version: 66.07.10.p01
glider: 573
mission: 9
dive: 450
start: 5 17 115 0 43 27
data:
$ID,573
$MISSION,9
$DIVE,450
$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,-14901.432
$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,9
$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,449
$GPS1,170515,003435,-3440.332,2516.927,29,1.1,29,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.3
$GPS2,170515,004304,-3440.508,2516.454,41,1.4,46,-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,88.3,31949,-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,-170.3,0.0,0.0,0,108,0.00,0.00,-80.10,0.000,2,0.000,0.000,68,1931,2505,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.3,-2.1,10,154,11.18,2.42,-24.23,0.000,4,0.244,0.095,2672,3354,3598,0,0,0,0,0,0
$GC,296,-0.91,-170.3,42.0,-16.9,39,306,0.22,2.55,0.00,0.000,6,0.174,0.094,2736,1922,3602,0,0,0,0,0,0
$GC,655,-0.85,-170.3,97.3,-15.6,100,662,0.10,2.42,0.00,0.000,4,0.189,0.083,2751,3361,3604,0,0,0,0,0,0
$GC,692,-0.85,-170.3,103.5,-14.1,104,697,0.00,2.50,0.00,0.000,6,0.000,0.086,2752,1910,3603,0,0,0,0,0,0
$GC,1017,-0.85,-170.3,145.1,-11.9,134,1021,0.00,2.47,0.00,0.000,4,0.000,0.088,2742,3361,3606,0,0,0,0,0,0
$GC,1103,-0.82,-170.3,155.0,-12.2,141,1108,0.10,2.47,0.00,0.000,6,0.156,0.086,2765,1919,3606,0,0,0,0,0,0
$GC,1428,-0.82,-170.3,194.2,-12.7,171,1432,0.00,2.42,0.00,0.000,4,0.000,0.088,2766,487,3606,0,0,0,0,0,0
$GC,1462,-0.82,-170.3,198.7,-12.8,173,1469,0.00,2.45,0.00,0.000,6,0.000,0.077,2757,1923,3606,0,0,0,0,0,0
$GC,1788,-0.82,-170.3,244.2,-14.6,204,1792,0.00,2.45,0.00,0.000,4,0.000,0.096,2747,3352,3605,0,0,0,0,0,0
$GC,1990,-0.82,-170.3,271.2,-12.9,221,1998,0.03,2.53,0.00,0.000,6,0.168,0.093,2764,1927,3604,0,0,0,0,0,0
$GC,2316,-0.82,-170.3,311.8,-12.3,252,2320,0.00,2.47,0.00,0.000,4,0.000,0.091,2764,472,3603,0,0,0,0,0,0
$GC,2394,-0.82,-170.3,322.0,-12.1,258,2402,0.00,2.47,0.00,0.000,6,0.000,0.073,2756,1917,3603,0,0,0,0,0,0
$GC,2723,-0.82,-170.3,363.9,-14.0,289,2728,0.00,2.47,0.00,0.000,4,0.000,0.102,2745,3348,3602,0,0,0,0,0,0
$GC,2911,-0.82,-170.3,388.6,-12.3,305,2916,0.08,2.53,0.00,0.000,6,0.168,0.096,2761,1912,3601,0,0,0,0,0,0
$GC,3230,-0.82,-170.3,430.4,-13.5,324,3234,0.00,2.42,0.00,0.000,4,0.000,0.089,2761,487,3600,0,0,0,0,0,0
$GC,3278,-0.82,-170.3,437.4,-13.0,326,3283,0.03,2.42,0.00,0.000,6,0.269,0.067,2761,1929,3599,0,0,0,0,0,0
$GC,3602,-0.82,-170.3,478.8,-13.0,342,3606,0.00,2.55,0.00,0.000,4,0.000,0.119,2751,3339,3598,0,0,0,0,0,0
$GC,3785,-0.82,-170.3,503.0,-12.7,350,3790,0.03,2.70,0.00,0.000,6,0.113,0.123,2761,1917,3596,0,0,0,0,0,0
$GC,4108,-0.82,-170.3,544.0,-12.5,366,4112,0.00,2.42,0.00,0.000,4,0.000,0.082,2761,477,3595,0,0,0,0,0,0
$GC,4173,-0.82,-170.3,553.1,-12.7,369,4177,0.00,2.40,0.00,0.000,6,0.000,0.062,2753,1923,3595,0,0,0,0,0,0
$GC,4502,-0.82,-170.3,594.3,-12.3,385,4507,0.03,2.60,0.00,0.000,4,0.286,0.124,2752,3333,3595,0,0,0,0,0,0
$GC,4610,-0.85,-170.3,605.8,-9.8,390,4615,0.00,2.72,0.00,0.000,6,0.000,0.131,2751,1910,3594,0,0,0,0,0,0
$GC,4938,-0.85,-170.3,642.9,-13.1,406,4942,0.00,2.42,0.00,0.000,4,0.000,0.084,2752,477,3593,0,0,0,0,0,0
$GC,5022,-0.85,-170.3,654.2,-12.5,410,5027,0.05,2.40,0.00,0.000,6,0.226,0.060,2752,1926,3593,0,0,0,0,0,0
$GC,5348,-0.85,-170.3,696.2,-12.6,426,5352,0.00,2.60,0.00,0.000,4,0.000,0.126,2742,3331,3592,0,0,0,0,0,0
$GC,5471,-0.85,-170.3,711.5,-12.6,431,5479,0.05,2.65,0.00,0.000,6,0.155,0.122,2754,1916,3591,0,0,0,0,0,0
$STATE,5702,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5703,begin apogee
$GC,5708,-0.25,0.0,738.8,11.8,443,5851,0.73,0.00,139.12,1.064,6,0.188,0.000,2950,1759,2902,0,0,0,0,0,0
$STATE,5851,end apogee,CONTROL_FINISHED_OK
$STATE,5852,begin climb
$GC,5854,1.05,170.3,746.9,0.0,450,6013,1.27,2.55,150.07,1.029,4,0.098,0.053,3372,337,2207,0,0,0,0,0,0
$GC,6117,0.90,177.9,736.1,9.7,462,6132,0.17,2.35,7.85,0.840,6,0.163,0.032,3329,1762,2176,0,0,0,0,0,0
$GC,6450,0.85,212.5,708.4,8.6,478,6489,0.08,0.00,31.62,1.006,6,0.212,0.000,3313,1763,2035,0,0,0,0,0,0
$GC,6800,0.87,276.7,679.1,7.5,495,6859,0.00,0.00,56.38,1.011,6,0.000,0.000,3313,1763,1773,0,0,0,0,0,0
$GC,7167,0.85,276.7,641.5,10.6,513,7171,0.00,2.33,0.00,0.000,4,0.000,0.049,3323,319,1767,0,0,0,0,0,0
$GC,7267,0.81,276.7,630.9,10.4,517,7272,0.10,2.30,0.00,0.000,6,0.173,0.034,3298,1770,1766,0,0,0,0,0,0
$GC,7583,0.83,288.5,602.8,9.5,532,7599,0.00,2.33,10.25,0.866,4,0.000,0.049,3308,320,1724,0,0,0,0,0,0
$GC,7648,0.83,288.5,595.8,11.4,534,7653,0.00,2.30,0.00,0.000,6,0.000,0.034,3308,1757,1725,0,0,0,0,0,0
$GC,7975,0.83,288.5,563.0,10.0,550,7980,0.00,2.33,0.00,0.000,4,0.000,0.050,3317,319,1724,0,0,0,0,0,0
$GC,8002,0.83,288.5,559.9,10.6,551,8007,0.03,2.28,0.00,0.000,6,0.158,0.034,3307,1748,1724,0,0,0,0,0,0
$GC,8324,0.83,288.5,525.8,11.2,567,8328,0.00,2.28,0.00,0.000,4,0.000,0.050,3317,320,1724,0,0,0,0,0,0
$GC,8368,0.81,288.5,520.4,12.2,569,8373,0.10,2.28,0.00,0.000,6,0.162,0.034,3290,1766,1723,0,0,0,0,0,0
$GC,8696,0.81,288.5,485.7,10.6,585,8701,0.00,2.30,0.00,0.000,4,0.000,0.076,3291,3178,1723,0,0,0,0,0,0
$GC,8723,0.81,288.5,482.3,12.4,586,8728,0.00,2.50,0.00,0.000,6,0.000,0.088,3300,1751,1723,0,0,0,0,0,0
$GC,9046,0.81,288.5,446.1,10.8,602,9050,0.00,2.28,0.00,0.000,4,0.000,0.059,3311,329,1722,0,0,0,0,0,0
$GC,9162,0.81,288.5,433.0,10.6,607,9167,0.03,2.25,0.00,0.000,6,0.153,0.034,3301,1750,1721,0,0,0,0,0,0
$GC,9484,0.81,288.5,400.9,10.0,623,9489,0.00,2.40,0.00,0.000,4,0.000,0.090,3301,3166,1722,0,0,0,0,0,0
$GC,9525,0.81,288.5,396.5,10.7,626,9530,0.05,2.42,0.00,0.000,6,0.231,0.085,3299,1753,1722,0,0,0,0,0,0
$GC,9849,0.81,288.5,363.9,10.3,656,9854,0.00,2.30,0.00,0.000,4,0.000,0.058,3309,325,1722,0,0,0,0,0,0
$GC,9972,0.81,288.5,350.5,11.1,666,9981,0.03,2.28,0.00,0.000,6,0.150,0.034,3299,1764,1721,0,0,0,0,0,0
$GC,10301,0.83,305.9,319.9,9.3,697,10325,0.00,2.35,16.30,0.773,4,0.000,0.083,3299,3171,1653,0,0,0,0,0,0
$GC,10351,0.83,308.6,315.0,9.9,701,10363,0.00,2.45,3.50,0.496,6,0.000,0.089,3308,1758,1644,0,0,0,0,0,0
$GC,10681,0.85,326.2,281.2,9.3,732,10706,0.00,2.35,17.25,0.751,4,0.000,0.058,3319,330,1571,0,0,0,0,0,0
$GC,10833,0.85,326.2,264.9,10.9,745,10837,0.00,2.28,0.00,0.000,6,0.000,0.034,3319,1767,1569,0,0,0,0,0,0
$GC,11159,0.85,326.2,229.4,12.3,775,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1768,1568,0,0,0,0,0,0
$GC,11480,0.85,326.2,194.9,11.2,805,11485,0.00,2.35,0.00,0.000,4,0.000,0.077,3319,3181,1568,0,0,0,0,0,0
$GC,11512,0.85,326.2,190.5,12.5,807,11520,0.08,2.53,0.00,0.000,6,0.194,0.099,3312,1757,1569,0,0,0,0,0,0
$GC,11838,0.85,326.2,153.9,11.2,838,11842,0.00,2.28,0.00,0.000,4,0.000,0.054,3322,325,1568,0,0,0,0,0,0
$GC,11925,0.85,326.2,143.7,12.4,845,11930,0.03,2.25,0.00,0.000,6,0.252,0.034,3312,1764,1568,0,0,0,0,0,0
$GC,12250,0.85,326.2,107.6,10.7,875,12254,0.00,2.30,0.00,0.000,4,0.000,0.070,3312,3177,1568,0,0,0,0,0,0
$GC,12514,0.91,352.6,81.7,9.0,913,12543,0.00,2.45,23.40,0.635,6,0.000,0.083,3321,1745,1463,0,0,0,0,0,0
$GC,12891,0.93,352.6,44.7,11.3,977,12897,0.00,2.28,0.00,0.000,4,0.000,0.056,3332,332,1460,0,0,0,0,0,0
$GC,12953,0.95,352.6,38.4,11.5,987,12960,0.00,2.25,0.00,0.000,6,0.000,0.036,3332,1755,1460,0,0,0,0,0,0
$GC,13108,0.98,352.6,22.2,10.1,1012,13117,0.00,2.33,0.00,0.000,4,0.000,0.066,3332,3181,1459,0,0,0,0,0,0
$GC,13199,1.10,408.0,14.5,7.8,1026,13235,0.10,2.45,28.40,0.528,6,0.040,0.084,3416,1763,1237,0,0,0,0,0,0
$GC,13288,1.07,408.0,4.2,12.5,1038,13299,0.12,2.35,0.00,0.000,4,0.168,0.056,3393,330,1233,0,0,0,0,0,0
$STATE,13306,end climb,SURFACE_DEPTH_REACHED
$STATE,13306,begin surface coast
$FINISH,1.3,1.020771
$STATE,13332,end surface coast,CONTROL_FINISHED_OK
$STATE,13332,begin surface
$SM_CCo,13353,94.80,0.046,0,0,408,611.52
$SM_GC,1.99,0.00,0.00,94.80,0.000,0.000,0.046,73,1933,408,-9.26,0.40,611.52
$IRIDIUM_FIX,-3425.16,2515.41,120308,090952
$TT8_MAMPS,0.026215
$HUMID,56.41
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,721.9,30.6
$24V_AH,22.6,45.177
$10V_AH,10.1,36.306
$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,23.650,145.325,484.150,94.800,0.000,26.061,22.337,279.863,17.500,0.000,48.422,2750.340,7266.434,706.066,2964.480,264.950,0.000,1799.586,0.000,2447.820,0.000,109.949,0.000
$DEVICE_MAMPS,286.110,146.115,1064.115,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.149,1724.484,811.056,295.209,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,73806,1044
$CAP_FILE_SIZE,151491,0
$CFSIZE,2097086464,2044788736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.317,253.8,1
$GPS,170515,042853,-3440.456,2515.748,41,1.1,41,-27.9