version: 66.07.10.p01
glider: 573
mission: 9
dive: 422
start: 5 14 115 11 4 49
data:
$ID,573
$MISSION,9
$DIVE,422
$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,-14832.1
$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,16
$R_STBD_OVSHOOT,10
$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,421
$GPS1,140515,105635,-3443.839,2508.770,35,1.0,35,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-63.1
$GPS2,140515,110429,-3444.018,2508.408,54,2.0,54,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3434.666,2501.850
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,102,0.00,0.00,-72.40,0.000,2,0.000,0.000,69,1938,2231,0,0,0,0,0,0
$GC,105,-1.05,-170.3,3.0,-3.5,12,167,10.93,2.55,-40.42,0.000,4,0.239,0.111,2687,500,3598,0,0,0,0,0,0
$GC,237,-0.83,-170.3,25.5,-27.2,33,243,0.32,2.67,0.00,0.000,6,0.202,0.121,2759,1928,3600,0,0,0,0,0,0
$GC,387,-0.76,-170.3,51.5,-15.5,58,393,0.10,2.42,0.00,0.000,4,0.213,0.096,2771,3349,3601,0,0,0,0,0,0
$GC,540,-0.74,-170.3,74.5,-14.6,84,548,0.05,2.53,0.00,0.000,6,0.161,0.095,2785,1925,3603,0,0,0,0,0,0
$GC,882,-0.74,-170.3,114.8,-11.2,133,887,0.00,2.45,0.00,0.000,4,0.000,0.094,2777,3351,3605,0,0,0,0,0,0
$GC,1072,-0.78,-170.3,136.3,-10.6,149,1076,0.00,2.60,0.00,0.000,6,0.000,0.112,2777,1903,3606,0,0,0,0,0,0
$GC,1398,-0.80,-170.3,170.3,-11.1,179,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1903,3606,0,0,0,0,0,0
$GC,1718,-0.83,-170.3,206.7,-11.1,209,1722,0.00,2.42,0.00,0.000,4,0.000,0.094,2777,479,3606,0,0,0,0,0,0
$GC,1783,-0.83,-170.3,215.1,-11.9,214,1789,0.00,2.53,0.00,0.000,6,0.000,0.088,2767,1912,3606,0,0,0,0,0,0
$GC,2111,-0.83,-170.3,255.7,-12.7,245,2115,0.00,2.45,0.00,0.000,4,0.000,0.103,2756,3345,3606,0,0,0,0,0,0
$GC,2302,-0.83,-170.3,281.1,-13.1,261,2308,0.00,2.58,0.00,0.000,6,0.000,0.106,2756,1920,3605,0,0,0,0,0,0
$GC,2629,-0.83,-170.3,321.1,-11.7,292,2633,0.00,2.42,0.00,0.000,4,0.000,0.088,2756,471,3603,0,0,0,0,0,0
$GC,2679,-0.83,-170.3,327.2,-13.0,296,2684,0.08,2.45,0.00,0.000,6,0.194,0.071,2761,1926,3603,0,0,0,0,0,0
$GC,3004,-0.83,-170.3,366.0,-12.4,326,3008,0.00,2.55,0.00,0.000,4,0.000,0.116,2751,3345,3602,0,0,0,0,0,0
$GC,3156,-0.83,-170.3,385.6,-13.0,339,3161,0.00,2.55,0.00,0.000,6,0.000,0.103,2751,1913,3601,0,0,0,0,0,0
$GC,3475,-0.83,-170.3,429.0,-13.4,359,3479,0.00,2.42,0.00,0.000,4,0.000,0.091,2751,485,3600,0,0,0,0,0,0
$GC,3514,-0.83,-170.3,434.6,-15.2,361,3519,0.10,2.38,0.00,0.000,6,0.184,0.067,2763,1922,3600,0,0,0,0,0,0
$GC,3841,-0.83,-170.3,474.3,-10.5,377,3845,0.00,2.55,0.00,0.000,4,0.000,0.120,2753,3334,3599,0,0,0,0,0,0
$GC,3912,-0.83,-170.3,482.8,-11.6,380,3916,0.00,2.60,0.00,0.000,6,0.000,0.117,2753,1909,3597,0,0,0,0,0,0
$GC,4237,-0.83,-170.3,521.3,-12.6,396,4242,0.00,2.38,0.00,0.000,4,0.000,0.086,2753,490,3597,0,0,0,0,0,0
$GC,4326,-0.83,-170.3,533.0,-11.1,400,4331,0.05,2.40,0.00,0.000,6,0.184,0.065,2765,1912,3597,0,0,0,0,0,0
$GC,4654,-0.83,-170.3,569.1,-11.2,416,4659,0.00,2.62,0.00,0.000,4,0.000,0.122,2755,3341,3595,0,0,0,0,0,0
$STATE,4752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4752,begin apogee
$GC,4760,-0.25,0.0,580.2,11.3,420,4900,0.65,0.00,136.70,0.962,6,0.176,0.000,2940,1764,2902,0,0,0,0,0,0
$STATE,4901,end apogee,CONTROL_FINISHED_OK
$STATE,4901,begin climb
$GC,4903,1.05,170.3,588.0,0.0,427,5055,1.30,2.70,143.77,0.929,4,0.104,0.098,3359,3173,2207,0,0,0,0,0,0
$GC,5312,0.92,183.1,569.7,9.5,446,5333,0.15,2.55,11.73,0.839,6,0.175,0.096,3331,1750,2155,0,0,0,0,0,0
$GC,5644,0.86,201.7,538.8,9.3,462,5669,0.08,2.50,17.27,0.881,4,0.211,0.080,3315,3180,2079,0,0,0,0,0,0
$GC,5720,0.81,220.9,531.6,9.3,465,5745,0.10,2.45,17.62,0.874,6,0.190,0.086,3301,1760,2000,0,0,0,0,0,0
$GC,6062,0.82,251.7,501.3,8.8,482,6096,0.00,2.42,27.08,0.898,4,0.000,0.061,3311,324,1874,0,0,0,0,0,0
$GC,6351,0.79,251.7,472.7,11.3,495,6356,0.10,2.30,0.00,0.000,6,0.165,0.036,3287,1774,1870,0,0,0,0,0,0
$GC,6678,0.84,298.6,443.8,8.2,511,6723,0.00,2.38,40.12,0.885,4,0.000,0.051,3297,329,1683,0,0,0,0,0,0
$GC,6803,0.84,298.6,432.2,10.0,517,6807,0.00,2.33,0.00,0.000,6,0.000,0.042,3296,1758,1679,0,0,0,0,0,0
$GC,7129,0.85,307.5,401.9,9.7,533,7144,0.00,2.47,7.82,0.709,4,0.000,0.099,3297,3174,1647,0,0,0,0,0,0
$GC,7166,0.85,307.5,398.2,10.0,535,7172,0.00,2.50,0.00,0.000,6,0.000,0.092,3305,1759,1648,0,0,0,0,0,0
$GC,7492,0.85,307.5,365.1,10.1,566,7496,0.00,2.33,0.00,0.000,4,0.000,0.063,3317,322,1647,0,0,0,0,0,0
$GC,7588,0.85,307.5,354.8,10.9,574,7592,0.00,2.30,0.00,0.000,6,0.000,0.037,3316,1771,1647,0,0,0,0,0,0
$GC,7913,0.85,307.5,321.6,10.2,604,7917,0.00,2.42,0.00,0.000,4,0.000,0.097,3317,3178,1646,0,0,0,0,0,0
$GC,7956,0.85,307.5,317.0,10.6,607,7962,0.03,2.50,0.00,0.000,6,0.183,0.090,3317,1753,1646,0,0,0,0,0,0
$GC,8281,0.85,307.5,283.4,10.1,638,8286,0.00,2.28,0.00,0.000,4,0.000,0.059,3328,333,1645,0,0,0,0,0,0
$GC,8369,0.82,307.5,274.5,11.1,645,8374,0.10,2.22,0.00,0.000,6,0.161,0.034,3301,1769,1645,0,0,0,0,0,0
$GC,8694,0.86,334.1,246.0,9.0,675,8723,0.00,0.00,23.88,0.755,6,0.000,0.000,3301,1769,1539,0,0,0,0,0,0
$GC,9043,0.91,355.3,212.7,9.2,708,9069,0.08,2.42,19.42,0.738,4,0.116,0.090,3353,3167,1453,0,0,0,0,0,0
$GC,9103,0.86,355.3,205.4,12.9,713,9109,0.17,2.53,0.00,0.000,6,0.158,0.104,3314,1751,1451,0,0,0,0,0,0
$GC,9428,0.86,355.3,170.0,11.2,744,9432,0.00,2.30,0.00,0.000,4,0.000,0.058,3325,328,1449,0,0,0,0,0,0
$GC,9505,0.86,355.3,160.6,12.1,750,9511,0.00,2.28,0.00,0.000,6,0.000,0.034,3325,1756,1448,0,0,0,0,0,0
$GC,9833,0.86,355.3,120.8,12.1,781,9837,0.00,2.40,0.00,0.000,4,0.000,0.084,3325,3188,1447,0,0,0,0,0,0
$GC,9906,0.86,355.3,111.6,12.3,787,9911,0.08,2.42,0.00,0.000,6,0.194,0.082,3317,1752,1447,0,0,0,0,0,0
$GC,10249,0.92,379.9,76.9,9.0,838,10276,0.00,2.38,21.05,0.634,4,0.000,0.076,3317,3177,1353,0,0,0,0,0,0
$GC,10341,0.96,379.9,67.1,11.2,854,10346,0.00,2.45,0.00,0.000,6,0.000,0.090,3326,1758,1351,0,0,0,0,0,0
$GC,10695,1.06,429.0,30.1,8.1,915,10731,0.15,2.40,27.10,0.591,4,0.067,0.075,3417,3177,1152,0,0,0,0,0,0
$GC,10854,1.02,429.0,9.3,13.7,941,10862,0.20,2.47,0.00,0.000,6,0.136,0.085,3363,1751,1148,0,0,0,0,0,0
$STATE,10905,end climb,SURFACE_DEPTH_REACHED
$STATE,10905,begin surface coast
$FINISH,1.3,1.009938
$STATE,10931,end surface coast,CONTROL_FINISHED_OK
$STATE,10931,begin surface
$SM_CCo,10949,83.78,0.045,0,0,407,611.52
$SM_GC,1.82,0.00,0.00,83.78,0.000,0.000,0.045,71,1970,407,-9.26,1.44,611.52
$IRIDIUM_FIX,-3430.39,2508.30,090308,212124
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,580.2,7.3
$24V_AH,23.1,41.829
$10V_AH,10.2,33.879
$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,23.700,118.475,493.575,83.775,0.000,24.696,22.543,252.985,13.750,0.000,56.467,2329.174,5533.783,607.322,2814.731,222.779,0.000,1659.933,0.000,2332.480,0.000,87.190,0.000
$DEVICE_MAMPS,239.445,121.635,962.370,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.068,1583.637,854.066,313.285,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,67192,953
$CAP_FILE_SIZE,133510,0
$CFSIZE,2097086464,2048032768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140515,140959,-3443.638,2507.430,40,1.4,40,-27.8