version: 66.07.10.p01
glider: 573
mission: 9
dive: 13
start: 4 22 115 19 2 21
data:
$ID,573
$MISSION,9
$DIVE,13
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,500
$D_NO_BLEED,500
$D_BOOST,0
$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,90
$T_MISSION,110
$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,200
$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,450
$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,-13404.566
$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,3050
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$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,2862
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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,12
$GPS1,220415,185423,-3431.478,2604.507,38,1.5,38,-28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.7
$GPS2,220415,190159,-3431.653,2604.119,39,1.8,40,-28.1
$SPEED_LIMITS,0.192,0.307
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3430.000,2600.000
$TGT_RADIUS,2000.000
$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,324.1,6992,-17.2,-11.111
$D_GRID,300
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.09,-194.6,0.0,0.0,0,103,0.00,0.00,-77.22,0.000,2,0.000,0.000,77,2210,3045,0,0,0,0,0,0
$GC,105,-1.09,-194.6,3.5,-4.7,9,141,11.00,2.50,-11.10,0.000,4,0.256,0.104,2687,784,3661,0,0,0,0,0,0
$GC,222,-0.94,-194.6,36.8,-25.3,26,232,0.20,2.58,0.00,0.000,6,0.170,0.112,2737,2195,3664,0,0,0,0,0,0
$GC,342,-0.88,-194.6,57.4,-15.3,45,350,0.10,2.40,0.00,0.000,4,0.192,0.096,2751,3619,3666,0,0,0,0,0,0
$GC,542,-0.88,-194.6,86.7,-14.4,78,551,0.00,2.35,0.00,0.000,6,0.000,0.075,2751,2210,3667,0,0,0,0,0,0
$GC,662,-0.88,-194.6,102.2,-12.3,97,669,0.00,2.40,0.00,0.000,4,0.000,0.096,2742,3623,3668,0,0,0,0,0,0
$GC,791,-0.88,-194.6,118.9,-11.5,118,800,0.05,2.38,0.00,0.000,6,0.142,0.077,2760,2198,3668,0,0,0,0,0,0
$GC,910,-0.88,-194.6,131.6,-11.2,137,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2198,3669,0,0,0,0,0,0
$GC,1025,-0.90,-194.6,145.5,-11.8,156,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2198,3670,0,0,0,0,0,0
$GC,1144,-0.90,-194.6,159.5,-12.6,175,1154,0.00,2.40,0.00,0.000,4,0.000,0.102,2760,775,3670,0,0,0,0,0,0
$GC,1185,-0.90,-194.6,164.5,-13.1,181,1192,0.00,2.50,0.00,0.000,6,0.000,0.107,2750,2200,3670,0,0,0,0,0,0
$GC,1299,-0.90,-194.6,179.6,-13.5,200,1312,0.00,2.42,0.00,0.000,4,0.000,0.103,2740,3610,3670,0,0,0,0,0,0
$GC,1374,-0.93,-194.6,188.5,-12.3,211,1382,0.00,2.33,0.00,0.000,6,0.000,0.081,2740,2197,3670,0,0,0,0,0,0
$GC,1491,-0.93,-194.6,203.3,-12.9,230,1501,0.00,2.42,0.00,0.000,4,0.000,0.096,2740,770,3670,0,0,0,0,0,0
$GC,1519,-0.93,-194.6,207.0,-13.0,234,1528,0.00,2.53,0.00,0.000,6,0.000,0.101,2730,2203,3670,0,0,0,0,0,0
$GC,1637,-0.90,-194.6,222.4,-13.7,253,1645,0.10,2.42,0.00,0.000,4,0.198,0.111,2743,3625,3670,0,0,0,0,0,0
$GC,1678,-0.93,-194.6,227.7,-12.8,259,1685,0.00,2.38,0.00,0.000,6,0.000,0.083,2743,2194,3670,0,0,0,0,0,0
$GC,1793,-0.93,-194.6,242.2,-12.6,278,1802,0.00,2.42,0.00,0.000,4,0.000,0.099,2743,774,3670,0,0,0,0,0,0
$GC,1828,-0.93,-194.6,246.5,-12.8,283,1835,0.08,2.47,0.00,0.000,6,0.214,0.099,2748,2206,3669,0,0,0,0,0,0
$GC,1945,-0.93,-194.6,262.3,-13.2,302,1954,0.00,2.47,0.00,0.000,4,0.000,0.111,2738,3620,3669,0,0,0,0,0,0
$GC,1972,-0.93,-194.6,266.1,-13.5,306,1981,0.00,2.40,0.00,0.000,6,0.000,0.084,2738,2198,3669,0,0,0,0,0,0
$GC,2096,-0.93,-194.6,282.0,-12.7,325,2103,0.00,2.38,0.00,0.000,4,0.000,0.096,2738,776,3669,0,0,0,0,0,0
$GC,2134,-0.93,-194.6,287.4,-13.5,331,2142,0.08,2.42,0.00,0.000,6,0.216,0.093,2744,2202,3669,0,0,0,0,0,0
$STATE,2226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2226,begin apogee
$GC,2231,-0.25,0.0,300.2,14.0,346,2387,0.68,0.00,149.05,0.770,6,0.142,0.000,2961,1796,2862,0,0,0,0,0,0
$STATE,2387,end apogee,CONTROL_FINISHED_OK
$STATE,2388,begin climb
$GC,2389,1.09,194.6,308.6,0.0,367,2554,1.27,2.40,154.15,0.747,4,0.086,0.060,3405,379,2068,0,0,0,0,0,0
$GC,2814,0.92,194.6,271.7,13.5,434,2824,0.17,2.33,0.00,0.000,6,0.148,0.045,3351,1824,2062,0,0,0,0,0,0
$GC,2931,0.83,194.6,258.3,11.5,453,2939,0.12,2.40,0.00,0.000,4,0.184,0.067,3329,371,2062,0,0,0,0,0,0
$GC,2983,0.75,194.6,252.5,11.3,461,2992,0.12,2.25,0.00,0.000,6,0.168,0.046,3296,1789,2062,0,0,0,0,0,0
$GC,3098,0.79,241.7,241.9,9.3,480,3143,0.00,0.00,37.58,0.734,6,0.000,0.000,3296,1789,1876,0,0,0,0,0,0
$GC,3248,0.81,260.7,226.8,10.4,504,3272,0.00,2.38,16.08,0.693,4,0.000,0.067,3306,375,1800,0,0,0,0,0,0
$GC,3298,0.82,270.7,221.8,10.7,511,3314,0.00,2.30,9.93,0.648,6,0.000,0.047,3306,1796,1757,0,0,0,0,0,0
$GC,3420,0.84,284.5,208.6,10.6,531,3435,0.00,0.00,12.43,0.668,6,0.000,0.000,3306,1796,1702,0,0,0,0,0,0
$GC,3541,0.85,296.9,195.2,10.6,551,3557,0.00,0.00,11.50,0.659,6,0.000,0.000,3306,1796,1651,0,0,0,0,0,0
$GC,3663,0.85,296.9,181.2,12.0,571,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1796,1649,0,0,0,0,0,0
$GC,3774,0.85,296.9,168.1,11.7,590,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1796,1648,0,0,0,0,0,0
$GC,3887,0.85,296.9,155.7,11.4,609,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1796,1647,0,0,0,0,0,0
$GC,4000,0.85,296.9,143.1,11.2,628,4009,0.00,2.35,0.00,0.000,4,0.000,0.079,3306,3207,1647,0,0,0,0,0,0
$GC,4022,0.85,296.9,140.6,11.3,631,4030,0.00,2.30,0.00,0.000,6,0.000,0.064,3315,1776,1646,0,0,0,0,0,0
$GC,4136,0.85,296.9,127.4,11.5,650,4145,0.00,2.28,0.00,0.000,4,0.000,0.067,3326,393,1646,0,0,0,0,0,0
$GC,4175,0.85,296.9,122.7,12.4,656,4184,0.00,2.28,0.00,0.000,6,0.000,0.050,3325,1804,1646,0,0,0,0,0,0
$GC,4289,0.86,300.1,109.3,11.0,675,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1804,1646,0,0,0,0,0,0
$GC,4401,0.88,318.7,97.1,10.4,694,4426,0.00,2.38,18.38,0.649,4,0.000,0.078,3326,3209,1561,0,0,0,0,0,0
$GC,4509,0.88,334.5,86.1,10.5,711,4531,0.00,2.28,13.90,0.638,6,0.000,0.063,3336,1790,1498,0,0,0,0,0,0
$GC,4636,0.88,341.1,71.8,10.9,732,4645,0.00,0.00,6.40,0.557,6,0.000,0.000,3336,1791,1471,0,0,0,0,0,0
$GC,4751,0.88,341.1,59.0,11.2,751,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1791,1469,0,0,0,0,0,0
$GC,4863,0.88,341.1,45.5,12.3,770,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1791,1469,0,0,0,0,0,0
$GC,4978,0.88,341.1,32.6,11.2,789,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1791,1468,0,0,0,0,0,0
$GC,5099,0.98,393.3,20.9,9.1,808,5135,0.08,2.38,26.40,0.576,4,0.116,0.069,3388,3209,1256,0,0,0,0,0,0
$GC,5162,0.94,393.3,14.0,11.6,816,5172,0.12,2.28,0.00,0.000,6,0.131,0.054,3356,1801,1252,0,0,0,0,0,0
$GC,5249,1.00,419.2,4.6,10.1,829,5268,0.00,2.33,11.62,0.482,4,0.000,0.066,3367,387,1153,0,0,0,0,0,0
$STATE,5275,end climb,SURFACE_DEPTH_REACHED
$STATE,5275,begin surface coast
$FINISH,0.8,1.020986
$STATE,5302,end surface coast,CONTROL_FINISHED_OK
$STATE,5302,begin surface
$SM_CCo,5320,14.43,0.480,0,0,1025,450.12
$SM_GC,1.46,0.00,0.00,14.43,0.000,0.000,0.480,81,2207,1025,-9.28,0.20,450.12
$IRIDIUM_FIX,-3417.32,2602.32,170208,080801
$TT8_MAMPS,0.026215
$HUMID,65.55
$INTERNAL_PRESSURE,9.45038
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.3,4.179
$10V_AH,10.4,2.421
$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,22.850,87.175,467.400,14.425,0.000,34.943,33.677,262.453,5.250,0.000,42.217,1956.722,431.129,558.141,2750.555,97.193,0.000,1439.264,0.000,2135.722,0.000,34.006,0.000
$DEVICE_MAMPS,255.510,112.455,769.590,480.420,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.227,2166.065,1487.582,2338.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331368
$DATA_FILE_SIZE,63671,836
$CAP_FILE_SIZE,103153,0
$CFSIZE,2097086464,2090762240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.420,233.5,1
$GPS,220415,203230,-3431.881,2602.135,41,1.1,42,-28.1