version: 66.07.10.p01
glider: 573
mission: 9
dive: 351
start: 5 8 115 10 43 27
data:
$ID,573
$MISSION,9
$DIVE,351
$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,-14644.541
$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,350
$GPS1,080515,103229,-3433.536,2525.215,41,1.3,42,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-62.9
$GPS2,080515,104305,-3433.708,2524.954,41,0.9,41,-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,144.7,6577,-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,-170.3,0.0,0.0,0,113,0.00,0.00,-85.95,0.000,2,0.000,0.000,70,1944,2555,0,0,0,0,0,0
$GC,116,-1.05,-170.3,3.1,-3.6,10,167,11.27,2.65,-28.42,0.000,4,0.249,0.121,2678,508,3600,0,0,0,0,0,0
$GC,189,-0.85,-170.3,12.3,-19.4,19,198,0.30,2.65,0.00,0.000,6,0.204,0.109,2748,1923,3601,0,0,0,0,0,0
$GC,247,-0.73,-170.3,23.9,-17.8,28,257,0.17,2.53,0.00,0.000,4,0.201,0.104,2779,3337,3601,0,0,0,0,0,0
$GC,288,-0.69,-170.3,30.6,-17.1,34,297,0.08,2.67,0.00,0.000,6,0.160,0.119,2801,1918,3602,0,0,0,0,0,0
$GC,437,-0.69,-170.3,51.4,-12.3,59,444,0.00,2.47,0.00,0.000,4,0.000,0.099,2801,490,3602,0,0,0,0,0,0
$GC,530,-0.69,-170.3,62.4,-11.6,75,540,0.03,2.72,0.00,0.000,6,0.199,0.121,2799,1918,3602,0,0,0,0,0,0
$GC,888,-0.73,-170.3,98.4,-9.4,136,895,0.00,2.47,0.00,0.000,4,0.000,0.104,2789,3343,3604,0,0,0,0,0,0
$GC,991,-0.79,-170.3,108.9,-10.5,146,996,0.00,2.65,0.00,0.000,6,0.000,0.123,2789,1914,3605,0,0,0,0,0,0
$GC,1316,-0.83,-170.3,144.0,-11.2,176,1321,0.08,2.45,0.00,0.000,4,0.125,0.099,2760,485,3606,0,0,0,0,0,0
$GC,1379,-0.83,-170.3,152.0,-13.3,181,1385,0.05,2.50,0.00,0.000,6,0.227,0.087,2760,1917,3606,0,0,0,0,0,0
$GC,1704,-0.83,-170.3,195.5,-12.8,211,1708,0.00,2.47,0.00,0.000,4,0.000,0.099,2750,3355,3606,0,0,0,0,0,0
$GC,1890,-0.83,-170.3,218.4,-12.7,227,1895,0.05,2.53,0.00,0.000,6,0.163,0.098,2762,1919,3605,0,0,0,0,0,0
$GC,2217,-0.83,-170.3,259.1,-12.4,257,2221,0.00,2.45,0.00,0.000,4,0.000,0.097,2762,471,3604,0,0,0,0,0,0
$GC,2254,-0.83,-170.3,264.6,-13.7,260,2264,0.00,2.50,0.00,0.000,6,0.000,0.075,2753,1923,3604,0,0,0,0,0,0
$GC,2579,-0.83,-170.3,306.3,-12.7,291,2584,0.00,2.47,0.00,0.000,4,0.000,0.106,2742,3341,3604,0,0,0,0,0,0
$GC,2758,-0.83,-170.3,328.7,-12.6,306,2767,0.08,2.55,0.00,0.000,6,0.132,0.103,2765,1917,3602,0,0,0,0,0,0
$GC,3086,-0.83,-170.3,368.3,-13.1,337,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1918,3602,0,0,0,0,0,0
$GC,3400,-0.83,-170.3,408.6,-12.3,364,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1918,3601,0,0,0,0,0,0
$GC,3710,-0.83,-170.3,445.6,-11.7,379,3714,0.00,2.42,0.00,0.000,4,0.000,0.090,2765,486,3600,0,0,0,0,0,0
$GC,3737,-0.83,-170.3,448.8,-11.8,380,3742,0.00,2.42,0.00,0.000,6,0.000,0.069,2757,1933,3601,0,0,0,0,0,0
$GC,4054,-0.83,-170.3,488.3,-13.2,395,4058,0.00,2.53,0.00,0.000,4,0.000,0.119,2746,3330,3599,0,0,0,0,0,0
$GC,4237,-0.83,-170.3,512.8,-12.8,403,4243,0.05,2.58,0.00,0.000,6,0.134,0.109,2762,1921,3598,0,0,0,0,0,0
$GC,4558,-0.83,-170.3,554.2,-13.6,419,4563,0.00,2.45,0.00,0.000,4,0.000,0.093,2762,477,3596,0,0,0,0,0,0
$GC,4591,-0.83,-170.3,558.6,-13.3,420,4598,0.00,2.42,0.00,0.000,6,0.000,0.066,2753,1914,3597,0,0,0,0,0,0
$STATE,4637,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4638,begin apogee
$GC,4643,-0.25,0.0,564.5,12.9,423,4781,0.70,0.00,132.95,0.962,6,0.179,0.000,2948,1713,2903,0,0,0,0,0,0
$STATE,4782,end apogee,CONTROL_FINISHED_OK
$STATE,4782,begin climb
$GC,4784,1.05,170.3,571.7,0.0,430,4938,1.30,2.90,143.45,0.938,4,0.107,0.108,3361,3169,2207,0,0,0,0,0,0
$GC,4994,0.97,223.3,571.2,7.9,439,5048,0.10,2.60,46.62,0.907,6,0.181,0.102,3349,1788,1992,0,0,0,0,0,0
$GC,5376,0.88,223.3,526.2,11.8,458,5381,0.12,2.40,0.00,0.000,4,0.186,0.059,3329,329,1987,0,0,0,0,0,0
$GC,5476,0.81,223.3,514.8,11.1,462,5484,0.12,2.33,0.00,0.000,6,0.158,0.039,3297,1765,1987,0,0,0,0,0,0
$GC,5793,0.84,253.5,486.8,8.8,478,5821,0.00,0.00,26.50,0.896,6,0.000,0.000,3297,1765,1868,0,0,0,0,0,0
$GC,6122,0.86,269.1,456.4,9.4,494,6144,0.00,2.35,14.95,0.852,4,0.000,0.053,3306,334,1804,0,0,0,0,0,0
$GC,6168,0.86,269.2,451.9,10.0,496,6172,0.00,2.33,0.00,0.000,6,0.000,0.043,3306,1756,1803,0,0,0,0,0,0
$GC,6494,0.86,269.2,419.4,10.3,512,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1756,1801,0,0,0,0,0,0
$GC,6807,0.86,269.2,388.6,10.1,532,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1756,1800,0,0,0,0,0,0
$GC,7127,0.87,275.6,357.3,9.8,562,7140,0.00,2.40,6.25,0.662,4,0.000,0.087,3306,3180,1777,0,0,0,0,0,0
$GC,7168,0.87,275.6,352.7,11.0,565,7176,0.00,2.47,0.00,0.000,6,0.000,0.092,3315,1756,1777,0,0,0,0,0,0
$GC,7494,0.85,281.3,318.7,9.8,596,7508,0.00,2.33,6.78,0.711,4,0.000,0.064,3326,330,1755,0,0,0,0,0,0
$GC,7667,0.82,281.3,299.5,11.4,611,7672,0.10,2.28,0.00,0.000,6,0.164,0.039,3301,1760,1755,0,0,0,0,0,0
$GC,7995,0.83,289.3,267.8,9.7,641,8005,0.00,0.00,8.88,0.731,6,0.000,0.000,3301,1760,1721,0,0,0,0,0,0
$GC,8321,0.85,310.1,236.5,9.2,672,8342,0.00,0.00,19.35,0.754,6,0.000,0.000,3301,1760,1637,0,0,0,0,0,0
$GC,8660,0.88,319.7,203.7,9.6,704,8672,0.00,0.00,9.18,0.693,6,0.000,0.000,3301,1760,1598,0,0,0,0,0,0
$GC,8988,0.96,356.9,174.3,8.5,735,9029,0.12,2.40,33.35,0.731,4,0.084,0.055,3384,337,1446,0,0,0,0,0,0
$GC,9063,0.88,356.9,165.5,13.7,741,9068,0.22,2.33,0.00,0.000,6,0.151,0.041,3322,1761,1443,0,0,0,0,0,0
$GC,9387,0.88,356.9,127.2,11.8,771,9392,0.00,2.33,0.00,0.000,4,0.000,0.054,3332,329,1440,0,0,0,0,0,0
$GC,9418,0.88,356.9,123.8,12.4,773,9423,0.05,2.33,0.00,0.000,6,0.198,0.043,3321,1765,1440,0,0,0,0,0,0
$GC,9754,0.91,356.9,86.1,10.2,814,9761,0.00,2.33,0.00,0.000,4,0.000,0.054,3330,327,1439,0,0,0,0,0,0
$GC,9861,0.91,356.9,73.6,11.2,832,9868,0.00,2.30,0.00,0.000,6,0.000,0.045,3330,1756,1439,0,0,0,0,0,0
$GC,10214,0.98,392.2,39.1,8.6,893,10252,0.05,2.35,29.45,0.651,4,0.160,0.057,3390,330,1301,0,0,0,0,0,0
$GC,10325,0.93,392.2,25.1,15.5,910,10334,0.15,2.38,0.00,0.000,6,0.133,0.048,3342,1758,1298,0,0,0,0,0,0
$GC,10484,0.96,392.2,8.2,10.6,935,10492,0.00,2.42,0.00,0.000,4,0.000,0.085,3342,3188,1296,0,0,0,0,0,0
$STATE,10530,end climb,SURFACE_DEPTH_REACHED
$STATE,10530,begin surface coast
$FINISH,1.9,1.021305
$STATE,10538,end surface coast,CONTROL_FINISHED_OK
$STATE,10538,begin surface
$SM_CCo,10557,98.88,0.048,0,0,406,611.52
$SM_GC,1.76,0.00,0.00,98.88,0.000,0.000,0.048,69,1907,406,-9.27,-0.34,611.52
$IRIDIUM_FIX,-3417.32,2521.39,030308,212158
$TT8_MAMPS,0.026964
$HUMID,58.03
$INTERNAL_PRESSURE,9.29413
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.5,27.9
$24V_AH,23.2,34.199
$10V_AH,10.2,28.497
$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,23.875,103.750,477.700,98.875,0.000,26.179,40.175,380.106,13.000,0.000,43.462,2397.924,5222.020,683.325,2760.779,216.747,0.000,1627.866,0.000,2158.709,0.000,83.434,0.000
$DEVICE_MAMPS,249.390,123.165,961.605,48.195,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.747,1563.345,861.018,313.171,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331136
$DATA_FILE_SIZE,63608,943
$CAP_FILE_SIZE,129089,0
$CFSIZE,2097086464,2055929856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.091,304.8,1
$GPS,080515,134243,-3434.349,2526.080,42,3.9,62,-27.8