version: 66.07.10.p01
glider: 573
mission: 9
dive: 449
start: 5 16 115 20 32 20
data:
$ID,573
$MISSION,9
$DIVE,449
$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,-14898.99
$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,58
$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,448
$GPS1,160515,202035,-3440.062,2517.551,42,1.0,42,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-61.2
$GPS2,160515,203158,-3440.146,2517.270,47,1.2,47,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3440.000,2520.000
$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,89.7,4168,-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,24,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,104,0.00,0.00,-75.05,0.000,2,0.000,0.000,68,1975,2339,0,0,0,0,0,0
$GC,107,-1.05,-170.3,3.1,-2.8,9,166,11.12,2.55,-35.95,0.000,4,0.243,0.092,2682,501,3599,0,0,0,0,0,0
$GC,261,-0.87,-170.3,31.1,-24.2,31,269,0.30,2.50,0.00,0.000,6,0.203,0.100,2747,1878,3601,0,0,0,0,0,0
$GC,410,-0.80,-170.3,57.7,-15.6,56,418,0.10,2.53,0.00,0.000,4,0.200,0.093,2759,3359,3603,0,0,0,0,0,0
$GC,513,-0.80,-170.3,69.7,-11.9,73,521,0.05,2.53,0.00,0.000,6,0.177,0.092,2770,1917,3603,0,0,0,0,0,0
$GC,867,-0.80,-170.3,114.2,-13.0,125,872,0.00,2.53,0.00,0.000,4,0.000,0.100,2762,3353,3605,0,0,0,0,0,0
$GC,923,-0.80,-170.3,122.2,-12.4,129,931,0.00,2.55,0.00,0.000,6,0.000,0.099,2761,1911,3605,0,0,0,0,0,0
$GC,1249,-0.80,-170.3,161.8,-12.0,160,1254,0.05,2.40,0.00,0.000,4,0.188,0.090,2772,481,3607,0,0,0,0,0,0
$GC,1282,-0.80,-170.3,166.0,-12.1,162,1289,0.00,2.50,0.00,0.000,6,0.000,0.080,2763,1917,3606,0,0,0,0,0,0
$GC,1611,-0.80,-170.3,204.0,-12.9,193,1616,0.00,2.45,0.00,0.000,4,0.000,0.096,2752,3350,3606,0,0,0,0,0,0
$GC,1802,-0.80,-170.3,231.2,-15.6,209,1808,0.10,2.53,0.00,0.000,6,0.153,0.102,2775,1920,3605,0,0,0,0,0,0
$GC,2128,-0.82,-170.3,276.4,-14.3,239,2132,0.00,2.42,0.00,0.000,4,0.000,0.090,2775,476,3604,0,0,0,0,0,0
$GC,2206,-0.84,-170.3,286.6,-12.6,245,2210,0.00,2.50,0.00,0.000,6,0.000,0.081,2766,1924,3604,0,0,0,0,0,0
$GC,2530,-0.84,-170.3,329.6,-12.7,275,2535,0.00,2.45,0.00,0.000,4,0.000,0.107,2755,3341,3603,0,0,0,0,0,0
$GC,2738,-0.86,-170.3,354.0,-11.6,293,2743,0.00,2.58,0.00,0.000,6,0.000,0.112,2755,1920,3601,0,0,0,0,0,0
$GC,3063,-0.86,-170.3,393.9,-12.0,323,3068,0.00,2.40,0.00,0.000,4,0.000,0.086,2755,480,3600,0,0,0,0,0,0
$GC,3135,-0.86,-170.3,403.3,-11.9,328,3140,0.00,2.45,0.00,0.000,6,0.000,0.072,2746,1926,3600,0,0,0,0,0,0
$GC,3453,-0.84,-170.3,444.8,-13.7,343,3458,0.05,2.60,0.00,0.000,4,0.233,0.119,2747,3344,3599,0,0,0,0,0,0
$GC,3605,-0.84,-170.3,464.0,-13.2,350,3609,0.00,2.58,0.00,0.000,6,0.000,0.108,2747,1910,3597,0,0,0,0,0,0
$GC,3932,-0.84,-170.3,506.2,-13.0,366,3937,0.03,2.40,0.00,0.000,4,0.243,0.086,2757,487,3596,0,0,0,0,0,0
$GC,4003,-0.84,-170.3,515.8,-12.5,369,4007,0.00,2.42,0.00,0.000,6,0.000,0.065,2747,1921,3596,0,0,0,0,0,0
$GC,4327,-0.82,-170.3,559.5,-13.5,385,4332,0.08,2.58,0.00,0.000,4,0.207,0.121,2753,3325,3595,0,0,0,0,0,0
$GC,4411,-0.85,-170.3,569.7,-10.9,388,4422,0.00,2.60,0.00,0.000,6,0.000,0.116,2753,1918,3594,0,0,0,0,0,0
$GC,4727,-0.85,-170.3,605.9,-11.6,404,4731,0.00,2.42,0.00,0.000,4,0.000,0.087,2753,481,3594,0,0,0,0,0,0
$GC,4792,-0.85,-170.3,614.4,-12.6,407,4797,0.00,2.40,0.00,0.000,6,0.000,0.060,2744,1917,3594,0,0,0,0,0,0
$GC,5121,-0.85,-170.3,653.8,-12.2,423,5125,0.00,2.60,0.00,0.000,4,0.000,0.118,2733,3336,3592,0,0,0,0,0,0
$GC,5206,-0.85,-170.3,665.1,-12.9,427,5211,0.10,2.55,0.00,0.000,6,0.151,0.103,2756,1921,3592,0,0,0,0,0,0
$GC,5532,-0.85,-170.3,704.6,-11.3,443,5537,0.00,2.45,0.00,0.000,4,0.000,0.084,2756,476,3592,0,0,0,0,0,0
$GC,5587,-0.85,-170.3,711.3,-11.6,445,5594,0.00,2.40,0.00,0.000,6,0.000,0.059,2747,1911,3591,0,0,0,0,0,0
$GC,5904,-0.85,-170.3,746.3,-11.9,461,5908,0.00,2.62,0.00,0.000,4,0.000,0.121,2737,3334,3590,0,0,0,0,0,0
$GC,6042,-0.85,-170.3,762.2,-10.8,467,6047,0.08,2.53,0.00,0.000,6,0.158,0.096,2752,1915,3588,0,0,0,0,0,0
$STATE,6239,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6239,begin apogee
$GC,6244,-0.25,0.0,785.3,13.0,477,6386,0.73,0.00,137.68,1.100,6,0.190,0.000,2947,1760,2901,0,0,0,0,0,0
$STATE,6386,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6389,1.05,170.3,792.5,0.0,484,6549,1.30,2.58,151.02,1.063,4,0.099,0.054,3373,337,2207,0,0,0,0,0,0
$GC,6675,0.88,170.3,783.2,12.0,497,6680,0.20,2.38,0.00,0.000,6,0.161,0.035,3322,1765,2206,0,0,0,0,0,0
$GC,7004,0.86,219.6,754.8,8.1,513,7049,0.00,0.00,43.53,1.049,6,0.000,0.000,3322,1766,2006,0,0,0,0,0,0
$GC,7351,0.79,219.6,719.7,11.9,530,7353,0.12,0.00,0.00,0.000,6,0.189,0.000,3291,1767,2001,0,0,0,0,0,0
$GC,7661,0.86,279.3,691.2,7.7,545,7724,0.05,2.62,51.88,1.032,4,0.155,0.114,3328,3156,1762,0,0,0,0,0,0
$GC,7749,0.81,279.3,681.2,12.8,549,7755,0.15,2.58,0.00,0.000,6,0.174,0.103,3299,1748,1761,0,0,0,0,0,0
$GC,8077,0.81,279.3,648.4,10.1,565,8081,0.00,2.30,0.00,0.000,4,0.000,0.062,3310,332,1757,0,0,0,0,0,0
$GC,8333,0.81,279.3,621.7,10.7,576,8341,0.00,2.30,0.00,0.000,6,0.000,0.038,3309,1752,1756,0,0,0,0,0,0
$GC,8650,0.82,287.6,590.2,9.7,592,8663,0.00,2.55,7.00,0.787,4,0.000,0.107,3309,3168,1729,0,0,0,0,0,0
$GC,8693,0.82,287.6,585.7,10.5,594,8698,0.08,2.50,0.00,0.000,6,0.203,0.096,3303,1748,1730,0,0,0,0,0,0
$GC,9020,0.86,313.3,553.7,9.0,610,9050,0.00,2.38,24.77,0.959,4,0.000,0.064,3314,312,1624,0,0,0,0,0,0
$GC,9252,0.86,313.3,528.8,10.6,620,9256,0.00,2.33,0.00,0.000,6,0.000,0.039,3314,1765,1620,0,0,0,0,0,0
$GC,9573,0.86,313.3,496.7,10.7,636,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1765,1619,0,0,0,0,0,0
$GC,9883,0.86,313.3,462.0,11.5,651,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1765,1619,0,0,0,0,0,0
$GC,10192,0.86,313.3,427.1,11.0,666,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1765,1618,0,0,0,0,0,0
$GC,10503,0.86,313.3,393.7,10.3,683,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1765,1618,0,0,0,0,0,0
$GC,10825,0.86,313.3,361.0,10.4,713,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1765,1618,0,0,0,0,0,0
$GC,11152,0.86,313.3,328.0,10.3,744,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1765,1618,0,0,0,0,0,0
$GC,11470,0.86,313.3,296.5,10.2,774,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1765,1618,0,0,0,0,0,0
$GC,11789,0.86,314.3,264.1,10.0,804,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1765,1618,0,0,0,0,0,0
$GC,12108,0.86,314.3,231.5,10.8,834,12112,0.00,2.38,0.00,0.000,4,0.000,0.087,3314,3174,1618,0,0,0,0,0,0
$GC,12129,0.86,314.3,228.9,10.6,835,12136,0.00,2.50,0.00,0.000,6,0.000,0.096,3322,1756,1617,0,0,0,0,0,0
$GC,12454,0.86,314.3,191.1,11.5,866,12458,0.00,2.30,0.00,0.000,4,0.000,0.059,3334,330,1617,0,0,0,0,0,0
$GC,12568,0.82,314.3,177.5,11.8,875,12576,0.12,2.28,0.00,0.000,6,0.148,0.035,3299,1759,1617,0,0,0,0,0,0
$GC,12893,0.83,320.7,144.2,9.8,906,12906,0.00,2.33,6.53,0.551,4,0.000,0.075,3300,3178,1594,0,0,0,0,0,0
$GC,12991,0.83,320.7,133.7,10.2,914,12999,0.00,2.47,0.00,0.000,6,0.000,0.091,3309,1748,1595,0,0,0,0,0,0
$GC,13318,0.83,320.7,97.5,10.1,947,13325,0.00,2.28,0.00,0.000,4,0.000,0.057,3320,333,1595,0,0,0,0,0,0
$GC,13420,0.83,320.7,87.0,10.4,964,13428,0.08,2.25,0.00,0.000,6,0.166,0.038,3301,1759,1595,0,0,0,0,0,0
$GC,13774,0.93,369.4,57.5,8.1,1025,13831,0.10,2.42,42.83,0.636,4,0.096,0.078,3365,3178,1394,0,0,0,0,0,0
$GC,13903,0.89,369.4,42.2,12.6,1045,13911,0.20,2.55,0.00,0.000,6,0.151,0.097,3319,1751,1391,0,0,0,0,0,0
$GC,14280,1.06,437.1,7.6,7.3,1106,14323,0.15,2.35,32.90,0.496,4,0.070,0.059,3406,328,1118,0,0,0,0,0,0
$STATE,14330,end climb,SURFACE_DEPTH_REACHED
$STATE,14330,begin surface coast
$FINISH,1.3,1.000119
$STATE,14364,end surface coast,CONTROL_FINISHED_OK
$STATE,14364,begin surface
$SM_CCo,14385,82.75,0.046,0,0,408,611.52
$SM_GC,2.10,0.00,0.00,82.75,0.000,0.000,0.046,69,1931,408,-9.27,0.34,611.52
$IRIDIUM_FIX,-3425.16,2517.78,120308,050540
$TT8_MAMPS,0.026964
$HUMID,56.06
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,20.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,770.0,28.6
$24V_AH,22.6,45.022
$10V_AH,10.1,36.192
$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,24.475,128.750,498.125,82.750,0.000,26.930,26.051,408.097,21.000,0.000,49.690,2887.057,7989.141,702.911,3261.676,291.241,0.000,1854.039,0.000,2601.844,0.000,115.014,0.000
$DEVICE_MAMPS,242.505,150.705,1100.070,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.607,1836.081,867.352,324.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,77113,1117
$CAP_FILE_SIZE,156396,0
$CFSIZE,2097086464,2044919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.300,247.0,1
$GPS,170515,003435,-3440.332,2516.927,29,1.1,29,-27.9