version: 66.07.10.p01
glider: 573
mission: 9
dive: 352
start: 5 8 115 13 50 57
data:
$ID,573
$MISSION,9
$DIVE,352
$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,-14646.872
$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,18
$R_STBD_OVSHOOT,10
$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,351
$GPS1,080515,134243,-3434.349,2526.080,42,3.9,62,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-61.2
$GPS2,080515,135035,-3434.422,2525.871,35,1.0,35,-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,147.4,4708,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,113,0.00,0.00,-84.45,0.000,2,0.000,0.000,68,1907,2511,0,0,0,0,0,0
$GC,116,-1.05,-170.3,3.1,-3.8,10,168,11.18,2.55,-28.73,0.000,4,0.246,0.116,2684,504,3600,0,0,0,0,0,0
$GC,195,-0.83,-170.3,14.3,-21.7,20,205,0.30,2.70,0.00,0.000,6,0.206,0.121,2754,1913,3601,0,0,0,0,0,0
$GC,256,-0.71,-170.3,26.5,-19.3,29,263,0.17,2.47,0.00,0.000,4,0.206,0.095,2786,3354,3602,0,0,0,0,0,0
$GC,310,-0.71,-170.3,35.1,-14.3,38,320,0.03,2.62,0.00,0.000,6,0.135,0.111,2795,1934,3603,0,0,0,0,0,0
$GC,459,-0.71,-170.3,54.2,-13.0,63,468,0.00,2.58,0.00,0.000,4,0.000,0.104,2795,484,3603,0,0,0,0,0,0
$GC,511,-0.71,-170.3,61.5,-14.6,71,519,0.08,2.70,0.00,0.000,6,0.233,0.120,2799,1915,3604,0,0,0,0,0,0
$GC,866,-0.75,-170.3,101.7,-10.1,131,870,0.00,2.47,0.00,0.000,4,0.000,0.102,2788,3358,3605,0,0,0,0,0,0
$GC,955,-0.80,-170.3,110.9,-9.9,138,962,0.00,2.65,0.00,0.000,6,0.000,0.116,2788,1907,3606,0,0,0,0,0,0
$GC,1282,-0.85,-170.3,144.2,-10.7,169,1287,0.08,2.45,0.00,0.000,4,0.125,0.101,2762,481,3608,0,0,0,0,0,0
$GC,1367,-0.85,-170.3,155.6,-13.8,176,1372,0.00,2.47,0.00,0.000,6,0.000,0.082,2753,1922,3608,0,0,0,0,0,0
$GC,1693,-0.82,-170.3,201.1,-14.4,206,1698,0.05,2.50,0.00,0.000,4,0.235,0.105,2753,3351,3608,0,0,0,0,0,0
$GC,1902,-0.82,-170.3,228.5,-13.1,224,1907,0.05,2.50,0.00,0.000,6,0.160,0.096,2765,1920,3606,0,0,0,0,0,0
$GC,2228,-0.82,-170.3,270.3,-13.1,254,2232,0.00,2.47,0.00,0.000,4,0.000,0.100,2766,474,3606,0,0,0,0,0,0
$GC,2259,-0.82,-170.3,274.8,-13.4,256,2269,0.00,2.47,0.00,0.000,6,0.000,0.076,2757,1917,3606,0,0,0,0,0,0
$GC,2584,-0.82,-170.3,317.5,-13.9,287,2588,0.00,2.47,0.00,0.000,4,0.000,0.104,2746,3340,3605,0,0,0,0,0,0
$GC,2762,-0.82,-170.3,342.5,-14.0,302,2771,0.05,2.53,0.00,0.000,6,0.132,0.095,2762,1911,3604,0,0,0,0,0,0
$GC,3090,-0.82,-170.3,385.4,-13.4,333,3095,0.00,2.42,0.00,0.000,4,0.000,0.093,2762,480,3604,0,0,0,0,0,0
$GC,3131,-0.82,-170.3,391.0,-14.2,336,3136,0.05,2.45,0.00,0.000,6,0.223,0.073,2763,1928,3604,0,0,0,0,0,0
$GC,3448,-0.82,-170.3,432.8,-12.9,354,3452,0.00,2.58,0.00,0.000,4,0.000,0.125,2754,3332,3603,0,0,0,0,0,0
$GC,3636,-0.82,-170.3,456.9,-12.3,362,3645,0.03,2.58,0.00,0.000,6,0.112,0.109,2763,1923,3601,0,0,0,0,0,0
$GC,3954,-0.82,-170.3,496.9,-12.9,378,3958,0.00,2.47,0.00,0.000,4,0.000,0.093,2763,478,3601,0,0,0,0,0,0
$GC,4024,-0.82,-170.3,506.7,-12.7,381,4029,0.00,2.45,0.00,0.000,6,0.000,0.067,2754,1922,3601,0,0,0,0,0,0
$GC,4347,-0.82,-170.3,549.8,-13.6,397,4352,0.05,2.58,0.00,0.000,4,0.236,0.122,2754,3328,3599,0,0,0,0,0,0
$STATE,4426,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4426,begin apogee
$GC,4434,-0.25,0.0,560.1,12.5,400,4572,0.68,0.00,134.90,0.962,6,0.183,0.000,2944,1747,2903,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4575,1.05,170.3,567.5,0.0,407,4729,1.30,2.50,143.80,0.931,4,0.098,0.052,3375,323,2207,0,0,0,0,0,0
$GC,4980,0.91,182.9,544.1,9.5,425,4999,0.17,2.35,11.57,0.830,6,0.162,0.037,3330,1763,2155,0,0,0,0,0,0
$GC,5308,0.89,236.4,518.4,7.9,441,5359,0.00,2.40,46.42,0.920,4,0.000,0.047,3340,323,1937,0,0,0,0,0,0
$GC,5393,0.81,236.4,510.7,10.7,445,5398,0.17,2.38,0.00,0.000,6,0.165,0.038,3296,1764,1935,0,0,0,0,0,0
$GC,5714,0.87,288.1,484.5,8.0,461,5765,0.03,2.47,44.65,0.908,4,0.226,0.057,3340,331,1726,0,0,0,0,0,0
$GC,5794,0.82,288.1,476.6,10.5,464,5801,0.15,2.38,0.00,0.000,6,0.151,0.042,3300,1762,1724,0,0,0,0,0,0
$GC,6110,0.82,288.1,445.5,10.1,480,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1762,1721,0,0,0,0,0,0
$GC,6419,0.83,290.5,414.8,9.9,495,6423,0.00,2.30,0.00,0.000,4,0.000,0.052,3310,328,1720,0,0,0,0,0,0
$GC,6452,0.83,290.5,411.4,10.2,496,6459,0.00,2.30,0.00,0.000,6,0.000,0.041,3310,1761,1720,0,0,0,0,0,0
$GC,6776,0.83,290.5,379.1,10.8,521,6781,0.00,2.40,0.00,0.000,4,0.000,0.091,3310,3178,1718,0,0,0,0,0,0
$GC,6805,0.83,290.5,375.5,11.1,523,6810,0.08,2.50,0.00,0.000,6,0.208,0.097,3304,1757,1718,0,0,0,0,0,0
$GC,7132,0.83,290.5,341.4,10.4,553,7136,0.00,2.35,0.00,0.000,4,0.000,0.067,3314,328,1717,0,0,0,0,0,0
$GC,7276,0.83,290.5,326.0,10.5,565,7284,0.05,2.30,0.00,0.000,6,0.200,0.042,3304,1765,1717,0,0,0,0,0,0
$GC,7602,0.91,359.4,297.1,7.3,596,7672,0.08,2.45,60.33,0.819,4,0.119,0.057,3355,335,1436,0,0,0,0,0,0
$GC,7700,0.87,359.4,287.5,11.1,604,7710,0.12,2.38,0.00,0.000,6,0.137,0.042,3316,1754,1432,0,0,0,0,0,0
$GC,8025,0.89,359.4,250.3,11.1,635,8029,0.00,2.30,0.00,0.000,4,0.000,0.051,3326,328,1429,0,0,0,0,0,0
$GC,8055,0.89,359.4,247.1,11.9,637,8059,0.00,2.33,0.00,0.000,6,0.000,0.042,3326,1762,1428,0,0,0,0,0,0
$GC,8380,0.91,359.4,210.9,10.8,667,8384,0.00,2.33,0.00,0.000,4,0.000,0.054,3336,327,1427,0,0,0,0,0,0
$GC,8425,0.91,359.4,205.9,11.9,670,8431,0.00,2.30,0.00,0.000,6,0.000,0.043,3336,1757,1427,0,0,0,0,0,0
$GC,8752,0.91,359.4,169.6,11.6,701,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1757,1426,0,0,0,0,0,0
$GC,9069,0.91,359.4,130.6,12.3,731,9073,0.00,2.33,0.00,0.000,4,0.000,0.057,3345,328,1426,0,0,0,0,0,0
$GC,9110,0.89,359.4,125.3,13.6,734,9114,0.10,2.30,0.00,0.000,6,0.161,0.044,3319,1758,1425,0,0,0,0,0,0
$GC,9442,0.93,359.4,87.4,10.5,773,9449,0.00,2.33,0.00,0.000,4,0.000,0.054,3329,325,1425,0,0,0,0,0,0
$GC,9553,0.95,359.4,76.6,11.3,792,9562,0.00,2.35,0.00,0.000,6,0.000,0.048,3329,1758,1425,0,0,0,0,0,0
$GC,9906,0.99,371.4,39.6,9.5,853,9922,0.08,2.40,8.75,0.558,4,0.119,0.090,3390,3191,1389,0,0,0,0,0,0
$GC,9948,0.94,371.4,35.3,10.8,859,9957,0.22,2.58,0.00,0.000,6,0.161,0.109,3338,1754,1389,0,0,0,0,0,0
$GC,10103,1.01,387.4,18.6,9.4,884,10120,0.05,2.33,9.05,0.534,4,0.160,0.063,3407,336,1322,0,0,0,0,0,0
$STATE,10227,end climb,SURFACE_DEPTH_REACHED
$STATE,10227,begin surface coast
$FINISH,1.1,0.999957
$STATE,10241,end surface coast,CONTROL_FINISHED_OK
$STATE,10242,begin surface
$SM_CCo,10261,103.03,0.048,0,0,408,611.52
$SM_GC,1.74,0.00,0.00,103.03,0.000,0.000,0.048,67,1942,408,-9.27,0.65,611.52
$IRIDIUM_FIX,-3422.54,2526.00,040308,000012
$TT8_MAMPS,0.027713
$HUMID,56.85
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,560.1,7.3
$24V_AH,23.1,34.339
$10V_AH,10.2,28.600
$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,24.275,123.250,459.475,103.025,0.000,27.426,20.565,272.615,13.250,0.000,38.076,2335.466,4982.708,672.644,2645.215,200.741,0.000,1638.254,0.000,2169.958,0.000,83.054,0.000
$DEVICE_MAMPS,246.330,125.460,961.605,48.195,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.155,1501.978,821.447,303.688,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331100
$DATA_FILE_SIZE,63613,905
$CAP_FILE_SIZE,129102,0
$CFSIZE,2097086464,2055798784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.095,289.6,1
$GPS,080515,164459,-3435.243,2526.741,40,2.0,41,-27.8