version: 66.07.10.p01
glider: 573
mission: 9
dive: 21
start: 4 23 115 13 24 58
data:
$ID,573
$MISSION,9
$DIVE,21
$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,-13551.623
$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,23
$R_STBD_OVSHOOT,14
$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,20
$GPS1,230415,131616,-3431.625,2551.548,24,1.4,35,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.4
$GPS2,230415,132435,-3431.715,2551.313,42,1.0,43,-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,50.9,13427,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.02,-223.8,0.0,0.0,0,86,0.00,0.00,-59.60,0.000,2,0.000,0.000,77,2178,2556,0,0,0,0,0,0
$GC,88,-1.02,-223.8,3.1,-3.4,7,141,11.40,2.45,-34.65,0.000,4,0.262,0.099,2701,3585,3678,0,0,0,0,0,0
$GC,356,-0.90,-223.8,43.2,-14.4,48,366,0.17,2.38,0.00,0.000,6,0.148,0.072,2755,2176,3681,0,0,0,0,0,0
$GC,477,-0.87,-223.8,56.5,-12.2,67,484,0.00,2.40,0.00,0.000,4,0.000,0.086,2746,3593,3683,0,0,0,0,0,0
$GC,497,-0.84,-223.8,59.1,-11.3,70,507,0.08,2.42,0.00,0.000,6,0.149,0.080,2770,2173,3683,0,0,0,0,0,0
$GC,617,-0.84,-223.8,71.8,-11.3,89,624,0.00,2.47,0.00,0.000,4,0.000,0.101,2770,730,3684,0,0,0,0,0,0
$GC,669,-0.84,-223.8,77.5,-11.1,97,676,0.08,2.55,0.00,0.000,6,0.207,0.106,2776,2168,3684,0,0,0,0,0,0
$GC,784,-0.84,-223.8,90.4,-10.2,116,794,0.00,2.42,0.00,0.000,4,0.000,0.092,2766,3590,3685,0,0,0,0,0,0
$GC,824,-0.84,-223.8,94.9,-11.4,122,833,0.00,2.45,0.00,0.000,6,0.000,0.086,2766,2164,3685,0,0,0,0,0,0
$GC,943,-0.84,-223.8,107.8,-11.7,141,950,0.00,2.45,0.00,0.000,4,0.000,0.106,2766,743,3686,0,0,0,0,0,0
$GC,995,-0.81,-223.8,114.0,-12.1,149,1002,0.12,2.50,0.00,0.000,6,0.200,0.102,2785,2169,3686,0,0,0,0,0,0
$GC,1112,-0.81,-223.8,126.8,-10.3,168,1121,0.00,2.40,0.00,0.000,4,0.000,0.091,2775,3584,3686,0,0,0,0,0,0
$GC,1149,-0.83,-223.8,130.4,-10.5,173,1156,0.00,2.40,0.00,0.000,6,0.000,0.086,2775,2161,3686,0,0,0,0,0,0
$GC,1264,-0.83,-223.8,142.8,-10.2,192,1274,0.00,2.50,0.00,0.000,4,0.000,0.108,2775,738,3686,0,0,0,0,0,0
$GC,1312,-0.83,-223.8,148.0,-11.9,199,1320,0.05,2.50,0.00,0.000,6,0.251,0.099,2773,2171,3686,0,0,0,0,0,0
$GC,1431,-0.83,-223.8,161.2,-10.7,218,1440,0.00,2.42,0.00,0.000,4,0.000,0.096,2763,3595,3686,0,0,0,0,0,0
$GC,1466,-0.83,-223.8,164.8,-11.2,223,1473,0.08,2.42,0.00,0.000,6,0.181,0.090,2779,2166,3686,0,0,0,0,0,0
$GC,1584,-0.83,-223.8,177.4,-10.6,242,1593,0.00,2.50,0.00,0.000,4,0.000,0.111,2779,744,3686,0,0,0,0,0,0
$GC,1636,-0.83,-223.8,183.2,-11.3,250,1645,0.00,2.53,0.00,0.000,6,0.000,0.101,2770,2163,3686,0,0,0,0,0,0
$GC,1755,-0.83,-223.8,196.1,-11.7,269,1762,0.00,2.40,0.00,0.000,4,0.000,0.098,2759,3599,3686,0,0,0,0,0,0
$GC,1800,-0.83,-223.8,201.5,-11.1,276,1811,0.05,2.47,0.00,0.000,6,0.161,0.095,2774,2176,3686,0,0,0,0,0,0
$GC,1922,-0.83,-223.8,214.5,-11.3,295,1929,0.00,2.47,0.00,0.000,4,0.000,0.107,2774,735,3686,0,0,0,0,0,0
$GC,1992,-0.83,-223.8,222.4,-10.5,306,2001,0.00,2.55,0.00,0.000,6,0.000,0.099,2765,2178,3686,0,0,0,0,0,0
$GC,2111,-0.83,-223.8,235.7,-11.8,325,2118,0.05,0.00,0.00,0.000,6,0.261,0.000,2773,2178,3686,0,0,0,0,0,0
$GC,2228,-0.83,-223.8,249.5,-11.5,344,2241,0.00,2.42,0.00,0.000,4,0.000,0.099,2764,3596,3685,0,0,0,0,0,0
$GC,2259,-0.83,-223.8,253.0,-11.1,348,2270,0.03,2.50,0.00,0.000,6,0.139,0.098,2772,2164,3685,0,0,0,0,0,0
$GC,2379,-0.83,-223.8,266.0,-11.5,367,2386,0.00,2.45,0.00,0.000,4,0.000,0.109,2772,740,3683,0,0,0,0,0,0
$GC,2420,-0.83,-223.8,270.7,-12.2,373,2428,0.08,2.47,0.00,0.000,6,0.234,0.094,2776,2178,3684,0,0,0,0,0,0
$GC,2537,-0.83,-223.8,284.2,-11.7,392,2547,0.00,2.42,0.00,0.000,4,0.000,0.103,2766,3586,3684,0,0,0,0,0,0
$GC,2573,-0.83,-223.8,287.9,-11.1,397,2581,0.00,2.45,0.00,0.000,6,0.000,0.098,2766,2164,3684,0,0,0,0,0,0
$GC,2690,-0.83,-223.8,301.3,-11.5,416,2700,0.00,2.50,0.00,0.000,4,0.000,0.109,2766,736,3684,0,0,0,0,0,0
$GC,2755,-0.83,-223.8,309.1,-12.2,426,2764,0.08,2.47,0.00,0.000,6,0.201,0.089,2777,2164,3683,0,0,0,0,0,0
$GC,2871,-0.83,-223.8,322.4,-11.5,445,2878,0.00,2.45,0.00,0.000,4,0.000,0.106,2766,3602,3683,0,0,0,0,0,0
$GC,2902,-0.83,-223.8,326.2,-11.8,450,2912,0.03,2.50,0.00,0.000,6,0.132,0.097,2775,2170,3683,0,0,0,0,0,0
$GC,3022,-0.83,-223.8,339.5,-11.0,469,3033,0.00,2.45,0.00,0.000,4,0.000,0.107,2776,737,3683,0,0,0,0,0,0
$GC,3068,-0.83,-223.8,345.2,-11.5,476,3078,0.00,2.50,0.00,0.000,6,0.000,0.093,2766,2171,3683,0,0,0,0,0,0
$GC,3187,-0.83,-223.8,359.2,-12.4,495,3195,0.00,2.40,0.00,0.000,4,0.000,0.102,2756,3593,3683,0,0,0,0,0,0
$GC,3228,-0.83,-223.8,364.1,-12.4,501,3236,0.10,2.47,0.00,0.000,6,0.183,0.102,2778,2162,3682,0,0,0,0,0,0
$STATE,3287,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3287,begin apogee
$GC,3292,-0.25,0.0,370.8,11.4,510,3475,0.57,0.00,174.73,0.832,6,0.138,0.000,2965,1672,2763,0,0,0,0,0,0
$STATE,3476,end apogee,CONTROL_FINISHED_OK
$STATE,3476,begin climb
$GC,3477,1.02,223.8,381.1,0.0,535,3671,1.23,2.47,182.75,0.803,4,0.091,0.060,3383,243,1848,0,0,0,0,0,0
$GC,3766,0.86,223.8,358.5,14.4,577,3774,0.20,2.35,0.00,0.000,6,0.157,0.041,3330,1695,1843,0,0,0,0,0,0
$GC,3880,0.78,223.8,345.6,10.9,596,3889,0.10,0.00,0.00,0.000,6,0.187,0.000,3306,1701,1842,0,0,0,0,0,0
$GC,3996,0.77,252.6,334.4,9.5,615,4025,0.00,0.00,24.60,0.769,6,0.000,0.000,3306,1701,1731,0,0,0,0,0,0
$GC,4132,0.77,286.4,321.0,9.4,637,4168,0.00,2.47,29.05,0.769,4,0.000,0.060,3317,247,1594,0,0,0,0,0,0
$GC,4192,0.74,286.4,314.4,10.5,646,4202,0.08,2.35,0.00,0.000,6,0.143,0.041,3293,1667,1592,0,0,0,0,0,0
$GC,4308,0.76,307.9,303.4,9.7,665,4330,0.00,0.00,19.65,0.750,6,0.000,0.000,3293,1667,1505,0,0,0,0,0,0
$GC,4434,0.78,325.6,290.9,9.9,686,4459,0.00,2.42,15.90,0.734,4,0.000,0.062,3302,257,1435,0,0,0,0,0,0
$GC,4472,0.80,340.9,287.3,9.9,691,4495,0.00,2.30,14.48,0.720,6,0.000,0.041,3302,1671,1373,0,0,0,0,0,0
$GC,4601,0.84,352.7,273.8,10.0,712,4616,0.00,0.00,11.38,0.702,6,0.000,0.000,3302,1671,1323,0,0,0,0,0,0
$GC,4722,0.87,357.1,261.3,10.3,732,4732,0.08,0.00,4.50,0.546,6,0.119,0.000,3344,1671,1306,0,0,0,0,0,0
$GC,4838,0.83,357.1,246.9,12.7,751,4846,0.10,0.00,0.00,0.000,6,0.160,0.000,3319,1677,1306,0,0,0,0,0,0
$GC,4952,0.83,357.1,232.5,12.3,770,4961,0.00,2.40,0.00,0.000,4,0.000,0.063,3329,248,1303,0,0,0,0,0,0
$GC,4999,0.80,357.1,226.6,12.9,777,5006,0.08,2.28,0.00,0.000,6,0.169,0.041,3311,1681,1305,0,0,0,0,0,0
$GC,5111,0.80,357.1,213.1,12.0,796,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1681,1304,0,0,0,0,0,0
$GC,5224,0.80,357.1,199.8,12.3,815,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1681,1304,0,0,0,0,0,0
$GC,5336,0.80,357.1,186.3,12.2,834,5345,0.00,2.38,0.00,0.000,4,0.000,0.062,3321,255,1304,0,0,0,0,0,0
$GC,5364,0.80,357.1,183.0,12.3,838,5373,0.00,2.28,0.00,0.000,6,0.000,0.042,3321,1670,1304,0,0,0,0,0,0
$GC,5479,0.80,357.1,168.8,12.5,857,5486,0.00,2.28,0.00,0.000,4,0.000,0.067,3321,3086,1304,0,0,0,0,0,0
$GC,5499,0.80,357.1,166.1,12.3,860,5508,0.05,2.33,0.00,0.000,6,0.142,0.059,3313,1657,1304,0,0,0,0,0,0
$GC,5615,0.80,357.1,152.2,12.1,879,5622,0.00,2.25,0.00,0.000,4,0.000,0.062,3323,263,1304,0,0,0,0,0,0
$GC,5670,0.80,357.1,145.1,13.1,888,5680,0.03,2.25,0.00,0.000,6,0.141,0.041,3313,1671,1303,0,0,0,0,0,0
$GC,5785,0.80,357.1,131.9,11.1,907,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1671,1303,0,0,0,0,0,0
$GC,5897,0.80,357.1,119.2,11.1,926,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1671,1303,0,0,0,0,0,0
$GC,6011,0.80,357.1,106.9,11.1,945,6018,0.00,2.30,0.00,0.000,4,0.000,0.061,3322,255,1303,0,0,0,0,0,0
$GC,6042,0.80,357.1,103.0,12.0,950,6052,0.03,2.28,0.00,0.000,6,0.160,0.043,3312,1684,1302,0,0,0,0,0,0
$GC,6158,0.80,357.1,90.3,10.9,969,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1684,1302,0,0,0,0,0,0
$GC,6269,0.80,357.1,78.0,11.3,988,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1684,1302,0,0,0,0,0,0
$GC,6382,0.80,357.1,65.5,11.2,1007,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1684,1302,0,0,0,0,0,0
$GC,6493,0.80,357.1,52.7,10.8,1026,6502,0.00,2.35,0.00,0.000,4,0.000,0.062,3322,257,1302,0,0,0,0,0,0
$GC,6527,0.80,357.1,49.1,11.4,1031,6535,0.00,2.22,0.00,0.000,6,0.000,0.043,3323,1674,1302,0,0,0,0,0,0
$GC,6641,0.81,366.9,36.8,10.1,1050,6657,0.00,2.25,8.90,0.575,4,0.000,0.064,3322,3084,1267,0,0,0,0,0,0
$GC,6755,0.81,366.9,25.7,10.8,1068,6764,0.05,2.28,0.00,0.000,6,0.136,0.059,3312,1679,1266,0,0,0,0,0,0
$GC,6842,0.86,374.8,17.0,10.2,1081,6852,0.00,2.38,4.57,0.452,4,0.000,0.064,3323,253,1232,0,0,0,0,0,0
$GC,6885,0.88,374.8,12.4,11.2,1087,6895,0.00,2.30,0.00,0.000,6,0.000,0.046,3323,1676,1231,0,0,0,0,0,0
$GC,6972,0.95,400.0,3.4,9.6,1100,6982,0.10,0.00,7.78,0.480,2,0.097,0.000,3377,1677,1168,0,0,0,0,0,0
$STATE,6983,end climb,SURFACE_DEPTH_REACHED
$STATE,6983,begin surface coast
$FINISH,1.2,1.009344
$STATE,7022,end surface coast,CONTROL_FINISHED_OK
$STATE,7022,begin surface
$SM_CCo,7098,0.00,0.000,0,0,1162,392.47
$SM_GC,2.23,8.65,0.00,0.00,0.040,0.000,0.000,68,2176,1162,-9.17,0.20,392.47
$IRIDIUM_FIX,-3422.54,2545.92,180208,020259
$TT8_MAMPS,0.026964
$HUMID,60.00
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,370.8,7.7
$24V_AH,23.9,5.441
$10V_AH,10.3,3.782
$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,23.700,141.400,498.275,0.000,0.000,37.356,43.619,282.500,7.250,0.000,44.783,2606.558,630.868,668.853,3551.132,136.027,0.000,1810.576,0.000,2817.068,0.000,47.853,0.000
$DEVICE_MAMPS,261.630,134.640,832.320,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.161,2863.879,1959.408,3097.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331588
$DATA_FILE_SIZE,80698,1107
$CAP_FILE_SIZE,143032,0
$CFSIZE,2097086464,2089680896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.388,238.3,1
$GPS,230415,152429,-3431.421,2550.376,41,1.2,41,-28.0