version: 66.07.10.p01
glider: 573
mission: 9
dive: 425
start: 5 14 115 20 54 57
data:
$ID,573
$MISSION,9
$DIVE,425
$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,-14839.101
$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,13
$R_STBD_OVSHOOT,53
$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,424
$GPS1,140515,204558,-3442.420,2505.958,39,1.1,45,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.2
$GPS2,140515,205435,-3442.562,2505.623,40,1.2,40,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3431.763,2505.623
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,94,0.00,0.00,-67.03,0.000,2,0.000,0.000,68,1970,2080,0,0,0,0,0,0
$GC,97,-1.05,-170.3,3.1,-3.6,11,172,10.88,2.58,-52.65,0.000,4,0.236,0.099,2691,498,3598,0,0,0,0,0,0
$GC,270,-0.91,-170.3,31.0,-23.5,39,276,0.22,2.65,0.00,0.000,6,0.194,0.127,2738,1879,3599,0,0,0,0,0,0
$GC,420,-0.82,-170.3,58.8,-16.4,64,427,0.12,2.53,0.00,0.000,4,0.187,0.099,2759,3346,3601,0,0,0,0,0,0
$GC,601,-0.82,-170.3,86.7,-14.3,95,606,0.00,2.47,0.00,0.000,6,0.000,0.092,2759,1910,3601,0,0,0,0,0,0
$GC,934,-0.82,-170.3,131.9,-13.3,134,938,0.00,2.53,0.00,0.000,4,0.000,0.103,2750,3352,3603,0,0,0,0,0,0
$GC,1045,-0.82,-170.3,145.4,-11.4,143,1051,0.03,2.55,0.00,0.000,6,0.132,0.101,2770,1926,3604,0,0,0,0,0,0
$GC,1371,-0.82,-170.3,183.3,-13.2,174,1375,0.00,2.40,0.00,0.000,4,0.000,0.088,2770,485,3605,0,0,0,0,0,0
$GC,1391,-0.82,-170.3,186.3,-13.0,175,1397,0.00,2.55,0.00,0.000,6,0.000,0.090,2761,1925,3605,0,0,0,0,0,0
$GC,1717,-0.82,-170.3,229.8,-13.7,206,1721,0.00,2.47,0.00,0.000,4,0.000,0.106,2750,3343,3605,0,0,0,0,0,0
$GC,1934,-0.82,-170.3,257.9,-12.7,225,1940,0.08,2.53,0.00,0.000,6,0.158,0.103,2766,1905,3604,0,0,0,0,0,0
$GC,2259,-0.82,-170.3,299.4,-12.4,255,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1905,3603,0,0,0,0,0,0
$GC,2581,-0.82,-170.3,340.8,-13.7,285,2585,0.00,2.38,0.00,0.000,4,0.000,0.087,2766,480,3602,0,0,0,0,0,0
$GC,2613,-0.82,-170.3,345.3,-14.0,287,2618,0.00,2.47,0.00,0.000,6,0.000,0.079,2758,1913,3602,0,0,0,0,0,0
$GC,2939,-0.82,-170.3,390.1,-14.3,318,2943,0.00,2.53,0.00,0.000,4,0.000,0.110,2747,3349,3601,0,0,0,0,0,0
$GC,3050,-0.82,-170.3,406.0,-13.7,326,3056,0.05,2.60,0.00,0.000,6,0.119,0.109,2763,1926,3599,0,0,0,0,0,0
$GC,3377,-0.82,-170.3,448.4,-12.8,342,3381,0.00,2.47,0.00,0.000,4,0.000,0.096,2763,487,3598,0,0,0,0,0,0
$GC,3455,-0.82,-170.3,459.2,-14.2,345,3460,0.05,2.45,0.00,0.000,6,0.231,0.071,2763,1918,3598,0,0,0,0,0,0
$GC,3777,-0.82,-170.3,502.9,-13.7,361,3781,0.00,2.62,0.00,0.000,4,0.000,0.125,2753,3344,3596,0,0,0,0,0,0
$GC,3884,-0.84,-170.3,516.9,-12.5,366,3888,0.00,2.65,0.00,0.000,6,0.000,0.121,2753,1919,3596,0,0,0,0,0,0
$STATE,4147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4147,begin apogee
$GC,4153,-0.25,0.0,551.1,13.4,379,4290,0.68,0.00,133.27,0.930,6,0.168,0.000,2945,1751,2902,0,0,0,0,0,0
$STATE,4290,end apogee,CONTROL_FINISHED_OK
$STATE,4291,begin climb
$GC,4292,1.05,170.3,558.5,0.0,386,4444,1.27,2.70,143.62,0.905,4,0.100,0.101,3360,3172,2206,0,0,0,0,0,0
$GC,4525,0.90,170.3,551.2,11.8,397,4530,0.17,2.62,0.00,0.000,6,0.169,0.097,3326,1756,2205,0,0,0,0,0,0
$GC,4854,0.87,213.8,521.2,8.3,413,4898,0.00,2.42,37.03,0.887,4,0.000,0.057,3336,325,2030,0,0,0,0,0,0
$GC,5033,0.79,227.8,504.5,9.5,421,5054,0.17,2.33,13.18,0.822,6,0.151,0.035,3289,1776,1973,0,0,0,0,0,0
$GC,5381,0.87,290.9,478.1,7.5,438,5443,0.08,2.42,54.40,0.882,4,0.111,0.053,3346,331,1714,0,0,0,0,0,0
$GC,5521,0.81,290.9,463.5,10.9,444,5526,0.17,2.28,0.00,0.000,6,0.149,0.035,3298,1756,1711,0,0,0,0,0,0
$GC,5842,0.85,323.1,435.2,8.7,460,5877,0.00,2.38,27.73,0.838,4,0.000,0.049,3307,328,1583,0,0,0,0,0,0
$GC,5911,0.85,328.5,428.8,9.8,463,5921,0.00,2.28,5.72,0.663,6,0.000,0.034,3308,1763,1562,0,0,0,0,0,0
$GC,6234,0.87,328.5,397.6,10.1,479,6238,0.00,2.33,0.00,0.000,4,0.000,0.049,3317,325,1560,0,0,0,0,0,0
$GC,6264,0.87,328.5,394.6,10.8,481,6268,0.00,2.25,0.00,0.000,6,0.000,0.034,3317,1758,1559,0,0,0,0,0,0
$GC,6594,0.93,378.5,360.2,8.0,512,6648,0.00,2.40,43.62,0.829,4,0.000,0.050,3327,330,1359,0,0,0,0,0,0
$GC,6675,0.93,378.5,352.7,11.1,519,6681,0.00,2.33,0.00,0.000,6,0.000,0.036,3327,1754,1357,0,0,0,0,0,0
$GC,7001,0.94,381.6,321.8,9.9,550,7005,0.00,2.30,0.00,0.000,4,0.000,0.050,3336,323,1354,0,0,0,0,0,0
$GC,7042,0.94,381.6,317.6,11.2,553,7046,0.00,2.25,0.00,0.000,6,0.000,0.036,3336,1756,1353,0,0,0,0,0,0
$GC,7367,0.94,381.8,283.7,10.0,583,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1756,1352,0,0,0,0,0,0
$GC,7689,0.94,381.8,250.7,10.7,613,7694,0.00,2.42,0.00,0.000,4,0.000,0.093,3336,3183,1351,0,0,0,0,0,0
$GC,7729,0.94,381.8,245.8,11.3,616,7734,0.00,2.50,0.00,0.000,6,0.000,0.098,3345,1751,1351,0,0,0,0,0,0
$GC,8055,0.91,381.8,206.1,12.4,646,8059,0.08,2.30,0.00,0.000,4,0.197,0.058,3339,327,1350,0,0,0,0,0,0
$GC,8167,0.89,381.8,191.5,13.2,655,8173,0.08,2.25,0.00,0.000,6,0.169,0.034,3321,1771,1350,0,0,0,0,0,0
$GC,8492,0.89,381.8,155.9,10.7,686,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1770,1350,0,0,0,0,0,0
$GC,8812,0.89,381.8,120.7,11.3,716,8816,0.00,2.28,0.00,0.000,4,0.000,0.075,3320,3178,1349,0,0,0,0,0,0
$GC,8852,0.89,381.8,115.8,12.6,719,8856,0.00,2.42,0.00,0.000,6,0.000,0.088,3330,1754,1349,0,0,0,0,0,0
$GC,9190,0.89,381.8,76.9,11.9,767,9195,0.00,2.28,0.00,0.000,4,0.000,0.057,3341,333,1349,0,0,0,0,0,0
$GC,9264,0.89,381.8,67.9,11.3,780,9272,0.05,2.28,0.00,0.000,6,0.122,0.041,3322,1748,1348,0,0,0,0,0,0
$GC,9622,1.03,454.6,34.5,7.1,841,9680,0.12,2.42,50.80,0.604,4,0.076,0.075,3402,3191,1047,0,0,0,0,0,0
$GC,9802,1.03,454.6,12.8,14.6,871,9810,0.12,2.53,0.00,0.000,6,0.138,0.092,3371,1766,1043,0,0,0,0,0,0
$GC,9861,1.08,454.6,6.1,11.0,880,9868,0.00,2.35,0.00,0.000,4,0.000,0.056,3382,330,1042,0,0,0,0,0,0
$STATE,9887,end climb,SURFACE_DEPTH_REACHED
$STATE,9887,begin surface coast
$FINISH,1.2,1.020821
$STATE,9919,end surface coast,CONTROL_FINISHED_OK
$STATE,9919,begin surface
$SM_CCo,9940,72.97,0.045,0,0,408,611.52
$SM_GC,1.76,0.00,0.00,72.97,0.000,0.000,0.045,69,1943,408,-9.27,0.71,611.52
$IRIDIUM_FIX,-3427.77,2507.19,100308,060655
$TT8_MAMPS,0.026964
$HUMID,57.60
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,532.2,31.8
$24V_AH,23.1,42.266
$10V_AH,10.1,34.194
$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,23.325,107.875,509.375,72.975,0.000,25.745,40.362,284.498,12.500,0.000,42.325,2127.424,4963.236,600.329,2622.527,216.688,0.000,1565.472,0.000,2117.910,0.000,79.628,0.000
$DEVICE_MAMPS,236.385,126.990,930.240,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.258,1489.582,834.190,317.030,0.000,0.000,0.000,0.000,0.000,0.000
$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,63798,889
$CAP_FILE_SIZE,120584,0
$CFSIZE,2097086464,2047705088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,140515,234305,-3441.811,2505.362,38,1.2,38,-27.8