version: 66.07.10.p01
glider: 573
mission: 9
dive: 427
start: 5 15 115 2 44 20
data:
$ID,573
$MISSION,9
$DIVE,427
$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,-14843.767
$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,426
$GPS1,150515,023253,-3441.312,2504.937,41,1.8,41,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-67.3
$GPS2,150515,024400,-3441.505,2504.520,44,1.0,44,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3430.706,2504.520
$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,26,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-72.93,0.000,2,0.000,0.000,68,1971,2240,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.1,-3.6,12,160,11.27,2.62,-37.10,0.000,4,0.249,0.107,2687,496,3598,0,0,0,0,0,0
$GC,259,-0.85,-170.3,32.2,-26.1,37,265,0.30,2.60,0.00,0.000,6,0.195,0.119,2754,1880,3601,0,0,0,0,0,0
$GC,405,-0.79,-170.3,55.6,-14.4,62,411,0.10,2.53,0.00,0.000,4,0.197,0.099,2767,3349,3601,0,0,0,0,0,0
$GC,590,-0.79,-170.3,81.9,-14.3,94,595,0.00,2.58,0.00,0.000,6,0.000,0.108,2767,1914,3603,0,0,0,0,0,0
$GC,922,-0.79,-170.3,124.9,-11.1,136,926,0.00,2.47,0.00,0.000,4,0.000,0.099,2758,3344,3604,0,0,0,0,0,0
$GC,999,-0.79,-170.3,133.2,-10.9,142,1006,0.08,2.60,0.00,0.000,6,0.145,0.111,2774,1900,3604,0,0,0,0,0,0
$GC,1327,-0.79,-170.3,169.3,-11.8,173,1331,0.00,2.55,0.00,0.000,4,0.000,0.109,2765,3338,3606,0,0,0,0,0,0
$GC,1361,-0.81,-170.3,173.9,-12.5,176,1365,0.00,2.58,0.00,0.000,6,0.000,0.113,2765,1922,3606,0,0,0,0,0,0
$GC,1686,-0.81,-170.3,213.9,-12.6,206,1690,0.00,2.42,0.00,0.000,4,0.000,0.089,2765,481,3605,0,0,0,0,0,0
$GC,1748,-0.81,-170.3,221.7,-12.8,211,1753,0.05,2.45,0.00,0.000,6,0.230,0.078,2764,1920,3605,0,0,0,0,0,0
$GC,2075,-0.81,-170.3,262.9,-12.3,241,2079,0.00,2.55,0.00,0.000,4,0.000,0.114,2754,3354,3604,0,0,0,0,0,0
$GC,2308,-0.81,-170.3,289.7,-11.1,261,2313,0.03,2.53,0.00,0.000,6,0.106,0.107,2764,1920,3603,0,0,0,0,0,0
$GC,2639,-0.81,-170.3,331.1,-13.8,292,2643,0.00,2.42,0.00,0.000,4,0.000,0.090,2764,478,3601,0,0,0,0,0,0
$GC,2688,-0.81,-170.3,337.9,-13.3,296,2697,0.03,2.47,0.00,0.000,6,0.191,0.076,2762,1915,3601,0,0,0,0,0,0
$GC,3015,-0.81,-170.3,380.5,-12.7,327,3019,0.00,2.60,0.00,0.000,4,0.000,0.118,2752,3360,3600,0,0,0,0,0,0
$GC,3168,-0.81,-170.3,401.1,-13.0,340,3173,0.08,2.62,0.00,0.000,6,0.141,0.111,2767,1909,3598,0,0,0,0,0,0
$GC,3496,-0.81,-170.3,442.1,-11.9,356,3499,0.00,2.38,0.00,0.000,4,0.000,0.084,2767,484,3598,0,0,0,0,0,0
$GC,3567,-0.81,-170.3,451.5,-12.7,359,3572,0.00,2.47,0.00,0.000,6,0.000,0.076,2759,1920,3597,0,0,0,0,0,0
$STATE,3874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3874,begin apogee
$GC,3879,-0.25,0.0,489.9,12.4,374,4017,0.68,0.00,134.43,0.890,6,0.175,0.000,2948,1713,2902,0,0,0,0,0,0
$STATE,4018,end apogee,CONTROL_FINISHED_OK
$STATE,4018,begin climb
$GC,4020,1.05,170.3,497.9,0.0,381,4170,1.27,2.83,141.07,0.861,4,0.107,0.103,3358,3171,2206,0,0,0,0,0,0
$GC,4423,0.91,170.3,477.8,10.3,399,4429,0.15,2.45,0.00,0.000,6,0.178,0.091,3330,1784,2201,0,0,0,0,0,0
$GC,4740,0.86,202.2,451.7,8.7,415,4774,0.08,2.47,26.92,0.838,4,0.210,0.083,3314,3185,2076,0,0,0,0,0,0
$GC,4820,0.82,220.2,444.7,9.3,418,4845,0.10,2.50,16.25,0.799,6,0.196,0.090,3301,1751,2004,0,0,0,0,0,0
$GC,5157,0.89,298.4,413.2,6.9,435,5230,0.00,2.38,66.28,0.837,4,0.000,0.061,3311,335,1683,0,0,0,0,0,0
$GC,5373,0.94,346.2,396.7,8.1,446,5420,0.08,2.28,40.88,0.812,6,0.120,0.035,3350,1776,1489,0,0,0,0,0,0
$GC,5740,0.91,346.2,354.1,12.7,480,5744,0.10,2.33,0.00,0.000,4,0.159,0.048,3334,332,1484,0,0,0,0,0,0
$GC,5774,0.88,346.2,349.8,12.4,482,5779,0.08,2.25,0.00,0.000,6,0.174,0.036,3316,1758,1483,0,0,0,0,0,0
$GC,6101,0.88,346.2,314.4,11.5,513,6105,0.00,2.25,0.00,0.000,4,0.000,0.049,3326,330,1481,0,0,0,0,0,0
$GC,6133,0.88,346.2,310.4,11.5,515,6139,0.00,2.28,0.00,0.000,6,0.000,0.036,3326,1755,1481,0,0,0,0,0,0
$GC,6459,0.88,346.2,275.0,10.6,546,6463,0.00,2.40,0.00,0.000,4,0.000,0.091,3326,3185,1481,0,0,0,0,0,0
$GC,6521,0.88,346.2,267.9,11.4,551,6526,0.08,2.47,0.00,0.000,6,0.198,0.090,3319,1751,1481,0,0,0,0,0,0
$GC,6848,0.88,346.2,231.4,11.8,581,6852,0.00,2.28,0.00,0.000,4,0.000,0.060,3329,333,1480,0,0,0,0,0,0
$GC,6978,0.88,346.2,214.7,11.8,592,6982,0.00,2.25,0.00,0.000,6,0.000,0.035,3330,1769,1480,0,0,0,0,0,0
$GC,7308,0.88,346.2,174.5,15.4,623,7312,0.00,2.30,0.00,0.000,4,0.000,0.052,3339,333,1479,0,0,0,0,0,0
$GC,7393,0.84,346.2,162.4,13.0,630,7398,0.12,2.22,0.00,0.000,6,0.154,0.035,3305,1769,1479,0,0,0,0,0,0
$GC,7718,0.87,346.2,127.1,11.4,660,7722,0.00,2.33,0.00,0.000,4,0.000,0.076,3305,3184,1479,0,0,0,0,0,0
$GC,7816,0.89,346.2,116.2,11.6,668,7820,0.00,2.42,0.00,0.000,6,0.000,0.082,3314,1752,1478,0,0,0,0,0,0
$GC,8156,0.91,346.2,78.5,10.8,715,8161,0.00,2.42,0.00,0.000,4,0.000,0.083,3314,3182,1478,0,0,0,0,0,0
$GC,8186,0.91,346.2,74.8,12.0,720,8193,0.00,2.47,0.00,0.000,6,0.000,0.087,3324,1754,1478,0,0,0,0,0,0
$GC,8540,0.97,366.1,37.3,9.2,781,8564,0.05,0.00,16.17,0.607,6,0.159,0.000,3386,1754,1409,0,0,0,0,0,0
$GC,8709,0.94,366.1,19.5,11.6,809,8717,0.17,2.42,0.00,0.000,4,0.145,0.077,3336,3180,1406,0,0,0,0,0,0
$GC,8768,0.98,366.1,13.8,10.0,818,8775,0.00,2.45,0.00,0.000,6,0.000,0.086,3345,1763,1406,0,0,0,0,0,0
$GC,8826,1.04,377.7,8.2,9.6,827,8840,0.08,2.30,5.88,0.428,4,0.114,0.054,3418,333,1360,0,0,0,0,0,0
$STATE,8870,end climb,SURFACE_DEPTH_REACHED
$STATE,8871,begin surface coast
$FINISH,2.0,1.020734
$STATE,8878,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8898,107.90,0.046,0,0,407,611.52
$SM_GC,1.93,0.00,0.00,107.90,0.000,0.000,0.046,69,1926,407,-9.26,0.20,611.52
$IRIDIUM_FIX,-3430.39,2504.81,100308,131324
$TT8_MAMPS,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,471.6,32.0
$24V_AH,23.4,42.533
$10V_AH,10.2,34.396
$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,23.850,103.225,447.875,107.900,0.000,29.309,41.073,388.864,11.000,0.000,46.968,2024.845,4161.744,583.485,2663.094,225.844,0.000,1500.574,0.000,2053.017,0.000,70.518,0.000
$DEVICE_MAMPS,249.390,118.575,890.460,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.438,1391.799,830.787,313.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,57073,835
$CAP_FILE_SIZE,118776,0
$CFSIZE,2097086464,2047442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150515,051535,-3440.546,2504.752,31,0.9,31,-27.8