version: 66.07.10.p01
glider: 573
mission: 9
dive: 428
start: 5 15 115 5 23 49
data:
$ID,573
$MISSION,9
$DIVE,428
$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,-14846.094
$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,15
$R_STBD_OVSHOOT,9
$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,427
$GPS1,150515,051535,-3440.546,2504.752,31,0.9,31,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-68.6
$GPS2,150515,052329,-3440.674,2504.510,43,1.0,43,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.875,2504.510
$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,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-78.78,0.000,2,0.000,0.000,69,1926,2398,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.2,-2.6,13,161,11.20,2.50,-30.73,0.000,4,0.247,0.104,2676,3356,3599,0,0,0,0,0,0
$GC,331,-0.89,-170.3,49.9,-19.6,50,338,0.25,2.53,0.00,0.000,6,0.188,0.096,2739,1921,3603,0,0,0,0,0,0
$GC,686,-0.85,-170.3,100.2,-11.2,111,691,0.08,2.45,0.00,0.000,4,0.203,0.092,2748,3355,3606,0,0,0,0,0,0
$GC,797,-0.85,-170.3,112.8,-11.0,120,805,0.00,2.53,0.00,0.000,6,0.000,0.090,2748,1914,3606,0,0,0,0,0,0
$GC,1124,-0.83,-170.3,150.2,-12.1,151,1129,0.08,2.53,0.00,0.000,4,0.179,0.103,2756,3351,3608,0,0,0,0,0,0
$GC,1293,-0.83,-170.3,173.2,-12.9,165,1299,0.00,2.58,0.00,0.000,6,0.000,0.103,2756,1917,3607,0,0,0,0,0,0
$GC,1619,-0.83,-170.3,214.7,-12.5,196,1623,0.00,2.45,0.00,0.000,4,0.000,0.095,2755,474,3607,0,0,0,0,0,0
$GC,1682,-0.83,-170.3,222.8,-12.9,201,1687,0.08,2.45,0.00,0.000,6,0.194,0.075,2760,1922,3607,0,0,0,0,0,0
$GC,2007,-0.83,-170.3,266.0,-13.0,231,2011,0.00,2.53,0.00,0.000,4,0.000,0.115,2750,3341,3607,0,0,0,0,0,0
$GC,2198,-0.83,-170.3,288.8,-12.2,247,2205,0.05,2.58,0.00,0.000,6,0.168,0.104,2762,1909,3606,0,0,0,0,0,0
$GC,2524,-0.83,-170.3,327.5,-12.5,278,2528,0.00,2.42,0.00,0.000,4,0.000,0.096,2762,486,3605,0,0,0,0,0,0
$GC,2565,-0.83,-170.3,332.5,-12.7,281,2570,0.00,2.45,0.00,0.000,6,0.000,0.076,2753,1920,3606,0,0,0,0,0,0
$GC,2891,-0.81,-170.3,373.7,-12.8,311,2896,0.08,2.55,0.00,0.000,4,0.215,0.118,2757,3340,3604,0,0,0,0,0,0
$GC,3057,-0.83,-170.3,393.0,-11.2,325,3061,0.00,2.60,0.00,0.000,6,0.000,0.112,2757,1913,3602,0,0,0,0,0,0
$GC,3385,-0.83,-170.3,433.5,-12.7,343,3389,0.00,2.42,0.00,0.000,4,0.000,0.088,2757,480,3602,0,0,0,0,0,0
$GC,3485,-0.83,-170.3,447.4,-13.1,347,3490,0.08,2.42,0.00,0.000,6,0.197,0.067,2761,1914,3602,0,0,0,0,0,0
$STATE,3619,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3619,begin apogee
$GC,3625,-0.25,0.0,465.0,13.2,354,3764,0.65,0.00,135.70,0.874,6,0.174,0.000,2945,1707,2902,0,0,0,0,0,0
$STATE,3764,end apogee,CONTROL_FINISHED_OK
$STATE,3764,begin climb
$GC,3766,1.05,170.3,473.2,0.0,361,3917,1.30,2.42,140.32,0.847,4,0.109,0.051,3372,326,2206,0,0,0,0,0,0
$GC,4141,0.91,195.6,451.8,9.0,378,4172,0.15,2.30,21.95,0.807,6,0.163,0.034,3333,1768,2103,0,0,0,0,0,0
$GC,4483,0.91,254.2,422.7,7.7,395,4537,0.00,2.38,49.60,0.831,4,0.000,0.047,3342,322,1864,0,0,0,0,0,0
$GC,4577,0.83,254.2,413.7,10.2,398,4583,0.15,2.30,0.00,0.000,6,0.157,0.034,3303,1759,1862,0,0,0,0,0,0
$GC,4899,0.83,254.2,382.5,10.3,422,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1759,1859,0,0,0,0,0,0
$GC,5218,0.84,260.3,349.2,9.8,452,5231,0.00,2.30,5.22,0.621,4,0.000,0.046,3313,333,1840,0,0,0,0,0,0
$GC,5254,0.81,260.3,345.2,10.8,455,5259,0.05,2.25,0.00,0.000,6,0.211,0.037,3300,1758,1840,0,0,0,0,0,0
$GC,5582,0.81,260.3,310.5,10.3,485,5586,0.00,2.33,0.00,0.000,4,0.000,0.077,3300,3181,1840,0,0,0,0,0,0
$GC,5636,0.81,260.3,304.1,11.3,489,5642,0.00,2.45,0.00,0.000,6,0.000,0.087,3309,1750,1840,0,0,0,0,0,0
$GC,5962,0.79,260.3,266.2,11.1,520,5967,0.08,2.28,0.00,0.000,4,0.203,0.063,3303,331,1839,0,0,0,0,0,0
$GC,6036,0.79,260.3,258.0,10.7,526,6041,0.03,2.28,0.00,0.000,6,0.253,0.040,3293,1765,1840,0,0,0,0,0,0
$GC,6361,0.81,276.5,226.3,9.4,556,6383,0.00,2.33,15.65,0.728,4,0.000,0.053,3302,325,1773,0,0,0,0,0,0
$GC,6440,0.81,276.5,218.2,10.8,563,6445,0.00,2.28,0.00,0.000,6,0.000,0.042,3302,1756,1772,0,0,0,0,0,0
$GC,6768,0.81,276.5,184.9,10.4,593,6772,0.00,2.40,0.00,0.000,4,0.000,0.092,3302,3178,1771,0,0,0,0,0,0
$GC,6811,0.81,276.5,179.8,11.2,596,6819,0.03,2.45,0.00,0.000,6,0.180,0.083,3302,1758,1771,0,0,0,0,0,0
$GC,7136,0.81,276.5,147.1,10.1,627,7140,0.00,2.28,0.00,0.000,4,0.000,0.061,3312,333,1770,0,0,0,0,0,0
$GC,7215,0.80,285.3,139.4,9.7,633,7231,0.08,2.25,8.05,0.628,6,0.171,0.037,3295,1761,1739,0,0,0,0,0,0
$GC,7553,0.83,309.3,108.9,9.1,665,7583,0.00,2.42,21.95,0.672,4,0.000,0.083,3294,3180,1639,0,0,0,0,0,0
$GC,7767,0.85,309.3,86.6,10.6,694,7772,0.00,2.47,0.00,0.000,6,0.000,0.092,3303,1755,1635,0,0,0,0,0,0
$GC,8115,0.88,309.3,54.3,10.6,755,8120,0.00,2.38,0.00,0.000,4,0.000,0.081,3303,3174,1634,0,0,0,0,0,0
$GC,8198,0.93,327.5,46.4,9.3,769,8221,0.05,2.42,15.65,0.614,6,0.155,0.086,3371,1756,1566,0,0,0,0,0,0
$GC,8576,0.90,327.5,11.3,10.3,833,8584,0.15,2.38,0.00,0.000,4,0.148,0.072,3328,3171,1562,0,0,0,0,0,0
$GC,8629,0.95,344.0,6.4,9.4,841,8643,0.00,2.40,8.18,0.457,6,0.000,0.079,3337,1761,1497,0,0,0,0,0,0
$STATE,8668,end climb,SURFACE_DEPTH_REACHED
$STATE,8668,begin surface coast
$FINISH,1.1,1.007936
$STATE,8699,end surface coast,CONTROL_FINISHED_OK
$STATE,8699,begin surface
$SM_CCo,8717,121.90,0.045,0,0,407,611.52
$SM_GC,1.76,0.00,0.00,121.90,0.000,0.000,0.045,69,1971,407,-9.26,1.47,611.52
$IRIDIUM_FIX,-3427.77,2503.70,100308,161650
$TT8_MAMPS,0.026964
$HUMID,56.69
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.5,26.0
$24V_AH,23.4,42.652
$10V_AH,10.1,34.496
$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,23.425,92.275,422.275,121.900,0.000,25.081,30.708,255.446,10.500,0.000,45.209,2045.896,3947.460,581.216,2540.816,198.176,0.000,1475.800,0.000,2080.170,0.000,67.531,0.000
$DEVICE_MAMPS,253.215,117.810,874.395,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.128,1445.647,883.587,335.253,0.000,0.000,0.000,0.000,0.000,0.000
$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,60423,852
$CAP_FILE_SIZE,112033,0
$CFSIZE,2097086464,2047311872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150515,075223,-3439.534,2504.825,38,1.2,38,-27.7