version: 66.07.10.p01
glider: 573
mission: 9
dive: 196
start: 5 1 115 5 57 22
data:
$ID,573
$MISSION,9
$DIVE,196
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,5
$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,333
$T_MISSION,348
$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,175
$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,-14145.266
$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,3020
$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,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,2864
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$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,195
$GPS1,010515,054405,-3430.491,2550.008,37,1.0,37,-27.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-62.7
$GPS2,010515,055701,-3430.461,2549.941,41,1.5,41,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$TGT_RADIUS,3000.000
$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,313.8,44375,-16.9,-10.010
$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,-1.05,-170.3,0.0,0.0,0,71,0.00,0.00,-44.55,0.000,2,0.000,0.000,68,1922,2580,0,0,0,0,0,0
$GC,74,-1.05,-170.3,3.1,-3.4,5,117,11.35,0.00,-26.25,0.000,6,0.257,0.000,2672,1920,3561,0,0,0,0,0,0
$GC,195,-0.83,-170.3,22.1,-20.4,22,204,0.25,2.45,0.00,0.000,4,0.200,0.083,2740,501,3566,0,0,0,0,0,0
$GC,248,-0.71,-170.3,32.6,-18.2,30,258,0.17,2.60,0.00,0.000,6,0.181,0.103,2781,1921,3566,0,0,0,0,0,0
$GC,369,-0.69,-170.3,47.0,-11.9,49,377,0.05,2.40,0.00,0.000,4,0.267,0.093,2778,3346,3568,0,0,0,0,0,0
$GC,642,-0.69,-170.3,74.9,-10.4,94,652,0.03,2.50,0.00,0.000,6,0.146,0.094,2787,1929,3570,0,0,0,0,0,0
$GC,763,-0.69,-170.3,86.3,-9.3,113,770,0.00,2.47,0.00,0.000,4,0.000,0.095,2787,477,3571,0,0,0,0,0,0
$GC,782,-0.69,-170.3,88.5,-9.5,116,793,0.03,2.60,0.00,0.000,6,0.202,0.100,2785,1919,3572,0,0,0,0,0,0
$GC,904,-0.69,-170.3,100.5,-10.5,135,911,0.00,2.40,0.00,0.000,4,0.000,0.092,2774,3353,3572,0,0,0,0,0,0
$GC,1039,-0.69,-170.3,114.9,-10.5,157,1047,0.08,2.50,0.00,0.000,6,0.184,0.095,2789,1908,3573,0,0,0,0,0,0
$GC,1159,-0.69,-170.3,127.9,-10.7,176,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1907,3573,0,0,0,0,0,0
$GC,1280,-0.69,-170.3,140.2,-10.3,195,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1908,3573,0,0,0,0,0,0
$GC,1395,-0.69,-170.3,152.8,-10.7,214,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1908,3573,0,0,0,0,0,0
$GC,1515,-0.69,-170.3,165.4,-10.9,233,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1907,3574,0,0,0,0,0,0
$GC,1631,-0.69,-170.3,178.4,-11.0,252,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1908,3573,0,0,0,0,0,0
$GC,1750,-0.69,-170.3,191.6,-10.7,271,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1908,3573,0,0,0,0,0,0
$GC,1865,-0.69,-170.3,204.8,-11.1,290,1874,0.00,2.40,0.00,0.000,4,0.000,0.086,2790,487,3573,0,0,0,0,0,0
$GC,1889,-0.69,-170.3,207.1,-11.1,293,1896,0.05,2.45,0.00,0.000,6,0.256,0.081,2789,1926,3572,0,0,0,0,0,0
$GC,2009,-0.69,-170.3,220.4,-10.6,312,2019,0.00,2.45,0.00,0.000,4,0.000,0.103,2778,3341,3573,0,0,0,0,0,0
$GC,2081,-0.71,-170.3,227.9,-10.2,323,2089,0.00,2.55,0.00,0.000,6,0.000,0.113,2778,1911,3572,0,0,0,0,0,0
$GC,2199,-0.71,-170.3,240.5,-11.0,342,2208,0.00,2.40,0.00,0.000,4,0.000,0.089,2779,496,3572,0,0,0,0,0,0
$GC,2222,-0.71,-170.3,243.0,-11.2,345,2230,0.08,2.42,0.00,0.000,6,0.238,0.081,2781,1922,3571,0,0,0,0,0,0
$GC,2339,-0.71,-170.3,255.9,-10.6,364,2349,0.00,2.47,0.00,0.000,4,0.000,0.106,2771,3340,3571,0,0,0,0,0,0
$GC,2423,-0.71,-170.3,264.3,-10.1,377,2430,0.08,2.50,0.00,0.000,6,0.180,0.106,2787,1918,3570,0,0,0,0,0,0
$GC,2540,-0.71,-170.3,276.0,-10.0,396,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3570,0,0,0,0,0,0
$GC,2660,-0.71,-170.3,287.5,-9.9,415,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1918,3570,0,0,0,0,0,0
$GC,2776,-0.71,-170.3,298.9,-9.8,434,2785,0.00,2.42,0.00,0.000,4,0.000,0.090,2787,493,3570,0,0,0,0,0,0
$GC,2800,-0.71,-170.3,301.0,-9.9,437,2807,0.00,2.42,0.00,0.000,6,0.000,0.080,2778,1922,3570,0,0,0,0,0,0
$GC,2914,-0.71,-170.3,314.2,-10.3,456,2924,0.00,2.47,0.00,0.000,4,0.000,0.101,2767,3352,3569,0,0,0,0,0,0
$GC,2981,-0.71,-170.3,321.3,-10.2,466,2991,0.05,2.62,0.00,0.000,6,0.139,0.120,2783,1919,3568,0,0,0,0,0,0
$GC,3102,-0.71,-170.3,333.0,-9.9,485,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1920,3568,0,0,0,0,0,0
$GC,3217,-0.71,-170.3,345.3,-10.4,504,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1919,3568,0,0,0,0,0,0
$GC,3336,-0.71,-170.3,356.9,-9.5,523,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1920,3567,0,0,0,0,0,0
$GC,3452,-0.71,-170.3,368.5,-10.1,542,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1920,3567,0,0,0,0,0,0
$GC,3571,-0.71,-170.3,380.2,-10.0,561,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1919,3567,0,0,0,0,0,0
$GC,3688,-0.71,-170.3,392.3,-10.3,580,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1920,3566,0,0,0,0,0,0
$GC,3806,-0.71,-170.3,404.7,-10.7,599,3813,0.00,2.38,0.00,0.000,4,0.000,0.084,2783,484,3565,0,0,0,0,0,0
$GC,3838,-0.71,-170.3,408.6,-11.5,604,3849,0.05,2.45,0.00,0.000,6,0.214,0.077,2786,1917,3566,0,0,0,0,0,0
$GC,3959,-0.71,-170.3,421.6,-10.5,623,3966,0.00,2.50,0.00,0.000,4,0.000,0.114,2776,3349,3565,0,0,0,0,0,0
$GC,4029,-0.74,-170.3,429.6,-11.5,634,4041,0.00,2.65,0.00,0.000,6,0.000,0.125,2776,1921,3564,0,0,0,0,0,0
$GC,4152,-0.74,-170.3,443.4,-10.8,653,4159,0.00,2.38,0.00,0.000,4,0.000,0.085,2776,483,3564,0,0,0,0,0,0
$GC,4180,-0.74,-170.3,446.7,-12.0,657,4187,0.00,2.40,0.00,0.000,6,0.000,0.073,2767,1920,3564,0,0,0,0,0,0
$GC,4296,-0.74,-170.3,459.9,-11.2,676,4309,0.00,2.50,0.00,0.000,4,0.000,0.109,2756,3343,3563,0,0,0,0,0,0
$GC,4365,-0.74,-170.3,467.9,-11.0,686,4375,0.05,2.62,0.00,0.000,6,0.141,0.122,2770,1922,3563,0,0,0,0,0,0
$GC,4488,-0.74,-170.3,480.8,-12.1,705,4495,0.00,2.42,0.00,0.000,4,0.000,0.089,2771,473,3563,0,0,0,0,0,0
$GC,4520,-0.74,-170.3,484.9,-11.6,710,4530,0.05,2.42,0.00,0.000,6,0.203,0.069,2775,1913,3563,0,0,0,0,0,0
$GC,4639,-0.74,-170.3,497.2,-10.6,729,4647,0.00,2.55,0.00,0.000,4,0.000,0.122,2765,3343,3563,0,0,0,0,0,0
$GC,4692,-0.74,-170.3,502.8,-10.8,737,4700,0.05,2.62,0.00,0.000,6,0.174,0.128,2775,1915,3562,0,0,0,0,0,0
$GC,4810,-0.74,-170.3,515.5,-10.1,756,4820,0.00,2.40,0.00,0.000,4,0.000,0.083,2775,490,3562,0,0,0,0,0,0
$GC,4834,-0.74,-170.3,518.0,-10.7,759,4841,0.00,2.40,0.00,0.000,6,0.000,0.073,2767,1920,3562,0,0,0,0,0,0
$GC,4952,-0.74,-170.3,531.4,-12.1,778,4960,0.00,2.53,0.00,0.000,4,0.000,0.114,2755,3334,3561,0,0,0,0,0,0
$GC,5023,-0.74,-170.3,539.2,-10.8,789,5032,0.10,2.62,0.00,0.000,6,0.177,0.129,2777,1919,3561,0,0,0,0,0,0
$GC,5142,-0.74,-170.3,552.6,-10.6,808,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1919,3561,0,0,0,0,0,0
$GC,5264,-0.74,-170.3,565.9,-11.2,827,5271,0.00,2.40,0.00,0.000,4,0.000,0.090,2778,481,3561,0,0,0,0,0,0
$GC,5284,-0.74,-170.3,568.5,-11.4,830,5294,0.00,2.45,0.00,0.000,6,0.000,0.073,2768,1922,3560,0,0,0,0,0,0
$GC,5403,-0.74,-170.3,582.2,-12.0,849,5410,0.00,2.50,0.00,0.000,4,0.000,0.116,2758,3339,3561,0,0,0,0,0,0
$GC,5467,-0.74,-170.3,589.5,-11.1,859,5475,0.10,2.62,0.00,0.000,6,0.185,0.128,2779,1918,3560,0,0,0,0,0,0
$GC,5586,-0.74,-170.3,602.6,-11.3,878,5594,0.00,2.42,0.00,0.000,4,0.000,0.085,2779,487,3560,0,0,0,0,0,0
$GC,5621,-0.74,-170.3,606.3,-11.4,883,5628,0.00,2.40,0.00,0.000,6,0.000,0.070,2770,1927,3560,0,0,0,0,0,0
$GC,5736,-0.74,-170.3,619.3,-10.4,902,5749,0.00,2.55,0.00,0.000,4,0.000,0.121,2759,3330,3559,0,0,0,0,0,0
$GC,5787,-0.74,-170.3,624.4,-9.6,909,5795,0.08,2.62,0.00,0.000,6,0.177,0.130,2773,1917,3559,0,0,0,0,0,0
$GC,5906,-0.74,-170.3,636.9,-10.2,928,5915,0.00,2.42,0.00,0.000,4,0.000,0.085,2774,489,3559,0,0,0,0,0,0
$GC,5942,-0.74,-170.3,640.9,-11.8,933,5950,0.05,2.38,0.00,0.000,6,0.248,0.069,2773,1920,3559,0,0,0,0,0,0
$GC,6061,-0.74,-170.3,654.6,-11.7,952,6071,0.00,2.58,0.00,0.000,4,0.000,0.125,2763,3330,3559,0,0,0,0,0,0
$STATE,6115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6116,begin apogee
$GC,6123,-0.25,0.0,660.7,12.3,960,6271,0.57,0.00,138.70,1.027,6,0.183,0.000,2929,1758,2863,0,0,0,0,0,0
$STATE,6272,end apogee,CONTROL_FINISHED_OK
$STATE,6272,begin climb
$GC,6274,1.05,170.3,668.3,0.0,980,6430,1.33,0.00,143.25,0.994,6,0.110,0.000,3349,1758,2168,0,0,0,0,0,0
$GC,6540,0.96,170.3,649.1,10.1,1019,6548,0.08,2.42,0.00,0.000,4,0.177,0.057,3344,332,2164,0,0,0,0,0,0
$GC,6581,0.86,170.3,644.8,10.6,1025,6589,0.15,2.35,0.00,0.000,6,0.166,0.035,3304,1765,2163,0,0,0,0,0,0
$GC,6699,0.86,187.5,633.9,9.3,1044,6723,0.00,0.00,15.68,0.916,6,0.000,0.000,3304,1766,2098,0,0,0,0,0,0
$GC,6834,0.87,194.4,620.7,9.7,1065,6850,0.00,2.38,7.38,0.811,4,0.000,0.067,3304,3167,2070,0,0,0,0,0,0
$GC,6893,0.83,194.4,614.6,10.3,1074,6903,0.08,2.50,0.00,0.000,6,0.152,0.083,3290,1756,2069,0,0,0,0,0,0
$GC,7014,0.85,204.6,603.8,9.6,1093,7030,0.00,2.42,10.32,0.849,4,0.000,0.057,3300,330,2030,0,0,0,0,0,0
$GC,7096,0.85,204.6,595.5,10.4,1106,7105,0.00,2.35,0.00,0.000,6,0.000,0.037,3300,1762,2028,0,0,0,0,0,0
$GC,7215,0.86,213.6,584.4,9.7,1125,7231,0.00,2.38,9.20,0.829,4,0.000,0.054,3308,329,1994,0,0,0,0,0,0
$GC,7270,0.86,213.6,578.8,10.2,1133,7277,0.00,2.30,0.00,0.000,6,0.000,0.035,3309,1761,1992,0,0,0,0,0,0
$GC,7387,0.86,213.6,566.9,10.8,1152,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1761,1991,0,0,0,0,0,0
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$STATE,12664,end climb,SURFACE_DEPTH_REACHED
$STATE,12664,begin surface coast
$FINISH,1.4,1.021196
$STATE,12684,end surface coast,CONTROL_FINISHED_OK
$STATE,12684,begin surface
$SM_CCo,12763,0.00,0.000,0,0,1489,337.28
$SM_GC,2.35,8.90,0.00,0.00,0.055,0.000,0.000,69,1929,1489,-9.10,0.28,337.28
$IRIDIUM_FIX,-3417.32,2550.63,250208,151518
$TT8_MAMPS,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,660.7,7.4
$24V_AH,23.3,21.109
$10V_AH,10.2,18.293
$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,24.550,185.200,426.150,0.000,0.000,22.148,43.512,515.591,16.000,0.000,44.707,4805.524,1372.151,819.237,6190.748,318.519,0.000,2643.651,0.000,4989.774,0.000,101.040,0.000
$DEVICE_MAMPS,266.985,130.815,1027.395,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1374.943,5094.006,3405.231,5511.466,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331388
$DATA_FILE_SIZE,144113,1999
$CAP_FILE_SIZE,232447,0
$CFSIZE,2097086464,2071429120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.106,334.5,1
$GPS,010515,093105,-3429.100,2547.297,27,1.0,28,-27.9