version: 66.07.10.p01
glider: 573
mission: 9
dive: 518
start: 5 21 115 1 16 16
data:
$ID,573
$MISSION,9
$DIVE,518
$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,-15075.072
$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,7
$R_STBD_OVSHOOT,13
$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,517
$GPS1,210515,010705,-3435.682,2521.573,40,1.0,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-63.5
$GPS2,210515,011554,-3435.816,2521.250,40,1.6,40,-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,75.8,22137,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,104,0.00,0.00,-75.03,0.000,2,0.000,0.000,72,1944,2291,0,0,0,0,0,0
$GC,107,-1.05,-170.3,3.1,-2.9,9,168,10.98,2.55,-36.83,0.000,4,0.236,0.101,2685,497,3600,0,0,0,0,0,0
$GC,262,-0.89,-170.3,29.2,-19.0,31,271,0.28,2.58,0.00,0.000,6,0.202,0.100,2743,1918,3601,0,0,0,0,0,0
$GC,413,-0.80,-170.3,54.8,-16.2,56,420,0.12,2.50,0.00,0.000,4,0.197,0.103,2762,3348,3602,0,0,0,0,0,0
$GC,525,-0.80,-170.3,70.7,-13.8,75,534,0.00,2.65,0.00,0.000,6,0.000,0.113,2763,1911,3603,0,0,0,0,0,0
$GC,876,-0.80,-170.3,116.1,-11.1,125,880,0.00,2.45,0.00,0.000,4,0.000,0.095,2762,482,3605,0,0,0,0,0,0
$GC,905,-0.80,-170.3,119.7,-12.1,127,910,0.05,2.45,0.00,0.000,6,0.187,0.080,2766,1926,3605,0,0,0,0,0,0
$GC,1236,-0.80,-170.3,159.0,-12.2,158,1240,0.00,2.50,0.00,0.000,4,0.000,0.111,2757,3350,3607,0,0,0,0,0,0
$GC,1425,-0.80,-170.3,181.7,-12.1,174,1433,0.08,2.58,0.00,0.000,6,0.150,0.108,2771,1919,3606,0,0,0,0,0,0
$GC,1753,-0.80,-170.3,219.5,-11.5,205,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1919,3607,0,0,0,0,0,0
$GC,2069,-0.80,-170.3,256.1,-11.8,235,2073,0.00,2.42,0.00,0.000,4,0.000,0.093,2772,478,3605,0,0,0,0,0,0
$GC,2146,-0.80,-170.3,266.1,-13.3,241,2153,0.00,2.53,0.00,0.000,6,0.000,0.089,2763,1921,3605,0,0,0,0,0,0
$GC,2472,-0.80,-170.3,309.7,-13.6,272,2479,0.00,2.47,0.00,0.000,4,0.000,0.108,2752,3342,3604,0,0,0,0,0,0
$GC,2727,-0.82,-170.3,342.5,-12.5,294,2735,0.05,2.65,0.00,0.000,6,0.161,0.122,2762,1911,3603,0,0,0,0,0,0
$GC,3056,-0.82,-170.3,382.9,-12.5,325,3061,0.00,2.40,0.00,0.000,4,0.000,0.086,2763,485,3603,0,0,0,0,0,0
$GC,3109,-0.82,-170.3,389.6,-12.6,329,3114,0.00,2.42,0.00,0.000,6,0.000,0.074,2754,1921,3603,0,0,0,0,0,0
$GC,3443,-0.82,-170.3,431.1,-12.8,349,3448,0.00,2.53,0.00,0.000,4,0.000,0.112,2743,3340,3601,0,0,0,0,0,0
$GC,3610,-0.82,-170.3,452.9,-12.7,356,3618,0.10,2.60,0.00,0.000,6,0.155,0.112,2765,1916,3600,0,0,0,0,0,0
$GC,3931,-0.82,-170.3,492.3,-12.3,372,3935,0.00,2.45,0.00,0.000,4,0.000,0.092,2765,472,3599,0,0,0,0,0,0
$GC,4002,-0.82,-170.3,502.4,-12.5,375,4006,0.00,2.45,0.00,0.000,6,0.000,0.073,2757,1920,3599,0,0,0,0,0,0
$STATE,4276,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4276,begin apogee
$GC,4282,-0.25,0.0,537.9,12.7,388,4422,0.65,0.00,137.30,0.920,6,0.160,0.000,2945,1712,2902,0,0,0,0,0,0
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4425,1.05,170.3,545.4,0.0,395,4577,1.30,2.38,143.57,0.891,4,0.109,0.056,3369,372,2207,0,0,0,0,0,0
$GC,4830,0.93,193.6,522.5,9.1,413,4856,0.12,2.22,20.65,0.848,6,0.170,0.035,3338,1761,2112,0,0,0,0,0,0
$GC,5173,0.89,220.3,491.8,9.0,430,5203,0.05,2.30,23.70,0.858,4,0.241,0.047,3336,373,2002,0,0,0,0,0,0
$GC,5299,0.82,220.3,479.0,10.4,435,5307,0.15,2.22,0.00,0.000,6,0.156,0.037,3297,1764,2000,0,0,0,0,0,0
$GC,5616,0.85,247.7,451.4,8.9,451,5647,0.00,2.42,23.80,0.853,4,0.000,0.080,3297,3169,1892,0,0,0,0,0,0
$GC,5664,0.89,282.1,446.7,8.7,453,5703,0.00,2.40,30.65,0.848,6,0.000,0.091,3305,1793,1752,0,0,0,0,0,0
$GC,6011,0.89,282.1,412.9,10.2,470,6015,0.00,2.40,0.00,0.000,4,0.000,0.066,3317,332,1746,0,0,0,0,0,0
$GC,6252,0.89,282.1,385.3,12.2,486,6256,0.00,2.25,0.00,0.000,6,0.000,0.039,3317,1755,1744,0,0,0,0,0,0
$GC,6585,0.89,282.1,347.4,11.8,517,6589,0.00,2.28,0.00,0.000,4,0.000,0.053,3326,327,1744,0,0,0,0,0,0
$GC,6628,0.86,282.1,341.6,13.0,520,6638,0.03,2.30,0.00,0.000,6,0.148,0.039,3316,1759,1743,0,0,0,0,0,0
$GC,6953,0.86,282.1,304.5,11.0,551,6957,0.00,2.45,0.00,0.000,4,0.000,0.099,3316,3171,1742,0,0,0,0,0,0
$GC,6993,0.86,282.1,300.0,11.7,554,6998,0.03,2.53,0.00,0.000,6,0.272,0.103,3315,1756,1742,0,0,0,0,0,0
$GC,7318,0.86,282.1,262.3,11.5,584,7322,0.00,2.33,0.00,0.000,4,0.000,0.061,3326,321,1741,0,0,0,0,0,0
$GC,7454,0.82,282.1,246.8,11.7,595,7463,0.10,2.28,0.00,0.000,6,0.161,0.037,3301,1768,1741,0,0,0,0,0,0
$GC,7780,0.84,295.3,215.5,9.5,626,7792,0.00,0.00,10.77,0.664,6,0.000,0.000,3301,1768,1697,0,0,0,0,0,0
$GC,8110,0.84,296.3,183.0,10.0,657,8114,0.00,2.33,0.00,0.000,4,0.000,0.076,3301,3177,1697,0,0,0,0,0,0
$GC,8140,0.84,296.3,179.8,10.4,659,8144,0.00,2.45,0.00,0.000,6,0.000,0.088,3310,1751,1696,0,0,0,0,0,0
$GC,8467,0.84,296.3,144.5,10.5,689,8471,0.00,2.30,0.00,0.000,4,0.000,0.060,3321,324,1696,0,0,0,0,0,0
$GC,8578,0.84,296.3,131.8,11.7,698,8586,0.03,2.30,0.00,0.000,6,0.151,0.039,3310,1755,1696,0,0,0,0,0,0
$GC,8906,0.91,336.6,101.7,8.4,729,8949,0.00,0.00,36.00,0.649,6,0.000,0.000,3310,1755,1529,0,0,0,0,0,0
$GC,9294,0.99,357.9,65.9,9.2,794,9323,0.12,2.42,18.70,0.609,4,0.080,0.083,3388,3180,1441,0,0,0,0,0,0
$GC,9332,0.96,357.9,61.4,12.4,799,9341,0.20,2.53,0.00,0.000,6,0.155,0.096,3343,1753,1440,0,0,0,0,0,0
$GC,9690,1.08,428.9,25.2,7.2,860,9734,0.10,2.33,37.08,0.555,4,0.093,0.058,3419,330,1151,0,0,0,0,0,0
$GC,9744,1.05,428.9,20.2,10.2,867,9752,0.15,2.35,0.00,0.000,6,0.146,0.045,3377,1764,1149,0,0,0,0,0,0
$GC,9904,1.05,428.9,3.2,12.7,892,9913,0.00,2.38,0.00,0.000,4,0.000,0.079,3377,3175,1143,0,0,0,0,0,0
$STATE,9919,end climb,SURFACE_DEPTH_REACHED
$STATE,9919,begin surface coast
$FINISH,1.4,1.020650
$STATE,9940,end surface coast,CONTROL_FINISHED_OK
$STATE,9940,begin surface
$SM_CCo,9960,82.60,0.044,0,0,407,611.52
$SM_GC,1.94,0.00,0.00,82.60,0.000,0.000,0.044,73,1917,407,-9.26,-0.06,611.52
$IRIDIUM_FIX,-3422.54,2526.00,160308,111109
$TT8_MAMPS,0.026964
$HUMID,56.61
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,21.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,522.1,30.6
$24V_AH,23.1,51.572
$10V_AH,10.1,40.761
$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,23.625,101.825,482.225,82.600,0.000,24.741,43.870,285.451,12.500,0.000,42.842,2294.970,4684.398,657.358,2692.681,241.114,0.000,1607.540,0.000,2184.547,0.000,77.033,0.000
$DEVICE_MAMPS,271.575,121.635,919.530,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.610,1500.041,847.185,316.973,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,63626,897
$CAP_FILE_SIZE,121115,0
$CFSIZE,2097086464,2037710848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.471,245.6,1
$GPS,210515,040458,-3436.434,2519.737,37,1.1,42,-27.8