version: 66.07.10.p01
glider: 573
mission: 9
dive: 423
start: 5 14 115 14 18 57
data:
$ID,573
$MISSION,9
$DIVE,423
$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,0
$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,-14834.43
$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,17
$R_STBD_OVSHOOT,47
$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,422
$GPS1,140515,140959,-3443.638,2507.430,40,1.4,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-59.0
$GPS2,140515,141835,-3443.868,2507.142,40,1.0,40,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3433.069,2507.142
$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,27.8,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,106,0.00,0.00,-78.90,0.000,2,0.000,0.000,71,1971,2396,0,0,0,0,0,0
$GC,109,-1.05,-170.3,3.3,-4.9,13,159,11.00,2.60,-31.38,0.000,4,0.242,0.106,2687,505,3595,0,0,0,0,0,0
$GC,256,-0.85,-170.3,33.6,-29.5,37,262,0.30,2.65,0.00,0.000,6,0.194,0.129,2755,1886,3598,0,0,0,0,0,0
$GC,407,-0.76,-170.3,61.8,-18.0,62,412,0.12,2.50,0.00,0.000,4,0.195,0.094,2773,3354,3599,0,0,0,0,0,0
$GC,557,-0.76,-170.3,83.5,-14.5,88,563,0.00,2.62,0.00,0.000,6,0.000,0.117,2773,1920,3600,0,0,0,0,0,0
$GC,897,-0.76,-170.3,124.4,-10.8,131,902,0.00,2.47,0.00,0.000,4,0.000,0.100,2764,3346,3602,0,0,0,0,0,0
$GC,1021,-0.79,-170.3,139.2,-11.7,141,1027,0.05,2.60,0.00,0.000,6,0.168,0.117,2775,1922,3602,0,0,0,0,0,0
$GC,1346,-0.79,-170.3,179.2,-12.7,172,1351,0.00,2.45,0.00,0.000,4,0.000,0.094,2775,481,3603,0,0,0,0,0,0
$GC,1366,-0.79,-170.3,181.3,-12.4,173,1370,0.00,2.50,0.00,0.000,6,0.000,0.091,2766,1920,3603,0,0,0,0,0,0
$GC,1691,-0.79,-170.3,219.7,-11.5,203,1695,0.00,2.45,0.00,0.000,4,0.000,0.100,2755,3343,3603,0,0,0,0,0,0
$GC,1885,-0.79,-170.3,242.5,-11.7,220,1894,0.05,2.58,0.00,0.000,6,0.151,0.108,2771,1923,3602,0,0,0,0,0,0
$GC,2212,-0.79,-170.3,280.4,-11.8,251,2216,0.00,2.45,0.00,0.000,4,0.000,0.093,2770,472,3602,0,0,0,0,0,0
$GC,2266,-0.79,-170.3,287.6,-12.3,255,2273,0.03,2.53,0.00,0.000,6,0.207,0.086,2777,1913,3602,0,0,0,0,0,0
$GC,2592,-0.79,-170.3,327.8,-12.5,286,2596,0.00,2.55,0.00,0.000,4,0.000,0.112,2766,3349,3601,0,0,0,0,0,0
$GC,2785,-0.82,-170.3,350.4,-11.4,302,2790,0.00,2.60,0.00,0.000,6,0.000,0.114,2766,1920,3599,0,0,0,0,0,0
$GC,3112,-0.84,-170.3,387.5,-11.8,333,3116,0.00,2.42,0.00,0.000,4,0.000,0.090,2766,472,3598,0,0,0,0,0,0
$GC,3140,-0.84,-170.3,391.2,-12.8,335,3144,0.00,2.50,0.00,0.000,6,0.000,0.080,2757,1926,3598,0,0,0,0,0,0
$GC,3459,-0.84,-170.3,431.6,-12.6,353,3464,0.00,2.50,0.00,0.000,4,0.000,0.114,2746,3337,3597,0,0,0,0,0,0
$GC,3567,-0.84,-170.3,444.6,-11.7,358,3572,0.05,2.60,0.00,0.000,6,0.164,0.116,2758,1905,3596,0,0,0,0,0,0
$GC,3893,-0.84,-170.3,486.4,-13.2,374,3897,0.00,2.40,0.00,0.000,4,0.000,0.086,2758,485,3596,0,0,0,0,0,0
$GC,3982,-0.84,-170.3,498.2,-12.9,378,3986,0.00,2.40,0.00,0.000,6,0.000,0.065,2749,1935,3595,0,0,0,0,0,0
$GC,4311,-0.84,-170.3,538.2,-12.5,394,4315,0.00,2.53,0.00,0.000,4,0.000,0.116,2738,3333,3594,0,0,0,0,0,0
$GC,4342,-0.84,-170.3,542.1,-11.7,395,4349,0.03,2.55,0.00,0.000,6,0.138,0.105,2758,1926,3593,0,0,0,0,0,0
$GC,4660,-0.84,-170.3,579.3,-11.7,411,4669,0.00,2.45,0.00,0.000,4,0.000,0.091,2758,467,3592,0,0,0,0,0,0
$GC,4691,-0.84,-170.3,583.6,-13.3,412,4695,0.00,2.40,0.00,0.000,6,0.000,0.060,2749,1910,3592,0,0,0,0,0,0
$STATE,4790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4790,begin apogee
$GC,4795,-0.25,0.0,596.1,12.7,417,4934,0.73,0.00,135.60,0.972,6,0.179,0.000,2950,1715,2902,0,0,0,0,0,0
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4937,1.05,170.3,604.3,0.0,424,5092,1.27,2.40,144.48,0.939,4,0.103,0.051,3371,368,2207,0,0,0,0,0,0
$GC,5244,0.96,219.2,595.9,8.1,438,5295,0.10,2.28,42.90,0.916,6,0.175,0.034,3348,1771,2007,0,0,0,0,0,0
$GC,5605,0.87,222.1,561.6,9.9,456,5610,0.12,2.28,0.00,0.000,4,0.181,0.047,3326,362,2001,0,0,0,0,0,0
$GC,5673,0.82,233.0,555.2,9.6,459,5694,0.10,2.20,12.20,0.854,6,0.166,0.034,3302,1765,1952,0,0,0,0,0,0
$GC,6005,0.85,261.4,525.8,8.9,475,6036,0.00,2.28,25.58,0.893,4,0.000,0.047,3310,363,1834,0,0,0,0,0,0
$GC,6155,0.83,261.4,511.4,10.1,482,6159,0.00,2.20,0.00,0.000,6,0.000,0.034,3310,1765,1831,0,0,0,0,0,0
$GC,6481,0.83,261.4,479.8,10.6,498,6485,0.00,2.22,0.00,0.000,4,0.000,0.050,3320,370,1831,0,0,0,0,0,0
$GC,6525,0.79,261.4,474.9,11.2,500,6530,0.12,2.17,0.00,0.000,6,0.155,0.036,3286,1759,1831,0,0,0,0,0,0
$GC,6852,0.82,286.2,446.3,9.0,516,6881,0.00,2.33,21.80,0.859,4,0.000,0.052,3296,367,1734,0,0,0,0,0,0
$GC,6920,0.84,301.2,440.0,9.4,519,6940,0.00,2.25,14.70,0.832,6,0.000,0.042,3296,1755,1671,0,0,0,0,0,0
$GC,7269,0.90,337.7,410.3,8.6,536,7307,0.10,0.00,32.20,0.851,6,0.099,0.000,3346,1756,1525,0,0,0,0,0,0
$GC,7628,0.87,337.7,366.7,12.9,565,7633,0.10,2.40,0.00,0.000,4,0.159,0.080,3320,3184,1519,0,0,0,0,0,0
$GC,7658,0.87,337.7,362.9,11.8,567,7663,0.00,2.45,0.00,0.000,6,0.000,0.102,3328,1793,1518,0,0,0,0,0,0
$GC,7985,0.87,337.7,326.3,11.2,597,7989,0.00,2.35,0.00,0.000,4,0.000,0.058,3340,335,1518,0,0,0,0,0,0
$GC,8121,0.84,337.7,308.4,13.5,608,8129,0.10,2.28,0.00,0.000,6,0.132,0.036,3306,1762,1517,0,0,0,0,0,0
$GC,8447,0.86,337.7,273.5,10.4,639,8451,0.00,2.33,0.00,0.000,4,0.000,0.074,3306,3173,1517,0,0,0,0,0,0
$GC,8535,0.86,337.7,263.6,11.4,646,8541,0.00,2.47,0.00,0.000,6,0.000,0.092,3315,1761,1517,0,0,0,0,0,0
$GC,8863,0.86,337.7,226.7,11.9,677,8867,0.00,2.28,0.00,0.000,4,0.000,0.058,3326,332,1516,0,0,0,0,0,0
$GC,8975,0.86,337.7,212.3,12.7,686,8981,0.03,2.28,0.00,0.000,6,0.148,0.035,3317,1765,1516,0,0,0,0,0,0
$GC,9303,0.86,337.7,175.1,11.8,717,9307,0.00,2.30,0.00,0.000,4,0.000,0.076,3316,3177,1515,0,0,0,0,0,0
$GC,9357,0.86,337.7,167.9,12.7,721,9363,0.00,2.47,0.00,0.000,6,0.000,0.093,3325,1748,1516,0,0,0,0,0,0
$GC,9683,0.86,337.7,130.9,11.3,752,9687,0.00,2.28,0.00,0.000,4,0.000,0.057,3337,329,1515,0,0,0,0,0,0
$GC,9792,0.84,337.7,118.2,12.6,761,9797,0.12,2.22,0.00,0.000,6,0.148,0.036,3302,1762,1515,0,0,0,0,0,0
$GC,10133,0.88,337.7,83.6,10.8,805,10139,0.00,2.30,0.00,0.000,4,0.000,0.076,3301,3178,1515,0,0,0,0,0,0
$GC,10310,0.95,362.4,66.8,9.0,836,10340,0.10,2.40,20.27,0.624,6,0.090,0.082,3385,1750,1424,0,0,0,0,0,0
$GC,10691,0.91,362.4,19.0,14.7,901,10698,0.20,2.33,0.00,0.000,4,0.151,0.060,3339,333,1421,0,0,0,0,0,0
$STATE,10868,end climb,SURFACE_DEPTH_REACHED
$STATE,10868,begin surface coast
$FINISH,1.2,1.017711
$STATE,10930,end surface coast,CONTROL_FINISHED_OK
$STATE,10930,begin surface
$SM_CCo,10950,114.25,0.047,0,0,408,611.52
$SM_GC,2.05,0.00,0.00,114.25,0.000,0.000,0.047,70,1936,408,-9.26,0.48,611.52
$IRIDIUM_FIX,-3430.39,2508.30,100308,000047
$TT8_MAMPS,0.026215
$HUMID,55.90
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,580.1,29.5
$24V_AH,23.0,41.970
$10V_AH,10.2,33.987
$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,23.575,121.100,449.725,114.250,0.000,33.286,19.366,291.389,14.000,0.000,42.234,2304.205,5635.422,621.847,2790.509,228.973,0.000,1633.287,0.000,2277.605,0.000,86.161,0.000
$DEVICE_MAMPS,241.740,128.520,972.315,46.665,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.845,1559.333,864.138,321.157,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,67202,940
$CAP_FILE_SIZE,131772,0
$CFSIZE,2097086464,2047901696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140515,172435,-3443.268,2506.793,35,1.0,36,-27.8