version: 66.07.10.p01
glider: 573
mission: 9
dive: 445
start: 5 16 115 8 20 15
data:
$ID,573
$MISSION,9
$DIVE,445
$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,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-14889.643
$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,13
$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,444
$GPS1,160515,080535,-3435.355,2516.055,43,1.0,43,-27.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-54.3
$GPS2,160515,081953,-3435.397,2516.289,43,1.5,43,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3440.000,2520.000
$TGT_RADIUS,3000.000
$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,219.3,10229,-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,-170.3,0.0,0.0,0,112,0.00,0.00,-84.78,0.000,2,0.000,0.000,73,1926,2582,0,0,0,0,0,0
$GC,115,-1.05,-170.3,3.3,-3.5,10,158,10.93,2.47,-24.10,0.000,4,0.239,0.110,2677,3352,3598,1,0,0,0,0,0
$GC,317,-0.90,-170.3,45.3,-18.7,41,325,0.25,2.55,0.00,0.000,6,0.169,0.099,2744,1910,3601,0,0,0,0,0,0
$GC,673,-0.86,-170.3,94.6,-13.5,102,682,0.00,2.47,0.00,0.000,4,0.000,0.095,2745,483,3604,0,0,0,0,0,0
$GC,727,-0.82,-170.3,102.4,-13.7,109,735,0.12,2.53,0.00,0.000,6,0.185,0.091,2764,1926,3604,0,0,0,0,0,0
$GC,1052,-0.82,-170.3,145.0,-13.2,140,1056,0.00,2.47,0.00,0.000,4,0.000,0.106,2755,3357,3605,0,0,0,0,0,0
$GC,1209,-0.82,-170.3,165.1,-12.4,153,1216,0.00,2.53,0.00,0.000,6,0.000,0.093,2755,1916,3604,0,0,0,0,0,0
$GC,1535,-0.82,-170.3,206.7,-12.8,184,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1916,3603,0,0,0,0,0,0
$GC,1853,-0.82,-170.3,248.7,-13.1,214,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1916,3602,0,0,0,0,0,0
$GC,2172,-0.82,-170.3,289.2,-12.4,244,2176,0.00,2.55,0.00,0.000,4,0.000,0.111,2746,3334,3601,0,0,0,0,0,0
$GC,2237,-0.82,-170.3,297.0,-12.7,249,2242,0.08,2.47,0.00,0.000,6,0.158,0.097,2762,1922,3601,0,0,0,0,0,0
$GC,2562,-0.82,-170.3,337.3,-12.3,279,2566,0.00,2.45,0.00,0.000,4,0.000,0.098,2762,483,3600,0,0,0,0,0,0
$GC,2617,-0.82,-170.3,344.5,-12.6,283,2624,0.00,2.45,0.00,0.000,6,0.000,0.073,2754,1916,3600,0,0,0,0,0,0
$GC,2943,-0.82,-170.3,385.7,-12.8,314,2947,0.00,2.55,0.00,0.000,4,0.000,0.114,2742,3344,3599,0,0,0,0,0,0
$GC,3122,-0.82,-170.3,408.4,-10.7,327,3127,0.10,2.55,0.00,0.000,6,0.155,0.103,2765,1919,3598,0,0,0,0,0,0
$STATE,3305,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3305,begin apogee
$GC,3310,-0.25,0.0,430.7,12.4,336,3448,0.68,0.00,134.15,0.851,6,0.184,0.000,2951,1754,2902,0,0,0,0,0,0
$STATE,3448,end apogee,CONTROL_FINISHED_OK
$STATE,3448,begin climb
$GC,3450,1.05,170.3,438.6,0.0,343,3602,1.25,2.75,139.15,0.822,4,0.099,0.104,3363,3176,2206,0,0,0,0,0,0
$GC,3843,0.92,173.7,417.8,9.9,360,3852,0.15,2.53,0.00,0.000,6,0.179,0.094,3334,1746,2201,0,0,0,0,0,0
$GC,4164,0.93,225.8,391.8,8.0,380,4215,0.00,2.35,45.90,0.814,4,0.000,0.060,3345,330,1981,0,0,0,0,0,0
$GC,4303,0.84,225.8,377.5,11.1,392,4308,0.15,2.33,0.00,0.000,6,0.154,0.039,3305,1774,1978,0,0,0,0,0,0
$GC,4628,0.86,244.5,347.1,9.3,422,4651,0.00,2.33,16.45,0.766,4,0.000,0.076,3305,3174,1905,0,0,0,0,0,0
$GC,4702,0.83,244.5,339.7,10.7,428,4712,0.00,2.47,0.00,0.000,6,0.000,0.090,3313,1761,1902,0,0,0,0,0,0
$GC,5028,0.81,255.0,308.4,9.6,459,5044,0.08,2.38,9.88,0.713,4,0.213,0.065,3308,322,1861,0,0,0,0,0,0
$GC,5135,0.79,255.0,297.7,10.1,468,5146,0.05,2.33,0.00,0.000,6,0.155,0.041,3292,1752,1860,0,0,0,0,0,0
$GC,5461,0.85,304.8,269.6,8.0,499,5509,0.00,2.55,42.50,0.767,4,0.000,0.095,3292,3185,1658,0,0,0,0,0,0
$GC,5615,0.86,314.3,254.9,9.6,512,5630,0.00,2.53,8.90,0.666,6,0.000,0.096,3301,1757,1619,0,0,0,0,0,0
$GC,5945,0.86,314.3,221.9,10.0,543,5949,0.00,2.33,0.00,0.000,4,0.000,0.062,3312,326,1616,0,0,0,0,0,0
$GC,6008,0.86,314.3,215.2,10.6,548,6012,0.00,2.30,0.00,0.000,6,0.000,0.041,3312,1762,1616,0,0,0,0,0,0
$GC,6333,0.86,314.3,180.8,10.2,578,6337,0.00,2.42,0.00,0.000,4,0.000,0.100,3313,3179,1615,0,0,0,0,0,0
$GC,6396,0.86,314.3,173.5,12.5,583,6401,0.00,2.45,0.00,0.000,6,0.000,0.086,3321,1748,1615,0,0,0,0,0,0
$GC,6725,0.86,314.3,136.5,10.8,613,6730,0.00,2.28,0.00,0.000,4,0.000,0.059,3333,330,1614,0,0,0,0,0,0
$GC,6789,0.83,314.3,128.7,11.4,618,6794,0.12,2.28,0.00,0.000,6,0.151,0.040,3299,1764,1614,0,0,0,0,0,0
$GC,7118,0.85,314.3,96.3,10.2,651,7127,0.00,2.38,0.00,0.000,4,0.000,0.080,3299,3180,1614,0,0,0,0,0,0
$GC,7140,0.86,324.7,94.0,9.6,654,7155,0.00,2.47,9.07,0.575,6,0.000,0.088,3307,1757,1578,0,0,0,0,0,0
$GC,7502,0.93,357.2,59.2,8.7,716,7540,0.08,2.33,28.83,0.640,4,0.116,0.059,3388,322,1445,0,0,0,0,0,0
$GC,7705,0.88,357.2,35.4,12.2,749,7712,0.25,2.33,0.00,0.000,6,0.143,0.044,3316,1759,1440,0,0,0,0,0,0
$GC,7862,0.99,388.8,22.0,8.8,774,7886,0.10,2.38,15.95,0.554,4,0.095,0.080,3376,3194,1317,0,0,0,0,0,0
$GC,7907,0.99,388.8,16.5,12.5,780,7918,0.08,2.55,0.00,0.000,6,0.148,0.096,3361,1761,1314,0,0,0,0,0,0
$GC,7970,0.99,388.8,10.2,11.2,789,7979,0.00,2.35,0.00,0.000,4,0.000,0.059,3371,329,1312,0,0,0,0,0,0
$GC,8000,0.99,388.8,6.1,13.6,793,8009,0.05,2.35,0.00,0.000,6,0.119,0.047,3353,1758,1312,0,0,0,0,0,0
$STATE,8035,end climb,SURFACE_DEPTH_REACHED
$STATE,8035,begin surface coast
$FINISH,1.2,0.999418
$STATE,8086,end surface coast,CONTROL_FINISHED_OK
$STATE,8086,begin surface
$SM_CCo,8103,101.47,0.044,0,0,407,611.52
$SM_GC,1.76,0.00,0.00,101.47,0.000,0.000,0.044,79,1930,407,-9.24,0.28,611.52
$IRIDIUM_FIX,-3422.54,2510.81,110308,191946
$TT8_MAMPS,0.026964
$HUMID,59.56
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,410.3,35.2
$24V_AH,23.6,44.425
$10V_AH,10.1,35.756
$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,23.150,88.400,450.775,101.475,0.000,56.388,98.866,438.423,9.500,0.000,45.497,2036.485,3492.948,630.853,2664.837,225.267,0.000,1467.635,0.000,1935.744,0.000,62.576,0.000
$DEVICE_MAMPS,239.445,150.705,850.680,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.905,1389.591,840.678,299.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,56973,806
$CAP_FILE_SIZE,110301,1
$CFSIZE,2097086464,2045509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$CURRENT,0.264, 80.1,1
$GPS,160515,103813,-3436.338,2517.270,32,1.6,35,-27.8