version: 66.07.10.p01
glider: 573
mission: 9
dive: 420
start: 5 14 115 5 25 56
data:
$ID,573
$MISSION,9
$DIVE,420
$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,-14827.442
$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,12
$R_STBD_OVSHOOT,16
$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,419
$GPS1,140515,050805,-3443.833,2511.479,34,1.1,35,-27.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-55.7
$GPS2,140515,052535,-3444.158,2510.837,40,0.9,40,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3434.806,2504.279
$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,-170.3,0.0,0.0,0,101,0.00,0.00,-72.55,0.000,2,0.000,0.000,68,1915,2263,0,0,0,0,0,0
$GC,103,-1.05,-170.3,3.1,-3.7,12,161,11.27,2.50,-39.88,0.000,4,0.248,0.111,2690,501,3598,0,0,0,0,0,0
$GC,238,-0.82,-170.3,23.1,-26.8,33,243,0.32,2.65,0.00,0.000,6,0.199,0.115,2763,1922,3601,0,0,0,0,0,0
$GC,387,-0.76,-170.3,47.9,-14.7,58,393,0.10,2.42,0.00,0.000,4,0.220,0.093,2773,3346,3602,0,0,0,0,0,0
$GC,565,-0.76,-170.3,72.7,-14.3,89,571,0.05,2.58,0.00,0.000,6,0.184,0.107,2783,1914,3602,0,0,0,0,0,0
$GC,906,-0.76,-170.3,115.7,-12.3,137,910,0.00,2.45,0.00,0.000,4,0.000,0.091,2774,3346,3603,0,0,0,0,0,0
$GC,1070,-0.79,-170.3,138.4,-12.1,151,1075,0.00,2.53,0.00,0.000,6,0.000,0.107,2774,1923,3604,0,0,0,0,0,0
$GC,1397,-0.79,-170.3,172.8,-10.7,181,1402,0.00,2.45,0.00,0.000,4,0.000,0.089,2774,469,3606,0,0,0,0,0,0
$GC,1441,-0.79,-170.3,177.6,-9.7,184,1449,0.00,2.53,0.00,0.000,6,0.000,0.086,2765,1913,3605,0,0,0,0,0,0
$GC,1767,-0.79,-170.3,213.2,-8.8,215,1771,0.00,2.47,0.00,0.000,4,0.000,0.099,2754,3358,3605,0,0,0,0,0,0
$GC,1887,-0.79,-170.3,223.8,-11.0,225,1892,0.08,2.58,0.00,0.000,6,0.164,0.106,2770,1916,3604,0,0,0,0,0,0
$GC,2212,-0.79,-170.3,266.3,-13.5,255,2216,0.00,2.50,0.00,0.000,4,0.000,0.104,2762,3340,3602,0,0,0,0,0,0
$GC,2246,-0.79,-170.3,271.5,-14.5,257,2252,0.00,2.62,0.00,0.000,6,0.000,0.120,2762,1920,3602,0,0,0,0,0,0
$GC,2572,-0.82,-170.3,332.5,-19.0,288,2577,0.00,2.40,0.00,0.000,4,0.000,0.083,2762,480,3601,0,0,0,0,0,0
$GC,2606,-0.82,-170.3,339.7,-21.3,290,2613,0.08,2.42,0.00,0.000,6,0.202,0.072,2766,1926,3600,0,0,0,0,0,0
$GC,2934,-0.82,-170.3,401.2,-15.6,321,2939,0.00,2.50,0.00,0.000,4,0.000,0.116,2757,3334,3599,0,0,0,0,0,0
$GC,3059,-0.82,-170.3,420.5,-14.4,326,3064,0.00,2.65,0.00,0.000,6,0.000,0.128,2757,1918,3598,0,0,0,0,0,0
$GC,3374,-0.82,-170.3,465.1,-13.2,342,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1918,3597,0,0,0,0,0,0
$GC,3684,-0.82,-170.3,514.1,-15.3,357,3688,0.00,2.40,0.00,0.000,4,0.000,0.082,2757,480,3595,0,0,0,0,0,0
$GC,3755,-0.82,-170.3,527.3,-18.7,360,3760,0.10,2.38,0.00,0.000,6,0.192,0.058,2768,1919,3595,0,0,0,0,0,0
$GC,4078,-0.82,-170.3,569.4,-9.3,376,4083,0.00,2.58,0.00,0.000,4,0.000,0.121,2759,3330,3593,0,0,0,0,0,0
$GC,4150,-0.82,-170.3,579.1,-13.7,379,4154,0.00,2.67,0.00,0.000,6,0.000,0.126,2758,1907,3593,0,0,0,0,0,0
$STATE,4326,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4326,begin apogee
$GC,4331,-0.25,0.0,600.3,14.0,388,4469,0.68,0.00,134.77,0.967,6,0.181,0.000,2945,1758,2902,0,0,0,0,0,0
$STATE,4470,end apogee,CONTROL_FINISHED_OK
$STATE,4470,begin climb
$GC,4472,1.05,170.3,607.5,0.0,395,4625,1.25,2.47,144.25,0.933,4,0.090,0.051,3371,327,2206,0,0,0,0,0,0
$GC,4880,0.90,170.3,576.9,15.3,414,4886,0.17,2.30,0.00,0.000,6,0.161,0.033,3325,1763,2202,0,0,0,0,0,0
$GC,5209,0.82,170.3,543.2,10.6,430,5213,0.10,2.30,0.00,0.000,4,0.196,0.049,3311,318,2200,0,0,0,0,0,0
$GC,5421,0.74,170.3,519.6,14.6,439,5427,0.15,2.25,0.00,0.000,6,0.171,0.031,3272,1766,2199,0,0,0,0,0,0
$GC,5739,0.68,170.3,485.5,11.3,455,5744,0.08,2.30,0.00,0.000,4,0.208,0.048,3265,325,2198,0,0,0,0,0,0
$GC,5900,0.68,170.3,457.8,16.9,462,5904,0.00,2.30,0.00,0.000,6,0.000,0.042,3265,1747,2198,0,0,0,0,0,0
$GC,6222,0.78,253.2,425.4,6.7,478,6297,0.05,2.62,68.43,0.877,4,0.162,0.103,3298,3183,1868,0,0,0,0,0,0
$GC,6421,0.88,330.0,409.0,7.0,487,6493,0.00,2.55,65.40,0.841,6,0.000,0.099,3308,1750,1556,0,0,0,0,0,0
$GC,6811,0.88,330.0,372.8,12.3,518,6815,0.00,2.30,0.00,0.000,4,0.000,0.060,3319,325,1547,0,0,0,0,0,0
$GC,7034,0.88,330.0,340.9,14.4,537,7038,0.00,2.28,0.00,0.000,6,0.000,0.034,3319,1785,1545,0,0,0,0,0,0
$GC,7359,0.88,330.0,302.7,10.0,567,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1786,1544,0,0,0,0,0,0
$GC,7681,0.88,330.0,268.0,11.2,597,7685,0.00,2.35,0.00,0.000,4,0.000,0.095,3319,3167,1544,0,0,0,0,0,0
$GC,7709,0.88,330.0,265.1,10.2,599,7713,0.00,2.45,0.00,0.000,6,0.000,0.095,3328,1751,1543,0,0,0,0,0,0
$GC,8036,0.88,330.0,232.1,11.0,629,8040,0.00,2.28,0.00,0.000,4,0.000,0.059,3339,333,1543,0,0,0,0,0,0
$GC,8181,0.84,330.0,214.4,11.7,641,8186,0.12,2.20,0.00,0.000,6,0.154,0.034,3306,1756,1542,0,0,0,0,0,0
$GC,8506,0.89,354.2,184.9,9.1,671,8531,0.00,2.33,20.02,0.705,4,0.000,0.073,3305,3170,1457,0,0,0,0,0,0
$GC,8622,0.91,354.2,173.8,10.5,681,8626,0.00,2.47,0.00,0.000,6,0.000,0.098,3314,1752,1455,0,0,0,0,0,0
$GC,8947,0.94,354.2,139.2,10.6,711,8952,0.05,2.30,0.00,0.000,4,0.163,0.057,3370,329,1453,0,0,0,0,0,0
$GC,8978,0.90,354.2,135.6,12.8,713,8982,0.15,2.22,0.00,0.000,6,0.151,0.035,3328,1759,1452,0,0,0,0,0,0
$GC,9306,0.90,354.2,96.3,11.7,745,9311,0.00,2.33,0.00,0.000,4,0.000,0.073,3329,3182,1452,0,0,0,0,0,0
$GC,9517,0.97,413.1,78.0,7.7,782,9576,0.00,2.47,48.47,0.645,6,0.000,0.093,3338,1755,1217,0,0,0,0,0,0
$GC,9924,1.00,413.1,34.3,12.6,853,9929,0.00,2.30,0.00,0.000,4,0.000,0.057,3349,327,1211,0,0,0,0,0,0
$GC,10044,1.09,432.9,20.8,9.2,873,10064,0.10,2.28,10.02,0.513,6,0.093,0.040,3410,1755,1136,0,0,0,0,0,0
$GC,10115,1.06,432.9,11.8,14.3,884,10122,0.12,0.00,0.00,0.000,6,0.146,0.000,3376,1755,1135,0,0,0,0,0,0
$GC,10173,1.09,432.9,4.4,12.4,893,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1755,1134,0,0,0,0,0,0
$STATE,10186,end climb,SURFACE_DEPTH_REACHED
$STATE,10186,begin surface coast
$FINISH,1.2,1.008446
$STATE,10218,end surface coast,CONTROL_FINISHED_OK
$STATE,10218,begin surface
$SM_CCo,10236,83.03,0.045,0,0,407,611.52
$SM_GC,2.01,0.00,0.00,83.03,0.000,0.000,0.045,82,1938,407,-9.23,0.54,611.52
$IRIDIUM_FIX,-3430.39,2508.30,090308,181837
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,20.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,591.6,23.3
$24V_AH,23.1,41.553
$10V_AH,10.1,33.673
$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,23.950,102.525,491.375,83.025,0.000,78.093,91.904,529.995,14.250,0.000,43.225,2196.291,5211.527,587.938,3134.293,237.574,0.000,1592.215,0.000,2229.088,0.000,87.685,0.000
$DEVICE_MAMPS,247.860,137.700,966.960,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.112,1494.978,834.429,316.770,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,63701,900
$CAP_FILE_SIZE,131436,0
$CFSIZE,2097086464,2048327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140515,081905,-3443.894,2510.116,33,1.0,33,-27.9