version: 66.07.10.p01
glider: 573
mission: 9
dive: 455
start: 5 17 115 17 20 19
data:
$ID,573
$MISSION,9
$DIVE,455
$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,-14913.13
$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,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,454
$GPS1,170515,171135,-3438.686,2510.535,51,1.1,51,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-62.7
$GPS2,170515,171959,-3438.782,2510.432,43,1.3,43,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3428.147,2512.707
$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,-71.30,0.000,2,0.000,0.000,73,1939,2190,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.1,-3.5,12,166,11.38,2.42,-43.03,0.000,4,0.252,0.097,2677,3343,3599,0,0,0,0,0,0
$GC,201,-0.86,-170.3,13.6,-22.6,27,208,0.22,2.55,0.00,0.000,6,0.166,0.099,2743,1923,3600,0,0,0,0,0,0
$GC,257,-0.76,-170.3,24.7,-19.9,36,265,0.15,2.58,0.00,0.000,4,0.190,0.101,2780,477,3601,0,0,0,0,0,0
$GC,280,-0.68,-170.3,28.5,-17.7,39,286,0.15,2.80,0.00,0.000,6,0.194,0.133,2807,1920,3601,0,0,0,0,0,0
$GC,429,-0.68,-170.3,47.5,-12.7,64,434,0.00,2.40,0.00,0.000,4,0.000,0.087,2796,3355,3602,0,0,0,0,0,0
$GC,570,-0.73,-170.3,62.5,-10.0,88,575,0.00,2.58,0.00,0.000,6,0.000,0.104,2796,1918,3603,0,0,0,0,0,0
$GC,919,-0.79,-170.3,97.9,-9.4,149,924,0.00,2.47,0.00,0.000,4,0.000,0.094,2787,3356,3605,0,0,0,0,0,0
$GC,944,-0.85,-170.3,100.4,-9.9,153,949,0.10,2.53,0.00,0.000,6,0.105,0.096,2751,1917,3605,0,0,0,0,0,0
$GC,1269,-0.85,-170.3,138.4,-11.5,183,1273,0.00,2.47,0.00,0.000,4,0.000,0.096,2751,480,3607,0,0,0,0,0,0
$GC,1335,-0.82,-170.3,147.6,-14.2,188,1343,0.05,2.45,0.00,0.000,6,0.167,0.076,2757,1908,3606,0,0,0,0,0,0
$GC,1660,-0.82,-170.3,194.2,-14.2,219,1664,0.00,2.50,0.00,0.000,4,0.000,0.109,2747,3343,3607,0,0,0,0,0,0
$GC,1884,-0.82,-170.3,220.9,-11.8,238,1891,0.08,2.67,0.00,0.000,6,0.147,0.126,2763,1914,3606,0,0,0,0,0,0
$GC,2212,-0.82,-170.3,262.3,-12.7,269,2217,0.00,2.45,0.00,0.000,4,0.000,0.092,2763,480,3604,0,0,0,0,0,0
$GC,2256,-0.82,-170.3,268.5,-13.1,272,2264,0.00,2.45,0.00,0.000,6,0.000,0.074,2754,1910,3604,0,0,0,0,0,0
$GC,2582,-0.80,-170.3,312.4,-13.6,303,2587,0.08,2.55,0.00,0.000,4,0.220,0.109,2758,3349,3603,0,0,0,0,0,0
$GC,2716,-0.83,-170.3,328.6,-12.1,314,2721,0.00,2.67,0.00,0.000,6,0.000,0.125,2758,1922,3602,0,0,0,0,0,0
$GC,3042,-0.83,-170.3,370.9,-12.5,344,3045,0.00,2.42,0.00,0.000,4,0.000,0.086,2758,479,3602,0,0,0,0,0,0
$GC,3170,-0.83,-170.3,387.8,-13.2,355,3177,0.08,2.42,0.00,0.000,6,0.208,0.065,2762,1941,3601,0,0,0,0,0,0
$GC,3500,-0.83,-170.3,428.9,-12.3,376,3504,0.00,2.58,0.00,0.000,4,0.000,0.122,2752,3348,3600,0,0,0,0,0,0
$GC,3680,-0.85,-170.3,451.5,-12.4,384,3685,0.00,2.67,0.00,0.000,6,0.000,0.123,2752,1914,3600,0,0,0,0,0,0
$STATE,3835,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3835,begin apogee
$GC,3840,-0.25,0.0,471.2,13.0,392,3978,0.70,0.00,134.05,0.867,6,0.168,0.000,2950,1756,2902,0,0,0,0,0,0
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3978,begin climb
$GC,3981,1.05,170.3,478.4,0.0,399,4131,1.25,2.70,140.80,0.842,4,0.094,0.094,3363,3168,2207,0,0,0,0,0,0
$GC,4384,0.91,172.7,457.3,9.9,417,4390,0.17,2.50,0.00,0.000,6,0.173,0.093,3328,1753,2202,0,0,0,0,0,0
$GC,4701,0.89,220.9,430.4,8.1,433,4750,0.00,2.40,42.08,0.829,4,0.000,0.056,3338,325,2000,0,0,0,0,0,0
$GC,4809,0.81,220.9,419.5,11.8,438,4814,0.15,2.30,0.00,0.000,6,0.154,0.034,3298,1765,1999,0,0,0,0,0,0
$GC,5132,0.85,276.7,393.5,7.8,457,5187,0.00,2.40,47.17,0.819,4,0.000,0.046,3307,332,1772,0,0,0,0,0,0
$GC,5213,0.89,305.5,386.5,8.9,465,5244,0.00,2.28,25.42,0.783,6,0.000,0.034,3307,1756,1656,0,0,0,0,0,0
$GC,5563,0.89,305.5,351.5,10.3,498,5567,0.00,2.30,0.00,0.000,4,0.000,0.048,3316,330,1650,0,0,0,0,0,0
$GC,5595,0.89,305.5,347.9,10.4,500,5603,0.00,2.28,0.00,0.000,6,0.000,0.034,3316,1750,1650,0,0,0,0,0,0
$GC,5921,0.89,305.5,314.1,10.4,531,5925,0.00,2.28,0.00,0.000,4,0.000,0.048,3326,325,1648,0,0,0,0,0,0
$GC,5942,0.86,305.5,311.7,10.3,532,5950,0.03,2.28,0.00,0.000,6,0.148,0.034,3316,1757,1649,0,0,0,0,0,0
$GC,6267,0.86,305.5,275.1,11.6,563,6272,0.00,2.28,0.00,0.000,4,0.000,0.047,3326,329,1648,0,0,0,0,0,0
$GC,6300,0.83,305.5,271.0,12.1,565,6307,0.10,2.25,0.00,0.000,6,0.160,0.033,3299,1772,1648,0,0,0,0,0,0
$GC,6626,0.83,305.5,237.0,10.2,596,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1772,1648,0,0,0,0,0,0
$GC,6946,0.83,305.5,203.1,11.0,626,6950,0.00,2.28,0.00,0.000,4,0.000,0.071,3299,3172,1647,0,0,0,0,0,0
$GC,6978,0.83,305.5,198.9,12.0,628,6986,0.00,2.45,0.00,0.000,6,0.000,0.085,3308,1750,1646,0,0,0,0,0,0
$GC,7304,0.83,305.5,164.5,10.6,659,7308,0.00,2.25,0.00,0.000,4,0.000,0.057,3319,330,1646,0,0,0,0,0,0
$GC,7416,0.81,305.5,151.4,12.3,668,7424,0.05,2.25,0.00,0.000,6,0.132,0.033,3300,1756,1646,0,0,0,0,0,0
$GC,7740,0.81,305.5,117.8,10.2,699,7745,0.00,2.30,0.00,0.000,4,0.000,0.070,3300,3186,1646,0,0,0,0,0,0
$GC,7773,0.81,305.5,114.1,10.9,701,7779,0.00,2.42,0.00,0.000,6,0.000,0.083,3309,1759,1646,0,0,0,0,0,0
$GC,8113,0.81,305.5,76.6,10.4,750,8120,0.00,2.30,0.00,0.000,4,0.000,0.057,3320,338,1646,0,0,0,0,0,0
$GC,8218,0.82,315.6,66.8,9.6,768,8235,0.05,2.25,7.97,0.573,6,0.129,0.035,3302,1756,1615,0,0,0,0,0,0
$GC,8580,0.90,342.8,33.2,8.9,831,8605,0.05,2.33,19.33,0.600,4,0.161,0.072,3354,3188,1502,0,0,0,0,0,0
$GC,8731,0.90,342.8,15.2,12.7,856,8738,0.10,2.60,0.00,0.000,6,0.131,0.106,3330,1754,1499,0,0,0,0,0,0
$GC,8789,0.95,342.8,9.3,10.0,865,8796,0.00,2.30,0.00,0.000,4,0.000,0.053,3341,330,1498,0,0,0,0,0,0
$GC,8841,0.96,353.8,4.7,9.6,873,8855,0.00,2.30,5.12,0.048,6,0.000,0.040,3341,1755,1457,0,0,0,0,0,0
$STATE,8862,end climb,SURFACE_DEPTH_REACHED
$STATE,8862,begin surface coast
$FINISH,1.5,1.021777
$STATE,8894,end surface coast,CONTROL_FINISHED_OK
$STATE,8894,begin surface
$SM_CCo,8911,118.93,0.045,0,0,407,611.52
$SM_GC,2.26,0.00,0.00,118.93,0.000,0.000,0.045,81,1935,407,-9.23,0.45,611.52
$IRIDIUM_FIX,-3425.16,2507.19,130308,030324
$TT8_MAMPS,0.026964
$HUMID,58.97
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.5,34.1
$24V_AH,23.4,45.863
$10V_AH,10.1,36.840
$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,23.750,107.475,421.950,118.925,0.000,24.789,40.545,272.977,10.500,0.000,45.621,2104.605,4014.529,591.522,2606.420,217.951,0.000,1532.698,0.000,2120.366,0.000,68.905,0.000
$DEVICE_MAMPS,252.450,133.875,866.745,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.187,1465.038,910.224,355.672,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,60399,881
$CAP_FILE_SIZE,118237,0
$CFSIZE,2097086464,2044198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170515,195206,-3437.487,2510.757,39,1.1,39,-27.8