version: 66.07.10.p01
glider: 573
mission: 9
dive: 359
start: 5 9 115 14 4 57
data:
$ID,573
$MISSION,9
$DIVE,359
$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,-14666.621
$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,13
$R_STBD_OVSHOOT,6
$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,358
$GPS1,090515,135653,-3432.419,2526.320,42,1.4,43,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.8
$GPS2,090515,140435,-3432.395,2526.139,31,0.9,31,-27.8
$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,18.2,16979,-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,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,105,0.00,0.00,-76.07,0.000,2,0.000,0.000,69,1932,2339,0,0,0,0,0,0
$GC,108,-1.05,-170.3,3.0,-3.1,9,167,11.10,2.60,-35.95,0.000,4,0.244,0.113,2687,500,3600,0,0,0,0,0,0
$GC,288,-0.86,-170.3,39.8,-29.1,36,299,0.22,2.72,0.00,0.000,6,0.193,0.119,2739,1932,3603,0,0,0,0,0,0
$GC,439,-0.77,-170.3,65.3,-14.8,61,446,0.15,2.45,0.00,0.000,4,0.184,0.096,2767,3354,3604,0,0,0,0,0,0
$GC,607,-0.77,-170.3,87.9,-13.3,90,616,0.00,2.55,0.00,0.000,6,0.000,0.098,2767,1928,3605,0,0,0,0,0,0
$GC,939,-0.77,-170.3,128.1,-10.4,128,941,0.05,0.00,0.00,0.000,6,0.191,0.000,2777,1928,3607,0,0,0,0,0,0
$GC,1258,-0.77,-170.3,163.3,-11.6,158,1262,0.00,2.50,0.00,0.000,4,0.000,0.103,2769,3345,3607,0,0,0,0,0,0
$GC,1286,-0.77,-170.3,166.6,-11.8,160,1291,0.00,2.62,0.00,0.000,6,0.000,0.118,2769,1913,3608,0,0,0,0,0,0
$GC,1611,-0.77,-170.3,205.8,-12.6,190,1615,0.00,2.47,0.00,0.000,4,0.000,0.099,2768,481,3607,0,0,0,0,0,0
$GC,1666,-0.77,-170.3,213.4,-13.1,194,1674,0.05,2.47,0.00,0.000,6,0.191,0.076,2773,1918,3607,0,0,0,0,0,0
$GC,1994,-0.77,-170.3,253.2,-12.2,225,1999,0.00,2.53,0.00,0.000,4,0.000,0.114,2763,3351,3607,0,0,0,0,0,0
$GC,2142,-0.77,-170.3,270.9,-11.3,237,2151,0.05,2.67,0.00,0.000,6,0.126,0.121,2778,1920,3606,0,0,0,0,0,0
$GC,2469,-0.80,-170.3,308.7,-11.9,268,2473,0.00,2.45,0.00,0.000,4,0.000,0.099,2778,481,3604,0,0,0,0,0,0
$GC,2512,-0.80,-170.3,314.2,-11.9,271,2520,0.00,2.47,0.00,0.000,6,0.000,0.077,2769,1919,3605,0,0,0,0,0,0
$GC,2838,-0.80,-170.3,355.0,-12.9,302,2842,0.00,2.53,0.00,0.000,4,0.000,0.116,2758,3341,3603,0,0,0,0,0,0
$GC,3021,-0.80,-170.3,378.4,-12.0,317,3029,0.03,2.62,0.00,0.000,6,0.116,0.116,2768,1926,3602,0,0,0,0,0,0
$GC,3344,-0.80,-170.3,418.0,-12.3,341,3349,0.00,2.47,0.00,0.000,4,0.000,0.093,2768,480,3601,0,0,0,0,0,0
$GC,3413,-0.80,-170.3,426.8,-11.7,344,3418,0.08,2.42,0.00,0.000,6,0.213,0.070,2773,1922,3601,0,0,0,0,0,0
$STATE,3470,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3470,begin apogee
$GC,3476,-0.25,0.0,433.7,11.9,347,3613,0.62,0.00,131.55,0.868,6,0.172,0.000,2951,1714,2904,0,0,0,0,0,0
$STATE,3614,end apogee,CONTROL_FINISHED_OK
$STATE,3614,begin climb
$GC,3616,1.05,170.3,441.5,0.0,354,3767,1.27,2.33,139.32,0.839,4,0.105,0.053,3373,365,2208,0,0,0,0,0,0
$GC,4018,0.90,174.7,420.2,9.8,372,4029,0.17,2.28,4.62,0.582,6,0.163,0.036,3328,1770,2188,0,0,0,0,0,0
$GC,4347,0.91,247.8,394.7,7.1,391,4419,0.00,2.38,61.50,0.832,4,0.000,0.047,3338,366,1891,0,0,0,0,0,0
$GC,4550,0.84,247.8,373.9,10.9,408,4561,0.10,2.28,0.00,0.000,6,0.149,0.037,3307,1759,1887,0,0,0,0,0,0
$GC,4875,0.84,247.8,341.4,10.4,439,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1759,1886,0,0,0,0,0,0
$GC,5198,0.84,247.8,308.5,10.0,469,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1759,1884,0,0,0,0,0,0
$GC,5524,0.85,255.8,276.1,9.7,500,5539,0.00,2.25,6.10,0.649,4,0.000,0.047,3316,371,1860,0,0,0,0,0,0
$GC,5551,0.85,272.0,273.4,9.4,502,5575,0.00,2.22,16.15,0.756,6,0.000,0.040,3316,1771,1793,0,0,0,0,0,0
$GC,5892,0.85,272.0,237.5,10.7,534,5896,0.00,2.28,0.00,0.000,4,0.000,0.072,3316,3171,1789,0,0,0,0,0,0
$GC,5934,0.81,272.0,233.0,12.2,537,5939,0.10,2.38,0.00,0.000,6,0.186,0.086,3301,1788,1789,0,0,0,0,0,0
$GC,6259,0.81,272.0,198.2,10.2,567,6263,0.00,2.35,0.00,0.000,4,0.000,0.059,3312,333,1788,0,0,0,0,0,0
$GC,6448,0.81,272.0,177.1,10.8,583,6453,0.05,2.22,0.00,0.000,6,0.207,0.037,3301,1757,1788,0,0,0,0,0,0
$GC,6776,0.83,286.8,145.6,9.4,613,6799,0.00,2.40,13.15,0.662,4,0.000,0.079,3301,3178,1732,0,0,0,0,0,0
$GC,6828,0.83,286.8,140.1,10.9,617,6835,0.00,2.45,0.00,0.000,6,0.000,0.088,3310,1756,1732,0,0,0,0,0,0
$GC,7153,0.83,286.8,106.0,11.1,648,7157,0.00,2.28,0.00,0.000,4,0.000,0.057,3321,333,1731,0,0,0,0,0,0
$GC,7235,0.85,305.2,98.7,9.3,655,7257,0.00,2.28,16.70,0.668,6,0.000,0.040,3321,1764,1656,0,0,0,0,0,0
$GC,7601,0.85,305.2,62.8,10.1,718,7608,0.00,2.33,0.00,0.000,4,0.000,0.077,3321,3178,1653,0,0,0,0,0,0
$GC,7709,0.86,306.6,51.9,10.0,736,7717,0.08,2.42,0.00,0.000,6,0.185,0.080,3313,1743,1652,0,0,0,0,0,0
$GC,8076,1.01,391.4,23.9,6.7,797,8126,0.12,2.47,44.62,0.578,4,0.080,0.074,3396,3182,1304,0,0,0,0,0,0
$GC,8154,0.97,391.4,15.9,12.1,808,8164,0.17,2.50,0.00,0.000,6,0.130,0.086,3349,1757,1299,0,0,0,0,0,0
$GC,8217,1.02,407.2,10.0,9.4,817,8234,0.00,2.35,7.55,0.451,4,0.000,0.061,3359,341,1239,0,0,0,0,0,0
$GC,8267,1.02,407.2,5.4,10.1,824,8277,0.00,2.33,0.00,0.000,6,0.000,0.045,3360,1749,1237,0,0,0,0,0,0
$STATE,8289,end climb,SURFACE_DEPTH_REACHED
$STATE,8290,begin surface coast
$FINISH,1.2,1.008940
$STATE,8322,end surface coast,CONTROL_FINISHED_OK
$STATE,8322,begin surface
$SM_CCo,8339,92.78,0.046,0,0,406,611.52
$SM_GC,1.81,0.00,0.00,92.78,0.000,0.000,0.046,71,1949,406,-9.26,0.85,611.52
$IRIDIUM_FIX,-3419.93,2524.88,050308,000019
$TT8_MAMPS,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.3,28.0
$24V_AH,23.5,35.328
$10V_AH,10.2,29.347
$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,23.275,87.950,441.275,92.775,0.000,24.302,34.790,253.549,9.750,0.000,33.317,2083.611,3555.456,631.880,2441.399,183.848,0.000,1489.955,0.000,1999.007,0.000,61.825,0.000
$DEVICE_MAMPS,244.035,120.870,867.510,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.032,1446.322,867.406,326.641,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,57037,832
$CAP_FILE_SIZE,107570,0
$CFSIZE,2097086464,2054881280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.080,293.3,1
$GPS,090515,162635,-3431.269,2525.814,28,1.7,29,-27.8