version: 66.07.10.p01
glider: 573
mission: 9
dive: 429
start: 5 15 115 8 0 55
data:
$ID,573
$MISSION,9
$DIVE,429
$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,-14848.418
$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,16
$R_STBD_OVSHOOT,52
$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,428
$GPS1,150515,075223,-3439.534,2504.825,38,1.2,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-62.7
$GPS2,150515,080035,-3439.612,2504.614,77,0.8,77,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3428.813,2504.614
$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,27.7,20000,-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,-170.3,0.0,0.0,0,107,0.00,0.00,-78.53,0.000,2,0.000,0.000,69,1972,2382,0,0,0,0,0,0
$GC,109,-1.05,-170.3,3.3,-4.8,13,160,11.12,2.35,-32.05,0.000,4,0.245,0.110,2680,3311,3594,0,0,0,0,0,0
$GC,181,-0.83,-170.3,12.0,-19.9,24,189,0.28,2.47,0.00,0.000,6,0.175,0.097,2758,1928,3596,0,0,0,0,0,0
$GC,239,-0.69,-170.3,24.9,-20.2,33,245,0.17,2.53,0.00,0.000,4,0.203,0.096,2801,474,3598,0,0,0,0,0,0
$GC,254,-0.57,-170.3,28.0,-20.4,35,260,0.20,2.67,0.00,0.000,6,0.198,0.125,2841,1878,3598,0,0,0,0,0,0
$GC,402,-0.64,-170.3,45.6,-11.5,60,409,0.00,2.55,0.00,0.000,4,0.000,0.099,2830,3344,3598,0,0,0,0,0,0
$GC,569,-0.73,-170.3,60.3,-8.9,88,576,0.10,2.55,0.00,0.000,6,0.105,0.103,2795,1909,3599,0,0,0,0,0,0
$GC,924,-0.80,-170.3,94.6,-8.4,149,929,0.05,2.58,0.00,0.000,4,0.178,0.109,2765,3346,3601,0,0,0,0,0,0
$GC,992,-0.80,-170.3,102.4,-11.6,160,997,0.00,2.53,0.00,0.000,6,0.000,0.100,2766,1920,3601,0,0,0,0,0,0
$GC,1320,-0.80,-170.3,141.0,-12.3,190,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1919,3602,0,0,0,0,0,0
$GC,1635,-0.80,-170.3,178.9,-13.2,220,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1920,3602,0,0,0,0,0,0
$GC,1954,-0.80,-170.3,218.3,-12.7,250,1958,0.00,2.45,0.00,0.000,4,0.000,0.092,2766,475,3602,0,0,0,0,0,0
$GC,2016,-0.80,-170.3,226.5,-13.2,255,2021,0.08,2.45,0.00,0.000,6,0.207,0.075,2769,1920,3601,0,0,0,0,0,0
$GC,2343,-0.80,-170.3,269.7,-13.8,285,2347,0.00,2.53,0.00,0.000,4,0.000,0.116,2759,3335,3601,0,0,0,0,0,0
$GC,2504,-0.82,-170.3,291.4,-12.7,299,2510,0.00,2.55,0.00,0.000,6,0.000,0.107,2759,1911,3600,0,0,0,0,0,0
$GC,2830,-0.82,-170.3,333.3,-12.7,330,2834,0.00,2.38,0.00,0.000,4,0.000,0.087,2759,488,3599,0,0,0,0,0,0
$GC,2858,-0.82,-170.3,337.0,-13.5,332,2863,0.08,2.42,0.00,0.000,6,0.190,0.070,2763,1931,3599,0,0,0,0,0,0
$GC,3184,-0.82,-170.3,381.2,-13.4,362,3188,0.00,2.58,0.00,0.000,4,0.000,0.124,2753,3336,3598,0,0,0,0,0,0
$GC,3319,-0.82,-170.3,398.9,-12.7,373,3324,0.00,2.58,0.00,0.000,6,0.000,0.110,2753,1908,3596,0,0,0,0,0,0
$STATE,3602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3603,begin apogee
$GC,3608,-0.25,0.0,435.8,12.8,388,3745,0.68,0.00,133.65,0.853,6,0.164,0.000,2948,1759,2902,0,0,0,0,0,0
$STATE,3746,end apogee,CONTROL_FINISHED_OK
$STATE,3746,begin climb
$GC,3748,1.05,170.3,443.3,0.0,395,3898,1.27,2.67,139.38,0.826,4,0.102,0.103,3363,3172,2205,0,0,0,0,0,0
$GC,4083,0.94,196.4,428.8,9.0,410,4113,0.12,2.55,22.38,0.787,6,0.183,0.098,3342,1749,2101,0,0,0,0,0,0
$GC,4431,0.88,218.1,397.4,9.2,428,4457,0.10,2.35,19.25,0.782,4,0.197,0.057,3329,328,2012,0,0,0,0,0,0
$GC,4599,0.80,218.1,381.6,10.4,443,4604,0.12,2.30,0.00,0.000,6,0.157,0.036,3296,1773,2011,0,0,0,0,0,0
$GC,4927,0.83,242.6,350.7,9.0,473,4957,0.00,2.40,21.62,0.781,4,0.000,0.077,3296,3178,1911,0,0,0,0,0,0
$GC,4981,0.86,261.8,345.6,9.3,478,5005,0.00,2.47,17.05,0.756,6,0.000,0.091,3304,1756,1834,0,0,0,0,0,0
$GC,5331,0.90,293.8,313.5,8.7,511,5366,0.00,2.40,27.95,0.772,4,0.000,0.063,3316,329,1703,0,0,0,0,0,0
$GC,5542,0.87,293.8,291.4,11.1,530,5547,0.00,2.25,0.00,0.000,6,0.000,0.034,3316,1768,1699,0,0,0,0,0,0
$GC,5867,0.87,293.8,256.2,10.8,560,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1768,1697,0,0,0,0,0,0
$GC,6187,0.87,293.8,221.8,12.0,590,6191,0.00,2.30,0.00,0.000,4,0.000,0.050,3325,328,1696,0,0,0,0,0,0
$GC,6239,0.84,293.8,215.6,12.7,594,6244,0.08,2.25,0.00,0.000,6,0.173,0.035,3308,1760,1696,0,0,0,0,0,0
$GC,6564,0.84,293.8,180.5,11.3,624,6568,0.00,2.30,0.00,0.000,4,0.000,0.048,3317,322,1696,0,0,0,0,0,0
$GC,6597,0.84,293.8,176.7,11.5,626,6602,0.00,2.25,0.00,0.000,6,0.000,0.037,3317,1755,1696,0,0,0,0,0,0
$GC,6924,0.84,293.8,141.5,11.1,657,6928,0.00,2.38,0.00,0.000,4,0.000,0.086,3317,3182,1696,0,0,0,0,0,0
$GC,6979,0.81,293.8,135.6,11.6,661,6985,0.10,2.45,0.00,0.000,6,0.179,0.086,3301,1750,1696,0,0,0,0,0,0
$GC,7305,0.83,307.4,101.9,9.5,691,7326,0.00,2.28,11.62,0.635,4,0.000,0.058,3312,332,1648,0,0,0,0,0,0
$GC,7458,0.83,307.4,85.3,11.4,716,7463,0.03,2.25,0.00,0.000,6,0.242,0.039,3310,1757,1647,0,0,0,0,0,0
$GC,7811,0.89,329.1,54.8,9.2,777,7838,0.00,2.45,19.50,0.628,4,0.000,0.088,3304,3187,1559,0,0,0,0,0,0
$GC,8102,1.02,379.1,29.7,8.0,827,8138,0.15,2.45,27.38,0.591,6,0.066,0.085,3407,1757,1357,0,0,0,0,0,0
$GC,8284,0.97,379.1,9.1,13.5,857,8291,0.20,2.33,0.00,0.000,4,0.146,0.056,3361,333,1350,0,0,0,0,0,0
$GC,8312,0.97,379.1,5.6,12.3,861,8320,0.03,2.33,0.00,0.000,6,0.143,0.044,3350,1758,1349,0,0,0,0,0,0
$STATE,8339,end climb,SURFACE_DEPTH_REACHED
$STATE,8339,begin surface coast
$FINISH,1.2,0.998006
$STATE,8370,end surface coast,CONTROL_FINISHED_OK
$STATE,8370,begin surface
$SM_CCo,8388,105.68,0.045,0,0,407,611.52
$SM_GC,1.93,0.00,0.00,105.68,0.000,0.000,0.045,70,1933,407,-9.26,0.37,611.52
$IRIDIUM_FIX,-3427.77,2503.70,100308,161650
$TT8_MAMPS,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,422.7,27.4
$24V_AH,23.5,42.772
$10V_AH,10.1,34.598
$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,23.850,88.125,439.775,105.675,0.000,28.183,20.656,248.974,9.750,0.000,79.396,2062.661,3613.231,564.732,2550.920,195.416,0.000,1455.745,0.000,2070.081,0.000,62.893,0.000
$DEVICE_MAMPS,244.800,124.695,852.975,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.805,1480.509,923.176,366.344,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,60311,870
$CAP_FILE_SIZE,109805,0
$CFSIZE,2097086464,2047180800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150515,102335,-3438.248,2505.006,29,1.4,29,-27.7