version: 66.07.10.p01
glider: 573
mission: 9
dive: 419
start: 5 14 115 1 42 55
data:
$ID,573
$MISSION,9
$DIVE,419
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,330
$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,-14825.104
$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,14
$R_STBD_OVSHOOT,50
$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,418
$GPS1,140515,013329,-3443.995,2513.217,41,1.1,42,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-60.8
$GPS2,140515,014235,-3444.202,2512.863,35,1.0,35,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3434.850,2506.305
$TGT_RADIUS,1852.000
$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,357.9,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,107,0.00,0.00,-78.75,0.000,2,0.000,0.000,69,1970,2418,0,0,0,0,0,0
$GC,110,-1.05,-170.3,3.1,-3.9,13,160,11.12,2.67,-30.35,0.000,4,0.243,0.118,2687,504,3598,0,0,0,0,0,0
$GC,257,-0.81,-170.3,33.0,-28.0,37,263,0.35,2.65,0.00,0.000,6,0.194,0.127,2767,1880,3601,0,0,0,0,0,0
$GC,404,-0.74,-170.3,57.6,-17.1,62,410,0.10,2.55,0.00,0.000,4,0.230,0.099,2777,3352,3602,0,0,0,0,0,0
$GC,572,-0.74,-170.3,78.3,-13.6,91,578,0.05,2.53,0.00,0.000,6,0.184,0.101,2787,1925,3603,0,0,0,0,0,0
$GC,908,-0.77,-170.3,124.0,-12.2,135,912,0.00,2.50,0.00,0.000,4,0.000,0.100,2778,3360,3605,0,0,0,0,0,0
$GC,996,-0.80,-170.3,135.3,-12.6,142,1001,0.00,2.58,0.00,0.000,6,0.000,0.108,2778,1919,3605,0,0,0,0,0,0
$GC,1323,-0.80,-170.3,174.2,-13.0,173,1328,0.00,2.53,0.00,0.000,4,0.000,0.106,2770,3341,3606,0,0,0,0,0,0
$GC,1436,-0.84,-170.3,186.8,-10.3,182,1441,0.00,2.47,0.00,0.000,6,0.000,0.093,2770,1918,3606,0,0,0,0,0,0
$GC,1763,-0.84,-170.3,222.4,-11.9,213,1768,0.00,2.45,0.00,0.000,4,0.000,0.096,2770,480,3606,0,0,0,0,0,0
$GC,1792,-0.84,-170.3,226.4,-13.1,215,1796,0.00,2.45,0.00,0.000,6,0.000,0.080,2761,1919,3606,0,0,0,0,0,0
$GC,2119,-0.84,-170.3,272.5,-14.3,245,2123,0.00,2.47,0.00,0.000,4,0.000,0.103,2750,3346,3605,0,0,0,0,0,0
$GC,2308,-0.84,-170.3,298.6,-13.9,261,2313,0.00,2.53,0.00,0.000,6,0.000,0.098,2750,1909,3604,0,0,0,0,0,0
$GC,2634,-0.84,-170.3,341.3,-12.5,291,2638,0.00,2.40,0.00,0.000,4,0.000,0.091,2750,488,3603,0,0,0,0,0,0
$GC,2655,-0.82,-170.3,344.5,-14.2,292,2663,0.08,2.45,0.00,0.000,6,0.158,0.072,2762,1923,3603,0,0,0,0,0,0
$GC,2980,-0.82,-170.3,388.4,-14.4,323,2984,0.00,2.58,0.00,0.000,4,0.000,0.121,2752,3349,3602,0,0,0,0,0,0
$GC,3137,-0.82,-170.3,410.0,-13.0,333,3142,0.08,2.65,0.00,0.000,6,0.165,0.119,2767,1910,3600,0,0,0,0,0,0
$GC,3461,-0.82,-170.3,451.4,-12.8,349,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1910,3599,0,0,0,0,0,0
$GC,3767,-0.82,-170.3,488.9,-12.0,364,3771,0.00,2.45,0.00,0.000,4,0.000,0.093,2767,481,3598,0,0,0,0,0,0
$GC,3783,-0.82,-170.3,490.9,-12.3,365,3788,0.00,2.42,0.00,0.000,6,0.000,0.070,2759,1933,3597,0,0,0,0,0,0
$GC,4111,-0.82,-170.3,533.0,-13.3,381,4116,0.00,2.53,0.00,0.000,4,0.000,0.119,2748,3335,3596,0,0,0,0,0,0
$GC,4228,-0.82,-170.3,549.1,-13.2,386,4233,0.08,2.65,0.00,0.000,6,0.157,0.126,2762,1919,3595,0,0,0,0,0,0
$GC,4544,-0.82,-170.3,585.9,-11.5,401,4548,0.00,2.45,0.00,0.000,4,0.000,0.088,2762,476,3594,0,0,0,0,0,0
$GC,4577,-0.82,-170.3,590.5,-13.8,402,4583,0.05,2.42,0.00,0.000,6,0.232,0.070,2763,1920,3594,0,0,0,0,0,0
$GC,4894,-0.82,-170.3,626.0,-10.3,418,4898,0.00,2.62,0.00,0.000,4,0.000,0.129,2753,3337,3592,0,0,0,0,0,0
$GC,4944,-0.82,-170.3,630.4,-8.3,420,4949,0.05,2.78,0.00,0.000,6,0.174,0.142,2763,1917,3592,0,0,0,0,0,0
$GC,5261,-0.82,-170.3,664.5,-10.4,435,5264,0.00,2.42,0.00,0.000,4,0.000,0.090,2763,484,3591,0,0,0,0,0,0
$GC,5311,-0.82,-170.3,670.3,-9.4,437,5315,0.00,2.38,0.00,0.000,6,0.000,0.062,2754,1927,3591,0,0,0,0,0,0
$GC,5631,-0.82,-170.3,709.5,-14.1,453,5637,0.03,2.62,0.00,0.000,4,0.290,0.132,2754,3323,3589,0,0,0,0,0,0
$STATE,5717,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5717,begin apogee
$GC,5725,-0.25,0.0,720.2,12.2,456,5866,0.68,0.00,137.45,1.055,6,0.171,0.000,2947,1753,2902,0,0,0,0,0,0
$STATE,5866,end apogee,CONTROL_FINISHED_OK
$STATE,5866,begin climb
$GC,5868,1.05,170.3,726.8,0.0,463,6026,1.30,2.80,148.73,1.020,4,0.099,0.099,3363,3177,2207,0,0,0,0,0,0
$GC,6239,0.95,215.2,709.6,8.2,479,6285,0.12,2.55,39.85,0.995,6,0.179,0.094,3343,1749,2024,0,0,0,0,0,0
$GC,6596,0.93,282.5,677.6,7.4,496,6660,0.00,2.45,58.62,0.995,4,0.000,0.063,3354,336,1751,0,0,0,0,0,0
$GC,6829,0.83,282.5,648.0,15.1,506,6835,0.17,2.30,0.00,0.000,6,0.153,0.037,3307,1763,1744,0,0,0,0,0,0
$GC,7145,0.88,326.7,622.3,8.3,522,7189,0.00,2.40,38.67,0.977,4,0.000,0.050,3316,342,1569,0,0,0,0,0,0
$GC,7285,0.88,326.7,608.4,10.2,528,7290,0.00,2.30,0.00,0.000,6,0.000,0.035,3316,1759,1565,0,0,0,0,0,0
$GC,7607,0.88,326.7,579.3,10.3,544,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1759,1563,0,0,0,0,0,0
$GC,7917,0.94,376.3,551.6,8.1,559,7967,0.05,2.42,43.72,0.945,4,0.167,0.056,3358,335,1366,0,0,0,0,0,0
$GC,8019,0.90,376.3,541.2,11.7,563,8025,0.12,2.33,0.00,0.000,6,0.155,0.040,3326,1767,1364,0,0,0,0,0,0
$GC,8335,0.90,376.3,505.9,11.5,579,8339,0.00,2.30,0.00,0.000,4,0.000,0.053,3336,333,1360,0,0,0,0,0,0
$GC,8423,0.90,376.3,494.3,14.2,583,8427,0.00,2.30,0.00,0.000,6,0.000,0.037,3336,1762,1360,0,0,0,0,0,0
$GC,8751,0.90,376.3,452.6,12.8,599,8755,0.00,2.33,0.00,0.000,4,0.000,0.054,3345,327,1360,0,0,0,0,0,0
$GC,8794,0.87,376.3,447.1,12.9,601,8799,0.10,2.28,0.00,0.000,6,0.165,0.037,3320,1761,1359,0,0,0,0,0,0
$GC,9121,0.90,376.3,408.3,10.5,617,9125,0.00,2.30,0.00,0.000,4,0.000,0.053,3329,333,1359,0,0,0,0,0,0
$GC,9145,1.01,441.0,406.6,7.5,618,9207,0.08,2.25,54.88,0.869,6,0.125,0.037,3368,1759,1103,0,0,0,0,0,0
$GC,9526,0.98,441.0,358.5,12.9,651,9531,0.05,2.33,0.00,0.000,4,0.190,0.052,3366,333,1098,0,0,0,0,0,0
$GC,9577,0.96,441.0,351.4,13.1,655,9582,0.10,2.28,0.00,0.000,6,0.164,0.038,3341,1756,1097,0,0,0,0,0,0
$GC,9904,0.96,441.0,307.8,13.0,685,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1757,1096,0,0,0,0,0,0
$GC,10221,0.96,441.0,259.9,16.3,715,10225,0.00,2.28,0.00,0.000,4,0.000,0.051,3350,333,1096,0,0,0,0,0,0
$GC,10265,0.96,441.0,251.4,20.8,718,10271,0.00,2.28,0.00,0.000,6,0.000,0.038,3351,1755,1095,0,0,0,0,0,0
$GC,10593,0.96,441.0,202.3,11.9,749,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1755,1095,0,0,0,0,0,0
$GC,10910,0.96,441.0,159.4,12.6,779,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1755,1095,0,0,0,0,0,0
$GC,11231,0.96,441.0,113.6,15.3,809,11235,0.00,2.38,0.00,0.000,4,0.000,0.083,3351,3181,1095,0,0,0,0,0,0
$GC,11274,0.96,441.0,105.9,16.4,812,11282,0.03,2.50,0.00,0.000,6,0.178,0.096,3350,1765,1095,0,0,0,0,0,0
$GC,11623,0.96,441.0,60.0,13.7,869,11628,0.00,2.30,0.00,0.000,4,0.000,0.062,3361,329,1094,0,0,0,0,0,0
$GC,11722,0.96,441.0,45.5,14.8,886,11728,0.08,2.28,0.00,0.000,6,0.171,0.044,3343,1758,1093,0,0,0,0,0,0
$GC,12087,1.03,441.0,7.0,10.7,947,12095,0.05,2.40,0.00,0.000,4,0.163,0.081,3380,3187,1093,0,0,0,0,0,0
$STATE,12131,end climb,SURFACE_DEPTH_REACHED
$STATE,12132,begin surface coast
$FINISH,1.3,1.020705
$STATE,12139,end surface coast,CONTROL_FINISHED_OK
$STATE,12139,begin surface
$SM_CCo,12159,79.10,0.046,0,0,407,611.52
$SM_GC,2.05,0.00,0.00,79.10,0.000,0.000,0.046,68,1915,407,-9.27,-0.11,611.52
$IRIDIUM_FIX,-3427.77,2516.53,090308,040408
$TT8_MAMPS,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,720.2,7.2
$24V_AH,22.7,41.388
$10V_AH,10.1,33.564
$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,23.900,127.875,521.925,79.100,0.000,26.091,18.017,324.525,17.250,0.000,38.129,2361.938,6704.302,633.201,2835.736,237.749,0.000,1682.654,0.000,2289.285,0.000,108.463,0.000
$DEVICE_MAMPS,289.935,141.525,1054.935,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.318,1579.885,768.449,305.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,67079,955
$CAP_FILE_SIZE,139509,0
$CFSIZE,2097086464,2048425984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140515,050805,-3443.833,2511.479,34,1.1,35,-27.9