version: 66.07.10.p01
glider: 573
mission: 9
dive: 451
start: 5 17 115 4 37 58
data:
$ID,573
$MISSION,9
$DIVE,451
$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,-14903.773
$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,10
$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,450
$GPS1,170515,042853,-3440.456,2515.748,41,1.1,41,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.4
$GPS2,170515,043735,-3440.638,2515.375,41,1.1,41,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$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,91.0,32654,-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,-170.3,0.0,0.0,0,95,0.00,0.00,-67.45,0.000,2,0.000,0.000,73,1933,2126,0,0,0,0,0,0
$GC,98,-1.05,-170.3,3.1,-2.7,8,166,11.18,2.42,-45.05,0.000,4,0.245,0.093,2674,3345,3599,0,0,0,0,0,0
$GC,220,-0.85,-170.3,19.8,-23.8,24,229,0.28,2.55,0.00,0.000,6,0.171,0.096,2753,1922,3601,0,0,0,0,0,0
$GC,280,-0.76,-170.3,30.8,-14.6,33,288,0.12,2.47,0.00,0.000,4,0.196,0.093,2782,481,3602,0,0,0,0,0,0
$GC,301,-0.71,-170.3,34.3,-14.9,36,311,0.08,2.83,0.00,0.000,6,0.198,0.134,2793,1913,3602,0,0,0,0,0,0
$GC,455,-0.71,-170.3,54.1,-12.9,61,462,0.00,2.40,0.00,0.000,4,0.000,0.083,2782,3356,3603,0,0,0,0,0,0
$GC,562,-0.71,-170.3,67.7,-12.7,79,569,0.08,2.55,0.00,0.000,6,0.172,0.097,2799,1913,3603,0,0,0,0,0,0
$GC,911,-0.76,-170.3,105.4,-9.8,135,915,0.00,2.42,0.00,0.000,4,0.000,0.080,2790,3361,3604,0,0,0,0,0,0
$GC,943,-0.83,-170.3,109.2,-9.8,137,951,0.08,2.62,0.00,0.000,6,0.112,0.113,2758,1922,3605,0,0,0,0,0,0
$GC,1268,-0.83,-170.3,145.6,-11.6,168,1273,0.00,2.53,0.00,0.000,4,0.000,0.100,2749,3367,3607,0,0,0,0,0,0
$GC,1303,-0.83,-170.3,149.9,-12.7,170,1312,0.08,2.58,0.00,0.000,6,0.136,0.100,2766,1910,3606,0,0,0,0,0,0
$GC,1630,-0.83,-170.3,190.7,-12.1,201,1634,0.00,2.40,0.00,0.000,4,0.000,0.083,2765,478,3606,0,0,0,0,0,0
$GC,1705,-0.83,-170.3,200.2,-12.3,207,1709,0.00,2.47,0.00,0.000,6,0.000,0.076,2757,1928,3607,0,0,0,0,0,0
$GC,2032,-0.83,-170.3,242.5,-13.2,237,2036,0.00,2.40,0.00,0.000,4,0.000,0.094,2746,3349,3606,0,0,0,0,0,0
$GC,2294,-0.83,-170.3,272.9,-11.7,260,2299,0.08,2.55,0.00,0.000,6,0.142,0.102,2762,1917,3604,0,0,0,0,0,0
$GC,2619,-0.83,-170.3,314.0,-12.8,290,2623,0.00,2.40,0.00,0.000,4,0.000,0.086,2762,482,3603,0,0,0,0,0,0
$GC,2692,-0.83,-170.3,323.6,-12.6,296,2697,0.00,2.45,0.00,0.000,6,0.000,0.072,2754,1928,3603,0,0,0,0,0,0
$GC,3017,-0.83,-170.3,366.9,-13.1,326,3021,0.00,2.45,0.00,0.000,4,0.000,0.098,2743,3345,3602,0,0,0,0,0,0
$GC,3238,-0.83,-170.3,395.4,-12.9,345,3243,0.08,2.53,0.00,0.000,6,0.141,0.102,2760,1917,3601,0,0,0,0,0,0
$GC,3564,-0.83,-170.3,437.9,-13.0,362,3569,0.00,2.42,0.00,0.000,4,0.000,0.091,2760,482,3600,0,0,0,0,0,0
$GC,3628,-0.83,-170.3,446.5,-13.4,365,3633,0.03,2.40,0.00,0.000,6,0.264,0.064,2760,1928,3599,0,0,0,0,0,0
$GC,3955,-0.83,-170.3,491.5,-14.4,381,3960,0.00,2.55,0.00,0.000,4,0.000,0.121,2751,3334,3598,0,0,0,0,0,0
$GC,4121,-0.85,-170.3,513.6,-12.9,388,4128,0.00,2.62,0.00,0.000,6,0.000,0.119,2751,1913,3596,0,0,0,0,0,0
$GC,4437,-0.85,-170.3,556.1,-14.1,404,4441,0.00,2.38,0.00,0.000,4,0.000,0.076,2751,478,3596,0,0,0,0,0,0
$GC,4481,-0.85,-170.3,562.8,-13.9,406,4486,0.03,2.42,0.00,0.000,6,0.174,0.063,2750,1922,3595,0,0,0,0,0,0
$GC,4808,-0.85,-170.3,607.2,-12.8,422,4812,0.00,2.60,0.00,0.000,4,0.000,0.123,2740,3333,3595,0,0,0,0,0,0
$GC,4885,-0.85,-170.3,617.2,-12.5,425,4893,0.08,2.58,0.00,0.000,6,0.151,0.109,2756,1920,3594,0,0,0,0,0,0
$STATE,5182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5182,begin apogee
$GC,5187,-0.25,0.0,654.6,12.4,440,5328,0.73,0.00,136.95,0.999,6,0.192,0.000,2949,1751,2902,0,0,0,0,0,0
$STATE,5328,end apogee,CONTROL_FINISHED_OK
$STATE,5328,begin climb
$GC,5331,1.05,170.3,659.8,0.0,447,5486,1.25,2.80,146.80,0.968,4,0.096,0.106,3357,3174,2207,0,0,0,0,0,0
$GC,5738,0.90,170.3,631.5,11.6,465,5746,0.15,2.55,0.00,0.000,6,0.174,0.093,3329,1744,2202,0,0,0,0,0,0
$GC,6055,0.90,248.3,606.6,6.9,481,6127,0.00,2.65,66.60,0.963,4,0.000,0.094,3329,3176,1889,0,0,0,0,0,0
$GC,6302,0.84,248.3,584.6,10.6,492,6307,0.12,2.53,0.00,0.000,6,0.182,0.095,3308,1757,1884,0,0,0,0,0,0
$GC,6625,0.80,248.3,551.9,10.7,508,6630,0.05,2.30,0.00,0.000,4,0.243,0.055,3308,325,1882,0,0,0,0,0,0
$GC,6815,0.81,283.1,534.6,8.6,516,6851,0.00,2.28,30.00,0.928,6,0.000,0.035,3308,1767,1746,0,0,0,0,0,0
$GC,7179,0.84,307.5,502.7,9.0,534,7206,0.00,2.40,21.88,0.882,4,0.000,0.090,3307,3171,1647,0,0,0,0,0,0
$GC,7241,0.84,307.5,496.9,10.3,537,7245,0.00,2.53,0.00,0.000,6,0.000,0.096,3317,1751,1646,0,0,0,0,0,0
$GC,7567,0.84,307.5,462.5,11.1,553,7571,0.00,2.30,0.00,0.000,4,0.000,0.057,3328,329,1644,0,0,0,0,0,0
$GC,7707,0.80,307.5,446.2,11.9,559,7712,0.12,2.25,0.00,0.000,6,0.154,0.034,3294,1768,1643,0,0,0,0,0,0
$GC,8029,0.81,315.9,414.4,9.7,575,8043,0.00,2.35,7.60,0.711,4,0.000,0.072,3294,3173,1614,0,0,0,0,0,0
$GC,8059,0.81,315.9,410.9,11.1,576,8063,0.00,2.42,0.00,0.000,6,0.000,0.086,3303,1751,1615,0,0,0,0,0,0
$GC,8389,0.81,315.9,376.1,10.2,602,8393,0.00,2.28,0.00,0.000,4,0.000,0.057,3314,332,1614,0,0,0,0,0,0
$GC,8500,0.81,315.9,363.7,11.0,611,8508,0.05,2.25,0.00,0.000,6,0.137,0.033,3297,1754,1615,0,0,0,0,0,0
$GC,8826,0.84,322.5,331.8,9.7,642,8840,0.00,2.40,7.38,0.660,4,0.000,0.079,3296,3174,1586,0,0,0,0,0,0
$GC,8869,0.84,322.5,327.5,10.1,645,8876,0.00,2.42,0.00,0.000,6,0.000,0.087,3305,1757,1588,0,0,0,0,0,0
$GC,9194,0.84,323.2,294.5,10.0,676,9198,0.00,2.25,0.00,0.000,4,0.000,0.057,3317,333,1588,0,0,0,0,0,0
$GC,9279,0.86,335.2,286.0,9.5,683,9304,0.00,2.22,13.23,0.756,6,0.000,0.033,3316,1759,1534,0,0,0,0,0,0
$GC,9620,0.86,338.3,250.1,9.9,715,9630,0.00,0.00,3.90,0.518,6,0.000,0.000,3317,1759,1521,0,0,0,0,0,0
$GC,9948,0.86,338.3,214.3,11.4,746,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1759,1523,0,0,0,0,0,0
$GC,10268,0.86,338.3,177.8,11.9,776,10272,0.00,2.35,0.00,0.000,4,0.000,0.080,3317,3174,1522,0,0,0,0,0,0
$GC,10301,0.86,338.3,173.7,12.3,778,10309,0.00,2.42,0.00,0.000,6,0.000,0.081,3326,1747,1523,0,0,0,0,0,0
$GC,10629,0.86,338.3,136.0,11.2,809,10633,0.00,2.25,0.00,0.000,4,0.000,0.054,3337,333,1523,0,0,0,0,0,0
$GC,10703,0.83,338.3,126.2,13.0,815,10708,0.12,2.22,0.00,0.000,6,0.151,0.032,3303,1762,1523,0,0,0,0,0,0
$GC,11034,0.91,372.7,94.4,8.7,850,11078,0.08,2.38,31.15,0.666,4,0.116,0.078,3357,3168,1382,0,0,0,0,0,0
$GC,11269,0.88,372.7,66.8,12.4,889,11277,0.17,2.42,0.00,0.000,6,0.150,0.085,3318,1757,1378,0,0,0,0,0,0
$GC,11627,0.94,372.7,28.4,10.0,950,11637,0.05,2.35,0.00,0.000,4,0.158,0.059,3390,329,1376,0,0,0,0,0,0
$GC,11854,0.94,372.7,3.2,10.9,986,11865,0.15,2.30,0.00,0.000,6,0.126,0.044,3341,1747,1374,0,0,0,0,0,0
$STATE,11873,end climb,SURFACE_DEPTH_REACHED
$STATE,11873,begin surface coast
$FINISH,1.5,1.010625
$STATE,11911,end surface coast,CONTROL_FINISHED_OK
$STATE,11911,begin surface
$SM_CCo,11929,110.30,0.045,0,0,407,611.52
$SM_GC,2.16,0.00,0.00,110.30,0.000,0.000,0.045,68,1945,407,-9.27,0.74,611.52
$IRIDIUM_FIX,-3425.16,2513.04,120308,141404
$TT8_MAMPS,0.026964
$HUMID,55.67
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,641.5,27.2
$24V_AH,22.8,45.325
$10V_AH,10.1,36.419
$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,24.075,127.525,465.475,110.300,0.000,25.417,40.160,282.261,15.250,0.000,43.218,2594.733,6075.150,690.873,2942.958,254.864,0.000,1763.819,0.000,2421.683,0.000,97.819,0.000
$DEVICE_MAMPS,263.925,141.525,999.090,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.599,1644.185,857.168,324.882,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,70323,994
$CAP_FILE_SIZE,142073,0
$CFSIZE,2097086464,2044657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.360,255.0,1
$GPS,170515,080035,-3440.776,2514.308,80,0.8,80,-27.8