version: 66.07.10.p01
glider: 573
mission: 9
dive: 29
start: 4 24 115 7 44 59
data:
$ID,573
$MISSION,9
$DIVE,29
$D_SURF,3
$D_FLARE,3
$D_TGT,390
$D_ABORT,450
$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,130
$T_MISSION,145
$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,200
$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,300
$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,-13579.017
$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,2090
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$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,28
$GPS1,240415,073604,-3426.532,2549.069,42,1.6,52,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-65.3
$GPS2,240415,074435,-3426.563,2549.043,31,1.3,32,-27.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3421.000,2542.000
$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,344.0,14904,-15.7,-10.000
$D_GRID,390
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-61.58,0.000,2,0.000,0.000,85,2072,2727,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.2,-3.6,7,133,11.45,2.38,-23.45,0.000,4,0.264,0.083,2704,3494,3557,0,0,0,0,0,0
$GC,304,-0.91,-194.6,38.3,-18.1,40,314,0.15,2.35,0.00,0.000,6,0.148,0.073,2751,2107,3560,0,0,0,0,0,0
$GC,421,-0.86,-194.6,51.8,-11.5,59,429,0.08,2.30,0.00,0.000,4,0.213,0.071,2759,3505,3561,0,0,0,0,0,0
$GC,493,-0.86,-194.6,60.1,-11.1,71,500,0.00,2.38,0.00,0.000,6,0.000,0.076,2759,2083,3561,0,0,0,0,0,0
$GC,605,-0.83,-194.6,72.8,-11.8,90,614,0.08,0.00,0.00,0.000,6,0.180,0.000,2776,2083,3562,0,0,0,0,0,0
$GC,720,-0.83,-194.6,84.1,-10.8,109,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2083,3563,0,0,0,0,0,0
$GC,831,-0.83,-194.6,95.4,-9.4,128,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2083,3564,0,0,0,0,0,0
$GC,945,-0.83,-194.6,106.1,-10.1,147,952,0.00,2.42,0.00,0.000,4,0.000,0.099,2776,658,3564,0,0,0,0,0,0
$GC,977,-0.83,-194.6,109.2,-10.3,152,986,0.00,2.47,0.00,0.000,6,0.000,0.093,2767,2069,3564,0,0,0,0,0,0
$GC,1093,-0.81,-194.6,121.2,-10.7,171,1100,0.08,2.38,0.00,0.000,4,0.216,0.082,2770,3525,3564,0,0,0,0,0,0
$GC,1160,-0.81,-194.6,127.9,-10.1,182,1170,0.03,2.45,0.00,0.000,6,0.136,0.083,2780,2088,3564,0,0,0,0,0,0
$GC,1277,-0.81,-194.6,139.7,-10.9,201,1288,0.00,2.42,0.00,0.000,4,0.000,0.098,2780,653,3565,0,0,0,0,0,0
$GC,1314,-0.81,-194.6,143.6,-10.8,206,1324,0.03,2.50,0.00,0.000,6,0.223,0.086,2778,2097,3565,0,0,0,0,0,0
$GC,1429,-0.81,-194.6,155.8,-11.0,225,1437,0.00,2.33,0.00,0.000,4,0.000,0.081,2767,3523,3565,0,0,0,0,0,0
$GC,1471,-0.81,-194.6,160.2,-11.1,231,1478,0.08,2.40,0.00,0.000,6,0.182,0.084,2782,2090,3565,0,0,0,0,0,0
$GC,1585,-0.81,-194.6,172.5,-10.1,250,1594,0.00,2.45,0.00,0.000,4,0.000,0.096,2783,658,3566,0,0,0,0,0,0
$GC,1623,-0.81,-194.6,176.5,-10.5,256,1632,0.00,2.47,0.00,0.000,6,0.000,0.086,2774,2091,3566,0,0,0,0,0,0
$GC,1737,-0.81,-194.6,188.3,-11.2,275,1745,0.00,2.33,0.00,0.000,4,0.000,0.080,2763,3517,3565,0,0,0,0,0,0
$GC,1765,-0.81,-194.6,191.2,-10.6,279,1773,0.10,2.40,0.00,0.000,6,0.177,0.085,2786,2088,3565,0,0,0,0,0,0
$GC,1881,-0.81,-194.6,203.2,-10.5,298,1889,0.00,2.45,0.00,0.000,4,0.000,0.097,2786,659,3565,0,0,0,0,0,0
$GC,1926,-0.81,-194.6,208.2,-10.5,305,1934,0.00,2.42,0.00,0.000,6,0.000,0.085,2777,2092,3565,0,0,0,0,0,0
$GC,2038,-0.81,-194.6,220.2,-10.2,324,2047,0.00,2.35,0.00,0.000,4,0.000,0.082,2766,3507,3565,0,0,0,0,0,0
$GC,2077,-0.81,-194.6,224.3,-11.1,330,2087,0.05,2.45,0.00,0.000,6,0.163,0.094,2781,2096,3565,0,0,0,0,0,0
$GC,2193,-0.81,-194.6,236.1,-10.2,349,2201,0.00,2.42,0.00,0.000,4,0.000,0.095,2782,648,3565,0,0,0,0,0,0
$GC,2234,-0.81,-194.6,240.4,-11.9,355,2242,0.05,2.45,0.00,0.000,6,0.265,0.086,2781,2093,3565,0,0,0,0,0,0
$GC,2349,-0.81,-194.6,253.3,-10.8,374,2358,0.00,2.38,0.00,0.000,4,0.000,0.086,2770,3512,3564,0,0,0,0,0,0
$GC,2419,-0.81,-194.6,261.0,-10.9,385,2428,0.08,2.45,0.00,0.000,6,0.183,0.096,2785,2085,3564,0,0,0,0,0,0
$GC,2532,-0.81,-194.6,272.5,-9.7,404,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2085,3564,0,0,0,0,0,0
$GC,2649,-0.83,-194.6,283.2,-9.8,423,2656,0.00,2.40,0.00,0.000,4,0.000,0.094,2785,649,3564,0,0,0,0,0,0
$GC,2669,-0.83,-194.6,285.3,-9.4,426,2678,0.00,2.47,0.00,0.000,6,0.000,0.086,2777,2088,3564,0,0,0,0,0,0
$GC,2784,-0.83,-194.6,296.9,-10.5,445,2793,0.00,2.38,0.00,0.000,4,0.000,0.089,2766,3525,3564,0,0,0,0,0,0
$GC,2852,-0.83,-194.6,304.7,-11.4,455,2859,0.05,2.45,0.00,0.000,6,0.190,0.096,2776,2091,3564,0,0,0,0,0,0
$GC,2964,-0.83,-194.6,319.9,-13.6,474,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2091,3564,0,0,0,0,0,0
$GC,3079,-0.83,-194.6,333.1,-11.1,493,3087,0.00,2.42,0.00,0.000,4,0.000,0.097,2776,647,3564,0,0,0,0,0,0
$GC,3107,-0.83,-194.6,336.1,-11.2,497,3115,0.00,2.42,0.00,0.000,6,0.000,0.078,2766,2101,3564,0,0,0,0,0,0
$STATE,3215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3215,begin apogee
$GC,3219,-0.25,0.0,349.4,13.0,515,3378,0.62,0.00,152.57,0.821,6,0.155,0.000,2962,1611,2761,0,0,0,0,0,0
$STATE,3378,end apogee,CONTROL_FINISHED_OK
$STATE,3379,begin climb
$GC,3380,1.02,194.6,358.2,0.0,537,3548,1.25,2.42,158.20,0.793,4,0.094,0.053,3384,194,1968,0,0,0,0,0,0
$GC,3638,0.85,194.6,338.1,13.5,575,3646,0.22,2.33,0.00,0.000,6,0.163,0.034,3326,1651,1963,0,0,0,0,0,0
$GC,3751,0.78,194.6,326.0,10.9,594,3761,0.10,0.00,0.00,0.000,6,0.192,0.000,3302,1658,1961,0,0,0,0,0,0
$GC,3867,0.74,194.8,314.7,10.0,613,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1658,1961,0,0,0,0,0,0
$GC,3979,0.69,194.8,302.4,12.2,632,3988,0.10,2.22,0.00,0.000,4,0.183,0.059,3276,3008,1961,0,0,0,0,0,0
$GC,4025,0.67,194.8,297.5,12.0,639,4033,0.08,2.30,0.00,0.000,6,0.192,0.064,3268,1597,1960,0,0,0,0,0,0
$GC,4138,0.73,245.1,287.0,8.3,658,4191,0.00,2.35,42.10,0.773,4,0.000,0.059,3277,222,1760,0,0,0,0,0,0
$GC,4199,0.77,260.8,281.3,9.5,666,4223,0.03,2.28,14.62,0.717,6,0.097,0.037,3302,1608,1697,0,0,0,0,0,0
$GC,4328,0.77,260.8,267.8,10.2,687,4335,0.00,2.33,0.00,0.000,4,0.000,0.062,3302,3028,1692,0,0,0,0,0,0
$GC,4383,0.75,260.8,261.6,11.2,696,4393,0.05,2.35,0.00,0.000,6,0.148,0.064,3294,1624,1692,0,0,0,0,0,0
$GC,4499,0.75,260.8,248.9,11.1,715,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1624,1690,0,0,0,0,0,0
$GC,4610,0.76,269.7,237.5,9.7,734,4626,0.00,2.33,7.88,0.667,4,0.000,0.057,3305,205,1662,0,0,0,0,0,0
$GC,4657,0.76,269.7,232.4,11.5,741,4665,0.00,2.22,0.00,0.000,6,0.000,0.036,3305,1620,1660,0,0,0,0,0,0
$GC,4770,0.77,278.0,220.4,9.7,760,4786,0.00,0.00,8.68,0.643,6,0.000,0.000,3305,1621,1627,0,0,0,0,0,0
$GC,4891,0.77,278.0,207.4,11.2,780,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1621,1624,0,0,0,0,0,0
$GC,5005,0.77,278.0,194.8,11.0,799,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1621,1624,0,0,0,0,0,0
$GC,5116,0.77,278.0,181.8,12.3,818,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1621,1623,0,0,0,0,0,0
$GC,5231,0.77,278.0,168.3,12.3,837,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1621,1623,0,0,0,0,0,0
$GC,5344,0.77,278.0,154.7,12.1,856,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1621,1623,0,0,0,0,0,0
$GC,5458,0.77,278.0,140.7,12.4,875,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1621,1623,0,0,0,0,0,0
$GC,5570,0.77,278.0,126.1,13.3,894,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1621,1622,0,0,0,0,0,0
$GC,5684,0.77,278.0,111.9,12.4,913,5692,0.00,2.22,0.00,0.000,4,0.000,0.060,3305,3028,1621,0,0,0,0,0,0
$GC,5717,0.77,278.0,107.5,12.8,918,5726,0.03,2.28,0.00,0.000,6,0.173,0.055,3304,1617,1622,0,0,0,0,0,0
$GC,5832,0.77,278.0,94.2,11.8,937,5839,0.00,2.25,0.00,0.000,4,0.000,0.058,3314,205,1621,0,0,0,0,0,0
$GC,5870,0.74,278.0,89.3,12.4,943,5878,0.05,2.22,0.00,0.000,6,0.138,0.035,3285,1624,1621,0,0,0,0,0,0
$GC,5984,0.77,278.0,76.3,11.5,962,5993,0.00,2.22,0.00,0.000,4,0.000,0.057,3285,3016,1621,0,0,0,0,0,0
$GC,6029,0.77,278.0,71.1,12.0,969,6037,0.00,2.25,0.00,0.000,6,0.000,0.057,3294,1622,1621,0,0,0,0,0,0
$GC,6141,0.77,278.0,58.1,11.9,988,6150,0.00,2.30,0.00,0.000,4,0.000,0.059,3305,206,1621,0,0,0,0,0,0
$GC,6186,0.77,278.0,53.3,10.4,995,6193,0.00,2.20,0.00,0.000,6,0.000,0.037,3305,1631,1620,0,0,0,0,0,0
$GC,6298,0.77,278.0,42.0,10.5,1014,6307,0.00,2.25,0.00,0.000,4,0.000,0.062,3305,3027,1620,0,0,0,0,0,0
$GC,6391,0.77,278.0,31.9,11.0,1029,6399,0.05,2.25,0.00,0.000,6,0.217,0.057,3302,1602,1620,0,0,0,0,0,0
$GC,6514,0.90,366.9,22.6,6.9,1048,6567,0.12,2.35,47.17,0.599,4,0.085,0.057,3375,209,1264,0,0,0,0,0,0
$GC,6644,0.87,366.9,7.1,13.6,1066,6654,0.12,2.25,0.00,0.000,6,0.132,0.037,3333,1615,1255,0,0,0,0,0,0
$STATE,6680,end climb,SURFACE_DEPTH_REACHED
$STATE,6680,begin surface coast
$FINISH,1.3,1.010399
$STATE,6707,end surface coast,CONTROL_FINISHED_OK
$STATE,6707,begin surface
$SM_CCo,6783,0.00,0.000,0,0,1250,370.89
$SM_GC,2.09,8.77,0.00,0.00,0.050,0.000,0.000,84,2081,1250,-9.17,-0.23,370.89
$IRIDIUM_FIX,-3419.93,2545.92,180208,212146
$TT8_MAMPS,0.026964
$HUMID,59.52
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.0,69.0
$24V_AH,23.9,6.539
$10V_AH,10.3,5.212
$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,23.875,124.175,431.225,0.000,0.000,32.845,40.986,306.792,5.500,0.000,34.025,2553.713,544.654,608.756,3461.187,121.206,0.000,1689.824,0.000,2729.303,0.000,37.041,0.000
$DEVICE_MAMPS,265.455,98.685,820.845,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.528,2775.321,1896.092,2999.291,0.000,0.000,0.000,0.000,0.000,0.000
$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,80522,1075
$CAP_FILE_SIZE,133162,0
$CFSIZE,2097086464,2088632320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.091,115.1,1
$GPS,240415,093905,-3425.871,2548.551,31,1.2,31,-27.8