version: 66.07.10.p01
glider: 573
mission: 9
dive: 522
start: 5 21 115 12 19 25
data:
$ID,573
$MISSION,9
$DIVE,522
$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,-15085.645
$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,9
$R_STBD_OVSHOOT,12
$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,521
$GPS1,210515,120829,-3436.695,2512.667,38,1.1,38,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-56.5
$GPS2,210515,121905,-3436.778,2512.390,41,1.1,41,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.979,2512.390
$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,-72.93,0.000,2,0.000,0.000,66,1937,2256,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.1,-4.4,12,169,11.30,2.53,-40.70,0.000,4,0.246,0.099,2689,498,3599,0,0,0,0,0,0
$GC,311,-0.90,-170.3,39.5,-19.8,45,317,0.25,2.55,0.00,0.000,6,0.198,0.098,2742,1920,3602,0,0,0,0,0,0
$GC,458,-0.81,-170.3,64.4,-16.0,70,464,0.10,2.47,0.00,0.000,4,0.186,0.102,2756,3346,3603,0,0,0,0,0,0
$GC,570,-0.81,-170.3,80.1,-12.9,89,576,0.05,2.53,0.00,0.000,6,0.177,0.098,2766,1916,3603,0,0,0,0,0,0
$GC,910,-0.81,-170.3,124.7,-13.9,133,914,0.00,2.53,0.00,0.000,4,0.000,0.103,2757,3342,3605,0,0,0,0,0,0
$GC,938,-0.81,-170.3,128.7,-13.4,135,943,0.05,2.55,0.00,0.000,6,0.174,0.110,2768,1919,3605,0,0,0,0,0,0
$GC,1265,-0.81,-170.3,166.6,-11.7,165,1270,0.00,2.40,0.00,0.000,4,0.000,0.086,2768,475,3606,0,0,0,0,0,0
$GC,1318,-0.81,-170.3,173.1,-12.5,169,1323,0.00,2.53,0.00,0.000,6,0.000,0.090,2759,1917,3606,0,0,0,0,0,0
$GC,1643,-0.81,-170.3,214.1,-12.8,199,1648,0.00,2.50,0.00,0.000,4,0.000,0.104,2748,3357,3605,0,0,0,0,0,0
$GC,1819,-0.81,-170.3,234.9,-12.2,214,1825,0.10,2.50,0.00,0.000,6,0.154,0.096,2771,1917,3605,0,0,0,0,0,0
$GC,2144,-0.81,-170.3,272.3,-11.8,244,2149,0.00,2.40,0.00,0.000,4,0.000,0.085,2772,473,3604,0,0,0,0,0,0
$GC,2177,-0.81,-170.3,276.6,-12.7,246,2183,0.00,2.50,0.00,0.000,6,0.000,0.082,2763,1925,3604,0,0,0,0,0,0
$GC,2505,-0.81,-170.3,319.2,-13.7,277,2512,0.00,2.47,0.00,0.000,4,0.000,0.105,2752,3349,3603,0,0,0,0,0,0
$GC,2658,-0.83,-170.3,338.4,-12.4,290,2662,0.00,2.60,0.00,0.000,6,0.000,0.116,2752,1919,3602,0,0,0,0,0,0
$GC,2983,-0.83,-170.3,381.6,-11.5,320,2987,0.00,2.40,0.00,0.000,4,0.000,0.082,2752,478,3601,0,0,0,0,0,0
$GC,3105,-0.83,-170.3,396.9,-12.2,330,3112,0.10,2.40,0.00,0.000,6,0.188,0.067,2764,1925,3601,0,0,0,0,0,0
$STATE,3297,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3297,begin apogee
$GC,3302,-0.25,0.0,420.6,12.6,341,3440,0.62,0.00,134.25,0.824,6,0.163,0.000,2945,1711,2901,0,0,0,0,0,0
$STATE,3441,end apogee,CONTROL_FINISHED_OK
$STATE,3441,begin climb
$GC,3443,1.05,170.3,427.7,0.0,348,3591,1.27,2.72,138.93,0.803,4,0.105,0.103,3360,3166,2207,0,0,0,0,0,0
$GC,3844,0.93,178.1,405.0,9.7,366,3858,0.12,2.40,7.28,0.661,6,0.184,0.093,3339,1790,2175,0,0,0,0,0,0
$GC,4178,0.94,267.3,378.6,6.5,395,4261,0.00,2.53,74.53,0.802,4,0.000,0.099,3339,3167,1810,0,0,0,0,0,0
$GC,4288,0.89,267.3,369.2,10.7,405,4294,0.10,2.50,0.00,0.000,6,0.180,0.093,3324,1756,1809,0,0,0,0,0,0
$GC,4614,0.85,267.3,333.2,12.1,435,4619,0.08,2.33,0.00,0.000,4,0.212,0.062,3319,326,1804,0,0,0,0,0,0
$GC,4790,0.81,267.3,312.4,12.2,450,4794,0.08,2.25,0.00,0.000,6,0.174,0.037,3301,1760,1803,0,0,0,0,0,0
$GC,5115,0.81,267.3,279.0,10.1,480,5119,0.00,2.35,0.00,0.000,4,0.000,0.083,3301,3180,1801,0,0,0,0,0,0
$GC,5135,0.81,267.3,276.7,10.4,481,5141,0.00,2.45,0.00,0.000,6,0.000,0.090,3310,1756,1801,0,0,0,0,0,0
$GC,5462,0.79,267.3,242.0,11.1,512,5466,0.08,2.30,0.00,0.000,4,0.208,0.063,3304,329,1800,0,0,0,0,0,0
$GC,5593,0.79,267.3,227.5,11.1,523,5598,0.05,2.25,0.00,0.000,6,0.197,0.040,3294,1762,1800,0,0,0,0,0,0
$GC,5921,0.82,288.6,197.6,9.2,553,5941,0.00,0.00,17.42,0.695,6,0.000,0.000,3294,1762,1724,0,0,0,0,0,0
$GC,6265,0.84,309.9,165.1,9.2,585,6285,0.00,0.00,18.80,0.672,6,0.000,0.000,3294,1762,1638,0,0,0,0,0,0
$GC,6604,0.89,324.5,132.5,9.4,617,6621,0.08,0.00,13.65,0.635,6,0.120,0.000,3342,1762,1578,0,0,0,0,0,0
$GC,6946,0.86,324.5,91.1,12.7,655,6951,0.12,0.00,0.00,0.000,6,0.148,0.000,3308,1763,1576,0,0,0,0,0,0
$GC,7297,0.95,361.9,57.5,8.5,716,7335,0.10,2.40,31.60,0.612,4,0.093,0.087,3376,3180,1426,0,0,0,0,0,0
$GC,7467,0.91,361.9,36.9,13.5,746,7476,0.17,2.58,0.00,0.000,6,0.145,0.102,3332,1754,1423,0,0,0,0,0,0
$GC,7621,1.06,431.5,22.3,7.3,771,7663,0.12,2.42,35.22,0.542,4,0.080,0.077,3392,3189,1141,0,0,0,0,0,0
$GC,7684,1.06,431.5,15.5,12.6,781,7691,0.08,2.55,0.00,0.000,6,0.151,0.094,3377,1757,1139,0,0,0,0,0,0
$GC,7743,1.07,443.4,9.2,9.5,790,7756,0.00,2.38,5.57,0.391,4,0.000,0.061,3388,316,1092,0,0,0,0,0,0
$STATE,7806,end climb,SURFACE_DEPTH_REACHED
$STATE,7806,begin surface coast
$FINISH,1.4,1.010230
$STATE,7837,end surface coast,CONTROL_FINISHED_OK
$STATE,7839,begin surface
$SM_CCo,7860,77.78,0.044,0,0,408,611.52
$SM_GC,2.18,0.00,0.00,77.78,0.000,0.000,0.044,83,1943,408,-9.22,0.65,611.52
$IRIDIUM_FIX,-3422.54,2511.93,170308,010147
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.2,33.4
$24V_AH,23.6,52.097
$10V_AH,10.0,41.161
$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,23.950,79.375,477.250,77.775,0.000,50.531,99.168,258.682,9.250,0.000,44.090,1893.368,3429.144,558.906,2478.752,212.951,0.000,1409.374,0.000,1938.991,0.000,61.476,0.000
$DEVICE_MAMPS,246.330,115.515,823.905,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.706,1398.062,867.300,316.717,0.000,0.000,0.000,0.000,0.000,0.000
$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,57270,805
$CAP_FILE_SIZE,103714,0
$CFSIZE,2097086464,2037186560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210515,143304,-3436.328,2511.006,39,1.1,44,-27.7