version: 66.07.10.p01
glider: 573
mission: 9
dive: 447
start: 5 16 115 13 43 42
data:
$ID,573
$MISSION,9
$DIVE,447
$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,-14894.299
$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,14
$R_STBD_OVSHOOT,12
$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,446
$GPS1,160515,133235,-3437.696,2517.559,41,1.2,41,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-55.8
$GPS2,160515,134305,-3437.747,2517.569,36,0.9,36,-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,199.6,5579,-25.8,-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,-1.38,-73.4,0.0,0.0,0,105,0.00,0.00,-77.88,0.000,2,0.000,0.000,74,1939,2395,0,0,0,0,0,0
$GC,108,-1.46,-141.0,3.2,-3.8,9,159,11.05,2.40,-28.30,0.000,4,0.260,0.093,2538,3351,3479,1,0,0,0,0,0
$GC,247,-1.28,-141.0,35.8,-27.4,29,255,0.30,2.50,0.00,0.000,6,0.181,0.089,2617,1904,3482,0,0,0,0,0,0
$GC,395,-1.22,-141.0,69.9,-21.0,54,407,0.08,2.42,0.00,0.000,4,0.231,0.090,2633,504,3483,0,0,0,0,0,0
$GC,590,-1.20,-141.0,108.1,-18.4,83,598,0.10,2.50,0.00,0.000,6,0.233,0.092,2644,1922,3484,0,0,0,0,0,0
$GC,915,-1.20,-141.0,169.4,-18.6,114,920,0.00,2.45,0.00,0.000,4,0.000,0.099,2633,3349,3486,0,0,0,0,0,0
$GC,1176,-1.20,-141.0,218.0,-19.0,137,1181,0.00,2.47,0.00,0.000,6,0.000,0.095,2633,1922,3486,0,0,0,0,0,0
$GC,1501,-1.20,-141.0,278.6,-18.8,167,1506,0.03,2.50,0.00,0.000,4,0.254,0.100,2632,3333,3486,0,0,0,0,0,0
$GC,1612,-1.20,-141.0,299.6,-18.7,176,1621,0.00,2.47,0.00,0.000,6,0.000,0.093,2632,1925,3486,0,0,0,0,0,0
$GC,1937,-1.20,-141.0,361.3,-19.6,207,1942,0.05,2.50,0.00,0.000,4,0.205,0.101,2633,3332,3485,0,0,0,0,0,0
$GC,2102,-1.20,-141.0,392.5,-17.9,221,2106,0.00,2.45,0.00,0.000,6,0.000,0.093,2633,1910,3484,0,0,0,0,0,0
$GC,2429,-1.20,-141.0,457.2,-20.1,238,2433,0.00,2.55,0.00,0.000,4,0.000,0.108,2623,3330,3483,0,0,0,0,0,0
$GC,2479,-1.20,-141.0,467.3,-19.2,240,2484,0.10,2.45,0.00,0.000,6,0.196,0.093,2645,1910,3483,0,0,0,0,0,0
$GC,2794,-1.20,-141.0,525.5,-18.5,255,2799,0.00,2.55,0.00,0.000,4,0.000,0.103,2637,3340,3482,0,0,0,0,0,0
$GC,2968,-1.20,-141.0,557.0,-18.0,263,2972,0.00,2.50,0.00,0.000,6,0.000,0.098,2636,1908,3481,0,0,0,0,0,0
$GC,3294,-1.20,-141.0,618.2,-18.7,279,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1909,3479,0,0,0,0,0,0
$STATE,3314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3314,begin apogee
$GC,3319,-0.25,0.0,622.2,19.0,280,3436,1.17,0.00,111.38,0.976,6,0.194,0.000,2950,1757,2903,0,0,0,0,0,0
$STATE,3437,end apogee,CONTROL_FINISHED_OK
$STATE,3437,begin climb
$GC,3439,1.46,141.0,629.6,0.0,286,3568,1.67,0.00,118.95,0.949,6,0.106,0.000,3492,1757,2327,0,0,0,0,0,0
$GC,3875,1.34,142.7,601.0,9.9,307,3880,0.10,2.28,0.00,0.000,4,0.211,0.047,3481,326,2323,0,0,0,0,0,0
$GC,4133,1.23,149.3,576.2,9.4,318,4146,0.17,2.25,7.72,0.794,6,0.196,0.031,3435,1768,2293,0,0,0,0,0,0
$GC,4457,1.21,171.5,550.5,8.0,334,4483,0.00,2.30,20.85,0.910,4,0.000,0.044,3446,326,2201,0,0,0,0,0,0
$GC,4594,1.14,171.5,536.2,10.9,340,4599,0.17,2.25,0.00,0.000,6,0.183,0.030,3402,1758,2201,0,0,0,0,0,0
$GC,4917,1.15,175.0,503.5,9.7,356,4926,0.00,2.38,3.78,0.577,4,0.000,0.079,3401,3171,2188,0,0,0,0,0,0
$GC,5079,1.15,175.0,485.6,11.6,363,5083,0.00,2.40,0.00,0.000,6,0.000,0.082,3410,1747,2188,0,0,0,0,0,0
$GC,5399,1.15,175.0,447.4,12.3,379,5403,0.00,2.28,0.00,0.000,4,0.000,0.056,3421,323,2188,0,0,0,0,0,0
$GC,5466,1.11,175.0,438.9,13.5,382,5471,0.10,2.22,0.00,0.000,6,0.191,0.034,3397,1753,2189,0,0,0,0,0,0
$GC,5793,1.11,175.0,401.3,10.8,398,5797,0.00,2.28,0.00,0.000,4,0.000,0.045,3406,319,2188,0,0,0,0,0,0
$GC,5834,1.11,175.0,397.1,11.2,401,5839,0.05,2.25,0.00,0.000,6,0.213,0.033,3397,1761,2188,0,0,0,0,0,0
$GC,6159,1.12,184.4,365.5,9.1,431,6171,0.00,0.00,9.52,0.770,6,0.000,0.000,3397,1761,2150,0,0,0,0,0,0
$GC,6488,1.14,201.5,335.8,8.4,462,6512,0.00,2.30,16.17,0.799,4,0.000,0.044,3406,323,2079,0,0,0,0,0,0
$GC,6527,1.15,210.0,332.5,9.2,465,6541,0.00,2.25,9.05,0.729,6,0.000,0.034,3405,1761,2044,0,0,0,0,0,0
$GC,6871,1.18,210.0,293.9,11.6,497,6875,0.00,2.38,0.00,0.000,4,0.000,0.088,3405,3170,2042,0,0,0,0,0,0
$GC,6914,1.18,210.0,288.4,11.7,500,6924,0.00,2.50,0.00,0.000,6,0.000,0.093,3415,1756,2041,0,0,0,0,0,0
$GC,7240,1.18,210.0,247.9,13.2,531,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1755,2041,0,0,0,0,0,0
$GC,7562,1.18,210.0,208.3,12.1,561,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1756,2040,0,0,0,0,0,0
$GC,7889,1.18,210.0,167.5,12.6,592,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1756,2040,0,0,0,0,0,0
$GC,8206,1.18,210.0,127.9,13.3,622,8210,0.00,2.28,0.00,0.000,4,0.000,0.055,3427,329,2040,0,0,0,0,0,0
$GC,8338,1.18,210.0,109.9,13.4,633,8343,0.03,2.22,0.00,0.000,6,0.265,0.035,3418,1756,2040,0,0,0,0,0,0
$GC,8684,1.23,235.8,74.2,7.7,685,8712,0.00,2.28,21.83,0.641,4,0.000,0.047,3427,330,1940,0,0,0,0,0,0
$GC,8866,1.23,235.8,51.3,12.5,716,8873,0.00,2.28,0.00,0.000,6,0.000,0.038,3427,1767,1937,0,0,0,0,0,0
$GC,9221,1.31,250.6,22.7,8.7,777,9237,0.08,2.28,7.45,0.509,4,0.120,0.045,3482,330,1880,0,0,0,0,0,0
$STATE,9380,end climb,SURFACE_DEPTH_REACHED
$STATE,9380,begin surface coast
$FINISH,1.3,1.000476
$STATE,9412,end surface coast,CONTROL_FINISHED_OK
$STATE,9412,begin surface
$SM_CCo,9432,164.27,0.045,0,0,407,611.52
$SM_GC,2.00,0.00,0.00,164.27,0.000,0.000,0.045,66,1938,407,-9.27,0.54,611.52
$IRIDIUM_FIX,-3425.16,2515.41,120308,030312
$TT8_MAMPS,0.026964
$HUMID,56.61
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,602.7,33.6
$24V_AH,23.3,44.690
$10V_AH,10.1,35.956
$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,24.625,81.350,326.700,164.275,0.000,68.704,98.263,241.906,14.250,0.000,38.764,2123.008,4829.894,605.573,2481.192,203.646,0.000,1426.235,0.000,1929.121,0.000,89.202,0.000
$DEVICE_MAMPS,265.455,123.165,976.140,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.500,1344.931,725.672,294.165,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,57106,807
$CAP_FILE_SIZE,109929,1
$CFSIZE,2097086464,2045247488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$CURRENT,0.155,185.6,1
$GPS,160515,162459,-3439.657,2517.318,42,1.9,43,-27.8