.55,0.00,0.000,6,0.232,0.106,2776,2177,3679,0,0,0,0,0,0
$GC,3392,-0.83,-223.8,379.4,-9.7,530,3402,0.00,2.50,0.00,0.000,4,0.000,0.118,2766,3584,3679,0,0,0,0,0,0
$STATE,3411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3411,begin apogee
$GC,3418,-0.25,0.0,380.9,9.1,532,3604,0.60,0.00,174.18,0.838,6,0.137,0.000,2960,1664,2762,0,0,0,0,0,0
$STATE,3605,end apogee,CONTROL_FINISHED_OK
$STATE,3605,begin climb
$GC,3606,1.02,223.8,388.0,0.0,557,3798,1.25,2.53,182.45,0.806,4,0.093,0.063,3385,251,1848,0,0,0,0,0,0
$GC,3977,0.85,223.8,346.8,15.9,614,3987,0.17,2.38,0.00,0.000,6,0.150,0.046,3333,1690,1840,0,0,0,0,0,0
$GC,4093,0.77,223.8,332.1,12.5,633,4100,0.12,0.00,0.00,0.000,6,0.177,0.000,3301,1694,1840,0,0,0,0,0,0
$GC,4204,0.72,223.8,319.5,10.6,652,4213,0.08,0.00,0.00,0.000,6,0.201,0.000,3283,1695,1840,0,0,0,0,0,0
$GC,4320,0.76,268.5,308.8,9.0,671,4365,0.00,2.53,36.85,0.775,4,0.000,0.072,3293,254,1666,0,0,0,0,0,0
$GC,4385,0.79,294.5,302.7,9.6,680,4416,0.00,2.38,23.45,0.748,6,0.000,0.049,3293,1665,1560,0,0,0,0,0,0
$GC,4522,0.79,294.5,289.0,10.5,702,4531,0.00,2.47,0.00,0.000,4,0.000,0.083,3293,3089,1555,0,0,0,0,0,0
$GC,4544,0.79,294.5,286.7,11.2,705,4551,0.00,2.42,0.00,0.000,6,0.000,0.073,3303,1651,1554,0,0,0,0,0,0
$GC,4657,0.79,294.5,273.8,11.1,724,4666,0.00,2.35,0.00,0.000,4,0.000,0.069,3314,260,1553,0,0,0,0,0,0
$GC,4715,0.75,294.5,267.1,11.8,733,4722,0.08,2.30,0.00,0.000,6,0.163,0.047,3296,1679,1553,0,0,0,0,0,0
$GC,4827,0.79,321.8,255.3,9.6,752,4857,0.00,0.00,23.58,0.746,6,0.000,0.000,3296,1679,1448,0,0,0,0,0,0
$GC,4962,0.79,326.7,241.2,10.3,774,4971,0.00,0.00,4.78,0.562,6,0.000,0.000,3296,1678,1430,0,0,0,0,0,0
$GC,5078,0.79,326.7,229.6,10.5,793,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1679,1429,0,0,0,0,0,0
$GC,5189,0.80,331.3,217.9,10.3,812,5200,0.00,2.45,5.38,0.536,4,0.000,0.070,3305,260,1410,0,0,0,0,0,0
$GC,5220,0.80,333.0,214.9,10.4,816,5229,0.00,2.35,0.00,0.000,6,0.000,0.050,3305,1678,1410,0,0,0,0,0,0
$GC,5335,0.80,333.0,202.7,11.0,835,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1678,1410,0,0,0,0,0,0
$GC,5447,0.80,333.0,190.1,11.0,854,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1679,1410,0,0,0,0,0,0
$GC,5561,0.80,337.8,177.8,10.3,873,5577,0.00,2.40,6.60,0.622,4,0.000,0.069,3315,264,1386,0,0,0,0,0,0
$GC,5596,0.80,337.8,173.7,11.2,878,5605,0.00,2.30,0.00,0.000,6,0.000,0.049,3315,1664,1387,0,0,0,0,0,0
$GC,5711,0.80,337.8,160.3,11.7,897,5718,0.00,2.38,0.00,0.000,4,0.000,0.081,3315,3090,1386,0,0,0,0,0,0
$GC,5739,0.80,337.8,157.0,12.5,901,5746,0.05,2.30,0.00,0.000,6,0.210,0.064,3313,1674,1386,0,0,0,0,0,0
$GC,5852,0.80,337.8,143.0,11.4,920,5861,0.00,2.35,0.00,0.000,4,0.000,0.067,3323,266,1385,0,0,0,0,0,0
$GC,5909,0.78,337.8,135.9,13.3,929,5917,0.08,2.30,0.00,0.000,6,0.168,0.047,3304,1695,1385,0,0,0,0,0,0
$GC,6022,0.78,337.8,122.4,11.3,948,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1695,1385,0,0,0,0,0,0
$GC,6136,0.78,337.8,109.6,11.4,967,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1695,1385,0,0,0,0,0,0
$GC,6249,0.78,337.8,96.8,10.7,986,6258,0.00,2.40,0.00,0.000,4,0.000,0.067,3314,263,1384,0,0,0,0,0,0
$GC,6277,0.78,337.8,93.6,11.9,990,6285,0.00,2.30,0.00,0.000,6,0.000,0.050,3314,1671,1384,0,0,0,0,0,0
$GC,6392,0.78,337.8,80.3,11.2,1009,6399,0.00,2.35,0.00,0.000,4,0.000,0.082,3314,3096,1384,0,0,0,0,0,0
$GC,6420,0.78,337.8,76.9,12.6,1013,6428,0.08,2.30,0.00,0.000,6,0.181,0.063,3305,1663,1384,0,0,0,0,0,0
$GC,6533,0.78,337.8,63.0,11.5,1032,6542,0.00,2.30,0.00,0.000,4,0.000,0.066,3315,268,1383,0,0,0,0,0,0
$GC,6595,0.78,337.8,55.5,12.3,1042,6604,0.03,2.28,0.00,0.000,6,0.151,0.047,3305,1679,1383,0,0,0,0,0,0
$GC,6711,0.85,383.4,43.9,9.0,1061,6757,0.05,2.42,39.28,0.648,4,0.161,0.077,3342,3084,1198,0,0,0,0,0,0
$GC,6860,0.83,383.4,27.1,11.7,1084,6869,0.10,2.33,0.00,0.000,6,0.125,0.060,3318,1674,1193,0,0,0,0,0,0
$GC,6947,0.90,406.5,18.4,9.7,1097,6966,0.05,2.40,11.70,0.553,4,0.158,0.063,3374,256,1102,0,0,0,0,0,0
$GC,7025,0.85,406.5,8.1,14.7,1108,7035,0.15,2.33,0.00,0.000,6,0.124,0.045,3324,1677,1099,0,0,0,0,0,0
$STATE,7072,end climb,SURFACE_DEPTH_REACHED
$STATE,7072,begin surface coast
$FINISH,1.3,1.021530
$STATE,7105,end surface coast,CONTROL_FINISHED_OK
$STATE,7106,begin surface
$SM_CCo,7181,0.00,0.000,0,0,1095,408.66
$SM_GC,2.17,8.52,0.00,0.00,0.036,0.000,0.000,77,2181,1095,-9.18,0.34,408.66
$IRIDIUM_FIX,-3419.93,2608.17,180208,000053
$TT8_MAMPS,0.026215
$HUMID,60.67
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,380.9,7.7
$24V_AH,23.9,5.307
$10V_AH,10.3,3.614
$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,23.850,158.225,508.225,0.000,0.000,104.350,158.693,375.408,7.500,0.000,33.066,2644.331,769.006,670.694,3853.906,139.984,0.000,1835.126,0.000,2840.129,0.000,49.465,0.000
$DEVICE_MAMPS,293.760,117.810,837.675,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.921,2891.315,1962.393,3122.784,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331544
$DATA_FILE_SIZE,83606,1120
$CAP_FILE_SIZE,146691,0
$CFSIZE,2097086464,2089811968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.420,236.2,1
$GPS,230415,131616,-3431.625,2551.548,24,1.4,35,-28.0