version: 66.07.10.p01
glider: 573
mission: 9
dive: 524
start: 5 21 115 16 56 25
data:
$ID,573
$MISSION,9
$DIVE,524
$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,-15090.885
$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,12
$R_STBD_OVSHOOT,7
$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,523
$GPS1,210515,164805,-3435.894,2510.022,39,1.0,39,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-56.5
$GPS2,210515,165605,-3435.952,2509.804,33,1.0,33,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.153,2509.804
$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,27.7,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-72.40,0.000,2,0.000,0.000,67,1989,2255,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.3,-4.2,12,161,10.95,2.55,-34.65,0.000,4,0.236,0.095,2690,496,3597,0,0,0,0,0,0
$GC,224,-0.82,-170.3,23.8,-28.5,31,230,0.32,2.58,0.00,0.000,6,0.192,0.101,2764,1923,3600,0,0,0,0,0,0
$GC,372,-0.76,-170.3,47.7,-15.1,56,378,0.08,2.47,0.00,0.000,4,0.240,0.100,2769,3357,3601,0,0,0,0,0,0
$GC,491,-0.76,-170.3,62.5,-10.9,76,498,0.08,2.60,0.00,0.000,6,0.169,0.112,2783,1921,3601,0,0,0,0,0,0
$GC,844,-0.76,-170.3,99.3,-10.1,137,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1921,3603,0,0,0,0,0,0
$GC,1177,-0.79,-170.3,135.3,-11.1,169,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1921,3603,0,0,0,0,0,0
$GC,1503,-0.82,-170.3,171.1,-11.5,200,1507,0.00,2.40,0.00,0.000,4,0.000,0.087,2784,480,3604,0,0,0,0,0,0
$GC,1552,-0.85,-170.3,177.6,-12.1,204,1560,0.00,2.55,0.00,0.000,6,0.000,0.089,2775,1921,3604,0,0,0,0,0,0
$GC,1878,-0.85,-170.3,218.6,-12.8,235,1882,0.00,2.45,0.00,0.000,4,0.000,0.099,2764,3360,3604,0,0,0,0,0,0
$GC,2068,-0.88,-170.3,242.4,-12.6,251,2073,0.00,2.60,0.00,0.000,6,0.000,0.108,2764,1911,3603,0,0,0,0,0,0
$GC,2394,-0.88,-170.3,282.7,-12.3,282,2398,0.00,2.38,0.00,0.000,4,0.000,0.086,2764,483,3602,0,0,0,0,0,0
$GC,2414,-0.88,-170.3,285.5,-11.9,283,2420,0.00,2.47,0.00,0.000,6,0.000,0.083,2755,1920,3603,0,0,0,0,0,0
$GC,2740,-0.88,-170.3,328.1,-13.6,314,2744,0.00,2.50,0.00,0.000,4,0.000,0.109,2744,3343,3602,0,0,0,0,0,0
$GC,2849,-0.88,-170.3,342.0,-12.2,323,2853,0.00,2.53,0.00,0.000,6,0.000,0.104,2744,1920,3601,0,0,0,0,0,0
$STATE,2919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2919,begin apogee
$GC,2925,-0.25,0.0,350.7,12.7,329,3062,0.70,0.00,133.00,0.770,6,0.171,0.000,2945,1754,2902,0,0,0,0,0,0
$STATE,3063,end apogee,CONTROL_FINISHED_OK
$STATE,3064,begin climb
$GC,3066,1.05,170.3,358.5,0.0,343,3214,1.27,2.65,136.95,0.751,4,0.101,0.096,3363,3175,2207,0,0,0,0,0,0
$GC,3276,0.95,202.1,355.6,8.8,362,3313,0.12,2.53,27.23,0.718,6,0.179,0.088,3342,1746,2078,0,0,0,0,0,0
$GC,3632,0.87,202.1,322.2,11.1,396,3637,0.10,2.28,0.00,0.000,4,0.194,0.052,3329,320,2074,0,0,0,0,0,0
$GC,3841,0.80,202.1,300.7,11.4,414,3846,0.12,2.30,0.00,0.000,6,0.157,0.036,3294,1779,2074,0,0,0,0,0,0
$GC,4167,0.88,270.6,273.5,7.3,444,4228,0.08,0.00,56.58,0.728,6,0.112,0.000,3351,1780,1799,0,0,0,0,0,0
$GC,4548,0.82,270.6,230.7,11.5,480,4553,0.20,2.28,0.00,0.000,4,0.150,0.073,3295,3173,1793,0,0,0,0,0,0
$GC,4588,0.82,275.7,226.5,9.8,483,4599,0.00,2.45,4.60,0.509,6,0.000,0.089,3304,1754,1778,0,0,0,0,0,0
$GC,4919,0.83,279.6,194.2,9.9,514,4929,0.00,2.28,4.88,0.519,4,0.000,0.058,3315,331,1762,0,0,0,0,0,0
$GC,5000,0.83,279.6,185.9,10.4,521,5005,0.05,2.22,0.00,0.000,6,0.194,0.036,3304,1757,1763,0,0,0,0,0,0
$GC,5326,0.84,287.0,155.0,9.7,551,5336,0.00,0.00,8.32,0.599,6,0.000,0.000,3304,1757,1731,0,0,0,0,0,0
$GC,5655,0.84,293.7,120.9,9.7,582,5668,0.00,2.42,6.93,0.558,4,0.000,0.084,3303,3182,1704,0,0,0,0,0,0
$GC,5721,0.84,293.7,113.8,11.1,588,5725,0.00,2.42,0.00,0.000,6,0.000,0.084,3312,1758,1704,0,0,0,0,0,0
$GC,6061,0.87,317.9,77.9,9.1,636,6089,0.00,2.35,21.52,0.612,4,0.000,0.060,3324,330,1605,0,0,0,0,0,0
$GC,6196,0.91,332.1,65.3,9.4,659,6218,0.00,2.25,12.95,0.576,6,0.000,0.039,3324,1756,1548,0,0,0,0,0,0
$GC,6567,1.03,392.8,35.5,7.6,723,6618,0.12,2.42,42.67,0.581,4,0.076,0.083,3399,3178,1300,0,0,0,0,0,0
$GC,6747,1.00,392.8,14.6,10.6,753,6755,0.15,2.50,0.00,0.000,6,0.139,0.092,3361,1762,1294,0,0,0,0,0,0
$GC,6806,1.09,467.4,9.2,7.1,762,6850,0.08,2.35,35.08,0.477,4,0.115,0.058,3433,336,992,0,0,0,0,0,0
$STATE,6857,end climb,SURFACE_DEPTH_REACHED
$STATE,6857,begin surface coast
$FINISH,1.4,1.020741
$STATE,6884,end surface coast,CONTROL_FINISHED_OK
$STATE,6884,begin surface
$SM_CCo,6905,66.18,0.043,0,0,408,611.52
$SM_GC,2.10,0.00,0.00,66.18,0.000,0.000,0.043,71,1934,408,-9.26,0.42,611.52
$IRIDIUM_FIX,-3422.54,2508.45,170308,040423
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.44062
$TCM_TEMP,21.10
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,330.5,34.7
$24V_AH,23.9,52.329
$10V_AH,10.1,41.349
$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,23.575,68.800,490.700,66.175,0.000,24.847,48.556,249.441,11.750,0.000,35.702,1741.304,2734.656,515.967,2264.256,197.304,0.000,1340.792,0.000,1823.338,0.000,48.169,0.000
$DEVICE_MAMPS,240.210,119.340,770.355,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.838,1359.653,880.574,344.948,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,53582,774
$CAP_FILE_SIZE,93495,0
$CFSIZE,2097086464,2036957184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210515,185353,-3435.349,2509.400,38,2.0,38,-27.7