version: 66.07.10.p01
glider: 573
mission: 9
dive: 456
start: 5 17 115 20 0 55
data:
$ID,573
$MISSION,9
$DIVE,456
$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,-14915.458
$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,455
$GPS1,170515,195206,-3437.487,2510.757,39,1.1,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-61.0
$GPS2,170515,200035,-3437.541,2510.736,38,1.5,38,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3426.906,2513.010
$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,23,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-72.78,0.000,2,0.000,0.000,81,1935,2215,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.0,-3.8,12,166,11.45,2.47,-42.70,0.000,4,0.256,0.103,2681,3348,3599,0,0,0,0,0,0
$GC,248,-0.90,-170.3,23.8,-19.9,35,254,0.22,2.58,0.00,0.000,6,0.170,0.103,2740,1908,3601,0,0,0,0,0,0
$GC,395,-0.83,-170.3,48.1,-15.1,60,402,0.10,0.00,0.00,0.000,6,0.192,0.000,2764,1907,3605,0,0,0,0,0,0
$GC,751,-0.83,-170.3,92.9,-12.9,121,756,0.00,2.47,0.00,0.000,4,0.000,0.093,2756,3352,3604,0,0,0,0,0,0
$GC,832,-0.83,-170.3,102.6,-11.6,133,837,0.00,2.47,0.00,0.000,6,0.000,0.094,2756,1920,3604,0,0,0,0,0,0
$GC,1157,-0.83,-170.3,145.9,-14.0,163,1162,0.00,2.42,0.00,0.000,4,0.000,0.090,2755,477,3606,0,0,0,0,0,0
$GC,1179,-0.80,-170.3,149.1,-14.0,164,1187,0.05,2.47,0.00,0.000,6,0.167,0.076,2761,1913,3606,0,0,0,0,0,0
$GC,1504,-0.80,-170.3,193.9,-14.5,195,1509,0.00,2.53,0.00,0.000,4,0.000,0.109,2751,3363,3605,0,0,0,0,0,0
$GC,1740,-0.80,-170.3,224.8,-12.7,215,1747,0.08,2.53,0.00,0.000,6,0.145,0.098,2768,1922,3604,0,0,0,0,0,0
$GC,2066,-0.80,-170.3,266.7,-12.8,246,2070,0.00,2.42,0.00,0.000,4,0.000,0.091,2768,484,3604,0,0,0,0,0,0
$GC,2097,-0.80,-170.3,271.2,-13.1,248,2105,0.00,2.50,0.00,0.000,6,0.000,0.083,2758,1914,3603,0,0,0,0,0,0
$GC,2423,-0.80,-170.3,317.1,-15.0,279,2428,0.05,2.53,0.00,0.000,4,0.249,0.106,2757,3348,3603,0,0,0,0,0,0
$GC,2610,-0.83,-170.3,341.1,-11.7,295,2615,0.00,2.53,0.00,0.000,6,0.000,0.097,2756,1916,3602,0,0,0,0,0,0
$GC,2939,-0.83,-170.3,386.0,-14.1,325,2943,0.00,2.42,0.00,0.000,4,0.000,0.086,2757,480,3601,0,0,0,0,0,0
$GC,3037,-0.83,-170.3,398.7,-13.2,333,3042,0.08,2.42,0.00,0.000,6,0.206,0.067,2761,1929,3601,0,0,0,0,0,0
$STATE,3281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3281,begin apogee
$GC,3286,-0.25,0.0,430.1,13.2,345,3423,0.65,0.00,133.60,0.835,6,0.165,0.000,2949,1706,2902,0,0,0,0,0,0
$STATE,3424,end apogee,CONTROL_FINISHED_OK
$STATE,3424,begin climb
$GC,3426,1.05,170.3,437.2,0.0,352,3576,1.27,2.72,139.52,0.813,4,0.109,0.091,3359,3173,2205,0,0,0,0,0,0
$GC,3828,0.95,206.3,416.5,8.6,370,3865,0.10,2.50,30.35,0.789,6,0.187,0.088,3345,1740,2059,0,0,0,0,0,0
$GC,4187,0.88,217.9,382.3,9.6,396,4203,0.10,2.25,10.68,0.723,4,0.195,0.054,3331,329,2013,0,0,0,0,0,0
$GC,4334,0.81,222.6,367.6,9.8,408,4345,0.10,2.30,5.40,0.606,6,0.135,0.034,3298,1774,1994,0,0,0,0,0,0
$GC,4671,0.83,259.3,339.2,8.6,440,4711,0.00,2.38,32.03,0.779,4,0.000,0.046,3308,333,1843,0,0,0,0,0,0
$GC,4735,0.87,289.9,333.6,8.8,446,4768,0.00,2.28,26.95,0.757,6,0.000,0.034,3308,1772,1720,0,0,0,0,0,0
$GC,5085,0.88,301.2,299.4,9.6,479,5100,0.00,2.30,10.35,0.696,4,0.000,0.074,3308,3177,1674,0,0,0,0,0,0
$GC,5135,0.88,301.2,294.2,11.2,483,5140,0.00,2.45,0.00,0.000,6,0.000,0.087,3317,1763,1674,0,0,0,0,0,0
$GC,5463,0.86,301.2,258.9,11.6,513,5467,0.00,2.30,0.00,0.000,4,0.000,0.055,3328,329,1671,0,0,0,0,0,0
$GC,5574,0.82,301.2,245.7,10.7,522,5580,0.10,2.22,0.00,0.000,6,0.157,0.032,3301,1759,1671,0,0,0,0,0,0
$GC,5902,0.82,308.2,214.5,9.7,553,5916,0.00,2.35,6.95,0.616,4,0.000,0.068,3301,3181,1645,0,0,0,0,0,0
$GC,5961,0.84,318.0,208.8,9.6,558,5977,0.00,2.45,10.20,0.657,6,0.000,0.088,3310,1754,1605,0,0,0,0,0,0
$GC,6297,0.85,326.5,176.7,9.7,590,6311,0.00,2.30,8.82,0.628,4,0.000,0.055,3321,335,1569,0,0,0,0,0,0
$GC,6401,0.85,326.5,165.7,10.9,599,6408,0.03,2.25,0.00,0.000,6,0.151,0.033,3311,1752,1569,0,0,0,0,0,0
$GC,6727,0.85,326.5,131.2,10.9,630,6731,0.00,2.30,0.00,0.000,4,0.000,0.069,3311,3184,1568,0,0,0,0,0,0
$GC,6778,0.85,326.5,125.3,12.0,634,6782,0.00,2.47,0.00,0.000,6,0.000,0.093,3320,1757,1568,0,0,0,0,0,0
$GC,7109,0.85,326.5,87.0,10.2,674,7114,0.00,2.28,0.00,0.000,4,0.000,0.056,3332,327,1568,0,0,0,0,0,0
$GC,7270,0.85,326.5,66.0,14.0,702,7277,0.05,2.28,0.00,0.000,6,0.130,0.036,3313,1761,1567,0,0,0,0,0,0
$GC,7627,0.93,366.8,32.5,8.4,763,7663,0.05,2.38,24.88,0.599,4,0.158,0.078,3362,3181,1405,0,0,0,0,0,0
$GC,7761,0.91,366.8,17.7,11.7,785,7769,0.12,2.50,0.00,0.000,6,0.128,0.092,3331,1758,1401,0,0,0,0,0,0
$GC,7820,1.02,424.2,12.9,7.7,794,7859,0.10,2.33,28.45,0.522,4,0.089,0.057,3412,345,1170,0,0,0,0,0,0
$STATE,7896,end climb,SURFACE_DEPTH_REACHED
$STATE,7896,begin surface coast
$FINISH,1.5,1.021160
$STATE,7923,end surface coast,CONTROL_FINISHED_OK
$STATE,7923,begin surface
$SM_CCo,7943,86.00,0.045,0,0,408,611.52
$SM_GC,1.98,0.00,0.00,86.00,0.000,0.000,0.045,78,1931,408,-9.24,0.34,611.52
$IRIDIUM_FIX,-3425.16,2507.19,130308,030324
$TT8_MAMPS,0.026964
$HUMID,59.80
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,411.2,32.0
$24V_AH,23.5,45.987
$10V_AH,10.1,36.937
$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,23.725,87.400,468.175,86.000,0.000,26.727,44.504,276.285,9.500,0.000,40.531,1917.006,3393.360,559.067,2470.950,197.723,0.000,1445.363,0.000,1987.081,0.000,62.754,0.000
$DEVICE_MAMPS,255.510,108.630,834.615,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.943,1399.016,877.161,330.636,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,57069,810
$CAP_FILE_SIZE,106579,0
$CFSIZE,2097086464,2044067840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170515,221601,-3436.086,2511.587,39,2.0,40,-27.7