version: 66.07.10.p01
glider: 573
mission: 9
dive: 421
start: 5 14 115 8 28 14
data:
$ID,573
$MISSION,9
$DIVE,421
$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,-14829.774
$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,7
$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,420
$GPS1,140515,081905,-3443.894,2510.116,33,1.0,33,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.0
$GPS2,140515,082753,-3444.065,2509.743,43,1.0,43,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3434.713,2503.185
$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,-72.40,0.000,2,0.000,0.000,81,1939,2231,0,0,0,0,0,0
$GC,103,-1.05,-170.3,3.2,-4.2,12,166,11.12,2.53,-40.45,0.000,4,0.246,0.107,2689,495,3598,0,0,0,0,0,0
$GC,286,-0.89,-170.3,38.5,-22.6,42,295,0.20,2.72,0.00,0.000,6,0.196,0.124,2735,1916,3600,0,0,0,0,0,0
$GC,437,-0.78,-170.3,67.6,-19.2,67,443,0.17,2.50,0.00,0.000,4,0.189,0.099,2768,3366,3602,0,0,0,0,0,0
$GC,634,-0.75,-170.3,92.1,-11.8,101,639,0.10,2.65,0.00,0.000,6,0.181,0.115,2789,1917,3602,0,0,0,0,0,0
$GC,964,-0.75,-170.3,124.8,-10.2,139,968,0.00,2.50,0.00,0.000,4,0.000,0.100,2780,3369,3604,0,0,0,0,0,0
$GC,1031,-0.78,-170.3,132.3,-10.7,144,1038,0.00,2.67,0.00,0.000,6,0.000,0.116,2780,1919,3604,0,0,0,0,0,0
$GC,1357,-0.82,-170.3,162.8,-7.7,175,1361,0.00,2.53,0.00,0.000,4,0.000,0.108,2771,3349,3606,0,0,0,0,0,0
$GC,1378,-0.85,-170.3,164.6,-7.8,176,1385,0.00,2.62,0.00,0.000,6,0.000,0.113,2771,1919,3605,0,0,0,0,0,0
$GC,1703,-0.85,-170.3,198.3,-10.8,207,1707,0.00,2.47,0.00,0.000,4,0.000,0.099,2771,481,3606,0,0,0,0,0,0
$GC,1753,-0.85,-170.3,204.4,-12.2,211,1758,0.00,2.53,0.00,0.000,6,0.000,0.091,2762,1929,3606,0,0,0,0,0,0
$GC,2080,-0.85,-170.3,249.9,-14.6,241,2085,0.00,2.45,0.00,0.000,4,0.000,0.106,2750,3352,3605,0,0,0,0,0,0
$GC,2263,-0.85,-170.3,274.3,-15.2,257,2267,0.00,2.58,0.00,0.000,6,0.000,0.112,2750,1917,3603,0,0,0,0,0,0
$GC,2588,-0.85,-170.3,318.8,-13.2,287,2592,0.00,2.45,0.00,0.000,4,0.000,0.091,2750,475,3603,0,0,0,0,0,0
$GC,2627,-0.82,-170.3,324.3,-14.0,290,2633,0.10,2.45,0.00,0.000,6,0.179,0.075,2763,1922,3602,0,0,0,0,0,0
$GC,2953,-0.82,-170.3,370.2,-14.8,320,2957,0.00,2.58,0.00,0.000,4,0.000,0.125,2753,3337,3601,0,0,0,0,0,0
$GC,3083,-0.82,-170.3,388.1,-14.3,331,3088,0.00,2.60,0.00,0.000,6,0.000,0.119,2753,1920,3600,0,0,0,0,0,0
$GC,3412,-0.82,-170.3,423.4,-9.4,351,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1919,3599,0,0,0,0,0,0
$GC,3721,-0.82,-170.3,457.8,-10.6,366,3725,0.00,2.42,0.00,0.000,4,0.000,0.089,2753,484,3598,0,0,0,0,0,0
$GC,3837,-0.80,-170.3,475.3,-15.7,371,3842,0.12,2.40,0.00,0.000,6,0.182,0.067,2772,1928,3598,0,0,0,0,0,0
$STATE,3894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3894,begin apogee
$GC,3900,-0.25,0.0,484.6,15.0,374,4036,0.62,0.00,132.95,0.893,6,0.170,0.000,2950,1719,2902,0,0,0,0,0,0
$STATE,4036,end apogee,CONTROL_FINISHED_OK
$STATE,4037,begin climb
$GC,4039,1.05,170.3,495.3,0.0,381,4189,1.27,2.35,140.95,0.867,4,0.106,0.052,3372,373,2207,0,0,0,0,0,0
$GC,4441,1.07,322.7,486.3,4.0,399,4578,0.00,2.22,128.00,0.861,6,0.000,0.033,3372,1770,1584,0,0,0,0,0,0
$GC,4900,0.99,322.7,433.1,13.3,422,4904,0.08,2.30,0.00,0.000,4,0.184,0.052,3365,358,1577,0,0,0,0,0,0
$GC,4988,0.90,322.7,418.8,15.9,426,4993,0.15,2.20,0.00,0.000,6,0.155,0.036,3324,1756,1576,0,0,0,0,0,0
$GC,5312,0.90,322.7,378.6,13.0,449,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1757,1575,0,0,0,0,0,0
$GC,5639,0.88,322.7,335.3,13.4,480,5643,0.00,2.35,0.00,0.000,4,0.000,0.076,3324,3180,1574,0,0,0,0,0,0
$GC,5693,0.88,322.7,327.4,14.1,484,5702,0.03,2.40,0.00,0.000,6,0.185,0.086,3324,1791,1574,0,0,0,0,0,0
$GC,6019,0.89,334.9,287.4,9.5,515,6034,0.00,2.35,9.70,0.725,4,0.000,0.060,3335,332,1535,0,0,0,0,0,0
$GC,6136,0.86,334.9,274.5,11.9,525,6142,0.10,2.25,0.00,0.000,6,0.168,0.036,3309,1762,1536,0,0,0,0,0,0
$GC,6461,0.86,334.9,240.2,10.7,556,6465,0.00,2.28,0.00,0.000,4,0.000,0.073,3309,3175,1536,0,0,0,0,0,0
$GC,6490,0.86,334.9,236.9,11.9,558,6494,0.00,2.45,0.00,0.000,6,0.000,0.092,3318,1758,1536,0,0,0,0,0,0
$GC,6814,0.86,334.9,199.2,11.9,588,6818,0.00,2.25,0.00,0.000,4,0.000,0.059,3330,333,1535,0,0,0,0,0,0
$GC,6934,0.83,334.9,183.4,13.8,598,6939,0.10,2.22,0.00,0.000,6,0.159,0.034,3304,1770,1535,0,0,0,0,0,0
$GC,7259,0.85,353.0,148.1,9.3,628,7279,0.00,0.00,17.30,0.696,6,0.000,0.000,3304,1770,1461,0,0,0,0,0,0
$GC,7598,0.89,353.0,115.2,10.5,660,7602,0.00,2.33,0.00,0.000,4,0.000,0.075,3304,3182,1459,0,0,0,0,0,0
$GC,7650,0.91,353.0,109.6,11.3,664,7654,0.00,2.45,0.00,0.000,6,0.000,0.086,3312,1756,1459,0,0,0,0,0,0
$GC,7993,0.96,355.1,75.7,9.9,716,7999,0.10,2.38,0.00,0.000,4,0.094,0.080,3386,3177,1458,0,0,0,0,0,0
$GC,8035,0.88,355.1,70.3,13.9,723,8043,0.22,2.50,0.00,0.000,6,0.134,0.097,3324,1760,1457,0,0,0,0,0,0
$GC,8388,0.91,355.1,30.6,10.4,784,8395,0.00,2.38,0.00,0.000,4,0.000,0.076,3324,3179,1457,0,0,0,0,0,0
$GC,8508,1.00,388.1,20.2,8.7,804,8534,0.03,2.40,18.38,0.547,6,0.088,0.076,3385,1762,1318,0,0,0,0,0,0
$GC,8585,1.00,388.1,12.3,11.8,816,8592,0.10,2.33,0.00,0.000,4,0.157,0.056,3370,330,1315,0,0,0,0,0,0
$GC,8637,1.01,399.7,7.3,9.6,824,8651,0.00,2.33,5.30,0.399,6,0.000,0.050,3370,1739,1271,0,0,0,0,0,0
$STATE,8682,end climb,SURFACE_DEPTH_REACHED
$STATE,8682,begin surface coast
$FINISH,1.3,1.005190
$STATE,8714,end surface coast,CONTROL_FINISHED_OK
$STATE,8714,begin surface
$SM_CCo,8731,97.60,0.045,0,0,408,611.52
$SM_GC,1.89,0.00,0.00,97.60,0.000,0.000,0.045,70,1938,408,-9.27,0.54,611.52
$IRIDIUM_FIX,-3427.77,2510.67,090308,181821
$TT8_MAMPS,0.026964
$HUMID,56.49
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,460.7,36.3
$24V_AH,23.4,41.685
$10V_AH,10.2,33.771
$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,23.350,92.975,452.575,97.600,0.000,25.817,40.067,294.012,10.750,0.000,45.220,2007.024,4044.307,566.634,2540.749,197.975,0.000,1475.055,0.000,2032.736,0.000,69.002,0.000
$DEVICE_MAMPS,246.330,124.695,892.755,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.045,1399.052,850.823,326.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,60291,836
$CAP_FILE_SIZE,113065,0
$CFSIZE,2097086464,2048229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140515,105635,-3443.839,2508.770,35,1.0,35,-27.9