version: 66.07.10.p01
glider: 573
mission: 9
dive: 409
start: 5 11 115 23 50 58
data:
$ID,573
$MISSION,9
$DIVE,409
$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,-14800.616
$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,14
$R_STBD_OVSHOOT,32
$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,408
$GPS1,110515,233829,-3436.229,2528.430,43,1.1,44,-27.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.3
$GPS2,110515,235035,-3436.596,2527.855,38,1.0,38,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3437.860,2530.000
$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,108.5,4020,-27.8,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.47,-63.2,0.0,0.0,0,104,0.00,0.00,-75.45,0.000,2,0.000,0.000,79,1918,2350,0,0,0,0,0,0
$GC,107,-1.55,-129.0,3.1,-3.0,9,159,10.60,2.47,-28.52,0.000,4,0.248,0.098,2516,3335,3430,0,0,0,0,0,0
$GC,180,-1.39,-129.0,13.3,-22.0,18,190,0.22,2.50,0.00,0.000,6,0.197,0.088,2577,1919,3431,0,0,0,0,0,0
$GC,243,-1.28,-129.0,29.4,-24.8,27,249,0.17,0.00,0.00,0.000,6,0.210,0.000,2618,1919,3432,0,0,0,0,0,0
$GC,397,-1.24,-129.0,64.6,-20.8,52,406,0.05,2.38,0.00,0.000,4,0.251,0.079,2618,3327,3433,0,0,0,0,0,0
$GC,497,-1.24,-129.0,83.8,-18.4,69,506,0.03,2.42,0.00,0.000,6,0.164,0.078,2626,1914,3434,0,0,0,0,0,0
$GC,831,-1.24,-129.0,143.9,-19.9,108,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1914,3436,0,0,0,0,0,0
$GC,1151,-1.24,-129.0,206.5,-19.7,138,1156,0.00,2.45,0.00,0.000,4,0.000,0.094,2617,3319,3437,0,0,0,0,0,0
$GC,1229,-1.24,-129.0,222.3,-19.0,144,1239,0.00,2.50,0.00,0.000,6,0.000,0.098,2617,1923,3437,0,0,0,0,0,0
$GC,1554,-1.24,-129.0,286.5,-20.6,175,1556,0.05,0.00,0.00,0.000,6,0.213,0.000,2626,1923,3437,0,0,0,0,0,0
$GC,1875,-1.24,-129.0,350.0,-19.8,205,1880,0.00,2.50,0.00,0.000,4,0.000,0.106,2617,3325,3436,0,0,0,0,0,0
$GC,1991,-1.24,-129.0,373.0,-20.1,215,1996,0.05,2.55,0.00,0.000,6,0.196,0.109,2627,1914,3436,0,0,0,0,0,0
$GC,2310,-1.26,-129.0,438.7,-19.6,236,2314,0.00,2.35,0.00,0.000,4,0.000,0.079,2627,478,3434,0,0,0,0,0,0
$GC,2350,-1.26,-129.0,446.4,-19.1,238,2354,0.00,2.40,0.00,0.000,6,0.000,0.068,2618,1910,3435,0,0,0,0,0,0
$GC,2678,-1.26,-129.0,507.8,-19.9,254,2682,0.00,2.55,0.00,0.000,4,0.000,0.110,2607,3342,3433,0,0,0,0,0,0
$GC,2907,-1.26,-129.0,555.2,-20.4,264,2912,0.03,2.58,0.00,0.000,6,0.168,0.103,2615,1914,3431,0,0,0,0,0,0
$GC,3229,-1.26,-129.0,617.7,-19.3,280,3233,0.00,2.58,0.00,0.000,4,0.000,0.109,2607,3337,3430,0,0,0,0,0,0
$GC,3272,-1.26,-129.0,627.4,-20.0,282,3277,0.08,2.50,0.00,0.000,6,0.200,0.095,2620,1909,3429,0,0,0,0,0,0
$GC,3600,-1.29,-129.0,689.3,-18.6,298,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1909,3428,0,0,0,0,0,0
$GC,3911,-1.32,-129.0,744.4,-17.6,313,3915,0.00,2.35,0.00,0.000,4,0.000,0.076,2621,488,3426,0,0,0,0,0,0
$GC,3988,-1.32,-129.0,759.0,-17.6,316,3996,0.00,2.35,0.00,0.000,6,0.000,0.054,2611,1919,3426,0,0,0,0,0,0
$GC,4306,-1.34,-129.0,815.1,-18.0,332,4310,0.00,2.55,0.00,0.000,4,0.000,0.112,2600,3334,3425,0,0,0,0,0,0
$GC,4449,-1.36,-129.0,842.2,-18.3,338,4457,0.00,2.53,0.00,0.000,6,0.000,0.099,2600,1913,3423,0,0,0,0,0,0
$GC,4768,-1.38,-129.0,901.5,-19.2,354,4772,0.00,2.50,0.00,0.000,4,0.000,0.096,2591,3340,3423,0,0,0,0,0,0
$GC,4812,-1.38,-129.0,910.6,-19.2,356,4816,0.00,2.50,0.00,0.000,6,0.000,0.096,2591,1915,3422,0,0,0,0,0,0
$GC,5135,-1.38,-129.0,972.6,-19.7,372,5139,0.00,2.50,0.00,0.000,4,0.000,0.096,2582,3341,3420,0,0,0,0,0,0
$GC,5161,-1.38,-129.0,977.4,-15.9,373,5165,0.00,2.50,0.00,0.000,6,0.000,0.091,2582,1926,3420,0,0,0,0,0,0
$STATE,5296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5296,begin apogee
$GC,5301,-0.25,0.0,1001.8,18.9,380,5412,1.42,0.00,106.10,1.248,6,0.208,0.000,2949,1751,2903,0,0,0,0,0,0
$STATE,5412,end apogee,CONTROL_FINISHED_OK
$STATE,5413,begin climb
$GC,5415,1.55,129.0,1005.7,0.0,385,5542,1.80,2.50,116.60,1.217,4,0.104,0.044,3533,341,2376,0,0,0,0,0,0
$GC,5796,1.37,129.0,967.5,15.4,403,5801,0.22,2.28,0.00,0.000,6,0.196,0.027,3478,1805,2374,0,0,0,0,0,0
$GC,6124,1.28,129.0,926.3,11.1,419,6129,0.12,2.38,0.00,0.000,4,0.231,0.043,3462,327,2372,0,0,0,0,0,0
$GC,6381,1.19,129.0,896.1,11.6,430,6389,0.17,2.17,0.00,0.000,6,0.199,0.028,3419,1761,2372,0,0,0,0,0,0
$GC,6698,1.20,134.5,864.8,9.4,446,6707,0.00,2.28,4.90,0.836,4,0.000,0.044,3430,326,2353,0,0,0,0,0,0
$GC,6841,1.16,134.5,849.7,10.6,452,6850,0.10,2.20,0.00,0.000,6,0.203,0.028,3408,1736,2356,0,0,0,0,0,0
$GC,7157,1.16,134.5,817.7,10.8,468,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1736,2355,0,0,0,0,0,0
$GC,7467,1.16,135.3,786.8,9.9,483,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1736,2355,0,0,0,0,0,0
$GC,7776,1.17,142.9,758.5,9.2,498,7790,0.00,2.28,9.10,0.988,4,0.000,0.045,3417,333,2319,0,0,0,0,0,0
$GC,7911,1.17,144.3,745.3,9.9,504,7915,0.00,2.22,0.00,0.000,6,0.000,0.030,3417,1768,2320,0,0,0,0,0,0
$GC,8238,1.17,148.3,713.3,9.6,520,8252,0.00,2.35,6.57,0.891,4,0.000,0.047,3427,332,2298,0,0,0,0,0,0
$GC,8360,1.15,148.3,701.2,10.7,525,8365,0.10,2.22,0.00,0.000,6,0.190,0.031,3404,1752,2298,0,0,0,0,0,0
$GC,8678,1.20,175.0,675.6,7.2,540,8709,0.00,2.35,25.12,1.041,4,0.000,0.046,3414,331,2188,0,0,0,0,0,0
$GC,8843,1.20,175.0,658.6,10.9,547,8847,0.00,2.28,0.00,0.000,6,0.000,0.030,3415,1756,2186,0,0,0,0,0,0
$GC,9166,1.23,177.6,626.8,9.7,563,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1757,2184,0,0,0,0,0,0
$GC,9475,1.26,177.6,592.9,12.1,578,9479,0.08,2.28,0.00,0.000,4,0.129,0.047,3457,332,2184,0,0,0,0,0,0
$GC,9553,1.22,177.6,581.5,15.3,581,9561,0.12,2.22,0.00,0.000,6,0.184,0.031,3426,1765,2184,0,0,0,0,0,0
$GC,9869,1.22,177.6,540.4,13.2,597,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1765,2183,0,0,0,0,0,0
$GC,10178,1.22,177.6,504.0,10.5,612,10182,0.00,2.30,0.00,0.000,4,0.000,0.073,3426,3166,2183,0,0,0,0,0,0
$GC,10221,1.22,177.6,498.6,12.4,614,10225,0.00,2.40,0.00,0.000,6,0.000,0.076,3434,1758,2182,0,0,0,0,0,0
$GC,10549,1.22,177.6,456.8,12.5,630,10553,0.00,2.28,0.00,0.000,4,0.000,0.052,3446,332,2182,0,0,0,0,0,0
$GC,10694,1.18,177.6,438.4,13.4,636,10703,0.12,2.22,0.00,0.000,6,0.184,0.031,3416,1779,2183,0,0,0,0,0,0
$GC,11010,1.18,180.5,405.2,9.7,652,11017,0.00,0.00,5.05,0.624,6,0.000,0.000,3416,1779,2166,0,0,0,0,0,0
$GC,11328,1.21,180.5,371.0,10.9,679,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1778,2167,0,0,0,0,0,0
$GC,11650,1.25,182.2,340.2,9.8,709,11662,0.00,2.33,3.38,0.517,4,0.000,0.046,3426,339,2160,0,0,0,0,0,0
$GC,11732,1.25,182.2,330.5,11.4,716,11736,0.00,2.17,0.00,0.000,6,0.000,0.030,3425,1755,2161,0,0,0,0,0,0
$GC,12062,1.27,182.2,291.8,11.0,747,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1755,2161,0,0,0,0,0,0
$GC,12385,1.29,182.2,256.6,11.5,777,12390,0.08,2.35,0.00,0.000,4,0.127,0.077,3462,3163,2160,0,0,0,0,0,0
$GC,12463,1.25,182.2,245.8,13.2,783,12471,0.12,2.33,0.00,0.000,6,0.200,0.069,3440,1749,2160,0,0,0,0,0,0
$GC,12789,1.25,182.2,206.4,11.4,814,12793,0.00,2.22,0.00,0.000,4,0.000,0.049,3451,343,2160,0,0,0,0,0,0
$GC,12867,1.22,182.2,197.0,11.5,820,12878,0.08,2.20,0.00,0.000,6,0.167,0.029,3428,1752,2161,0,0,0,0,0,0
$GC,13193,1.22,182.2,161.7,11.6,851,13194,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1752,2160,0,0,0,0,0,0
$GC,13516,1.24,182.2,125.2,11.7,881,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1752,2160,0,0,0,0,0,0
$GC,13848,1.30,199.0,95.0,8.2,916,13871,0.08,2.25,16.08,0.679,4,0.122,0.044,3477,338,2090,0,0,0,0,0,0
$GC,14130,1.31,206.6,66.1,9.2,964,14146,0.05,2.25,7.53,0.549,6,0.174,0.030,3461,1791,2059,0,0,0,0,0,0
$GC,14488,1.37,239.0,38.7,6.6,1026,14527,0.00,2.38,27.62,0.625,4,0.000,0.045,3470,333,1926,0,0,0,0,0,0
$GC,14802,1.43,252.8,14.3,8.5,1076,14814,0.03,2.22,6.90,0.463,6,0.103,0.033,3495,1734,1871,0,0,0,0,0,0
$GC,14867,1.46,252.8,7.9,10.2,1085,14875,0.00,2.25,0.00,0.000,4,0.000,0.042,3506,338,1868,0,0,0,0,0,0
$STATE,14907,end climb,SURFACE_DEPTH_REACHED
$STATE,14907,begin surface coast
$FINISH,1.2,0.999168
$STATE,14933,end surface coast,CONTROL_FINISHED_OK
$STATE,14933,begin surface
$SM_CCo,14954,163.05,0.047,0,0,406,611.52
$SM_GC,1.94,0.00,0.00,163.05,0.000,0.000,0.047,72,1938,406,-9.26,0.54,611.52
$IRIDIUM_FIX,-3419.93,2528.36,070308,131343
$TT8_MAMPS,0.026215
$HUMID,53.54
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,22.6,39.527
$10V_AH,10.1,32.266
$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,25.300,123.650,334.950,163.050,0.000,49.342,41.936,392.345,24.000,0.000,40.978,2912.356,8778.562,653.703,3237.142,263.310,0.000,1785.779,0.000,2535.983,0.000,149.202,0.000
$DEVICE_MAMPS,250.920,116.280,1248.480,46.665,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.834,1782.486,758.401,317.343,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,77203,1095
$CAP_FILE_SIZE,164744,0
$CFSIZE,2097086464,2049703936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.257,217.8,1
$GPS,120515,040422,-3438.297,2528.355,32,1.4,49,-27.9