version: 66.07.10.p01
glider: 573
mission: 9
dive: 406
start: 5 11 115 14 23 58
data:
$ID,573
$MISSION,9
$DIVE,406
$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,-14793.618
$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,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,405
$GPS1,110515,140435,-3431.917,2527.481,32,1.0,32,-27.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-67.2
$GPS2,110515,142335,-3432.250,2527.277,46,0.9,46,-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,234.4,6499,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-78.28,0.000,2,0.000,0.000,74,1927,2433,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-3.3,9,163,11.12,2.58,-31.73,0.000,4,0.245,0.112,2686,485,3600,0,0,0,0,0,0
$GC,395,-0.89,-170.3,57.4,-18.9,54,405,0.22,2.70,0.00,0.000,6,0.194,0.116,2739,1923,3602,0,0,0,0,0,0
$GC,750,-0.84,-170.3,104.4,-13.0,112,755,0.08,2.45,0.00,0.000,4,0.218,0.099,2745,3354,3605,0,0,0,0,0,0
$GC,995,-0.84,-170.3,134.0,-12.2,133,1000,0.05,2.50,0.00,0.000,6,0.174,0.091,2756,1911,3606,0,0,0,0,0,0
$GC,1321,-0.84,-170.3,176.3,-13.1,163,1325,0.00,2.47,0.00,0.000,4,0.000,0.098,2756,474,3606,0,0,0,0,0,0
$GC,1383,-0.82,-170.3,184.9,-14.2,168,1388,0.08,2.47,0.00,0.000,6,0.198,0.076,2763,1926,3605,0,0,0,0,0,0
$GC,1708,-0.82,-170.3,227.7,-13.1,198,1712,0.00,2.55,0.00,0.000,4,0.000,0.116,2753,3354,3604,0,0,0,0,0,0
$GC,1874,-0.82,-170.3,250.4,-13.7,212,1880,0.05,2.53,0.00,0.000,6,0.170,0.097,2764,1912,3603,0,0,0,0,0,0
$GC,2199,-0.82,-170.3,298.2,-16.2,242,2203,0.00,2.45,0.00,0.000,4,0.000,0.098,2764,488,3601,0,0,0,0,0,0
$GC,2241,-0.82,-170.3,304.4,-15.5,245,2245,0.00,2.42,0.00,0.000,6,0.000,0.075,2755,1919,3601,0,0,0,0,0,0
$GC,2567,-0.80,-170.3,355.7,-14.8,275,2572,0.08,2.55,0.00,0.000,4,0.220,0.112,2759,3345,3599,0,0,0,0,0,0
$GC,2725,-0.80,-170.3,383.1,-15.4,288,2736,0.03,2.62,0.00,0.000,6,0.103,0.113,2770,1920,3598,0,0,0,0,0,0
$GC,3046,-0.80,-170.3,423.2,-13.7,309,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1920,3597,0,0,0,0,0,0
$GC,3354,-0.80,-170.3,466.4,-12.2,324,3358,0.00,2.42,0.00,0.000,4,0.000,0.089,2770,481,3595,0,0,0,0,0,0
$GC,3427,-0.80,-170.3,475.7,-12.8,327,3432,0.05,2.42,0.00,0.000,6,0.234,0.068,2769,1925,3595,0,0,0,0,0,0
$GC,3743,-0.80,-170.3,518.4,-12.6,342,3748,0.00,2.58,0.00,0.000,4,0.000,0.121,2760,3336,3594,0,0,0,0,0,0
$GC,3837,-0.82,-170.3,530.1,-10.9,346,3841,0.00,2.60,0.00,0.000,6,0.000,0.115,2759,1908,3593,0,0,0,0,0,0
$STATE,3924,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3924,begin apogee
$GC,3930,-0.25,0.0,541.0,12.5,350,4068,0.70,0.00,133.50,0.940,6,0.184,0.000,2951,1756,2902,0,0,0,0,0,0
$STATE,4068,end apogee,CONTROL_FINISHED_OK
$STATE,4068,begin climb
$GC,4070,1.05,170.3,550.5,0.0,357,4223,1.27,2.47,142.52,0.907,4,0.106,0.051,3371,328,2208,0,0,0,0,0,0
$GC,4474,0.89,172.1,527.4,9.9,375,4479,0.17,2.33,0.00,0.000,6,0.161,0.035,3325,1772,2205,0,0,0,0,0,0
$GC,4803,0.82,172.6,498.4,10.0,391,4804,0.10,0.00,0.00,0.000,6,0.200,0.000,3302,1773,2203,0,0,0,0,0,0
$GC,5112,0.85,247.0,475.5,7.1,406,5181,0.00,2.40,64.32,0.897,4,0.000,0.070,3302,3180,1894,0,0,0,0,0,0
$GC,5248,0.85,272.8,464.3,9.0,412,5281,0.00,2.50,23.12,0.843,6,0.000,0.084,3310,1758,1789,0,0,0,0,0,0
$GC,5591,0.82,272.8,428.2,12.1,429,5595,0.00,2.38,0.00,0.000,4,0.000,0.066,3322,318,1784,0,0,0,0,0,0
$GC,5697,0.78,272.8,416.3,11.7,434,5702,0.12,2.30,0.00,0.000,6,0.155,0.037,3289,1759,1783,0,0,0,0,0,0
$GC,6019,0.80,272.8,384.9,10.7,455,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1760,1782,0,0,0,0,0,0
$GC,6339,0.90,334.6,357.4,7.6,485,6399,0.10,2.55,52.03,0.837,4,0.094,0.104,3348,3174,1537,0,0,0,0,0,0
$GC,6468,0.85,334.6,341.8,14.0,496,6474,0.17,2.58,0.00,0.000,6,0.169,0.105,3312,1751,1534,0,0,0,0,0,0
$GC,6793,0.85,334.6,301.2,13.5,526,6797,0.00,2.33,0.00,0.000,4,0.000,0.062,3322,330,1531,0,0,0,0,0,0
$GC,6900,0.85,334.6,286.8,13.0,535,6905,0.03,2.30,0.00,0.000,6,0.245,0.038,3313,1767,1530,0,0,0,0,0,0
$GC,7227,0.85,334.6,245.9,12.1,565,7232,0.00,2.40,0.00,0.000,4,0.000,0.089,3312,3180,1529,0,0,0,0,0,0
$GC,7270,0.85,334.6,240.0,13.3,568,7280,0.00,2.53,0.00,0.000,6,0.000,0.095,3321,1755,1528,0,0,0,0,0,0
$GC,7596,0.85,334.6,196.9,12.9,599,7600,0.00,2.33,0.00,0.000,4,0.000,0.063,3333,326,1528,0,0,0,0,0,0
$GC,7681,0.83,334.6,186.0,12.4,606,7686,0.12,2.28,0.00,0.000,6,0.151,0.038,3298,1758,1528,0,0,0,0,0,0
$GC,8006,0.86,334.6,150.9,10.3,636,8011,0.00,2.35,0.00,0.000,4,0.000,0.076,3298,3180,1528,0,0,0,0,0,0
$GC,8058,0.89,334.6,145.4,10.9,640,8063,0.00,2.47,0.00,0.000,6,0.000,0.092,3307,1758,1527,0,0,0,0,0,0
$GC,8383,0.89,334.6,111.3,11.2,670,8387,0.00,2.30,0.00,0.000,4,0.000,0.063,3318,326,1527,0,0,0,0,0,0
$GC,8469,0.89,334.6,101.0,12.5,677,8473,0.00,2.30,0.00,0.000,6,0.000,0.041,3318,1767,1527,0,0,0,0,0,0
$GC,8819,0.93,343.1,65.7,9.7,736,8832,0.00,2.30,6.15,0.519,4,0.000,0.054,3328,329,1504,0,0,0,0,0,0
$GC,8921,0.93,343.1,54.8,10.0,753,8929,0.00,2.30,0.00,0.000,6,0.000,0.043,3328,1750,1504,0,0,0,0,0,0
$GC,9279,0.98,361.9,23.0,9.3,814,9297,0.05,2.42,10.85,0.565,4,0.161,0.083,3383,3186,1425,0,0,0,0,0,0
$GC,9331,0.93,361.9,18.0,11.5,821,9340,0.17,2.53,0.00,0.000,6,0.144,0.094,3338,1754,1423,0,0,0,0,0,0
$GC,9393,1.01,405.8,11.8,8.3,830,9419,0.08,0.00,22.15,0.539,6,0.116,0.000,3403,1754,1245,0,0,0,0,0,0
$STATE,9463,end climb,SURFACE_DEPTH_REACHED
$STATE,9463,begin surface coast
$FINISH,1.2,1.007491
$STATE,9490,end surface coast,CONTROL_FINISHED_OK
$STATE,9491,begin surface
$SM_CCo,9508,94.95,0.046,0,0,407,611.52
$SM_GC,1.95,0.00,0.00,94.95,0.000,0.000,0.046,70,1978,407,-9.26,1.67,611.52
$IRIDIUM_FIX,-3419.93,2528.36,070308,030312
$TT8_MAMPS,0.026964
$HUMID,59.37
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,520.2,33.1
$24V_AH,23.3,39.134
$10V_AH,10.1,31.948
$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,23.825,93.525,454.650,94.950,0.000,128.332,292.757,257.517,12.250,0.000,48.778,2200.492,4785.329,610.072,2943.865,208.125,0.000,1509.520,0.000,2058.347,0.000,77.056,0.000
$DEVICE_MAMPS,244.800,120.870,940.185,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,579.679,1389.958,791.586,307.407,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330872
$DATA_FILE_SIZE,60388,844
$CAP_FILE_SIZE,120048,0
$CFSIZE,2097086464,2050228224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.267, 94.4,1
$GPS,110515,170522,-3433.598,2527.988,27,1.0,44,-27.8