version: 66.07.10.p01
glider: 573
mission: 9
dive: 426
start: 5 14 115 23 51 26
data:
$ID,573
$MISSION,9
$DIVE,426
$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,-14841.434
$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,11
$R_STBD_OVSHOOT,11
$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,425
$GPS1,140515,234305,-3441.811,2505.362,38,1.2,38,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-64.6
$GPS2,140515,235106,-3441.954,2505.050,43,1.3,43,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3431.155,2505.050
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-72.28,0.000,2,0.000,0.000,69,1944,2212,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.2,-3.9,12,167,11.25,2.62,-41.12,0.000,4,0.249,0.113,2688,497,3599,1,0,0,0,0,0
$GC,272,-0.89,-170.3,33.3,-23.9,39,278,0.25,2.65,0.00,0.000,6,0.191,0.114,2742,1921,3601,0,0,0,0,0,0
$GC,420,-0.80,-170.3,57.3,-15.2,64,426,0.12,2.45,0.00,0.000,4,0.187,0.097,2762,3348,3602,0,0,0,0,0,0
$GC,637,-0.78,-170.3,88.7,-14.5,101,643,0.08,2.50,0.00,0.000,6,0.180,0.097,2776,1914,3603,0,0,0,0,0,0
$GC,969,-0.78,-170.3,131.7,-11.7,139,973,0.00,2.50,0.00,0.000,4,0.000,0.098,2768,3351,3606,0,0,0,0,0,0
$GC,1020,-0.80,-170.3,137.6,-11.5,143,1024,0.00,2.53,0.00,0.000,6,0.000,0.105,2768,1921,3606,0,0,0,0,0,0
$GC,1347,-0.80,-170.3,175.9,-12.2,173,1351,0.00,2.42,0.00,0.000,4,0.000,0.093,2767,480,3607,0,0,0,0,0,0
$GC,1369,-0.80,-170.3,179.2,-13.6,174,1375,0.08,2.47,0.00,0.000,6,0.215,0.083,2771,1918,3606,0,0,0,0,0,0
$GC,1696,-0.80,-170.3,223.2,-12.5,205,1700,0.00,2.47,0.00,0.000,4,0.000,0.107,2761,3355,3606,0,0,0,0,0,0
$GC,1876,-0.82,-170.3,246.4,-12.5,220,1883,0.00,2.65,0.00,0.000,6,0.000,0.116,2761,1918,3606,0,0,0,0,0,0
$GC,2201,-0.82,-170.3,288.3,-12.9,251,2205,0.00,2.42,0.00,0.000,4,0.000,0.087,2761,477,3606,0,0,0,0,0,0
$GC,2244,-0.82,-170.3,294.5,-13.6,254,2250,0.03,2.45,0.00,0.000,6,0.178,0.073,2759,1913,3605,0,0,0,0,0,0
$GC,2573,-0.82,-170.3,335.4,-13.2,285,2577,0.00,2.58,0.00,0.000,4,0.000,0.115,2749,3348,3604,0,0,0,0,0,0
$GC,2737,-0.82,-170.3,358.2,-13.6,299,2742,0.08,2.60,0.00,0.000,6,0.142,0.116,2765,1918,3603,0,0,0,0,0,0
$GC,3065,-0.82,-170.3,400.1,-12.9,329,3069,0.00,2.42,0.00,0.000,4,0.000,0.086,2765,475,3602,0,0,0,0,0,0
$GC,3136,-0.82,-170.3,410.9,-14.8,332,3141,0.00,2.47,0.00,0.000,6,0.000,0.078,2757,1920,3601,0,0,0,0,0,0
$GC,3458,-0.82,-170.3,453.1,-12.4,348,3463,0.00,2.53,0.00,0.000,4,0.000,0.115,2745,3334,3600,0,0,0,0,0,0
$GC,3593,-0.82,-170.3,469.4,-11.3,354,3598,0.05,2.60,0.00,0.000,6,0.133,0.120,2760,1917,3599,0,0,0,0,0,0
$GC,3920,-0.85,-170.3,513.4,-13.4,370,3924,0.00,2.42,0.00,0.000,6,0.000,0.089,2760,482,3598,0,0,0,0,0,0
$STATE,3925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3925,begin apogee
$GC,3932,-0.25,0.0,514.2,13.2,370,4069,0.68,0.00,133.55,0.910,6,0.181,0.000,2943,1760,2902,0,0,0,0,0,0
$STATE,4070,end apogee,CONTROL_FINISHED_OK
$STATE,4070,begin climb
$GC,4072,1.05,170.3,522.0,0.0,377,4223,1.30,2.75,141.57,0.880,4,0.109,0.110,3359,3165,2206,0,0,0,0,0,0
$GC,4475,0.90,170.3,505.7,10.7,395,4481,0.17,2.55,0.00,0.000,6,0.174,0.103,3323,1756,2202,0,0,0,0,0,0
$GC,4792,0.89,235.9,480.8,7.4,411,4850,0.00,0.00,55.22,0.874,6,0.000,0.000,3323,1756,1940,0,0,0,0,0,0
$GC,5161,0.84,240.8,447.1,9.8,429,5171,0.08,2.33,4.68,0.615,4,0.204,0.056,3317,321,1920,0,0,0,0,0,0
$GC,5317,0.79,240.8,430.2,11.7,436,5322,0.10,2.28,0.00,0.000,6,0.164,0.034,3292,1776,1921,0,0,0,0,0,0
$GC,5644,0.81,258.5,399.1,9.3,452,5666,0.00,2.35,16.62,0.817,4,0.000,0.047,3301,320,1848,0,0,0,0,0,0
$GC,5693,0.84,282.4,394.6,9.1,456,5721,0.00,2.33,21.98,0.812,6,0.000,0.038,3301,1758,1749,0,0,0,0,0,0
$GC,6042,0.89,326.8,364.8,8.3,489,6083,0.00,0.00,38.20,0.812,6,0.000,0.000,3300,1758,1569,0,0,0,0,0,0
$GC,6399,0.93,326.8,328.2,10.3,523,6401,0.10,0.00,0.00,0.000,6,0.096,0.000,3359,1759,1564,0,0,0,0,0,0
$GC,6720,0.87,326.8,285.8,13.2,553,6725,0.15,2.30,0.00,0.000,4,0.153,0.049,3327,329,1563,0,0,0,0,0,0
$GC,6749,0.85,326.8,281.8,12.7,555,6754,0.08,2.25,0.00,0.000,6,0.175,0.036,3309,1767,1562,0,0,0,0,0,0
$GC,7076,0.85,326.8,246.3,10.5,585,7080,0.00,2.30,0.00,0.000,4,0.000,0.075,3308,3174,1562,0,0,0,0,0,0
$GC,7130,0.85,326.8,240.3,11.3,589,7135,0.00,2.47,0.00,0.000,6,0.000,0.093,3318,1750,1561,0,0,0,0,0,0
$GC,7455,0.85,326.8,203.5,11.0,619,7459,0.00,2.28,0.00,0.000,4,0.000,0.060,3329,323,1560,0,0,0,0,0,0
$GC,7555,0.82,326.8,192.4,11.3,627,7561,0.10,2.25,0.00,0.000,6,0.157,0.035,3302,1758,1560,0,0,0,0,0,0
$GC,7881,0.84,326.8,162.2,10.1,658,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1758,1560,0,0,0,0,0,0
$GC,8201,0.87,328.0,130.7,10.0,688,8205,0.00,2.33,0.00,0.000,4,0.000,0.078,3302,3185,1559,0,0,0,0,0,0
$GC,8274,0.87,328.0,122.5,10.6,694,8278,0.00,2.45,0.00,0.000,6,0.000,0.090,3311,1753,1559,0,0,0,0,0,0
$GC,8606,0.87,329.5,88.1,10.0,734,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1753,1559,0,0,0,0,0,0
$GC,8956,0.91,340.3,54.7,9.6,795,8972,0.00,2.38,10.93,0.567,4,0.000,0.078,3311,3188,1513,0,0,0,0,0,0
$GC,9068,0.97,363.5,44.2,9.1,814,9096,0.08,2.42,20.95,0.609,6,0.113,0.083,3385,1757,1419,0,0,0,0,0,0
$STATE,9445,end climb,SURFACE_DEPTH_REACHED
$STATE,9445,begin surface coast
$FINISH,1.2,1.009417
$STATE,9477,end surface coast,CONTROL_FINISHED_OK
$STATE,9477,begin surface
$SM_CCo,9495,114.07,0.045,0,0,407,611.52
$SM_GC,1.93,0.00,0.00,114.07,0.000,0.000,0.045,69,1970,407,-9.27,1.44,611.52
$IRIDIUM_FIX,-3430.39,2505.93,100308,101019
$TT8_MAMPS,0.026964
$HUMID,56.06
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,20.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,502.5,26.0
$24V_AH,23.3,42.395
$10V_AH,10.1,34.296
$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,23.650,88.225,443.700,114.075,0.000,24.993,24.883,265.594,12.500,0.000,45.974,2122.394,4606.614,587.877,2571.607,201.499,0.000,1489.454,0.000,2104.337,0.000,76.357,0.000
$DEVICE_MAMPS,249.390,120.105,910.350,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.520,1476.700,867.062,322.152,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,60572,883
$CAP_FILE_SIZE,113621,1
$CFSIZE,2097086464,2047574016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$GPS,150515,023253,-3441.312,2504.937,41,1.8,41,-27.8