version: 66.07.10.p01
glider: 573
mission: 9
dive: 197
start: 5 1 115 9 42 58
data:
$ID,573
$MISSION,9
$DIVE,197
$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,-14148.724
$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,23
$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,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,196
$GPS1,010515,093105,-3429.100,2547.297,27,1.0,28,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-65.3
$GPS2,010515,094235,-3429.061,2547.274,32,0.9,32,-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,294.6,39767,-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,-43.60,0.000,2,0.000,0.000,68,1929,2546,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.0,-3.2,5,118,11.35,0.00,-29.88,0.000,6,0.257,0.000,2670,1927,3560,0,0,0,0,0,0
$GC,196,-0.82,-170.3,21.5,-22.4,22,205,0.28,2.47,0.00,0.000,4,0.202,0.088,2746,511,3566,0,0,0,0,0,0
$GC,249,-0.71,-170.3,31.4,-16.4,30,259,0.15,2.58,0.00,0.000,6,0.177,0.102,2779,1918,3567,0,0,0,0,0,0
$GC,365,-0.71,-170.3,45.3,-11.5,49,373,0.00,2.45,0.00,0.000,4,0.000,0.096,2769,3347,3568,0,0,0,0,0,0
$GC,484,-0.71,-170.3,59.3,-11.2,69,494,0.08,2.50,0.00,0.000,6,0.183,0.099,2784,1933,3570,0,0,0,0,0,0
$GC,599,-0.71,-170.3,71.8,-10.3,88,608,0.00,2.58,0.00,0.000,4,0.000,0.109,2784,488,3571,0,0,0,0,0,0
$GC,633,-0.71,-170.3,75.3,-11.0,93,641,0.00,2.60,0.00,0.000,6,0.000,0.107,2775,1926,3571,0,0,0,0,0,0
$GC,747,-0.71,-170.3,87.3,-10.0,112,756,0.00,2.40,0.00,0.000,4,0.000,0.090,2764,3336,3572,0,0,0,0,0,0
$GC,839,-0.71,-170.3,97.2,-10.5,127,847,0.10,2.47,0.00,0.000,6,0.180,0.095,2786,1912,3573,0,0,0,0,0,0
$GC,956,-0.71,-170.3,109.5,-11.1,146,968,0.00,2.47,0.00,0.000,4,0.000,0.090,2777,3347,3574,0,0,0,0,0,0
$GC,1004,-0.71,-170.3,114.8,-11.1,153,1013,0.00,2.53,0.00,0.000,6,0.000,0.105,2777,1920,3573,0,0,0,0,0,0
$GC,1121,-0.71,-170.3,127.6,-11.1,172,1129,0.00,2.50,0.00,0.000,4,0.000,0.098,2777,484,3574,0,0,0,0,0,0
$GC,1149,-0.71,-170.3,131.0,-11.3,176,1159,0.05,2.47,0.00,0.000,6,0.210,0.080,2781,1918,3574,0,0,0,0,0,0
$GC,1267,-0.71,-170.3,143.9,-11.4,195,1274,0.00,2.40,0.00,0.000,4,0.000,0.094,2770,3344,3573,0,0,0,0,0,0
$GC,1341,-0.71,-170.3,152.8,-12.1,207,1349,0.08,2.50,0.00,0.000,6,0.175,0.102,2784,1921,3574,0,0,0,0,0,0
$GC,1455,-0.71,-170.3,165.7,-11.2,226,1464,0.00,2.47,0.00,0.000,4,0.000,0.094,2785,487,3574,0,0,0,0,0,0
$GC,1478,-0.71,-170.3,168.3,-11.8,229,1486,0.00,2.50,0.00,0.000,6,0.000,0.093,2776,1919,3574,0,0,0,0,0,0
$GC,1593,-0.71,-170.3,182.2,-12.3,248,1602,0.00,2.42,0.00,0.000,4,0.000,0.092,2765,3343,3574,0,0,0,0,0,0
$GC,1674,-0.71,-170.3,191.2,-11.0,261,1683,0.10,2.50,0.00,0.000,6,0.184,0.102,2787,1916,3573,0,0,0,0,0,0
$GC,1788,-0.71,-170.3,203.8,-10.8,280,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1916,3573,0,0,0,0,0,0
$GC,1902,-0.71,-170.3,215.6,-11.0,299,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1916,3573,0,0,0,0,0,0
$GC,2016,-0.71,-170.3,227.3,-10.6,318,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1916,3573,0,0,0,0,0,0
$GC,2132,-0.71,-170.3,239.2,-10.0,337,2141,0.00,2.42,0.00,0.000,4,0.000,0.094,2787,481,3572,0,0,0,0,0,0
$GC,2172,-0.71,-170.3,243.7,-11.1,343,2179,0.00,2.47,0.00,0.000,6,0.000,0.087,2778,1919,3572,0,0,0,0,0,0
$GC,2285,-0.71,-170.3,256.4,-11.9,362,2294,0.00,2.42,0.00,0.000,4,0.000,0.093,2768,3349,3571,0,0,0,0,0,0
$GC,2378,-0.71,-170.3,267.1,-11.8,377,2387,0.08,2.58,0.00,0.000,6,0.176,0.114,2782,1911,3571,0,0,0,0,0,0
$GC,2497,-0.71,-170.3,280.1,-10.7,396,2506,0.00,2.42,0.00,0.000,4,0.000,0.089,2783,487,3571,0,0,0,0,0,0
$GC,2531,-0.71,-170.3,284.1,-11.3,401,2539,0.00,2.45,0.00,0.000,6,0.000,0.082,2774,1922,3571,0,0,0,0,0,0
$GC,2646,-0.71,-170.3,297.7,-11.3,420,2655,0.00,2.42,0.00,0.000,4,0.000,0.096,2763,3342,3570,0,0,0,0,0,0
$GC,2717,-0.71,-170.3,305.6,-10.9,431,2725,0.10,2.55,0.00,0.000,6,0.182,0.115,2785,1920,3570,0,0,0,0,0,0
$GC,2832,-0.71,-170.3,318.0,-10.4,450,2841,0.00,2.45,0.00,0.000,4,0.000,0.090,2785,484,3570,0,0,0,0,0,0
$GC,2862,-0.71,-170.3,321.4,-10.8,454,2871,0.00,2.47,0.00,0.000,6,0.000,0.081,2776,1914,3570,0,0,0,0,0,0
$GC,2978,-0.71,-170.3,333.8,-10.5,473,2986,0.00,2.42,0.00,0.000,4,0.000,0.100,2765,3346,3570,0,0,0,0,0,0
$GC,3046,-0.71,-170.3,341.6,-10.8,484,3055,0.05,2.62,0.00,0.000,6,0.151,0.119,2780,1919,3569,0,0,0,0,0,0
$GC,3163,-0.71,-170.3,353.8,-11.0,503,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3568,0,0,0,0,0,0
$GC,3276,-0.71,-170.3,366.1,-10.9,522,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3568,0,0,0,0,0,0
$GC,3389,-0.71,-170.3,378.1,-10.7,541,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3568,0,0,0,0,0,0
$GC,3502,-0.71,-170.3,390.4,-10.7,560,3511,0.00,2.42,0.00,0.000,4,0.000,0.090,2780,490,3568,0,0,0,0,0,0
$GC,3529,-0.71,-170.3,393.5,-11.1,564,3539,0.03,2.45,0.00,0.000,6,0.216,0.079,2778,1917,3567,0,0,0,0,0,0
$GC,3647,-0.71,-170.3,406.1,-11.5,583,3654,0.00,2.47,0.00,0.000,4,0.000,0.112,2768,3350,3567,0,0,0,0,0,0
$GC,3711,-0.71,-170.3,413.0,-10.7,593,3720,0.08,2.62,0.00,0.000,6,0.170,0.126,2783,1919,3566,0,0,0,0,0,0
$GC,3826,-0.71,-170.3,425.1,-10.3,612,3835,0.00,2.42,0.00,0.000,4,0.000,0.090,2783,488,3566,0,0,0,0,0,0
$GC,3853,-0.71,-170.3,428.1,-10.8,616,3862,0.00,2.45,0.00,0.000,6,0.000,0.076,2774,1919,3566,0,0,0,0,0,0
$GC,3969,-0.71,-170.3,441.1,-11.0,635,3976,0.03,2.50,0.00,0.000,4,0.296,0.113,2770,3347,3566,0,0,0,0,0,0
$GC,4031,-0.71,-170.3,447.8,-10.7,645,4040,0.08,2.67,0.00,0.000,6,0.180,0.132,2785,1907,3565,0,0,0,0,0,0
$GC,4147,-0.71,-170.3,460.0,-10.9,664,4159,0.00,2.38,0.00,0.000,4,0.000,0.083,2786,496,3566,0,0,0,0,0,0
$GC,4173,-0.71,-170.3,462.7,-10.5,667,4180,0.00,2.38,0.00,0.000,6,0.000,0.073,2776,1920,3565,0,0,0,0,0,0
$GC,4288,-0.71,-170.3,475.3,-10.7,686,4297,0.00,2.50,0.00,0.000,4,0.000,0.109,2766,3341,3565,0,0,0,0,0,0
$GC,4346,-0.71,-170.3,481.3,-10.5,695,4354,0.08,2.62,0.00,0.000,6,0.184,0.131,2781,1922,3564,0,0,0,0,0,0
$GC,4461,-0.71,-170.3,492.9,-9.8,714,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1922,3564,0,0,0,0,0,0
$GC,4576,-0.71,-170.3,504.5,-10.3,733,4583,0.00,2.40,0.00,0.000,4,0.000,0.089,2781,486,3564,0,0,0,0,0,0
$GC,4604,-0.71,-170.3,507.4,-10.6,737,4612,0.05,2.40,0.00,0.000,6,0.246,0.070,2780,1925,3564,0,0,0,0,0,0
$GC,4720,-0.71,-170.3,519.5,-10.5,756,4732,0.00,2.55,0.00,0.000,4,0.000,0.121,2770,3336,3564,0,0,0,0,0,0
$GC,4793,-0.74,-170.3,527.3,-11.1,767,4801,0.00,2.65,0.00,0.000,6,0.000,0.132,2770,1908,3563,0,0,0,0,0,0
$GC,4907,-0.74,-170.3,539.7,-10.6,786,4921,0.00,2.40,0.00,0.000,4,0.000,0.088,2769,496,3564,0,0,0,0,0,0
$GC,4948,-0.74,-170.3,544.2,-11.9,791,4955,0.08,2.35,0.00,0.000,6,0.229,0.063,2773,1925,3563,0,0,0,0,0,0
$GC,5060,-0.74,-170.3,556.4,-10.0,810,5070,0.00,2.58,0.00,0.000,4,0.000,0.125,2764,3333,3563,0,0,0,0,0,0
$STATE,5110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5110,begin apogee
$GC,5117,-0.25,0.0,561.7,10.0,818,5261,0.57,0.00,137.90,0.964,6,0.176,0.000,2931,1759,2863,0,0,0,0,0,0
$STATE,5262,end apogee,CONTROL_FINISHED_OK
$STATE,5262,begin climb
$GC,5264,1.05,170.3,567.8,0.0,837,5418,1.30,2.50,141.48,0.926,4,0.108,0.055,3357,328,2167,0,0,0,0,0,0
$GC,5485,0.93,170.3,551.1,10.7,869,5493,0.12,2.38,0.00,0.000,6,0.164,0.034,3326,1766,2164,0,0,0,0,0,0
$GC,5599,0.90,182.0,539.3,9.5,888,5617,0.08,2.42,10.60,0.815,4,0.206,0.063,3310,3175,2120,0,0,0,0,0,0
$GC,5650,0.87,199.9,534.7,9.3,895,5674,0.08,2.50,17.30,0.859,6,0.203,0.081,3305,1747,2047,0,0,0,0,0,0
$GC,5779,0.91,229.9,523.0,8.8,916,5817,0.00,2.42,27.10,0.882,4,0.000,0.057,3315,340,1924,0,0,0,0,0,0
$GC,5905,0.89,229.9,510.4,10.5,936,5914,0.00,2.35,0.00,0.000,6,0.000,0.036,3314,1763,1920,0,0,0,0,0,0
$GC,6019,0.89,229.9,499.2,10.3,955,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1764,1919,0,0,0,0,0,0
$GC,6133,0.89,231.4,487.8,10.0,974,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1763,1919,0,0,0,0,0,0
$GC,6247,0.89,231.4,476.2,10.3,993,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1764,1918,0,0,0,0,0,0
$GC,6359,0.89,231.4,464.3,10.3,1012,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1764,1918,0,0,0,0,0,0
$GC,6474,0.90,244.7,452.9,9.5,1031,6497,0.00,2.38,13.15,0.835,4,0.000,0.054,3324,342,1865,0,0,0,0,0,0
$GC,6517,0.90,244.7,448.4,10.6,1037,6525,0.00,2.28,0.00,0.000,6,0.000,0.036,3324,1768,1864,0,0,0,0,0,0
$GC,6632,0.90,244.7,436.4,10.2,1056,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1768,1863,0,0,0,0,0,0
$GC,6746,0.90,244.7,424.8,10.3,1075,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1768,1861,0,0,0,0,0,0
$GC,6858,0.90,244.7,413.4,10.1,1094,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1768,1861,0,0,0,0,0,0
$GC,6973,0.92,254.7,402.2,9.6,1113,6989,0.00,0.00,9.85,0.789,6,0.000,0.000,3324,1768,1825,0,0,0,0,0,0
$GC,7095,0.93,263.7,390.2,9.7,1133,7112,0.00,2.35,9.07,0.742,4,0.000,0.050,3333,327,1791,0,0,0,0,0,0
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$STATE,10747,end climb,SURFACE_DEPTH_REACHED
$STATE,10747,begin surface coast
$FINISH,1.5,1.021881
$STATE,10782,end surface coast,CONTROL_FINISHED_OK
$STATE,10782,begin surface
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$SM_GC,2.33,8.85,0.00,0.00,0.057,0.000,0.000,70,1928,1499,-9.10,0.25,334.83
$IRIDIUM_FIX,-3414.71,2547.13,250208,191947
$TT8_MAMPS,0.026964
$HUMID,60.15
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,540.4,36.3
$24V_AH,23.5,21.250
$10V_AH,10.2,18.549
$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
$DEVICE_SECS,24.400,203.975,419.975,0.000,0.000,25.748,43.874,443.450,12.750,0.000,34.346,4176.968,884.592,786.407,5390.331,284.880,0.000,2416.554,0.000,4343.511,0.000,80.030,0.000
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$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331432
$DATA_FILE_SIZE,127044,1733
$CAP_FILE_SIZE,209154,0
$CFSIZE,2097086464,2071298048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.208,291.7,1
$GPS,010515,124505,-3428.580,2543.869,34,1.3,34,-27.8