version: 66.07.10.p01
glider: 573
mission: 9
dive: 353
start: 5 8 115 16 53 26
data:
$ID,573
$MISSION,9
$DIVE,353
$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,611.52295
$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,-14650.305
$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,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$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,12
$R_STBD_OVSHOOT,8
$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,2902
$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,352
$GPS1,080515,164459,-3435.243,2526.741,40,2.0,41,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.4
$GPS2,080515,165253,-3435.330,2526.471,45,1.4,46,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,130.1,3309,-18.4,-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,-1.09,-144.6,0.0,0.0,0,111,0.00,0.00,-83.72,0.000,2,0.000,0.000,67,1942,2542,0,0,0,0,0,0
$GC,114,-1.12,-170.3,3.2,-3.4,10,159,11.27,2.58,-25.95,0.000,4,0.252,0.103,2659,496,3599,0,0,0,0,0,0
$GC,214,-0.89,-170.3,24.1,-29.2,24,224,0.32,2.60,0.00,0.000,6,0.210,0.098,2735,1922,3602,0,0,0,0,0,0
$GC,368,-0.80,-170.3,51.0,-17.1,49,375,0.15,2.50,0.00,0.000,4,0.190,0.103,2762,3349,3603,0,0,0,0,0,0
$GC,417,-0.80,-170.3,58.7,-13.8,57,426,0.00,2.47,0.00,0.000,6,0.000,0.084,2762,1925,3603,0,0,0,0,0,0
$GC,776,-0.84,-170.3,106.0,-10.6,114,781,0.00,2.58,0.00,0.000,4,0.000,0.112,2762,483,3606,0,0,0,0,0,0
$GC,820,-0.84,-170.3,111.4,-11.7,117,828,0.00,2.55,0.00,0.000,6,0.000,0.088,2752,1919,3606,0,0,0,0,0,0
$GC,1146,-0.84,-170.3,151.8,-13.2,148,1150,0.00,2.45,0.00,0.000,4,0.000,0.099,2741,3354,3608,0,0,0,0,0,0
$GC,1278,-0.84,-170.3,169.2,-13.1,159,1283,0.05,2.53,0.00,0.000,6,0.112,0.099,2757,1917,3607,0,0,0,0,0,0
$GC,1608,-0.84,-170.3,214.3,-13.9,190,1612,0.00,2.50,0.00,0.000,4,0.000,0.099,2757,471,3608,0,0,0,0,0,0
$GC,1639,-0.84,-170.3,219.1,-14.7,192,1649,0.00,2.50,0.00,0.000,6,0.000,0.078,2748,1918,3608,0,0,0,0,0,0
$GC,1965,-0.84,-170.3,265.3,-13.1,223,1970,0.05,2.53,0.00,0.000,4,0.246,0.113,2748,3343,3607,0,0,0,0,0,0
$GC,2133,-0.86,-170.3,286.1,-13.3,237,2137,0.00,2.47,0.00,0.000,6,0.000,0.093,2748,1917,3606,0,0,0,0,0,0
$GC,2458,-0.86,-170.3,327.6,-12.9,267,2462,0.00,2.45,0.00,0.000,4,0.000,0.094,2748,483,3605,0,0,0,0,0,0
$GC,2489,-0.86,-170.3,331.6,-14.4,269,2494,0.08,2.45,0.00,0.000,6,0.214,0.077,2753,1923,3606,0,0,0,0,0,0
$GC,2814,-0.86,-170.3,372.0,-12.3,299,2819,0.00,2.53,0.00,0.000,4,0.000,0.115,2743,3335,3605,0,0,0,0,0,0
$GC,3035,-0.89,-170.3,397.8,-11.7,318,3039,0.00,2.53,0.00,0.000,6,0.000,0.103,2743,1907,3603,0,0,0,0,0,0
$GC,3351,-0.89,-170.3,437.3,-13.0,334,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1907,3602,0,0,0,0,0,0
$GC,3660,-0.89,-170.3,479.3,-13.8,349,3665,0.00,2.42,0.00,0.000,4,0.000,0.092,2743,484,3601,0,0,0,0,0,0
$GC,3705,-0.89,-170.3,486.0,-14.9,351,3710,0.00,2.42,0.00,0.000,6,0.000,0.071,2733,1923,3601,0,0,0,0,0,0
$GC,4034,-0.89,-170.3,536.1,-15.0,367,4038,0.00,2.55,0.00,0.000,4,0.000,0.116,2722,3336,3599,0,0,0,0,0,0
$GC,4185,-0.89,-170.3,559.4,-15.0,374,4190,0.05,2.53,0.00,0.000,6,0.156,0.106,2738,1920,3598,0,0,0,0,0,0
$GC,4517,-0.89,-170.3,606.2,-14.0,390,4521,0.00,2.42,0.00,0.000,4,0.000,0.084,2739,480,3598,0,0,0,0,0,0
$GC,4572,-0.89,-170.3,614.4,-14.2,392,4580,0.08,2.42,0.00,0.000,6,0.223,0.067,2743,1917,3598,0,0,0,0,0,0
$GC,4890,-0.89,-170.3,657.3,-13.4,408,4894,0.00,2.53,0.00,0.000,4,0.000,0.115,2733,3336,3597,0,0,0,0,0,0
$GC,5033,-0.89,-170.3,677.4,-13.2,414,5042,0.00,2.55,0.00,0.000,6,0.000,0.105,2733,1926,3596,0,0,0,0,0,0
$GC,5350,-0.89,-170.3,719.9,-13.7,430,5355,0.00,2.45,0.00,0.000,4,0.000,0.092,2733,468,3596,0,0,0,0,0,0
$GC,5410,-0.89,-170.3,728.7,-14.3,432,5418,0.10,2.42,0.00,0.000,6,0.220,0.063,2744,1931,3595,0,0,0,0,0,0
$GC,5726,-0.89,-170.3,769.5,-12.6,448,5735,0.00,2.50,0.00,0.000,4,0.000,0.120,2734,3322,3594,0,0,0,0,0,0
$STATE,5887,end dive,NO_VERTICAL_VELOCITY
$STATE,5887,begin apogee
$GC,5894,-0.25,0.0,770.8,0.0,455,6035,0.70,0.00,137.20,1.101,6,0.145,0.000,2947,1753,2903,0,0,0,0,0,0
$STATE,6036,end apogee,CONTROL_FINISHED_OK
$STATE,6036,begin climb
$GC,6038,1.12,170.3,770.7,0.0,462,6196,1.40,2.55,148.73,1.062,4,0.109,0.053,3396,334,2207,0,0,0,0,0,0
$GC,6280,0.96,170.3,758.7,11.5,473,6286,0.20,2.40,0.00,0.000,6,0.164,0.034,3346,1766,2204,0,0,0,0,0,0
$GC,6603,0.92,201.0,730.9,8.6,489,6638,0.08,2.47,27.17,1.027,4,0.226,0.050,3342,326,2081,0,0,0,0,0,0
$GC,6678,0.86,211.9,724.2,9.5,492,6695,0.12,2.35,11.07,0.934,6,0.181,0.038,3312,1756,2037,0,0,0,0,0,0
$GC,7016,0.89,235.9,695.1,8.9,509,7041,0.00,0.00,22.33,0.997,6,0.000,0.000,3312,1756,1939,0,0,0,0,0,0
$GC,7346,0.92,259.2,664.2,8.9,525,7369,0.00,0.00,21.30,0.982,6,0.000,0.000,3312,1756,1845,0,0,0,0,0,0
$GC,7675,0.92,259.8,632.4,10.0,541,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1756,1842,0,0,0,0,0,0
$GC,7984,0.92,259.8,599.8,10.5,556,7988,0.00,2.30,0.00,0.000,4,0.000,0.051,3322,328,1841,0,0,0,0,0,0
$GC,8017,0.92,259.8,596.2,10.5,557,8021,0.00,2.33,0.00,0.000,6,0.000,0.038,3321,1759,1842,0,0,0,0,0,0
$GC,8339,0.92,259.8,562.7,10.7,573,8343,0.00,2.35,0.00,0.000,4,0.000,0.056,3331,319,1841,0,0,0,0,0,0
$GC,8371,0.90,259.8,558.9,11.6,574,8380,0.00,2.33,0.00,0.000,6,0.000,0.043,3331,1765,1841,0,0,0,0,0,0
$GC,8687,0.90,259.8,524.3,10.9,590,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1765,1841,0,0,0,0,0,0
$GC,8997,0.90,259.8,490.1,11.4,605,9001,0.00,2.35,0.00,0.000,4,0.000,0.057,3340,323,1840,0,0,0,0,0,0
$GC,9046,0.86,259.8,484.0,12.6,607,9051,0.10,2.30,0.00,0.000,6,0.171,0.043,3314,1759,1840,0,0,0,0,0,0
$GC,9368,0.86,259.8,449.7,10.6,623,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1759,1840,0,0,0,0,0,0
$GC,9677,0.86,259.8,417.3,10.4,638,9681,0.00,2.30,0.00,0.000,4,0.000,0.051,3324,319,1839,0,0,0,0,0,0
$GC,9742,0.86,259.8,410.4,10.2,641,9747,0.03,2.33,0.00,0.000,6,0.168,0.041,3315,1761,1839,0,0,0,0,0,0
$GC,10065,0.87,272.0,379.1,9.4,666,10082,0.00,2.30,11.73,0.795,4,0.000,0.051,3325,328,1792,0,0,0,0,0,0
$GC,10110,0.87,272.0,374.5,10.7,669,10117,0.00,2.30,0.00,0.000,6,0.000,0.043,3325,1758,1793,0,0,0,0,0,0
$GC,10435,0.91,298.6,343.8,8.8,700,10467,0.00,0.00,24.20,0.830,6,0.000,0.000,3325,1758,1684,0,0,0,0,0,0
$GC,10786,0.93,316.8,312.1,9.2,733,10806,0.00,0.00,17.02,0.803,6,0.000,0.000,3325,1758,1609,0,0,0,0,0,0
$GC,11126,0.97,330.3,280.3,9.4,765,11141,0.05,0.00,13.20,0.768,6,0.162,0.000,3362,1758,1555,0,0,0,0,0,0
$GC,11456,0.97,330.3,240.8,12.2,796,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1757,1553,0,0,0,0,0,0
$GC,11776,0.97,330.3,203.9,11.4,826,11780,0.00,2.30,0.00,0.000,4,0.000,0.055,3371,328,1551,0,0,0,0,0,0
$GC,11830,0.93,330.3,196.8,13.4,830,11839,0.12,2.30,0.00,0.000,6,0.158,0.041,3338,1766,1551,0,0,0,0,0,0
$GC,12158,0.93,330.3,162.2,11.2,861,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1766,1551,0,0,0,0,0,0
$GC,12475,0.93,330.3,124.8,12.5,891,12480,0.00,2.35,0.00,0.000,4,0.000,0.057,3348,328,1551,0,0,0,0,0,0
$GC,12573,0.93,330.3,112.0,12.9,899,12577,0.05,2.33,0.00,0.000,6,0.205,0.047,3337,1765,1551,0,0,0,0,0,0
$GC,12917,0.96,330.3,75.2,10.9,949,12923,0.00,2.35,0.00,0.000,4,0.000,0.081,3337,3192,1550,0,0,0,0,0,0
$GC,12965,0.96,330.3,69.4,12.3,957,12974,0.00,2.53,0.00,0.000,6,0.000,0.090,3346,1751,1550,0,0,0,0,0,0
$GC,13322,1.09,413.2,37.3,6.2,1018,13395,0.10,2.38,66.47,0.627,4,0.096,0.060,3423,325,1215,0,0,0,0,0,0
$STATE,13589,end climb,SURFACE_DEPTH_REACHED
$STATE,13590,begin surface coast
$FINISH,1.2,1.008826
$STATE,13617,end surface coast,CONTROL_FINISHED_OK
$STATE,13617,begin surface
$SM_CCo,13637,90.93,0.047,0,0,407,611.52
$SM_GC,1.77,0.00,0.00,90.93,0.000,0.000,0.047,71,1934,407,-9.26,0.45,611.52
$IRIDIUM_FIX,-3419.93,2527.24,040308,030355
$TT8_MAMPS,0.026964
$HUMID,55.39
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,22.8,34.499
$10V_AH,10.2,28.714
$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,24.225,122.575,500.425,90.925,0.000,25.216,42.802,245.180,19.500,0.000,48.011,2748.144,7634.396,694.477,2920.253,216.403,0.000,1771.253,0.000,2402.765,0.000,127.041,0.000
$DEVICE_MAMPS,251.685,120.105,1100.835,47.430,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.311,1756.199,804.922,290.453,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330924
$DATA_FILE_SIZE,73692,1064
$CAP_FILE_SIZE,145637,0
$CFSIZE,2097086464,2055602176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.106,273.7,1
$GPS,080515,204329,-3436.019,2527.784,39,1.2,40,-27.9