version: 66.07.10.p01
glider: 573
mission: 9
dive: 516
start: 5 20 115 18 41 29
data:
$ID,573
$MISSION,9
$DIVE,516
$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,-15069.949
$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,515
$GPS1,200515,182936,-3434.701,2525.509,32,1.1,32,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.9
$GPS2,200515,184105,-3435.052,2524.965,27,1.7,27,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$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,60.5,21175,-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,25,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-80.18,0.000,2,0.000,0.000,90,1927,2454,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.2,-3.6,9,163,11.35,2.50,-28.98,0.000,4,0.249,0.106,2677,3348,3600,0,0,0,0,0,0
$GC,184,-0.82,-170.3,13.7,-21.4,18,195,0.28,2.55,0.00,0.000,6,0.165,0.095,2757,1922,3601,0,0,0,0,0,0
$GC,247,-0.71,-170.3,25.8,-18.0,27,254,0.17,2.45,0.00,0.000,4,0.212,0.083,2789,3354,3602,0,0,0,0,0,0
$GC,335,-0.71,-170.3,37.8,-11.8,41,342,0.00,2.50,0.00,0.000,6,0.000,0.089,2789,1916,3603,0,0,0,0,0,0
$GC,482,-0.71,-170.3,58.1,-14.3,66,491,0.00,2.50,0.00,0.000,4,0.000,0.099,2789,488,3604,0,0,0,0,0,0
$GC,499,-0.71,-170.3,60.7,-14.9,68,506,0.10,2.75,0.00,0.000,6,0.234,0.125,2798,1926,3603,0,0,0,0,0,0
$GC,854,-0.75,-170.3,101.2,-9.8,128,858,0.00,2.42,0.00,0.000,4,0.000,0.098,2787,3352,3606,0,0,0,0,0,0
$GC,963,-0.81,-170.3,113.3,-10.7,137,968,0.00,2.53,0.00,0.000,6,0.000,0.096,2788,1911,3606,0,0,0,0,0,0
$GC,1289,-0.86,-170.3,147.2,-10.4,167,1294,0.10,2.42,0.00,0.000,4,0.102,0.096,2747,484,3607,0,0,0,0,0,0
$GC,1333,-0.82,-170.3,153.3,-13.8,170,1342,0.10,2.45,0.00,0.000,6,0.187,0.077,2761,1925,3607,0,0,0,0,0,0
$GC,1662,-0.82,-170.3,198.1,-14.2,201,1667,0.00,2.47,0.00,0.000,4,0.000,0.109,2751,3341,3607,0,0,0,0,0,0
$GC,1872,-0.82,-170.3,225.9,-12.0,219,1878,0.05,2.58,0.00,0.000,6,0.158,0.110,2762,1925,3606,0,0,0,0,0,0
$GC,2200,-0.82,-170.3,268.9,-14.2,249,2204,0.00,2.45,0.00,0.000,4,0.000,0.093,2762,471,3605,0,0,0,0,0,0
$GC,2248,-0.82,-170.3,276.6,-14.2,253,2256,0.00,2.45,0.00,0.000,6,0.000,0.073,2754,1918,3605,0,0,0,0,0,0
$GC,2574,-0.82,-170.3,318.9,-12.4,284,2578,0.00,2.53,0.00,0.000,4,0.000,0.111,2743,3349,3604,0,0,0,0,0,0
$GC,2784,-0.82,-170.3,344.0,-12.4,302,2789,0.10,2.58,0.00,0.000,6,0.154,0.107,2764,1919,3603,0,0,0,0,0,0
$GC,3110,-0.82,-170.3,380.3,-10.9,332,3114,0.00,2.45,0.00,0.000,4,0.000,0.096,2764,481,3603,0,0,0,0,0,0
$GC,3130,-0.82,-170.3,382.5,-11.4,333,3134,0.00,2.45,0.00,0.000,6,0.000,0.077,2756,1922,3603,0,0,0,0,0,0
$GC,3461,-0.82,-170.3,424.6,-12.9,355,3465,0.00,2.58,0.00,0.000,4,0.000,0.116,2745,3346,3601,0,0,0,0,0,0
$GC,3612,-0.82,-170.3,443.3,-12.0,362,3617,0.08,2.60,0.00,0.000,6,0.160,0.112,2759,1919,3600,0,0,0,0,0,0
$GC,3939,-0.82,-170.3,482.7,-12.2,378,3943,0.00,2.45,0.00,0.000,4,0.000,0.093,2760,483,3599,0,0,0,0,0,0
$GC,3988,-0.82,-170.3,489.2,-12.3,380,3993,0.05,2.42,0.00,0.000,6,0.233,0.070,2760,1922,3599,0,0,0,0,0,0
$GC,4312,-0.82,-170.3,531.8,-13.5,396,4316,0.00,2.62,0.00,0.000,4,0.000,0.125,2751,3336,3597,0,0,0,0,0,0
$GC,4429,-0.84,-170.3,547.3,-12.6,401,4434,0.00,2.70,0.00,0.000,6,0.000,0.125,2751,1908,3596,0,0,0,0,0,0
$GC,4747,-0.84,-170.3,585.9,-12.3,416,4751,0.00,2.38,0.00,0.000,4,0.000,0.085,2751,488,3595,0,0,0,0,0,0
$GC,4835,-0.84,-170.3,597.0,-12.3,420,4840,0.08,2.35,0.00,0.000,6,0.198,0.057,2756,1922,3595,0,0,0,0,0,0
$STATE,5016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5016,begin apogee
$GC,5023,-0.25,0.0,617.9,11.5,429,5164,0.70,0.00,137.50,0.978,6,0.182,0.000,2948,1715,2902,0,0,0,0,0,0
$STATE,5165,end apogee,CONTROL_FINISHED_OK
$STATE,5165,begin climb
$GC,5167,1.05,170.3,625.0,0.0,436,5322,1.30,2.38,146.30,0.950,4,0.104,0.054,3374,375,2207,0,0,0,0,0,0
$GC,5574,0.90,170.3,600.3,10.5,454,5579,0.17,2.22,0.00,0.000,6,0.164,0.036,3329,1767,2204,0,0,0,0,0,0
$GC,5892,0.89,227.3,574.1,7.8,469,5946,0.00,2.30,48.70,0.937,4,0.000,0.046,3338,364,1974,0,0,0,0,0,0
$GC,6187,0.82,227.3,544.8,11.0,482,6192,0.15,2.22,0.00,0.000,6,0.161,0.036,3299,1764,1970,0,0,0,0,0,0
$GC,6504,0.86,261.3,517.2,8.7,497,6535,0.00,0.00,29.50,0.907,6,0.000,0.000,3299,1764,1835,0,0,0,0,0,0
$GC,6833,0.88,275.4,487.1,9.5,513,6855,0.00,2.30,13.10,0.822,4,0.000,0.051,3308,371,1779,0,0,0,0,0,0
$GC,6912,0.88,275.4,479.1,10.4,516,6916,0.00,2.22,0.00,0.000,6,0.000,0.038,3308,1756,1777,0,0,0,0,0,0
$GC,7230,0.88,275.4,445.3,11.5,531,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1756,1776,0,0,0,0,0,0
$GC,7537,0.88,275.4,412.7,10.3,546,7541,0.00,2.40,0.00,0.000,4,0.000,0.091,3308,3169,1775,0,0,0,0,0,0
$GC,7580,0.88,275.4,407.9,11.0,548,7585,0.00,2.45,0.00,0.000,6,0.000,0.103,3317,1795,1774,0,0,0,0,0,0
$GC,7907,0.86,275.4,371.3,11.6,575,7911,0.00,2.40,0.00,0.000,4,0.000,0.064,3328,323,1774,0,0,0,0,0,0
$GC,8050,0.82,275.4,355.6,10.5,587,8055,0.12,2.28,0.00,0.000,6,0.158,0.038,3296,1756,1773,0,0,0,0,0,0
$GC,8378,0.84,298.1,326.1,9.1,617,8405,0.00,2.42,20.45,0.806,4,0.000,0.076,3296,3185,1686,0,0,0,0,0,0
$GC,8508,0.88,325.3,313.7,8.9,628,8540,0.00,2.58,24.70,0.783,6,0.000,0.099,3304,1756,1575,0,0,0,0,0,0
$GC,8859,0.89,334.8,281.2,9.6,661,8874,0.00,2.38,8.48,0.663,4,0.000,0.061,3316,327,1537,0,0,0,0,0,0
$GC,8996,0.89,334.8,266.6,10.7,673,9001,0.00,2.30,0.00,0.000,6,0.000,0.037,3315,1767,1536,0,0,0,0,0,0
$GC,9322,0.89,334.8,230.8,11.8,703,9326,0.00,2.40,0.00,0.000,4,0.000,0.093,3316,3171,1536,0,0,0,0,0,0
$GC,9352,0.89,334.8,227.5,12.3,705,9357,0.00,2.55,0.00,0.000,6,0.000,0.105,3324,1756,1535,0,0,0,0,0,0
$GC,9678,0.89,334.8,187.0,12.1,735,9682,0.00,2.30,0.00,0.000,4,0.000,0.060,3336,321,1535,0,0,0,0,0,0
$GC,9824,0.86,334.8,168.8,12.4,747,9832,0.10,2.28,0.00,0.000,6,0.157,0.038,3310,1759,1535,0,0,0,0,0,0
$GC,10149,0.86,334.8,133.6,10.6,778,10153,0.00,2.33,0.00,0.000,4,0.000,0.073,3309,3177,1534,0,0,0,0,0,0
$GC,10177,0.86,334.8,130.7,10.6,780,10182,0.00,2.53,0.00,0.000,6,0.000,0.097,3318,1747,1534,0,0,0,0,0,0
$GC,10504,0.90,367.8,97.5,8.7,812,10541,0.00,2.28,29.30,0.643,4,0.000,0.058,3330,332,1402,0,0,0,0,0,0
$GC,10800,0.95,383.1,69.4,9.4,862,10822,0.00,2.30,13.15,0.575,6,0.000,0.044,3330,1759,1340,0,0,0,0,0,0
$GC,11173,1.03,396.5,35.0,9.5,925,11190,0.10,2.38,11.80,0.562,4,0.098,0.055,3399,328,1285,0,0,0,0,0,0
$GC,11205,1.03,396.5,31.5,10.3,929,11212,0.12,2.30,0.00,0.000,6,0.146,0.044,3365,1759,1284,0,0,0,0,0,0
$GC,11363,1.06,396.5,16.3,10.3,954,11372,0.00,2.38,0.00,0.000,4,0.000,0.074,3365,3186,1283,0,0,0,0,0,0
$GC,11424,1.06,396.5,9.6,11.1,963,11433,0.00,2.53,0.00,0.000,6,0.000,0.096,3374,1764,1283,0,0,0,0,0,0
$STATE,11483,end climb,SURFACE_DEPTH_REACHED
$STATE,11483,begin surface coast
$FINISH,1.3,1.010764
$STATE,11515,end surface coast,CONTROL_FINISHED_OK
$STATE,11515,begin surface
$SM_CCo,11533,99.00,0.044,0,0,406,611.52
$SM_GC,1.81,0.00,0.00,99.00,0.000,0.000,0.044,71,1979,406,-9.26,1.70,611.52
$IRIDIUM_FIX,-3419.93,2528.36,160308,070707
$TT8_MAMPS,0.026964
$HUMID,56.61
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,21.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,610.8,21.1
$24V_AH,22.9,51.296
$10V_AH,10.0,40.551
$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,24.200,127.075,482.975,99.000,0.000,50.531,125.410,284.391,15.500,0.000,30.933,2546.336,5817.838,681.630,3006.272,268.422,0.000,1732.176,0.000,2385.267,0.000,96.154,0.000
$DEVICE_MAMPS,248.625,125.460,978.435,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.288,1616.221,857.143,325.714,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,67174,977
$CAP_FILE_SIZE,140054,0
$CFSIZE,2097086464,2037907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.405,244.8,1
$GPS,200515,215635,-3435.346,2523.555,36,1.2,36,-27.8