version: 66.07.10.p01
glider: 573
mission: 9
dive: 510
start: 5 20 115 1 41 17
data:
$ID,573
$MISSION,9
$DIVE,510
$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,-15052.99
$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,12
$R_STBD_OVSHOOT,12
$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,509
$GPS1,200515,013359,-3429.393,2529.789,39,1.0,39,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.2
$GPS2,200515,014053,-3429.484,2529.865,41,1.1,41,-27.8
$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,259.8,11448,-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,-170.3,0.0,0.0,0,106,0.00,0.00,-77.88,0.000,2,0.000,0.000,82,1936,2336,0,0,0,0,0,0
$GC,109,-1.05,-170.3,3.1,-2.5,9,169,11.12,2.45,-37.53,0.000,4,0.246,0.103,2675,3343,3600,0,0,0,0,0,0
$GC,299,-0.93,-170.3,34.4,-16.6,37,307,0.20,2.47,0.00,0.000,6,0.174,0.090,2728,1917,3602,0,0,0,0,0,0
$GC,448,-0.87,-170.3,58.0,-16.4,62,456,0.10,2.45,0.00,0.000,4,0.190,0.088,2745,3356,3603,0,0,0,0,0,0
$GC,624,-0.87,-170.3,82.6,-13.5,91,631,0.00,2.53,0.00,0.000,6,0.000,0.096,2745,1913,3604,0,0,0,0,0,0
$GC,966,-0.84,-170.3,132.0,-14.2,132,971,0.05,2.42,0.00,0.000,4,0.198,0.092,2755,475,3606,0,0,0,0,0,0
$GC,1000,-0.84,-170.3,137.2,-14.8,134,1007,0.00,2.45,0.00,0.000,6,0.000,0.076,2747,1919,3605,0,0,0,0,0,0
$GC,1327,-0.81,-170.3,184.5,-14.5,165,1332,0.10,2.47,0.00,0.000,4,0.203,0.105,2758,3343,3606,0,0,0,0,0,0
$GC,1540,-0.84,-170.3,211.6,-12.6,183,1548,0.00,2.65,0.00,0.000,6,0.000,0.125,2758,1910,3605,0,0,0,0,0,0
$GC,1865,-0.84,-170.3,256.7,-14.8,214,1869,0.00,2.40,0.00,0.000,4,0.000,0.086,2759,475,3604,0,0,0,0,0,0
$GC,1943,-0.84,-170.3,268.8,-16.4,220,1952,0.00,2.45,0.00,0.000,6,0.000,0.071,2749,1917,3605,0,0,0,0,0,0
$GC,2268,-0.84,-170.3,317.6,-12.3,251,2272,0.00,2.47,0.00,0.000,4,0.000,0.100,2738,3346,3604,0,0,0,0,0,0
$STATE,2374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2374,begin apogee
$GC,2383,-0.25,0.0,332.2,10.6,260,2521,0.70,0.00,133.90,0.769,6,0.166,0.000,2942,1757,2902,0,0,0,0,0,0
$STATE,2521,end apogee,CONTROL_FINISHED_OK
$STATE,2522,begin climb
$GC,2525,1.05,170.3,338.6,0.0,274,2669,1.33,0.00,137.52,0.749,6,0.115,0.000,3365,1756,2206,0,0,0,0,0,0
$GC,2986,0.95,191.9,314.4,9.2,318,3011,0.10,2.50,18.62,0.716,4,0.184,0.080,3342,3186,2118,0,0,0,0,0,0
$GC,3092,0.83,191.9,303.3,13.5,327,3098,0.17,2.50,0.00,0.000,6,0.171,0.092,3306,1755,2115,0,0,0,0,0,0
$GC,3420,0.86,252.3,278.6,7.6,357,3479,0.00,2.38,49.90,0.745,4,0.000,0.058,3316,330,1871,0,0,0,0,0,0
$GC,3528,0.88,304.5,270.1,7.9,366,3579,0.00,2.30,43.78,0.724,6,0.000,0.035,3316,1769,1660,0,0,0,0,0,0
$GC,3909,0.94,352.9,239.5,8.1,401,3958,0.05,2.35,40.20,0.719,4,0.163,0.047,3367,322,1463,0,0,0,0,0,0
$GC,4020,0.86,352.9,227.1,11.7,410,4027,0.20,2.28,0.00,0.000,6,0.148,0.034,3310,1760,1458,0,0,0,0,0,0
$GC,4347,0.94,417.7,201.7,7.5,441,4408,0.08,2.40,53.40,0.703,4,0.111,0.050,3380,330,1199,0,0,0,0,0,0
$GC,4482,0.87,417.7,186.4,12.5,452,4491,0.20,2.30,0.00,0.000,6,0.136,0.034,3316,1757,1194,0,0,0,0,0,0
$GC,4807,0.95,460.3,159.8,8.3,483,4848,0.08,2.33,35.58,0.671,4,0.115,0.050,3388,329,1024,0,0,0,0,0,0
$GC,4951,0.87,460.3,138.8,16.2,495,4956,0.25,2.28,0.00,0.000,6,0.145,0.036,3317,1760,1020,0,0,0,0,0,0
$GC,5279,0.91,460.3,101.9,10.3,525,5283,0.00,2.30,0.00,0.000,4,0.000,0.051,3327,327,1018,0,0,0,0,0,0
$GC,5377,0.95,460.3,91.0,10.9,540,5386,0.00,2.28,0.00,0.000,6,0.000,0.037,3326,1752,1017,0,0,0,0,0,0
$GC,5734,1.02,460.3,47.8,16.1,601,5740,0.10,0.00,0.00,0.000,6,0.093,0.000,3401,1753,1017,0,0,0,0,0,0
$STATE,6013,end climb,SURFACE_DEPTH_REACHED
$STATE,6013,begin surface coast
$FINISH,1.3,1.020557
$STATE,6040,end surface coast,CONTROL_FINISHED_OK
$STATE,6041,begin surface
$SM_CCo,6058,68.82,0.044,0,0,407,611.52
$SM_GC,1.92,0.00,0.00,68.82,0.000,0.000,0.044,74,1937,407,-9.25,0.51,611.52
$IRIDIUM_FIX,-3414.71,2527.24,150308,131302
$TT8_MAMPS,0.026964
$HUMID,61.49
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,310.2,36.6
$24V_AH,23.9,50.446
$10V_AH,10.1,39.932
$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,23.625,58.550,512.900,68.825,0.000,27.874,27.116,205.577,7.000,0.000,44.040,1589.177,2248.113,611.510,1931.621,172.085,0.000,1301.528,0.000,1554.923,0.000,45.117,0.000
$DEVICE_MAMPS,245.565,124.695,768.825,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.232,1163.331,725.867,266.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,46973,652
$CAP_FILE_SIZE,81740,0
$CFSIZE,2097086464,2038726656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.033, 95.7,1
$GPS,200515,032435,-3429.883,2529.087,33,1.1,33,-27.8