version: 66.07.10.p01
glider: 573
mission: 9
dive: 453
start: 5 17 115 11 33 55
data:
$ID,573
$MISSION,9
$DIVE,453
$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,10
$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,-14908.469
$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,17
$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,452
$GPS1,170515,112023,-3440.339,2512.174,38,1.2,38,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-61.6
$GPS2,170515,113335,-3440.398,2511.806,34,0.9,34,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.763,2514.081
$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,37.8,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-71.47,0.000,2,0.000,0.000,70,1920,2232,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.1,-3.6,12,167,11.48,2.47,-41.42,0.000,4,0.255,0.096,2676,3359,3598,0,0,0,0,0,0
$GC,321,-0.89,-170.3,42.6,-20.7,48,329,0.22,2.53,0.00,0.000,6,0.163,0.093,2742,1931,3599,0,0,0,0,0,0
$GC,676,-0.83,-170.3,98.1,-13.8,109,682,0.08,2.42,0.00,0.000,4,0.206,0.089,2750,3355,3604,0,0,0,0,0,0
$GC,782,-0.83,-170.3,111.6,-11.3,119,788,0.00,2.53,0.00,0.000,6,0.000,0.093,2750,1924,3604,0,0,0,0,0,0
$GC,1109,-0.81,-170.3,154.9,-13.5,150,1113,0.08,2.50,0.00,0.000,4,0.181,0.100,2757,3356,3606,0,0,0,0,0,0
$GC,1173,-0.81,-170.3,163.6,-13.0,155,1178,0.00,2.62,0.00,0.000,6,0.000,0.116,2757,1908,3606,0,0,0,0,0,0
$GC,1500,-0.81,-170.3,208.5,-14.4,185,1505,0.00,2.38,0.00,0.000,4,0.000,0.088,2757,487,3606,0,0,0,0,0,0
$GC,1554,-0.81,-170.3,216.6,-14.6,189,1559,0.10,2.42,0.00,0.000,6,0.193,0.070,2769,1928,3606,0,0,0,0,0,0
$GC,1879,-0.81,-170.3,259.4,-12.4,219,1883,0.00,2.47,0.00,0.000,4,0.000,0.109,2759,3341,3605,0,0,0,0,0,0
$GC,2038,-0.83,-170.3,278.7,-12.1,233,2043,0.00,2.58,0.00,0.000,6,0.000,0.110,2759,1919,3603,0,0,0,0,0,0
$GC,2363,-0.83,-170.3,318.9,-12.2,263,2368,0.00,2.45,0.00,0.000,4,0.000,0.090,2759,475,3602,0,0,0,0,0,0
$GC,2439,-0.83,-170.3,328.3,-12.8,269,2444,0.00,2.42,0.00,0.000,6,0.000,0.067,2749,1925,3602,0,0,0,0,0,0
$GC,2765,-0.81,-170.3,372.2,-13.2,299,2770,0.08,2.55,0.00,0.000,4,0.209,0.116,2754,3340,3600,0,0,0,0,0,0
$GC,2878,-0.81,-170.3,385.8,-11.8,308,2885,0.03,2.62,0.00,0.000,6,0.099,0.115,2764,1922,3599,0,0,0,0,0,0
$GC,3208,-0.81,-170.3,426.7,-12.7,330,3213,0.00,2.45,0.00,0.000,4,0.000,0.089,2765,480,3598,0,0,0,0,0,0
$GC,3316,-0.81,-170.3,440.8,-12.4,335,3321,0.05,2.45,0.00,0.000,6,0.228,0.076,2764,1917,3598,0,0,0,0,0,0
$GC,3642,-0.81,-170.3,482.9,-13.0,351,3647,0.00,2.60,0.00,0.000,4,0.000,0.120,2754,3343,3596,0,0,0,0,0,0
$GC,3778,-0.83,-170.3,500.2,-12.9,357,3783,0.00,2.70,0.00,0.000,6,0.000,0.129,2754,1908,3595,0,0,0,0,0,0
$STATE,4098,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4098,begin apogee
$GC,4104,-0.25,0.0,540.7,12.6,373,4241,0.68,0.00,133.68,0.922,6,0.171,0.000,2945,1759,2902,0,0,0,0,0,0
$STATE,4242,end apogee,CONTROL_FINISHED_OK
$STATE,4242,begin climb
$GC,4244,1.05,170.3,549.4,0.0,380,4396,1.27,2.78,143.25,0.893,4,0.094,0.108,3365,3173,2206,0,0,0,0,0,0
$GC,4652,0.94,203.2,529.5,8.7,399,4687,0.15,2.53,28.25,0.865,6,0.174,0.099,3336,1753,2073,0,0,0,0,0,0
$GC,5004,0.87,219.1,496.3,9.4,416,5023,0.08,0.00,14.73,0.830,6,0.213,0.000,3320,1753,2008,0,0,0,0,0,0
$GC,5333,0.84,239.3,465.3,9.2,432,5358,0.05,2.33,18.35,0.843,4,0.243,0.054,3318,336,1926,0,0,0,0,0,0
$GC,5503,0.79,239.9,448.2,10.0,439,5509,0.10,2.28,0.00,0.000,6,0.161,0.033,3293,1780,1925,0,0,0,0,0,0
$GC,5819,0.84,284.4,421.8,8.3,455,5864,0.00,2.38,39.05,0.855,4,0.000,0.047,3301,336,1741,0,0,0,0,0,0
$GC,5910,0.86,293.2,413.9,9.7,459,5925,0.00,2.28,8.88,0.739,6,0.000,0.035,3302,1760,1705,0,0,0,0,0,0
$GC,6241,0.86,296.6,382.6,9.9,483,6249,0.00,0.00,3.28,0.475,6,0.000,0.000,3302,1760,1693,0,0,0,0,0,0
$GC,6569,0.90,329.9,352.6,8.7,514,6606,0.05,2.35,30.73,0.814,4,0.161,0.050,3350,332,1556,0,0,0,0,0,0
$GC,6642,0.84,329.9,344.7,11.5,520,6647,0.15,2.28,0.00,0.000,6,0.153,0.034,3310,1761,1554,0,0,0,0,0,0
$GC,6967,0.84,329.9,309.4,10.9,550,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1761,1551,0,0,0,0,0,0
$GC,7287,0.84,330.0,277.4,10.0,580,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1761,1551,0,0,0,0,0,0
$GC,7606,0.84,330.0,244.8,10.5,610,7610,0.00,2.28,0.00,0.000,4,0.000,0.048,3319,336,1550,0,0,0,0,0,0
$GC,7650,0.84,330.0,239.6,11.5,613,7656,0.00,2.22,0.00,0.000,6,0.000,0.032,3319,1765,1549,0,0,0,0,0,0
$GC,7975,0.84,330.0,204.4,10.7,644,7980,0.00,2.30,0.00,0.000,4,0.000,0.078,3320,3176,1549,0,0,0,0,0,0
$GC,7997,0.84,330.0,201.8,11.0,645,8003,0.10,2.50,0.00,0.000,6,0.180,0.093,3305,1739,1549,0,0,0,0,0,0
$GC,8323,0.86,342.0,170.8,9.5,676,8338,0.00,2.25,10.57,0.662,4,0.000,0.057,3315,335,1506,0,0,0,0,0,0
$GC,8448,0.86,342.0,157.9,10.6,687,8452,0.00,2.22,0.00,0.000,6,0.000,0.033,3315,1759,1507,0,0,0,0,0,0
$GC,8775,0.86,342.0,122.4,11.0,717,8779,0.00,2.33,0.00,0.000,4,0.000,0.077,3315,3184,1506,0,0,0,0,0,0
$GC,8838,0.86,342.0,114.8,12.4,722,8843,0.03,2.47,0.00,0.000,6,0.266,0.091,3315,1758,1506,0,0,0,0,0,0
$GC,9178,0.88,358.4,78.3,9.4,769,9199,0.00,2.33,15.55,0.632,4,0.000,0.057,3325,306,1440,0,0,0,0,0,0
$GC,9333,0.91,364.5,62.4,9.8,796,9344,0.00,2.30,5.95,0.530,6,0.000,0.037,3326,1765,1416,0,0,0,0,0,0
$GC,9692,0.94,366.2,24.6,9.9,858,9699,0.00,2.33,0.00,0.000,4,0.000,0.070,3325,3178,1415,0,0,0,0,0,0
$GC,9773,0.98,366.2,15.9,10.6,871,9780,0.00,2.50,0.00,0.000,6,0.000,0.091,3335,1752,1415,0,0,0,0,0,0
$GC,9831,1.08,412.8,11.1,8.2,880,9864,0.12,2.30,24.77,0.514,4,0.077,0.055,3436,335,1218,0,0,0,0,0,0
$STATE,9894,end climb,SURFACE_DEPTH_REACHED
$STATE,9895,begin surface coast
$FINISH,1.5,1.021100
$STATE,9909,end surface coast,CONTROL_FINISHED_OK
$STATE,9909,begin surface
$SM_CCo,9930,92.03,0.046,0,0,407,611.52
$SM_GC,2.13,0.00,0.00,92.03,0.000,0.000,0.046,76,1921,407,-9.25,0.06,611.52
$IRIDIUM_FIX,-3425.16,2513.04,130308,000049
$TT8_MAMPS,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,520.2,34.2
$24V_AH,23.1,45.618
$10V_AH,10.0,36.634
$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,23.950,97.650,477.025,92.025,0.000,70.583,82.974,390.206,12.250,0.000,36.762,2159.433,4993.542,580.584,2840.898,236.361,0.000,1543.263,0.000,2141.524,0.000,78.297,0.000
$DEVICE_MAMPS,266.220,130.815,921.825,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.160,1491.314,837.628,308.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,63773,892
$CAP_FILE_SIZE,124148,0
$CFSIZE,2097086464,2044461056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170515,142205,-3439.623,2510.906,31,1.5,31,-27.8