version: 66.07.10.p01
glider: 573
mission: 9
dive: 519
start: 5 21 115 4 13 25
data:
$ID,573
$MISSION,9
$DIVE,519
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$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,-15077.715
$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,10
$R_STBD_OVSHOOT,14
$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,518
$GPS1,210515,040458,-3436.434,2519.737,37,1.1,42,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-59.2
$GPS2,210515,041305,-3436.553,2519.422,40,1.2,40,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.754,2519.422
$TGT_RADIUS,1852.000
$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,27.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,103,0.00,0.00,-72.88,0.000,2,0.000,0.000,73,1918,2229,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.1,-4.1,12,163,11.07,2.45,-40.17,0.000,4,0.240,0.097,2691,491,3599,0,0,0,0,0,0
$GC,310,-0.89,-170.3,40.3,-21.4,45,318,0.20,2.62,0.00,0.000,6,0.190,0.106,2736,1917,3602,0,0,0,0,0,0
$GC,667,-0.81,-170.3,102.2,-14.9,105,672,0.12,2.53,0.00,0.000,4,0.186,0.104,2757,3359,3605,0,0,0,0,0,0
$GC,856,-0.83,-170.3,124.4,-12.1,121,860,0.00,2.58,0.00,0.000,6,0.000,0.104,2757,1917,3605,0,0,0,0,0,0
$GC,1181,-0.83,-170.3,167.2,-13.5,151,1185,0.00,2.45,0.00,0.000,4,0.000,0.093,2757,476,3607,0,0,0,0,0,0
$GC,1221,-0.83,-170.3,172.8,-14.7,154,1226,0.08,2.45,0.00,0.000,6,0.197,0.072,2761,1929,3607,0,0,0,0,0,0
$GC,1546,-0.83,-170.3,213.8,-12.8,184,1550,0.00,2.53,0.00,0.000,4,0.000,0.113,2752,3344,3607,0,0,0,0,0,0
$GC,1755,-0.83,-170.3,240.3,-12.4,202,1760,0.00,2.55,0.00,0.000,6,0.000,0.107,2751,1914,3606,0,0,0,0,0,0
$GC,2081,-0.83,-170.3,282.5,-13.6,232,2085,0.00,2.38,0.00,0.000,4,0.000,0.086,2752,485,3606,0,0,0,0,0,0
$GC,2130,-0.83,-170.3,289.9,-15.1,236,2140,0.05,2.42,0.00,0.000,6,0.163,0.069,2757,1914,3605,0,0,0,0,0,0
$GC,2456,-0.83,-170.3,334.6,-14.4,267,2460,0.00,2.60,0.00,0.000,4,0.000,0.117,2746,3352,3604,0,0,0,0,0,0
$GC,2658,-0.83,-170.3,360.7,-13.0,284,2666,0.03,2.60,0.00,0.000,6,0.109,0.108,2757,1925,3604,0,0,0,0,0,0
$GC,2993,-0.83,-170.3,403.4,-12.0,315,2998,0.00,2.45,0.00,0.000,4,0.000,0.088,2757,466,3603,0,0,0,0,0,0
$GC,3003,-0.83,-170.3,404.9,-12.2,315,3010,0.08,2.45,0.00,0.000,6,0.216,0.070,2761,1922,3603,0,0,0,0,0,0
$GC,3324,-0.83,-170.3,441.6,-12.0,331,3328,0.00,2.60,0.00,0.000,4,0.000,0.122,2752,3342,3602,0,0,0,0,0,0
$GC,3469,-0.83,-170.3,459.1,-11.6,337,3475,0.00,2.65,0.00,0.000,6,0.000,0.117,2752,1905,3601,0,0,0,0,0,0
$GC,3785,-0.83,-170.3,497.4,-12.0,353,3789,0.00,2.40,0.00,0.000,4,0.000,0.086,2752,485,3600,0,0,0,0,0,0
$GC,3851,-0.83,-170.3,506.2,-12.6,356,3856,0.05,2.40,0.00,0.000,6,0.171,0.064,2757,1914,3600,0,0,0,0,0,0
$STATE,3991,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3991,begin apogee
$GC,3997,-0.25,0.0,522.4,12.1,363,4135,0.70,0.00,134.70,0.903,6,0.181,0.000,2950,1714,2902,0,0,0,0,0,0
$STATE,4136,end apogee,CONTROL_FINISHED_OK
$STATE,4136,begin climb
$GC,4138,1.05,170.3,529.2,0.0,370,4287,1.27,0.00,142.88,0.883,6,0.106,0.000,3361,1714,2207,0,0,0,0,0,0
$GC,4590,0.96,194.5,503.0,9.1,392,4619,0.08,2.58,21.20,0.840,4,0.187,0.091,3346,3169,2108,0,0,0,0,0,0
$GC,4731,0.89,217.6,489.8,9.1,398,4758,0.12,2.42,20.92,0.838,6,0.185,0.093,3324,1797,2014,0,0,0,0,0,0
$GC,5068,0.85,226.0,458.3,9.7,414,5083,0.08,2.40,8.23,0.747,4,0.207,0.058,3318,333,1980,0,0,0,0,0,0
$GC,5187,0.81,236.3,446.9,9.6,419,5204,0.10,2.25,10.40,0.778,6,0.168,0.037,3294,1762,1938,0,0,0,0,0,0
$GC,5515,0.86,276.4,418.8,8.4,435,5556,0.00,2.40,35.30,0.851,4,0.000,0.080,3293,3174,1773,0,0,0,0,0,0
$GC,5589,0.87,288.1,412.2,9.6,438,5605,0.00,2.50,11.18,0.764,6,0.000,0.090,3301,1759,1726,0,0,0,0,0,0
$GC,5922,0.89,300.3,381.0,9.5,463,5938,0.00,2.33,11.15,0.767,4,0.000,0.062,3313,330,1678,0,0,0,0,0,0
$GC,6097,0.89,300.3,362.8,10.3,478,6101,0.00,2.28,0.00,0.000,6,0.000,0.037,3313,1764,1677,0,0,0,0,0,0
$GC,6430,0.91,322.6,329.8,9.1,509,6456,0.00,2.33,20.70,0.782,4,0.000,0.051,3322,330,1585,0,0,0,0,0,0
$GC,6494,0.91,322.6,322.6,10.7,514,6500,0.00,2.30,0.00,0.000,6,0.000,0.037,3322,1751,1583,0,0,0,0,0,0
$GC,6822,0.91,322.6,286.6,10.9,545,6827,0.00,2.47,0.00,0.000,4,0.000,0.104,3322,3170,1581,0,0,0,0,0,0
$GC,6851,0.91,322.6,282.9,11.5,547,6855,0.00,2.50,0.00,0.000,6,0.000,0.099,3331,1757,1580,0,0,0,0,0,0
$GC,7179,0.89,322.6,241.9,12.9,577,7183,0.00,2.33,0.00,0.000,4,0.000,0.061,3342,320,1580,0,0,0,0,0,0
$GC,7346,0.85,322.6,219.4,13.3,591,7352,0.12,2.28,0.00,0.000,6,0.152,0.037,3308,1766,1579,0,0,0,0,0,0
$GC,7672,0.85,322.6,182.2,11.3,622,7676,0.00,2.30,0.00,0.000,4,0.000,0.075,3308,3182,1579,0,0,0,0,0,0
$GC,7700,0.85,322.6,179.0,11.5,624,7704,0.00,2.50,0.00,0.000,6,0.000,0.093,3317,1750,1579,0,0,0,0,0,0
$GC,8025,0.85,322.6,142.0,10.9,654,8029,0.00,2.30,0.00,0.000,4,0.000,0.060,3328,323,1579,0,0,0,0,0,0
$GC,8268,0.85,322.6,116.0,10.5,675,8273,0.08,2.28,0.00,0.000,6,0.168,0.041,3310,1766,1578,0,0,0,0,0,0
$GC,8607,0.90,326.7,86.1,9.8,718,8613,0.00,2.33,0.00,0.000,4,0.000,0.076,3310,3185,1578,0,0,0,0,0,0
$GC,8758,0.96,344.2,71.2,9.3,744,8782,0.03,2.53,18.48,0.619,6,0.093,0.092,3371,1752,1498,0,0,0,0,0,0
$GC,9130,0.96,344.2,26.6,13.1,808,9138,0.10,2.35,0.00,0.000,4,0.157,0.062,3355,323,1495,0,0,0,0,0,0
$GC,9230,0.98,344.2,15.4,11.2,824,9237,0.00,2.33,0.00,0.000,6,0.000,0.047,3355,1747,1494,0,0,0,0,0,0
$GC,9289,1.06,371.3,9.5,8.9,833,9308,0.00,0.00,13.48,0.481,6,0.000,0.000,3355,1747,1387,0,0,0,0,0,0
$GC,9360,1.18,453.4,3.5,6.8,844,9368,0.17,0.00,5.78,0.047,2,0.069,0.000,3437,1747,1337,0,0,0,0,0,0
$STATE,9369,end climb,SURFACE_DEPTH_REACHED
$STATE,9369,begin surface coast
$FINISH,1.4,1.020818
$STATE,9413,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9431,104.12,0.044,0,0,407,611.52
$SM_GC,1.93,0.00,0.00,104.12,0.000,0.000,0.044,68,1936,407,-9.27,0.48,611.52
$IRIDIUM_FIX,-3422.54,2522.51,160308,141429
$TT8_MAMPS,0.026964
$HUMID,56.69
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,21.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.3,35.3
$24V_AH,23.2,51.701
$10V_AH,10.1,40.861
$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,23.500,97.950,454.375,104.125,0.000,25.347,18.475,269.701,11.750,0.000,42.835,2088.131,4536.794,585.948,2571.904,237.752,0.000,1519.228,0.000,2108.654,0.000,74.015,0.000
$DEVICE_MAMPS,240.210,129.285,902.700,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.849,1430.231,830.616,310.366,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,60344,852
$CAP_FILE_SIZE,118178,0
$CFSIZE,2097086464,2037579776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210515,065335,-3436.827,2517.210,37,1.0,37,-27.8