version: 66.07.10.p01
glider: 573
mission: 9
dive: 424
start: 5 14 115 17 33 15
data:
$ID,573
$MISSION,9
$DIVE,424
$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,-14836.763
$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,12
$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,423
$GPS1,140515,172435,-3443.268,2506.793,35,1.0,36,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-62.4
$GPS2,140515,173253,-3443.435,2506.573,46,1.4,46,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3432.636,2506.573
$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,-170.3,0.0,0.0,0,100,0.00,0.00,-72.80,0.000,2,0.000,0.000,70,1936,2263,0,0,0,0,0,0
$GC,103,-1.05,-170.3,3.3,-4.4,12,160,11.15,2.53,-36.80,0.000,4,0.246,0.105,2688,510,3600,0,0,0,0,0,0
$GC,245,-0.86,-170.3,29.7,-28.1,35,251,0.30,2.72,0.00,0.000,6,0.190,0.129,2756,1922,3602,0,0,0,0,0,0
$GC,391,-0.77,-170.3,57.1,-17.3,60,398,0.10,2.45,0.00,0.000,4,0.200,0.093,2768,3338,3604,0,0,0,0,0,0
$GC,560,-0.75,-170.3,84.1,-15.7,89,566,0.08,2.47,0.00,0.000,6,0.169,0.093,2784,1925,3604,0,0,0,0,0,0
$GC,893,-0.75,-170.3,126.6,-12.2,130,898,0.00,2.50,0.00,0.000,4,0.000,0.105,2776,3355,3606,0,0,0,0,0,0
$GC,915,-0.77,-170.3,129.3,-11.9,131,920,0.00,2.53,0.00,0.000,6,0.000,0.097,2776,1910,3606,0,0,0,0,0,0
$GC,1240,-0.80,-170.3,165.8,-10.8,162,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1910,3607,0,0,0,0,0,0
$GC,1559,-0.82,-170.3,202.3,-11.6,192,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1910,3607,0,0,0,0,0,0
$GC,1877,-0.82,-170.3,238.7,-12.2,222,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1910,3607,0,0,0,0,0,0
$GC,2196,-0.82,-170.3,275.3,-11.4,252,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1910,3605,0,0,0,0,0,0
$GC,2515,-0.84,-170.3,313.2,-12.0,282,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1910,3604,0,0,0,0,0,0
$GC,2834,-0.86,-170.3,351.5,-12.2,312,2839,0.05,2.47,0.00,0.000,4,0.163,0.100,2754,481,3603,0,0,0,0,0,0
$GC,2862,-0.86,-170.3,355.3,-13.5,314,2867,0.00,2.42,0.00,0.000,6,0.000,0.073,2745,1918,3603,0,0,0,0,0,0
$GC,3188,-0.83,-170.3,399.0,-14.1,344,3193,0.08,2.60,0.00,0.000,4,0.199,0.121,2751,3340,3601,0,0,0,0,0,0
$GC,3288,-0.83,-170.3,411.7,-12.4,348,3294,0.00,2.50,0.00,0.000,6,0.000,0.099,2751,1920,3601,0,0,0,0,0,0
$GC,3604,-0.83,-170.3,449.8,-11.8,364,3609,0.00,2.45,0.00,0.000,4,0.000,0.093,2751,480,3600,0,0,0,0,0,0
$GC,3664,-0.81,-170.3,457.9,-13.2,366,3671,0.12,2.40,0.00,0.000,6,0.184,0.069,2770,1921,3600,0,0,0,0,0,0
$GC,3981,-0.81,-170.3,495.2,-12.6,382,3986,0.00,2.60,0.00,0.000,4,0.000,0.127,2759,3336,3598,0,0,0,0,0,0
$GC,4075,-0.83,-170.3,506.6,-11.7,386,4080,0.00,2.55,0.00,0.000,6,0.000,0.106,2759,1911,3597,0,0,0,0,0,0
$GC,4393,-0.83,-170.3,541.0,-11.0,401,4397,0.00,2.42,0.00,0.000,4,0.000,0.090,2760,491,3596,0,0,0,0,0,0
$GC,4466,-0.83,-170.3,550.1,-12.0,404,4470,0.00,2.40,0.00,0.000,6,0.000,0.067,2750,1922,3596,0,0,0,0,0,0
$GC,4784,-0.83,-170.3,590.5,-13.1,419,4788,0.00,2.60,0.00,0.000,4,0.000,0.123,2739,3334,3595,0,0,0,0,0,0
$GC,4838,-0.83,-170.3,597.8,-12.2,421,4844,0.05,2.53,0.00,0.000,6,0.125,0.097,2766,1919,3594,0,0,0,0,0,0
$STATE,5049,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5050,begin apogee
$GC,5055,-0.25,0.0,621.3,11.0,432,5191,0.68,0.00,133.23,0.979,6,0.184,0.000,2951,1759,2902,0,0,0,0,0,0
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5194,1.05,170.3,629.1,0.0,439,5352,1.30,2.83,145.68,0.956,4,0.097,0.105,3368,3174,2206,0,0,0,0,0,0
$GC,5604,0.89,170.3,608.8,10.3,458,5609,0.20,2.53,0.00,0.000,6,0.170,0.096,3325,1747,2204,0,0,0,0,0,0
$GC,5933,0.85,214.3,582.2,8.3,474,5974,0.05,0.00,38.05,0.942,6,0.243,0.000,3315,1746,2027,0,0,0,0,0,0
$GC,6282,0.81,227.6,550.5,9.5,491,6303,0.08,2.33,12.07,0.836,4,0.203,0.055,3308,339,1974,0,0,0,0,0,0
$GC,6471,0.77,233.1,531.5,9.8,499,6483,0.10,2.25,6.32,0.748,6,0.164,0.035,3284,1776,1950,0,0,0,0,0,0
$GC,6793,0.87,314.6,509.0,6.8,515,6870,0.10,2.42,70.80,0.923,4,0.093,0.054,3347,330,1619,0,0,0,0,0,0
$GC,6918,0.81,314.6,496.1,12.6,520,6923,0.17,2.30,0.00,0.000,6,0.149,0.037,3300,1755,1615,0,0,0,0,0,0
$GC,7245,0.82,320.5,463.2,9.8,536,7255,0.00,2.30,5.12,0.608,4,0.000,0.048,3309,328,1594,0,0,0,0,0,0
$GC,7299,0.84,341.9,457.8,9.2,538,7325,0.00,2.30,20.80,0.860,6,0.000,0.036,3309,1780,1507,0,0,0,0,0,0
$GC,7637,0.89,364.5,427.8,9.1,555,7660,0.00,0.00,20.70,0.832,6,0.000,0.000,3308,1780,1414,0,0,0,0,0,0
$GC,7968,0.92,364.5,394.5,10.8,573,7973,0.05,2.35,0.00,0.000,4,0.159,0.054,3355,330,1410,0,0,0,0,0,0
$GC,7997,0.90,364.5,390.9,12.5,575,8002,0.12,2.25,0.00,0.000,6,0.155,0.039,3323,1755,1410,0,0,0,0,0,0
$GC,8324,0.90,364.5,354.8,10.6,605,8329,0.00,2.25,0.00,0.000,4,0.000,0.048,3333,331,1409,0,0,0,0,0,0
$GC,8379,0.90,364.5,348.9,11.9,609,8383,0.00,2.25,0.00,0.000,6,0.000,0.037,3333,1765,1410,0,0,0,0,0,0
$GC,8704,0.90,364.5,313.3,10.9,639,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1765,1410,0,0,0,0,0,0
$GC,9026,0.90,364.5,277.1,11.4,669,9030,0.00,2.35,0.00,0.000,4,0.000,0.087,3333,3176,1409,0,0,0,0,0,0
$GC,9070,0.90,364.5,271.0,12.7,672,9079,0.05,2.50,0.00,0.000,6,0.163,0.097,3326,1764,1409,0,0,0,0,0,0
$GC,9396,0.90,364.5,231.2,12.2,703,9400,0.00,2.30,0.00,0.000,4,0.000,0.058,3336,328,1409,0,0,0,0,0,0
$GC,9473,0.90,364.5,221.2,13.6,709,9477,0.00,2.25,0.00,0.000,6,0.000,0.036,3336,1758,1409,0,0,0,0,0,0
$GC,9798,0.90,364.5,179.9,12.3,739,9802,0.00,2.42,0.00,0.000,4,0.000,0.092,3336,3180,1409,0,0,0,0,0,0
$GC,9897,0.90,364.5,166.2,14.2,747,9904,0.05,2.50,0.00,0.000,6,0.151,0.093,3329,1762,1408,0,0,0,0,0,0
$GC,10223,0.90,364.5,126.6,11.4,778,10227,0.00,2.30,0.00,0.000,4,0.000,0.057,3340,330,1408,0,0,0,0,0,0
$GC,10319,0.90,364.5,114.7,11.1,786,10324,0.05,2.25,0.00,0.000,6,0.190,0.038,3328,1770,1407,0,0,0,0,0,0
$GC,10658,0.94,395.5,80.1,8.8,833,10691,0.00,2.33,26.05,0.644,4,0.000,0.080,3327,3178,1289,0,0,0,0,0,0
$GC,10783,0.98,398.3,67.5,9.9,855,10791,0.00,2.50,3.10,0.374,6,0.000,0.091,3336,1757,1278,0,0,0,0,0,0
$GC,11137,1.02,398.3,26.3,12.9,916,11145,0.08,2.35,0.00,0.000,4,0.115,0.060,3408,326,1278,0,0,0,0,0,0
$GC,11201,0.97,398.3,17.1,15.6,926,11209,0.17,2.30,0.00,0.000,6,0.129,0.040,3352,1758,1276,0,0,0,0,0,0
$GC,11260,1.00,398.3,10.6,10.6,935,11267,0.00,2.35,0.00,0.000,4,0.000,0.076,3351,3174,1277,0,0,0,0,0,0
$GC,11300,1.00,398.3,6.4,10.1,941,11307,0.00,2.53,0.00,0.000,6,0.000,0.100,3361,1760,1276,0,0,0,0,0,0
$STATE,11332,end climb,SURFACE_DEPTH_REACHED
$STATE,11332,begin surface coast
$FINISH,1.4,1.020817
$STATE,11364,end surface coast,CONTROL_FINISHED_OK
$STATE,11364,begin surface
$SM_CCo,11381,99.85,0.046,0,0,409,611.52
$SM_GC,2.07,0.00,0.00,99.85,0.000,0.000,0.046,69,1970,409,-9.27,1.44,611.52
$IRIDIUM_FIX,-3427.77,2507.19,100308,030327
$TT8_MAMPS,0.026964
$HUMID,56.37
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.7,34.9
$24V_AH,23.0,42.118
$10V_AH,10.1,34.092
$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,24.100,107.300,481.925,99.850,0.000,25.005,20.640,276.689,14.500,0.000,48.790,2312.333,6113.656,622.585,2705.106,225.873,0.000,1615.846,0.000,2207.737,0.000,89.216,0.000
$DEVICE_MAMPS,245.565,129.285,979.200,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.911,1580.839,814.553,300.331,0.000,0.000,0.000,0.000,0.000,0.000
$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,66962,951
$CAP_FILE_SIZE,132316,0
$CFSIZE,2097086464,2047770624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140515,204558,-3442.420,2505.958,39,1.1,45,-27.8