version: 66.07.10.p01
glider: 573
mission: 9
dive: 408
start: 5 11 115 20 29 24
data:
$ID,573
$MISSION,9
$DIVE,408
$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,-14798.283
$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,21
$R_STBD_OVSHOOT,15
$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,407
$GPS1,110515,200535,-3435.418,2527.841,37,0.9,37,-27.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.0
$GPS2,110515,202859,-3435.685,2527.558,44,1.1,44,-27.9
$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,66.1,1631,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.47,-63.2,0.0,0.0,0,106,0.00,0.00,-76.35,0.000,2,0.000,0.000,68,1934,2366,0,0,0,0,0,0
$GC,108,-1.55,-133.7,3.1,-2.5,9,160,10.77,2.42,-31.95,0.000,4,0.253,0.098,2515,3349,3446,0,0,0,0,0,0
$GC,429,-1.44,-133.7,88.4,-20.0,60,443,0.17,2.55,0.00,0.000,6,0.194,0.097,2561,1923,3449,0,0,0,0,0,0
$GC,771,-1.38,-133.7,162.6,-22.7,95,776,0.10,2.45,0.00,0.000,4,0.234,0.086,2572,3351,3451,0,0,0,0,0,0
$GC,991,-1.34,-133.7,215.1,-24.6,113,999,0.10,2.47,0.00,0.000,6,0.201,0.086,2594,1908,3451,0,0,0,0,0,0
$GC,1316,-1.34,-133.7,294.2,-25.1,144,1320,0.00,2.53,0.00,0.000,4,0.000,0.102,2585,3343,3451,0,0,0,0,0,0
$GC,1392,-1.34,-133.7,312.8,-24.8,150,1397,0.05,2.55,0.00,0.000,6,0.207,0.106,2594,1921,3451,0,0,0,0,0,0
$GC,1717,-1.34,-133.7,385.8,-21.9,180,1721,0.00,2.53,0.00,0.000,4,0.000,0.111,2585,3330,3450,0,0,0,0,0,0
$GC,1760,-1.34,-133.7,395.5,-22.0,183,1769,0.05,2.53,0.00,0.000,6,0.208,0.106,2594,1921,3449,0,0,0,0,0,0
$GC,2078,-1.34,-133.7,461.2,-20.4,200,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1921,3448,0,0,0,0,0,0
$GC,2388,-1.34,-133.7,526.2,-20.4,215,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1921,3446,0,0,0,0,0,0
$GC,2699,-1.34,-133.7,595.3,-22.5,230,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1920,3445,0,0,0,0,0,0
$GC,3009,-1.34,-133.7,664.2,-21.5,245,3013,0.00,2.33,0.00,0.000,4,0.000,0.068,2594,485,3443,0,0,0,0,0,0
$GC,3026,-1.34,-133.7,668.6,-19.9,246,3031,0.05,2.33,0.00,0.000,6,0.286,0.056,2593,1920,3443,0,0,0,0,0,0
$GC,3352,-1.34,-133.7,734.9,-20.1,262,3357,0.00,2.58,0.00,0.000,4,0.000,0.118,2583,3336,3442,0,0,0,0,0,0
$GC,3483,-1.34,-133.7,760.9,-20.1,268,3488,0.08,2.58,0.00,0.000,6,0.202,0.109,2597,1911,3441,0,0,0,0,0,0
$STATE,3787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3787,begin apogee
$GC,3793,-0.25,0.0,819.5,18.3,283,3911,1.35,0.00,108.57,1.126,6,0.206,0.000,2948,1750,2903,0,0,0,0,0,0
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3912,begin climb
$GC,3914,1.55,133.7,823.9,0.0,289,4039,1.75,2.47,116.80,1.088,4,0.090,0.044,3539,335,2356,0,0,0,0,0,0
$GC,4052,1.44,171.8,821.7,6.0,295,4095,0.17,2.40,35.40,1.041,6,0.198,0.026,3500,1808,2201,0,0,0,0,0,0
$GC,4411,1.36,171.8,771.6,13.7,313,4413,0.12,0.00,0.00,0.000,6,0.222,0.000,3473,1809,2197,0,0,0,0,0,0
$GC,4720,1.32,171.8,727.2,14.3,328,4725,0.05,2.38,0.00,0.000,4,0.264,0.045,3475,331,2194,0,0,0,0,0,0
$GC,4977,1.25,171.8,695.3,11.6,339,4985,0.15,2.20,0.00,0.000,6,0.194,0.029,3438,1759,2193,0,0,0,0,0,0
$GC,5293,1.25,171.8,662.0,11.0,355,5297,0.00,2.28,0.00,0.000,4,0.000,0.045,3448,326,2192,0,0,0,0,0,0
$GC,5383,1.22,171.8,651.3,12.5,359,5387,0.10,2.20,0.00,0.000,6,0.204,0.030,3426,1752,2192,0,0,0,0,0,0
$GC,5715,1.22,171.8,615.3,10.2,375,5719,0.00,2.25,0.00,0.000,4,0.000,0.045,3435,325,2190,0,0,0,0,0,0
$GC,5758,1.19,171.8,610.1,11.7,377,5763,0.08,2.22,0.00,0.000,6,0.207,0.030,3420,1780,2191,0,0,0,0,0,0
$GC,6086,1.19,171.8,571.5,11.8,393,6090,0.00,2.28,0.00,0.000,4,0.000,0.044,3430,329,2189,0,0,0,0,0,0
$GC,6129,1.19,171.8,564.8,14.6,395,6134,0.03,2.20,0.00,0.000,6,0.194,0.029,3423,1747,2190,0,0,0,0,0,0
$GC,6456,1.19,171.8,524.1,11.7,411,6460,0.00,2.25,0.00,0.000,4,0.000,0.046,3431,332,2189,0,0,0,0,0,0
$GC,6500,1.16,171.8,518.8,12.4,413,6504,0.10,2.22,0.00,0.000,6,0.192,0.031,3409,1767,2189,0,0,0,0,0,0
$GC,6829,1.19,173.6,488.4,9.8,429,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,1768,2189,0,0,0,0,0,0
$GC,7136,1.22,173.6,454.0,11.9,444,7140,0.00,2.30,0.00,0.000,4,0.000,0.045,3419,321,2188,0,0,0,0,0,0
$GC,7269,1.22,173.6,438.9,11.7,450,7273,0.00,2.25,0.00,0.000,6,0.000,0.031,3419,1760,2189,0,0,0,0,0,0
$GC,7587,1.22,173.6,396.5,13.5,466,7591,0.00,2.28,0.00,0.000,4,0.000,0.047,3428,323,2188,0,0,0,0,0,0
$GC,7653,1.22,173.6,386.5,15.5,471,7661,0.00,2.25,0.00,0.000,6,0.000,0.031,3428,1756,2188,0,0,0,0,0,0
$GC,7979,1.22,180.5,344.3,9.3,502,7991,0.00,2.45,6.32,0.719,4,0.000,0.090,3428,3176,2166,0,0,0,0,0,0
$GC,8063,1.22,180.5,336.2,10.6,509,8067,0.00,2.42,0.00,0.000,6,0.000,0.081,3438,1751,2166,0,0,0,0,0,0
$GC,8387,1.22,180.5,296.8,13.3,539,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,1751,2166,0,0,0,0,0,0
$GC,8710,1.22,180.5,252.0,14.3,569,8714,0.00,2.28,0.00,0.000,4,0.000,0.052,3450,323,2166,0,0,0,0,0,0
$GC,8795,1.20,180.5,239.1,14.3,576,8800,0.10,2.22,0.00,0.000,6,0.186,0.031,3426,1771,2166,0,0,0,0,0,0
$GC,9121,1.22,180.5,195.4,13.4,606,9125,0.00,2.25,0.00,0.000,4,0.000,0.070,3426,3162,2166,0,0,0,0,0,0
$GC,9162,1.22,180.5,190.1,13.0,609,9167,0.00,2.38,0.00,0.000,6,0.000,0.083,3435,1757,2166,0,0,0,0,0,0
$GC,9487,1.22,180.5,153.0,11.5,639,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1757,2166,0,0,0,0,0,0
$GC,9810,1.22,180.5,118.1,12.2,669,9814,0.00,2.28,0.00,0.000,4,0.000,0.051,3446,326,2166,0,0,0,0,0,0
$GC,9884,1.22,180.5,108.3,12.8,675,9889,0.08,2.20,0.00,0.000,6,0.193,0.031,3430,1753,2166,0,0,0,0,0,0
$GC,10230,1.28,200.6,75.7,7.9,729,10260,0.00,2.33,18.23,0.672,4,0.000,0.070,3430,3171,2083,0,0,0,0,0,0
$GC,10520,1.35,231.7,50.4,6.7,778,10554,0.08,2.40,26.55,0.635,6,0.117,0.079,3478,1753,1956,0,0,0,0,0,0
$GC,10915,1.40,245.9,13.2,8.5,843,10934,0.00,2.33,7.12,0.477,4,0.000,0.063,3478,3166,1897,0,0,0,0,0,0
$STATE,11039,end climb,SURFACE_DEPTH_REACHED
$STATE,11040,begin surface coast
$FINISH,1.2,1.009770
$STATE,11078,end surface coast,CONTROL_FINISHED_OK
$STATE,11078,begin surface
$SM_CCo,11098,166.43,0.047,0,0,408,611.52
$SM_GC,1.95,0.00,0.00,166.43,0.000,0.000,0.047,79,1917,408,-9.23,-0.06,611.52
$IRIDIUM_FIX,-3419.93,2526.00,070308,090929
$TT8_MAMPS,0.027713
$HUMID,54.84
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,812.1,21.8
$24V_AH,23.0,39.391
$10V_AH,10.1,32.147
$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,24.950,94.200,319.000,166.425,0.000,126.314,254.237,521.565,19.500,0.000,46.215,2278.648,6418.115,613.043,3101.019,247.626,0.000,1468.612,0.000,1985.439,0.000,123.324,0.000
$DEVICE_MAMPS,286.110,117.810,1126.080,46.665,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.443,1405.490,712.439,301.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,60305,868
$CAP_FILE_SIZE,129949,0
$CFSIZE,2097086464,2049966080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.239,191.9,1
$GPS,110515,233829,-3436.229,2528.430,43,1.1,44,-27.9