version: 66.07.10.p01
glider: 573
mission: 9
dive: 458
start: 5 18 115 0 34 25
data:
$ID,573
$MISSION,9
$DIVE,458
$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,-14920.672
$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,16
$R_STBD_OVSHOOT,11
$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,457
$GPS1,180515,002636,-3434.489,2512.618,31,1.2,31,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-63.4
$GPS2,180515,003405,-3434.464,2512.623,44,1.3,44,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3423.829,2514.896
$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,37.7,20000,-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,-72.53,0.000,2,0.000,0.000,71,1925,2200,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.0,-3.9,12,173,11.32,2.47,-47.62,0.000,4,0.252,0.099,2676,3352,3600,0,0,0,0,0,0
$GC,242,-0.89,-170.3,20.9,-20.2,34,251,0.22,2.58,0.00,0.000,6,0.159,0.102,2743,1922,3602,0,0,0,0,0,0
$GC,393,-0.81,-170.3,44.3,-16.0,59,399,0.10,2.45,0.00,0.000,4,0.195,0.086,2758,3355,3603,0,0,0,0,0,0
$GC,479,-0.81,-170.3,54.0,-9.5,73,484,0.00,2.58,0.00,0.000,6,0.000,0.103,2758,1910,3604,0,0,0,0,0,0
$GC,827,-0.81,-170.3,92.0,-12.4,134,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1910,3606,0,0,0,0,0,0
$GC,1161,-0.81,-170.3,133.3,-13.0,171,1165,0.00,2.53,0.00,0.000,4,0.000,0.103,2750,3343,3607,0,0,0,0,0,0
$GC,1191,-0.81,-170.3,136.8,-12.7,173,1196,0.08,2.47,0.00,0.000,6,0.163,0.096,2765,1920,3608,0,0,0,0,0,0
$GC,1516,-0.81,-170.3,175.3,-11.5,203,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1920,3606,0,0,0,0,0,0
$GC,1837,-0.81,-170.3,216.0,-13.0,233,1841,0.00,2.42,0.00,0.000,4,0.000,0.090,2765,484,3606,0,0,0,0,0,0
$GC,1866,-0.81,-170.3,220.0,-13.3,235,1870,0.00,2.50,0.00,0.000,6,0.000,0.086,2757,1918,3606,0,0,0,0,0,0
$GC,2193,-0.79,-170.3,262.4,-12.7,265,2198,0.08,2.47,0.00,0.000,4,0.230,0.104,2760,3343,3605,0,0,0,0,0,0
$STATE,2234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2235,begin apogee
$GC,2243,-0.25,0.0,268.4,12.3,268,2379,0.60,0.00,131.52,0.726,6,0.161,0.000,2939,1754,2902,0,0,0,0,0,0
$STATE,2379,end apogee,CONTROL_FINISHED_OK
$STATE,2379,begin climb
$GC,2383,1.05,170.3,276.1,0.0,282,2527,1.27,2.38,135.65,0.706,4,0.099,0.050,3372,329,2207,0,0,0,0,0,0
$GC,2567,0.94,209.8,272.1,8.5,299,2608,0.12,2.33,33.55,0.681,6,0.164,0.031,3341,1771,2045,0,0,0,0,0,0
$GC,2934,0.86,209.8,234.2,10.7,334,2939,0.10,2.25,0.00,0.000,4,0.189,0.065,3315,3171,2041,0,0,0,0,0,0
$GC,3008,0.80,209.8,226.6,10.1,340,3013,0.12,2.45,0.00,0.000,6,0.183,0.091,3294,1755,2040,0,0,0,0,0,0
$GC,3333,0.87,277.5,199.9,7.3,370,3395,0.00,2.35,55.15,0.685,4,0.000,0.061,3305,332,1769,0,0,0,0,0,0
$GC,3476,0.87,277.5,186.2,10.5,383,3480,0.00,2.28,0.00,0.000,6,0.000,0.037,3305,1754,1766,0,0,0,0,0,0
$GC,3803,0.87,278.1,152.7,10.0,413,3807,0.00,2.40,0.00,0.000,4,0.000,0.086,3305,3188,1763,0,0,0,0,0,0
$GC,3856,0.87,278.1,146.9,10.3,417,3860,0.00,2.42,0.00,0.000,6,0.000,0.084,3314,1759,1763,0,0,0,0,0,0
$GC,4180,0.87,278.1,111.7,10.9,447,4185,0.00,2.25,0.00,0.000,4,0.000,0.057,3324,326,1762,0,0,0,0,0,0
$GC,4259,0.83,278.1,102.6,11.2,453,4265,0.08,2.25,0.00,0.000,6,0.170,0.035,3306,1767,1762,0,0,0,0,0,0
$GC,4605,0.83,278.1,66.6,10.7,512,4611,0.00,2.25,0.00,0.000,4,0.000,0.071,3306,3177,1762,0,0,0,0,0,0
$GC,4739,0.83,278.1,52.8,11.2,535,4744,0.00,2.38,0.00,0.000,6,0.000,0.081,3316,1754,1761,0,0,0,0,0,0
$GC,5094,0.93,338.6,20.9,7.6,596,5130,0.00,2.28,30.65,0.556,4,0.000,0.057,3327,335,1520,0,0,0,0,0,0
$GC,5225,1.03,384.3,11.1,8.2,617,5257,0.08,2.28,22.33,0.503,6,0.054,0.039,3385,1750,1333,0,0,0,0,0,0
$STATE,5300,end climb,SURFACE_DEPTH_REACHED
$STATE,5300,begin surface coast
$FINISH,1.4,1.021211
$STATE,5327,end surface coast,CONTROL_FINISHED_OK
$STATE,5327,begin surface
$SM_CCo,5345,103.50,0.044,0,0,407,611.52
$SM_GC,2.00,0.00,0.00,103.50,0.000,0.000,0.044,78,1936,407,-9.24,0.48,611.52
$IRIDIUM_FIX,-3419.93,2510.81,130308,111111
$TT8_MAMPS,0.026964
$HUMID,58.89
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.3,32.9
$24V_AH,23.9,46.194
$10V_AH,10.1,37.111
$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,23.275,58.250,408.850,103.500,0.000,26.704,22.977,237.034,5.500,0.000,46.877,1430.228,1902.187,486.058,1921.151,161.427,0.000,1175.637,0.000,1525.979,0.000,37.098,0.000
$DEVICE_MAMPS,251.685,121.635,725.985,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.319,1076.162,794.834,383.681,0.000,0.000,0.000,0.000,0.000,0.000
$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,43613,633
$CAP_FILE_SIZE,77111,0
$CFSIZE,2097086464,2043838464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180515,020635,-3433.090,2513.456,43,1.1,43,-27.7