version: 66.07.10.p01
glider: 573
mission: 9
dive: 350
start: 5 8 115 7 49 23
data:
$ID,573
$MISSION,9
$DIVE,350
$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,-14642.211
$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,11
$R_STBD_OVSHOOT,50
$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,349
$GPS1,080515,074053,-3432.836,2524.378,42,1.0,43,-27.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-59.2
$GPS2,080515,074859,-3432.975,2524.244,44,1.6,44,-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,140.8,8234,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,119,0.00,0.00,-91.53,0.000,2,0.000,0.000,69,1972,2710,0,0,0,0,0,0
$GC,121,-1.05,-170.3,3.1,-2.8,11,165,12.40,2.65,-22.12,0.000,4,0.280,0.118,2686,503,3597,3,0,0,0,0,0
$GC,240,-0.85,-170.3,26.8,-25.8,28,250,0.30,2.67,0.00,0.000,6,0.200,0.130,2758,1876,3599,0,0,0,0,0,0
$GC,393,-0.77,-170.3,55.2,-17.4,53,401,0.10,2.60,0.00,0.000,4,0.203,0.106,2769,3364,3600,0,0,0,0,0,0
$GC,428,-0.74,-170.3,60.0,-12.6,58,436,0.10,2.60,0.00,0.000,6,0.169,0.108,2791,1922,3600,0,0,0,0,0,0
$GC,780,-0.77,-170.3,95.9,-10.1,119,787,0.00,2.50,0.00,0.000,4,0.000,0.106,2791,481,3602,0,0,0,0,0,0
$GC,899,-0.77,-170.3,108.5,-10.5,133,904,0.00,2.65,0.00,0.000,6,0.000,0.109,2782,1928,3603,0,0,0,0,0,0
$GC,1224,-0.77,-170.3,145.5,-11.4,163,1228,0.00,2.47,0.00,0.000,4,0.000,0.105,2771,3354,3604,0,0,0,0,0,0
$GC,1405,-0.77,-170.3,166.2,-10.9,178,1413,0.00,2.62,0.00,0.000,6,0.000,0.113,2771,1920,3603,0,0,0,0,0,0
$GC,1733,-0.77,-170.3,203.5,-11.6,209,1738,0.00,2.47,0.00,0.000,4,0.000,0.096,2771,478,3603,0,0,0,0,0,0
$GC,1765,-0.77,-170.3,208.1,-13.0,211,1774,0.05,2.47,0.00,0.000,6,0.192,0.079,2775,1908,3603,0,0,0,0,0,0
$GC,2091,-0.77,-170.3,247.9,-11.9,242,2096,0.00,2.53,0.00,0.000,4,0.000,0.112,2764,3348,3603,0,0,0,0,0,0
$GC,2238,-0.77,-170.3,265.3,-12.1,254,2247,0.05,2.62,0.00,0.000,6,0.123,0.116,2779,1922,3602,0,0,0,0,0,0
$GC,2567,-0.77,-170.3,301.7,-10.8,285,2571,0.00,2.47,0.00,0.000,4,0.000,0.096,2780,481,3601,0,0,0,0,0,0
$GC,2610,-0.77,-170.3,306.9,-10.9,288,2621,0.00,2.53,0.00,0.000,6,0.000,0.084,2771,1922,3601,0,0,0,0,0,0
$GC,2935,-0.77,-170.3,344.6,-11.6,319,2940,0.03,2.58,0.00,0.000,4,0.287,0.118,2768,3346,3601,0,0,0,0,0,0
$GC,3105,-0.79,-170.3,364.5,-11.8,333,3112,0.00,2.67,0.00,0.000,6,0.000,0.129,2768,1919,3600,0,0,0,0,0,0
$GC,3430,-0.79,-170.3,402.5,-11.7,363,3434,0.00,2.42,0.00,0.000,4,0.000,0.093,2768,482,3599,0,0,0,0,0,0
$GC,3495,-0.79,-170.3,410.8,-13.0,366,3500,0.08,2.42,0.00,0.000,6,0.210,0.073,2772,1925,3599,0,0,0,0,0,0
$GC,3819,-0.79,-170.3,448.6,-11.9,382,3823,0.00,2.58,0.00,0.000,4,0.000,0.125,2762,3338,3598,0,0,0,0,0,0
$GC,3957,-0.79,-170.3,464.9,-11.2,388,3962,0.05,2.67,0.00,0.000,6,0.164,0.129,2773,1907,3597,0,0,0,0,0,0
$STATE,4215,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4217,begin apogee
$GC,4222,-0.25,0.0,492.9,10.9,401,4358,0.62,0.00,129.45,0.910,6,0.183,0.000,2947,1757,2905,0,0,0,0,0,0
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4360,1.05,170.3,500.2,0.0,408,4514,1.27,2.72,141.57,0.894,4,0.101,0.103,3361,3167,2207,0,0,0,0,0,0
$GC,4650,0.91,170.3,489.1,11.3,421,4656,0.15,2.60,0.00,0.000,6,0.176,0.096,3333,1747,2204,0,0,0,0,0,0
$GC,4979,0.87,215.5,460.4,8.2,437,5021,0.08,0.00,38.70,0.876,6,0.218,0.000,3317,1747,2023,0,0,0,0,0,0
$GC,5328,0.85,236.6,429.4,9.2,454,5353,0.00,2.38,18.85,0.842,4,0.000,0.060,3328,334,1936,0,0,0,0,0,0
$GC,5484,0.79,236.6,413.5,10.5,461,5489,0.15,2.33,0.00,0.000,6,0.152,0.040,3287,1764,1934,0,0,0,0,0,0
$GC,5806,0.81,253.5,385.2,9.3,484,5826,0.00,0.00,15.45,0.822,6,0.000,0.000,3288,1764,1867,0,0,0,0,0,0
$GC,6144,0.82,257.5,352.9,9.9,516,6157,0.00,0.00,3.90,0.559,6,0.000,0.000,3288,1764,1852,0,0,0,0,0,0
$GC,6472,0.88,291.7,323.2,8.7,547,6511,0.08,2.45,31.50,0.829,4,0.116,0.057,3342,330,1710,0,0,0,0,0,0
$GC,6527,0.84,291.7,317.5,10.7,551,6535,0.12,2.35,0.00,0.000,6,0.156,0.043,3309,1765,1709,0,0,0,0,0,0
$GC,6852,0.84,291.7,284.9,10.3,582,6856,0.00,2.33,0.00,0.000,4,0.000,0.050,3319,332,1706,0,0,0,0,0,0
$GC,6894,0.84,291.7,280.6,11.0,585,6898,0.00,2.30,0.00,0.000,6,0.000,0.043,3319,1758,1705,0,0,0,0,0,0
$GC,7224,0.84,291.7,245.7,10.2,616,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1758,1705,0,0,0,0,0,0
$GC,7544,0.84,291.7,212.8,10.6,646,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1758,1704,0,0,0,0,0,0
$GC,7862,0.84,291.7,179.5,10.1,676,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1758,1704,0,0,0,0,0,0
$GC,8181,0.84,291.7,144.7,10.7,706,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1758,1703,0,0,0,0,0,0
$GC,8499,0.84,291.7,110.4,10.9,736,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1757,1703,0,0,0,0,0,0
$GC,8831,0.87,311.6,75.6,9.2,786,8854,0.00,2.38,16.73,0.670,4,0.000,0.055,3329,329,1631,0,0,0,0,0,0
$GC,8931,0.87,311.6,65.2,11.2,802,8939,0.05,2.30,0.00,0.000,6,0.191,0.046,3317,1755,1628,0,0,0,0,0,0
$GC,9289,0.98,377.2,34.2,7.4,863,9340,0.10,2.35,42.58,0.640,4,0.093,0.057,3394,331,1362,0,0,0,0,0,0
$GC,9416,0.92,377.2,17.3,15.0,882,9426,0.20,2.35,0.00,0.000,6,0.139,0.044,3333,1751,1356,0,0,0,0,0,0
$GC,9478,0.95,377.2,9.5,11.5,891,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1751,1355,0,0,0,0,0,0
$GC,9539,0.97,377.2,3.0,10.1,900,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1751,1353,0,0,0,0,0,0
$STATE,9555,end climb,SURFACE_DEPTH_REACHED
$STATE,9555,begin surface coast
$FINISH,1.1,1.020879
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9604,104.45,0.047,0,0,407,611.52
$SM_GC,1.89,0.00,0.00,104.45,0.000,0.000,0.047,70,1944,407,-9.26,0.71,611.52
$IRIDIUM_FIX,-3417.32,2524.88,030308,181848
$TT8_MAMPS,0.026964
$HUMID,58.26
$INTERNAL_PRESSURE,9.28436
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,470.5,36.5
$24V_AH,23.3,34.050
$10V_AH,10.2,28.390
$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,24.825,80.650,438.725,104.450,0.000,28.213,45.136,259.246,11.000,0.000,46.065,2283.104,4493.609,647.190,2588.113,188.417,0.000,1539.603,0.000,2109.548,0.000,69.432,0.000
$DEVICE_MAMPS,286.875,133.875,909.585,47.430,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.398,1520.274,871.038,302.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331064
$DATA_FILE_SIZE,63723,907
$CAP_FILE_SIZE,114082,3
$CFSIZE,2097086464,2056060928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,2
$CURRENT,0.083,284.9,1
$GPS,080515,103229,-3433.536,2525.215,41,1.3,42,-27.8