version: 66.07.10.p01
glider: 573
mission: 9
dive: 509
start: 5 20 115 0 8 52
data:
$ID,573
$MISSION,9
$DIVE,509
$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,-15050.368
$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,18
$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,508
$GPS1,200515,000204,-3428.952,2529.670,39,1.2,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-67.0
$GPS2,200515,000829,-3429.043,2529.788,19,1.9,19,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,261.1,12237,-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,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,105,0.00,0.00,-76.60,0.000,2,0.000,0.000,73,1918,2309,0,0,0,0,0,0
$GC,108,-1.05,-170.3,3.2,-3.0,9,160,10.93,0.00,-36.83,0.000,6,0.239,0.000,2683,1914,3599,0,0,0,0,0,0
$GC,212,-0.83,-170.3,18.7,-26.8,23,221,0.28,2.47,0.00,0.000,4,0.192,0.089,2749,3341,3602,0,0,0,0,0,0
$GC,319,-0.80,-170.3,39.3,-16.1,40,329,0.05,2.47,0.00,0.000,6,0.146,0.087,2765,1920,3603,0,0,0,0,0,0
$GC,470,-0.80,-170.3,68.6,-18.4,65,476,0.00,2.42,0.00,0.000,4,0.000,0.092,2757,3342,3604,0,0,0,0,0,0
$GC,526,-0.80,-170.3,78.3,-17.1,74,534,0.08,2.53,0.00,0.000,6,0.164,0.102,2773,1907,3604,0,0,0,0,0,0
$GC,870,-0.80,-170.3,137.8,-15.8,115,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1908,3605,0,0,0,0,0,0
$GC,1190,-0.80,-170.3,181.6,-12.7,145,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1907,3606,0,0,0,0,0,0
$GC,1507,-0.82,-170.3,223.5,-11.1,175,1511,0.00,2.38,0.00,0.000,4,0.000,0.088,2773,485,3605,0,0,0,0,0,0
$GC,1569,-0.85,-170.3,229.9,-7.0,180,1577,0.00,2.45,0.00,0.000,6,0.000,0.080,2764,1913,3606,0,0,0,0,0,0
$GC,1902,-0.85,-170.3,272.5,-13.1,211,1907,0.00,2.47,0.00,0.000,4,0.000,0.102,2753,3352,3605,0,0,0,0,0,0
$STATE,1977,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1977,begin apogee
$GC,1986,-0.25,0.0,282.5,11.8,217,2124,0.68,0.00,132.93,0.734,6,0.180,0.000,2944,1760,2902,0,0,0,0,0,0
$STATE,2125,end apogee,CONTROL_FINISHED_OK
$STATE,2125,begin climb
$GC,2129,1.05,170.3,293.5,0.0,231,2274,1.27,2.55,135.60,0.720,4,0.099,0.087,3367,3181,2207,0,0,0,0,0,0
$GC,2393,0.88,170.3,285.7,10.6,253,2401,0.22,2.50,0.00,0.000,6,0.173,0.086,3318,1745,2203,0,0,0,0,0,0
$GC,2718,1.04,372.2,266.0,2.0,284,2889,0.15,2.55,163.07,0.714,4,0.072,0.085,3400,3176,1383,0,0,0,0,0,0
$GC,3085,0.92,372.2,211.7,17.8,315,3093,0.28,2.45,0.00,0.000,6,0.157,0.086,3333,1756,1377,0,0,0,0,0,0
$GC,3411,0.90,372.2,169.6,12.5,346,3415,0.00,2.25,0.00,0.000,4,0.000,0.055,3344,327,1375,0,0,0,0,0,0
$GC,3596,0.87,372.2,145.2,14.0,362,3601,0.12,2.25,0.00,0.000,6,0.151,0.035,3309,1773,1374,0,0,0,0,0,0
$GC,3922,0.89,372.2,107.3,11.1,392,3926,0.00,2.28,0.00,0.000,4,0.000,0.049,3318,327,1373,0,0,0,0,0,0
$GC,3976,0.89,372.2,100.9,11.4,396,3985,0.00,2.28,0.00,0.000,6,0.000,0.038,3319,1755,1372,0,0,0,0,0,0
$GC,4323,0.89,372.2,64.6,10.8,456,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1755,1372,0,0,0,0,0,0
$GC,4685,0.99,400.6,30.5,8.9,517,4708,0.10,2.33,14.98,0.570,4,0.093,0.078,3398,3180,1268,0,0,0,0,0,0
$GC,4809,0.93,400.6,14.0,14.7,536,4819,0.22,2.42,0.00,0.000,6,0.133,0.079,3336,1756,1264,0,0,0,0,0,0
$GC,4872,0.97,400.6,6.2,11.8,545,4880,0.00,2.30,0.00,0.000,4,0.000,0.058,3347,334,1263,0,0,0,0,0,0
$STATE,4900,end climb,SURFACE_DEPTH_REACHED
$STATE,4900,begin surface coast
$FINISH,1.4,1.021376
$STATE,4914,end surface coast,CONTROL_FINISHED_OK
$STATE,4915,begin surface
$SM_CCo,4935,95.50,0.044,0,0,407,611.52
$SM_GC,2.07,0.00,0.00,95.50,0.000,0.000,0.044,83,1935,407,-9.22,0.45,611.52
$IRIDIUM_FIX,-3417.32,2523.75,150308,121257
$TT8_MAMPS,0.026964
$HUMID,60.75
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.0,36.9
$24V_AH,24.0,50.322
$10V_AH,10.1,39.852
$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,23.050,48.975,446.575,95.500,0.000,26.066,43.129,188.320,5.750,0.000,22.094,1342.130,1680.046,566.929,1689.579,149.387,0.000,1181.036,0.000,1346.560,0.000,38.720,0.000
$DEVICE_MAMPS,239.445,112.455,733.635,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.035,956.415,649.983,278.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,40327,551
$CAP_FILE_SIZE,70354,0
$CFSIZE,2097086464,2038824960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.192, 88.4,1
$GPS,200515,013359,-3429.393,2529.789,39,1.0,39,-27.7