version: 66.07.10.p01
glider: 573
mission: 9
dive: 517
start: 5 20 115 22 5 29
data:
$ID,573
$MISSION,9
$DIVE,517
$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,-15072.507
$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,60
$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,516
$GPS1,200515,215635,-3435.346,2523.555,36,1.2,36,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-63.4
$GPS2,200515,220505,-3435.518,2523.212,42,1.3,42,-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,68.0,21630,-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,-170.3,0.0,0.0,0,104,0.00,0.00,-76.60,0.000,2,0.000,0.000,71,1980,2333,0,0,0,0,0,0
$GC,107,-1.05,-170.3,3.3,-3.5,9,160,11.15,2.33,-35.17,0.000,4,0.242,0.097,2673,3309,3600,0,0,0,0,0,0
$GC,373,-0.89,-170.3,51.5,-19.6,51,383,0.22,2.45,0.00,0.000,6,0.172,0.091,2739,1919,3602,0,0,0,0,0,0
$GC,726,-0.83,-170.3,106.3,-13.4,108,728,0.10,0.00,0.00,0.000,6,0.187,0.000,2763,1919,3604,0,0,0,0,0,0
$GC,1043,-0.83,-170.3,146.6,-12.8,138,1048,0.00,2.40,0.00,0.000,4,0.000,0.099,2756,3293,3606,0,0,0,0,0,0
$GC,1065,-0.83,-170.3,149.5,-12.8,139,1073,0.00,2.42,0.00,0.000,6,0.000,0.100,2756,1920,3606,0,0,0,0,0,0
$GC,1392,-0.83,-170.3,190.2,-12.7,170,1396,0.00,2.47,0.00,0.000,4,0.000,0.108,2747,3293,3607,0,0,0,0,0,0
$GC,1446,-0.83,-170.3,197.7,-12.9,174,1455,0.05,2.42,0.00,0.000,6,0.183,0.098,2757,1916,3606,0,0,0,0,0,0
$GC,1774,-0.83,-170.3,237.1,-12.6,205,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1916,3606,0,0,0,0,0,0
$GC,2091,-0.83,-170.3,275.9,-12.6,235,2095,0.00,2.42,0.00,0.000,4,0.000,0.089,2757,481,3605,0,0,0,0,0,0
$GC,2142,-0.83,-170.3,282.8,-13.2,239,2146,0.00,2.33,0.00,0.000,6,0.000,0.067,2749,1874,3605,0,0,0,0,0,0
$GC,2473,-0.81,-170.3,325.7,-13.4,270,2478,0.10,2.65,0.00,0.000,4,0.213,0.118,2760,3339,3605,0,0,0,0,0,0
$GC,2663,-0.84,-170.3,348.7,-11.8,286,2670,0.00,2.58,0.00,0.000,6,0.000,0.109,2760,1910,3604,0,0,0,0,0,0
$GC,2990,-0.84,-170.3,388.8,-12.2,317,2994,0.00,2.40,0.00,0.000,4,0.000,0.089,2760,481,3603,0,0,0,0,0,0
$GC,3045,-0.84,-170.3,396.6,-12.9,321,3054,0.00,2.42,0.00,0.000,6,0.000,0.071,2750,1920,3603,0,0,0,0,0,0
$GC,3376,-0.84,-170.3,437.2,-11.4,339,3380,0.00,2.55,0.00,0.000,4,0.000,0.112,2739,3338,3602,0,0,0,0,0,0
$GC,3528,-0.84,-170.3,452.9,-10.5,346,3533,0.10,2.60,0.00,0.000,6,0.154,0.112,2762,1920,3600,0,0,0,0,0,0
$GC,3856,-0.84,-170.3,487.4,-11.3,362,3861,0.00,2.45,0.00,0.000,4,0.000,0.096,2762,481,3599,0,0,0,0,0,0
$GC,3942,-0.84,-170.3,497.9,-12.4,366,3946,0.00,2.45,0.00,0.000,6,0.000,0.073,2753,1923,3599,0,0,0,0,0,0
$GC,4270,-0.84,-170.3,537.2,-11.5,382,4274,0.00,2.60,0.00,0.000,4,0.000,0.119,2742,3343,3598,0,0,0,0,0,0
$GC,4369,-0.84,-170.3,549.7,-12.4,386,4378,0.08,2.67,0.00,0.000,6,0.152,0.122,2757,1918,3597,0,0,0,0,0,0
$STATE,4560,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4560,begin apogee
$GC,4566,-0.25,0.0,572.1,11.9,396,4705,0.68,0.00,135.40,0.950,6,0.170,0.000,2949,1748,2902,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4708,1.05,170.3,579.3,0.0,403,4863,1.30,2.88,144.55,0.918,4,0.104,0.109,3365,3179,2206,0,0,0,0,0,0
$GC,5114,0.91,174.7,556.8,9.8,421,5128,0.17,2.62,4.32,0.604,6,0.171,0.112,3329,1744,2189,0,0,0,0,0,0
$GC,5439,0.87,209.3,528.9,8.6,437,5476,0.05,2.53,31.02,0.897,4,0.242,0.086,3319,3180,2047,0,0,0,0,0,0
$GC,5534,0.81,209.3,519.7,10.2,440,5539,0.12,2.55,0.00,0.000,6,0.187,0.101,3298,1754,2046,0,0,0,0,0,0
$GC,5851,0.82,240.5,492.2,8.8,455,5885,0.00,2.42,27.35,0.883,4,0.000,0.065,3309,327,1921,0,0,0,0,0,0
$GC,6010,0.79,240.5,475.6,10.7,462,6015,0.08,2.33,0.00,0.000,6,0.180,0.040,3293,1767,1919,0,0,0,0,0,0
$GC,6332,0.83,268.2,447.2,8.9,478,6359,0.00,0.00,24.65,0.864,6,0.000,0.000,3293,1766,1808,0,0,0,0,0,0
$GC,6661,0.87,304.5,418.0,8.6,494,6699,0.05,2.38,31.88,0.855,4,0.160,0.053,3338,323,1659,0,0,0,0,0,0
$GC,6724,0.84,304.5,411.8,10.4,496,6729,0.12,2.33,0.00,0.000,6,0.154,0.038,3305,1761,1658,0,0,0,0,0,0
$GC,7049,0.84,304.7,379.8,10.0,521,7053,0.00,2.33,0.00,0.000,4,0.000,0.080,3305,3169,1655,0,0,0,0,0,0
$GC,7104,0.84,304.7,373.6,10.6,525,7112,0.00,2.50,0.00,0.000,6,0.000,0.099,3314,1756,1654,0,0,0,0,0,0
$GC,7429,0.84,304.7,337.0,11.3,556,7433,0.00,2.33,0.00,0.000,4,0.000,0.063,3325,329,1653,0,0,0,0,0,0
$GC,7650,0.82,304.7,311.7,10.5,575,7654,0.10,2.28,0.00,0.000,6,0.162,0.037,3300,1767,1652,0,0,0,0,0,0
$GC,7977,0.82,304.7,278.9,10.0,605,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1767,1652,0,0,0,0,0,0
$GC,8295,0.84,304.7,247.1,10.2,635,8299,0.00,2.30,0.00,0.000,4,0.000,0.051,3309,326,1651,0,0,0,0,0,0
$GC,8316,0.84,304.7,244.5,10.6,636,8325,0.00,2.30,0.00,0.000,6,0.000,0.040,3309,1756,1651,0,0,0,0,0,0
$GC,8642,0.84,307.1,212.5,9.9,667,8646,0.00,2.42,0.00,0.000,4,0.000,0.088,3309,3185,1651,0,0,0,0,0,0
$GC,8696,0.84,307.1,206.6,10.7,671,8703,0.00,2.53,0.00,0.000,6,0.000,0.097,3318,1755,1650,0,0,0,0,0,0
$GC,9022,0.84,307.1,171.0,11.1,702,9026,0.00,2.33,0.00,0.000,4,0.000,0.063,3330,323,1651,0,0,0,0,0,0
$GC,9109,0.82,307.1,161.0,11.7,709,9114,0.12,2.28,0.00,0.000,6,0.151,0.039,3296,1761,1650,0,0,0,0,0,0
$GC,9435,0.85,307.7,128.2,10.0,739,9439,0.00,2.33,0.00,0.000,4,0.000,0.076,3296,3180,1650,0,0,0,0,0,0
$GC,9468,0.88,315.4,124.7,9.7,741,9486,0.00,2.50,8.68,0.571,6,0.000,0.096,3304,1758,1616,0,0,0,0,0,0
$GC,9810,0.93,320.7,91.7,9.8,780,9827,0.08,2.35,6.55,0.553,4,0.116,0.062,3381,328,1594,0,0,0,0,0,0
$GC,10013,0.87,320.7,66.2,11.7,814,10021,0.22,2.30,0.00,0.000,6,0.145,0.045,3317,1755,1594,0,0,0,0,0,0
$GC,10371,0.95,360.2,35.3,8.4,875,10409,0.08,2.45,30.88,0.592,4,0.116,0.082,3379,3186,1432,0,0,0,0,0,0
$GC,10568,0.92,360.2,12.1,10.7,906,10578,0.17,2.60,0.00,0.000,6,0.137,0.106,3334,1762,1428,0,0,0,0,0,0
$GC,10631,1.05,432.3,7.5,7.2,915,10674,0.10,2.35,34.97,0.483,4,0.093,0.060,3409,323,1136,0,0,0,0,0,0
$STATE,10681,end climb,SURFACE_DEPTH_REACHED
$STATE,10681,begin surface coast
$FINISH,1.2,1.010869
$STATE,10715,end surface coast,CONTROL_FINISHED_OK
$STATE,10715,begin surface
$SM_CCo,10736,82.22,0.044,0,0,407,611.52
$SM_GC,1.84,0.00,0.00,82.22,0.000,0.000,0.044,73,1942,407,-9.26,0.68,611.52
$IRIDIUM_FIX,-3422.54,2522.51,160308,080859
$TT8_MAMPS,0.026964
$HUMID,56.41
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,21.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,562.2,23.1
$24V_AH,23.0,51.434
$10V_AH,10.1,40.657
$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,24.425,108.275,480.250,82.225,0.000,25.578,21.707,281.052,13.500,0.000,45.213,2383.989,5340.204,649.142,2700.118,254.344,0.000,1618.094,0.000,2210.162,0.000,83.106,0.000
$DEVICE_MAMPS,241.740,142.290,950.130,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.141,1546.108,840.580,304.144,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330800
$DATA_FILE_SIZE,63938,926
$CAP_FILE_SIZE,127508,0
$CFSIZE,2097086464,2037841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.427,244.2,1
$GPS,210515,010705,-3435.682,2521.573,40,1.0,40,-27.8