version: 66.07.10.p01
glider: 573
mission: 9
dive: 407
start: 5 11 115 17 16 22
data:
$ID,573
$MISSION,9
$DIVE,407
$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,-14795.947
$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,53
$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,406
$GPS1,110515,170522,-3433.598,2527.988,27,1.0,44,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.7
$GPS2,110515,171558,-3433.763,2527.948,43,1.3,48,-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,235.9,3517,-27.8,-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,26,-1.47,-63.2,0.0,0.0,0,106,0.00,0.00,-78.30,0.000,2,0.000,0.000,70,1978,2389,0,0,0,0,0,0
$GC,109,-1.55,-130.2,3.1,-2.9,9,160,11.00,2.62,-28.80,0.000,4,0.262,0.106,2521,503,3435,1,0,0,0,0,0
$GC,428,-1.39,-130.2,87.9,-22.6,60,437,0.25,2.47,0.00,0.000,6,0.210,0.093,2577,1880,3438,0,0,0,0,0,0
$GC,767,-1.34,-130.2,161.9,-22.6,96,772,0.10,2.53,0.00,0.000,4,0.248,0.093,2586,3356,3441,0,0,0,0,0,0
$GC,896,-1.34,-130.2,191.9,-22.8,107,901,0.05,2.47,0.00,0.000,6,0.209,0.084,2596,1910,3442,0,0,0,0,0,0
$GC,1223,-1.34,-130.2,264.2,-21.5,137,1227,0.00,2.50,0.00,0.000,4,0.000,0.095,2587,3346,3442,0,0,0,0,0,0
$GC,1285,-1.34,-130.2,277.8,-20.6,142,1290,0.05,2.45,0.00,0.000,6,0.212,0.088,2596,1919,3442,0,0,0,0,0,0
$GC,1611,-1.34,-130.2,348.3,-21.9,172,1615,0.00,2.50,0.00,0.000,4,0.000,0.103,2586,3346,3442,0,0,0,0,0,0
$GC,1723,-1.34,-130.2,372.5,-21.6,181,1731,0.05,2.53,0.00,0.000,6,0.216,0.099,2596,1905,3441,0,0,0,0,0,0
$GC,2053,-1.34,-130.2,450.6,-26.3,203,2057,0.00,2.55,0.00,0.000,4,0.000,0.108,2586,3336,3439,0,0,0,0,0,0
$GC,2190,-1.31,-130.2,482.0,-22.3,209,2195,0.10,2.53,0.00,0.000,6,0.198,0.103,2609,1918,3438,0,0,0,0,0,0
$GC,2511,-1.31,-130.2,551.2,-21.8,225,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1918,3437,0,0,0,0,0,0
$GC,2821,-1.31,-130.2,611.7,-18.6,240,2826,0.00,2.55,0.00,0.000,4,0.000,0.106,2600,3339,3437,0,0,0,0,0,0
$GC,2982,-1.31,-130.2,644.7,-20.2,247,2987,0.00,2.50,0.00,0.000,6,0.000,0.096,2600,1924,3436,0,0,0,0,0,0
$STATE,3304,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3304,begin apogee
$GC,3309,-0.25,0.0,709.5,20.2,263,3417,1.38,0.00,103.57,1.045,6,0.217,0.000,2947,1747,2902,0,0,0,0,0,0
$STATE,3418,end apogee,CONTROL_FINISHED_OK
$STATE,3418,begin climb
$GC,3420,1.55,130.2,714.8,0.0,268,3540,1.80,2.42,110.28,1.024,4,0.106,0.044,3533,329,2373,0,0,0,0,0,0
$GC,3729,1.41,130.2,693.7,13.8,282,3734,0.17,2.30,0.00,0.000,6,0.197,0.028,3490,1787,2372,0,0,0,0,0,0
$GC,4057,1.36,160.5,672.0,6.8,298,4092,0.08,2.45,27.08,0.995,4,0.243,0.044,3487,324,2247,0,0,0,0,0,0
$GC,4215,1.26,160.5,656.7,11.2,305,4220,0.17,2.25,0.00,0.000,6,0.200,0.028,3445,1764,2245,0,0,0,0,0,0
$GC,4542,1.27,163.5,625.2,9.7,321,4546,0.00,2.25,0.00,0.000,4,0.000,0.065,3445,3159,2242,0,0,0,0,0,0
$GC,4636,1.25,182.9,616.8,8.0,325,4662,0.08,2.33,19.85,0.970,6,0.220,0.073,3440,1755,2155,0,0,0,0,0,0
$GC,4984,1.28,206.1,596.7,7.6,342,5010,0.00,2.38,21.10,0.950,4,0.000,0.076,3440,3150,2061,0,0,0,0,0,0
$GC,5189,1.28,206.1,573.2,10.6,351,5194,0.00,2.40,0.00,0.000,6,0.000,0.080,3448,1761,2057,0,0,0,0,0,0
$GC,5511,1.28,206.1,529.6,16.2,367,5515,0.00,2.28,0.00,0.000,4,0.000,0.053,3460,339,2056,0,0,0,0,0,0
$GC,5606,1.23,206.1,511.9,19.6,371,5611,0.12,2.20,0.00,0.000,6,0.186,0.030,3429,1746,2056,0,0,0,0,0,0
$GC,5927,1.23,206.1,462.9,13.5,387,5931,0.00,2.30,0.00,0.000,4,0.000,0.071,3429,3171,2056,0,0,0,0,0,0
$GC,6102,1.23,206.1,440.6,14.7,395,6106,0.00,2.38,0.00,0.000,6,0.000,0.074,3438,1756,2055,0,0,0,0,0,0
$GC,6428,1.23,206.1,400.0,13.0,411,6432,0.00,2.28,0.00,0.000,4,0.000,0.053,3450,326,2054,0,0,0,0,0,0
$GC,6513,1.23,206.1,388.6,13.7,418,6518,0.08,2.22,0.00,0.000,6,0.199,0.031,3434,1764,2055,0,0,0,0,0,0
$GC,6839,1.25,206.1,350.8,11.7,448,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1764,2054,0,0,0,0,0,0
$GC,7159,1.27,206.1,312.9,12.1,478,7163,0.00,2.30,0.00,0.000,4,0.000,0.076,3434,3165,2054,0,0,0,0,0,0
$GC,7213,1.27,206.1,305.6,12.6,482,7220,0.00,2.38,0.00,0.000,6,0.000,0.074,3443,1757,2053,0,0,0,0,0,0
$GC,7541,1.27,206.1,266.1,12.6,513,7545,0.00,2.28,0.00,0.000,4,0.000,0.053,3454,328,2053,0,0,0,0,0,0
$GC,7606,1.27,206.1,257.1,13.7,518,7613,0.00,2.22,0.00,0.000,6,0.000,0.030,3454,1757,2053,0,0,0,0,0,0
$GC,7934,1.27,206.1,213.8,13.9,549,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1757,2053,0,0,0,0,0,0
$GC,8251,1.27,206.1,172.6,12.6,579,8256,0.00,2.28,0.00,0.000,4,0.000,0.045,3464,325,2053,0,0,0,0,0,0
$GC,8307,1.24,206.1,165.5,12.2,583,8316,0.12,2.20,0.00,0.000,6,0.185,0.030,3434,1753,2053,0,0,0,0,0,0
$GC,8632,1.27,206.1,126.8,11.1,614,8637,0.00,2.30,0.00,0.000,4,0.000,0.069,3434,3172,2053,0,0,0,0,0,0
$GC,8650,1.27,206.1,124.7,11.2,615,8654,0.00,2.35,0.00,0.000,6,0.000,0.075,3443,1751,2052,0,0,0,0,0,0
$GC,8986,1.27,206.1,83.7,10.3,657,8995,0.00,2.28,0.00,0.000,4,0.000,0.051,3454,334,2052,0,0,0,0,0,0
$GC,9034,1.27,209.7,79.1,9.6,664,9041,0.00,2.20,0.00,0.000,6,0.000,0.031,3454,1768,2052,0,0,0,0,0,0
$GC,9384,1.30,237.6,52.5,7.1,725,9420,0.00,2.33,25.55,0.643,4,0.000,0.047,3464,343,1932,0,0,0,0,0,0
$GC,9682,1.33,237.6,20.3,11.6,775,9690,0.00,2.22,0.00,0.000,6,0.000,0.035,3464,1747,1929,0,0,0,0,0,0
$GC,9841,1.39,242.9,3.5,9.4,800,9851,0.00,2.25,1.88,0.053,4,0.000,0.044,3474,330,1913,0,0,0,0,0,0
$STATE,9857,end climb,SURFACE_DEPTH_REACHED
$STATE,9857,begin surface coast
$FINISH,1.2,1.018416
$STATE,9890,end surface coast,CONTROL_FINISHED_OK
$STATE,9890,begin surface
$SM_CCo,9910,168.65,0.047,0,0,408,611.52
$SM_GC,2.05,0.00,0.00,168.65,0.000,0.000,0.047,69,1933,408,-9.27,0.40,611.52
$IRIDIUM_FIX,-3419.93,2528.36,070308,060637
$TT8_MAMPS,0.026964
$HUMID,55.15
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,692.8,28.0
$24V_AH,23.2,39.247
$10V_AH,10.1,32.042
$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,24.925,95.225,309.300,168.650,0.000,55.103,101.929,250.577,17.750,0.000,50.686,2147.954,5250.623,581.131,2543.912,195.620,0.000,1441.652,0.000,1970.013,0.000,106.058,0.000
$DEVICE_MAMPS,261.630,107.865,1044.990,46.665,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.701,1328.869,689.268,281.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,57021,807
$CAP_FILE_SIZE,117126,1
$CFSIZE,2097086464,2050064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$CURRENT,0.165,139.6,1
$GPS,110515,200535,-3435.418,2527.841,37,0.9,37,-27.9