version: 66.07.10.p01
glider: 573
mission: 9
dive: 513
start: 5 20 115 8 17 40
data:
$ID,573
$MISSION,9
$DIVE,513
$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,-15060.735
$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,16
$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,512
$GPS1,200515,080936,-3432.477,2528.077,27,1.5,27,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-66.9
$GPS2,200515,081705,-3432.594,2528.027,36,1.5,36,-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,172.1,5604,-20.2,-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,-1.15,-119.8,0.0,0.0,0,112,0.00,0.00,-83.82,0.000,2,0.000,0.000,88,1946,2511,0,0,0,0,0,0
$GC,115,-1.22,-170.3,3.4,-3.7,10,166,10.82,2.53,-28.30,0.000,4,0.243,0.096,2631,491,3601,0,0,0,0,0,0
$GC,251,-1.01,-170.3,30.9,-29.0,29,259,0.32,2.55,0.00,0.000,6,0.204,0.095,2703,1920,3603,0,0,0,0,0,0
$GC,401,-0.97,-170.3,63.1,-18.3,54,410,0.08,2.45,0.00,0.000,4,0.237,0.092,2707,3336,3604,0,0,0,0,0,0
$GC,452,-0.97,-170.3,72.6,-16.9,62,459,0.00,2.50,0.00,0.000,6,0.000,0.098,2707,1916,3605,0,0,0,0,0,0
$GC,795,-0.94,-170.3,124.7,-16.5,109,803,0.08,0.00,0.00,0.000,6,0.194,0.000,2723,1916,3606,0,0,0,0,0,0
$GC,1121,-0.94,-170.3,176.8,-14.8,140,1125,0.00,2.42,0.00,0.000,4,0.000,0.088,2723,480,3608,0,0,0,0,0,0
$GC,1153,-0.94,-170.3,182.1,-15.6,142,1161,0.05,2.50,0.00,0.000,6,0.234,0.086,2723,1922,3608,0,0,0,0,0,0
$GC,1482,-0.94,-170.3,227.0,-13.6,173,1486,0.00,2.47,0.00,0.000,4,0.000,0.103,2713,3343,3608,0,0,0,0,0,0
$GC,1715,-0.94,-170.3,257.8,-13.8,193,1721,0.05,2.55,0.00,0.000,6,0.194,0.103,2723,1911,3607,0,0,0,0,0,0
$GC,2041,-0.94,-170.3,308.0,-16.5,223,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1911,3606,0,0,0,0,0,0
$GC,2361,-0.94,-170.3,359.9,-15.5,253,2368,0.00,2.40,0.00,0.000,4,0.000,0.086,2723,485,3606,0,0,0,0,0,0
$GC,2455,-0.94,-170.3,373.9,-14.3,261,2461,0.05,2.45,0.00,0.000,6,0.253,0.075,2722,1922,3606,0,0,0,0,0,0
$GC,2778,-0.94,-170.3,417.7,-13.6,285,2783,0.00,2.53,0.00,0.000,4,0.000,0.111,2711,3336,3605,0,0,0,0,0,0
$GC,3001,-0.97,-170.3,449.1,-13.4,295,3006,0.00,2.53,0.00,0.000,6,0.000,0.103,2711,1913,3604,0,0,0,0,0,0
$GC,3324,-0.97,-170.3,499.3,-16.5,311,3329,0.00,2.38,0.00,0.000,4,0.000,0.083,2711,481,3603,0,0,0,0,0,0
$GC,3347,-0.97,-170.3,503.3,-16.6,312,3352,0.08,2.42,0.00,0.000,6,0.243,0.070,2715,1926,3603,0,0,0,0,0,0
$GC,3673,-0.97,-170.3,553.1,-14.8,328,3678,0.00,2.55,0.00,0.000,4,0.000,0.118,2704,3340,3602,0,0,0,0,0,0
$GC,3886,-1.00,-170.3,590.9,-17.9,337,3894,0.00,2.58,0.00,0.000,6,0.000,0.108,2704,1916,3601,0,0,0,0,0,0
$STATE,4161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4161,begin apogee
$GC,4166,-0.25,0.0,635.2,15.7,351,4306,0.88,0.00,136.62,0.996,6,0.177,0.000,2946,1753,2902,0,0,0,0,0,0
$STATE,4307,end apogee,CONTROL_FINISHED_OK
$STATE,4307,begin climb
$GC,4309,1.22,170.3,644.2,0.0,358,4464,1.48,2.50,146.32,0.970,4,0.111,0.048,3422,332,2207,0,0,0,0,0,0
$GC,4682,1.07,170.3,623.9,10.6,375,4687,0.17,2.28,0.00,0.000,6,0.172,0.031,3378,1767,2205,0,0,0,0,0,0
$GC,5005,0.98,170.3,588.6,12.3,391,5010,0.10,2.30,0.00,0.000,4,0.216,0.045,3366,324,2202,0,0,0,0,0,0
$GC,5032,0.91,170.3,584.6,12.9,392,5037,0.15,2.28,0.00,0.000,6,0.173,0.034,3328,1767,2202,0,0,0,0,0,0
$GC,5349,0.97,221.5,556.2,7.1,407,5399,0.00,2.47,43.30,0.959,4,0.000,0.081,3328,3177,1998,0,0,0,0,0,0
$GC,5483,0.98,233.4,544.6,9.3,413,5502,0.00,2.50,11.68,0.861,6,0.000,0.095,3337,1756,1949,0,0,0,0,0,0
$GC,5811,1.01,257.0,514.8,8.7,429,5835,0.08,0.00,21.40,0.897,6,0.119,0.000,3382,1756,1853,0,0,0,0,0,0
$GC,6139,0.97,257.0,478.4,11.9,445,6144,0.12,2.30,0.00,0.000,4,0.155,0.057,3361,329,1849,0,0,0,0,0,0
$GC,6291,0.95,257.0,459.3,13.5,452,6296,0.08,2.25,0.00,0.000,6,0.184,0.037,3344,1756,1848,0,0,0,0,0,0
$GC,6623,0.95,257.0,416.3,13.3,468,6627,0.00,2.28,0.00,0.000,4,0.000,0.047,3353,320,1848,0,0,0,0,0,0
$GC,6663,0.95,257.0,411.0,13.6,470,6668,0.05,2.25,0.00,0.000,6,0.212,0.036,3342,1764,1848,0,0,0,0,0,0
$GC,6986,0.95,260.3,372.8,9.8,496,6990,0.00,2.35,0.00,0.000,4,0.000,0.083,3342,3174,1848,0,0,0,0,0,0
$GC,7025,0.97,277.2,369.1,9.1,499,7051,0.00,2.53,17.95,0.839,6,0.000,0.106,3352,1753,1771,0,0,0,0,0,0
$GC,7366,0.99,289.0,333.8,9.3,531,7382,0.00,2.30,11.20,0.752,4,0.000,0.057,3362,327,1724,0,0,0,0,0,0
$GC,7567,0.99,289.0,309.9,13.1,548,7576,0.00,2.30,0.00,0.000,6,0.000,0.037,3362,1755,1722,0,0,0,0,0,0
$GC,7892,0.99,289.0,271.4,10.7,579,7897,0.00,2.50,0.00,0.000,4,0.000,0.102,3363,3178,1722,0,0,0,0,0,0
$GC,7927,0.96,289.0,267.6,11.8,581,7936,0.10,2.55,0.00,0.000,6,0.186,0.106,3348,1760,1721,0,0,0,0,0,0
$GC,8252,0.96,289.0,233.6,10.9,612,8256,0.00,2.30,0.00,0.000,4,0.000,0.060,3359,323,1721,0,0,0,0,0,0
$GC,8347,0.96,289.0,222.0,12.9,620,8352,0.03,2.28,0.00,0.000,6,0.252,0.037,3350,1762,1720,0,0,0,0,0,0
$GC,8673,0.96,289.0,180.9,13.2,650,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1762,1720,0,0,0,0,0,0
$GC,8992,0.96,289.0,139.6,13.0,680,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1762,1720,0,0,0,0,0,0
$GC,9312,0.96,289.0,101.9,11.4,710,9316,0.00,2.38,0.00,0.000,4,0.000,0.083,3350,3176,1721,0,0,0,0,0,0
$GC,9357,0.96,289.0,96.2,12.2,716,9365,0.05,2.47,0.00,0.000,6,0.226,0.094,3348,1754,1720,0,0,0,0,0,0
$GC,9711,1.05,329.3,61.9,7.8,777,9754,0.08,2.33,34.83,0.643,4,0.119,0.060,3419,325,1558,0,0,0,0,0,0
$GC,9988,1.01,329.3,27.0,12.1,823,9996,0.20,2.28,0.00,0.000,6,0.152,0.041,3365,1760,1552,0,0,0,0,0,0
$GC,10145,1.05,329.3,10.1,10.9,848,10154,0.00,2.38,0.00,0.000,4,0.000,0.076,3365,3180,1552,0,0,0,0,0,0
$STATE,10209,end climb,SURFACE_DEPTH_REACHED
$STATE,10210,begin surface coast
$FINISH,1.7,1.021340
$STATE,10217,end surface coast,CONTROL_FINISHED_OK
$STATE,10217,begin surface
$SM_CCo,10238,128.95,0.044,0,0,407,611.52
$SM_GC,1.96,0.00,0.00,128.95,0.000,0.000,0.044,82,1909,407,-9.23,-0.28,611.52
$IRIDIUM_FIX,-3417.32,2529.60,150308,181853
$TT8_MAMPS,0.026964
$HUMID,57.91
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,612.0,35.3
$24V_AH,22.9,50.824
$10V_AH,10.1,40.216
$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,23.875,96.750,423.300,128.950,0.000,27.824,23.620,235.999,14.500,0.000,38.536,2250.937,5199.627,652.218,2497.146,231.053,0.000,1559.495,0.000,2060.116,0.000,92.111,0.000
$DEVICE_MAMPS,253.215,125.460,996.030,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.266,1428.357,735.851,266.053,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,60534,859
$CAP_FILE_SIZE,119487,0
$CFSIZE,2097086464,2038366208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.158,215.5,1
$GPS,200515,111135,-3434.657,2528.219,30,0.9,30,-27.8