version: 66.07.10.p01
glider: 573
mission: 9
dive: 30
start: 4 24 115 9 47 47
data:
$ID,573
$MISSION,9
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,390
$D_ABORT,450
$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,130
$T_MISSION,145
$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,300
$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,-13582.495
$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,2090
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,17
$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,2762
$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,29
$GPS1,240415,093905,-3425.871,2548.551,31,1.2,31,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-66.7
$GPS2,240415,094723,-3425.873,2548.505,40,1.2,41,-27.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3421.000,2542.000
$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,334.7,13431,-15.7,-10.000
$D_GRID,390
$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,-1.02,-194.6,0.0,0.0,0,81,0.00,0.00,-54.75,0.000,2,0.000,0.000,83,2081,2545,0,0,0,0,0,0
$GC,83,-1.02,-194.6,3.0,-2.6,6,135,11.32,2.38,-31.58,0.000,4,0.261,0.080,2692,3511,3559,0,0,0,0,0,0
$GC,326,-0.90,-194.6,41.4,-14.7,43,334,0.22,2.30,0.00,0.000,6,0.161,0.064,2754,2106,3562,0,0,0,0,0,0
$GC,439,-0.86,-194.6,54.4,-11.1,62,449,0.08,2.33,0.00,0.000,4,0.210,0.069,2762,3504,3563,0,0,0,0,0,0
$GC,486,-0.86,-194.6,59.3,-10.3,69,493,0.00,2.35,0.00,0.000,6,0.000,0.076,2762,2094,3564,0,0,0,0,0,0
$GC,599,-0.84,-194.6,70.5,-9.9,88,609,0.05,2.45,0.00,0.000,4,0.194,0.093,2773,664,3565,0,0,0,0,0,0
$GC,615,-0.84,-194.6,72.1,-9.9,90,625,0.05,2.47,0.00,0.000,6,0.177,0.088,2778,2082,3565,0,0,0,0,0,0
$GC,731,-0.84,-194.6,81.9,-8.8,109,738,0.00,2.35,0.00,0.000,4,0.000,0.078,2768,3517,3565,0,0,0,0,0,0
$GC,798,-0.84,-194.6,87.8,-9.9,120,807,0.00,2.42,0.00,0.000,6,0.000,0.079,2768,2088,3566,0,0,0,0,0,0
$GC,913,-0.84,-194.6,97.8,-8.4,139,921,0.00,2.42,0.00,0.000,4,0.000,0.096,2768,652,3566,0,0,0,0,0,0
$GC,942,-0.84,-194.6,100.5,-9.7,143,950,0.08,2.45,0.00,0.000,6,0.213,0.085,2773,2095,3566,0,0,0,0,0,0
$GC,1058,-0.84,-194.6,111.0,-8.7,162,1067,0.00,2.35,0.00,0.000,4,0.000,0.079,2762,3513,3567,0,0,0,0,0,0
$GC,1145,-0.84,-194.6,118.6,-8.9,176,1154,0.03,2.40,0.00,0.000,6,0.127,0.079,2773,2093,3567,0,0,0,0,0,0
$GC,1261,-0.84,-194.6,129.5,-9.6,195,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2094,3568,0,0,0,0,0,0
$GC,1376,-0.84,-194.6,141.0,-10.1,214,1385,0.00,2.47,0.00,0.000,4,0.000,0.097,2772,652,3567,0,0,0,0,0,0
$GC,1421,-0.82,-194.6,145.4,-10.6,221,1429,0.10,2.42,0.00,0.000,6,0.216,0.084,2784,2089,3568,0,0,0,0,0,0
$GC,1537,-0.82,-194.6,156.4,-8.8,240,1546,0.00,2.35,0.00,0.000,4,0.000,0.081,2773,3505,3568,0,0,0,0,0,0
$GC,1594,-0.82,-194.6,161.7,-9.7,249,1601,0.00,2.38,0.00,0.000,6,0.000,0.082,2774,2083,3568,0,0,0,0,0,0
$GC,1707,-0.82,-194.6,172.4,-9.8,268,1716,0.00,2.45,0.00,0.000,4,0.000,0.096,2774,651,3568,0,0,0,0,0,0
$GC,1740,-0.82,-194.6,175.7,-10.4,273,1748,0.08,2.42,0.00,0.000,6,0.226,0.084,2778,2089,3568,0,0,0,0,0,0
$GC,1853,-0.82,-194.6,187.2,-10.0,292,1862,0.00,2.35,0.00,0.000,4,0.000,0.083,2768,3502,3567,0,0,0,0,0,0
$GC,1899,-0.82,-194.6,191.8,-10.6,299,1907,0.08,2.38,0.00,0.000,6,0.181,0.082,2783,2080,3567,0,0,0,0,0,0
$GC,2014,-0.82,-194.6,203.6,-9.8,318,2022,0.00,2.42,0.00,0.000,4,0.000,0.095,2783,657,3568,0,0,0,0,0,0
$GC,2035,-0.82,-194.6,205.8,-10.7,321,2043,0.00,2.45,0.00,0.000,6,0.000,0.089,2774,2090,3567,0,0,0,0,0,0
$GC,2149,-0.82,-194.6,218.5,-11.8,340,2158,0.00,2.35,0.00,0.000,4,0.000,0.082,2764,3507,3567,0,0,0,0,0,0
$GC,2199,-0.82,-194.6,224.7,-11.4,348,2209,0.03,2.45,0.00,0.000,6,0.130,0.091,2773,2087,3567,0,0,0,0,0,0
$GC,2320,-0.82,-194.6,238.9,-12.5,367,2331,0.00,2.42,0.00,0.000,4,0.000,0.097,2773,645,3566,0,0,0,0,0,0
$GC,2362,-0.82,-194.6,244.4,-13.7,373,2370,0.08,2.42,0.00,0.000,6,0.231,0.083,2778,2090,3567,0,0,0,0,0,0
$GC,2476,-0.82,-194.6,259.1,-13.1,392,2485,0.00,2.38,0.00,0.000,4,0.000,0.086,2768,3511,3567,0,0,0,0,0,0
$STATE,2525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2526,begin apogee
$GC,2532,-0.25,0.0,265.4,12.3,400,2692,0.62,0.00,151.65,0.758,6,0.146,0.000,2966,1604,2761,0,0,0,0,0,0
$STATE,2693,end apogee,CONTROL_FINISHED_OK
$STATE,2693,begin climb
$GC,2694,1.02,194.6,274.3,0.0,422,2865,1.23,2.45,156.52,0.733,4,0.093,0.054,3382,200,1966,0,0,0,0,0,0
$GC,3042,0.86,194.6,242.8,12.7,475,3050,0.20,2.30,0.00,0.000,6,0.163,0.034,3329,1661,1961,0,0,0,0,0,0
$GC,3155,0.79,194.6,230.3,11.5,494,3164,0.10,0.00,0.00,0.000,6,0.187,0.000,3305,1666,1960,0,0,0,0,0,0
$GC,3270,0.74,194.6,218.7,10.1,513,3278,0.05,2.38,0.00,0.000,4,0.229,0.055,3305,196,1960,0,0,0,0,0,0
$GC,3298,0.69,194.6,215.4,11.9,517,3306,0.10,2.22,0.00,0.000,6,0.171,0.035,3279,1624,1959,0,0,0,0,0,0
$GC,3411,0.71,208.4,204.3,9.5,536,3426,0.00,0.00,11.62,0.670,6,0.000,0.000,3278,1625,1912,0,0,0,0,0,0
$GC,3531,0.71,208.4,192.0,11.4,556,3540,0.00,2.25,0.00,0.000,4,0.000,0.059,3278,3012,1909,0,0,0,0,0,0
$GC,3560,0.71,208.4,188.8,12.3,560,3569,0.00,2.33,0.00,0.000,6,0.000,0.062,3286,1602,1908,0,0,0,0,0,0
$GC,3675,0.71,208.4,175.9,11.3,579,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1602,1908,0,0,0,0,0,0
$GC,3788,0.71,208.4,162.6,12.4,598,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1602,1908,0,0,0,0,0,0
$GC,3903,0.71,208.4,149.5,11.0,617,3910,0.00,2.25,0.00,0.000,4,0.000,0.057,3298,203,1907,0,0,0,0,0,0
$GC,3953,0.68,208.4,143.9,11.6,625,3961,0.10,2.20,0.00,0.000,6,0.163,0.036,3271,1618,1907,0,0,0,0,0,0
$GC,4065,0.71,234.1,133.3,9.1,644,4096,0.00,2.28,22.33,0.685,4,0.000,0.057,3271,3037,1805,0,0,0,0,0,0
$GC,4128,0.73,251.2,127.6,9.4,653,4151,0.00,2.30,15.23,0.656,6,0.000,0.058,3280,1613,1736,0,0,0,0,0,0
$GC,4256,0.79,284.4,115.9,8.9,674,4295,0.08,2.38,28.50,0.669,4,0.120,0.057,3332,208,1600,0,0,0,0,0,0
$GC,4320,0.75,284.4,109.1,11.4,683,4329,0.15,2.25,0.00,0.000,6,0.147,0.034,3292,1625,1597,0,0,0,0,0,0
$GC,4435,0.79,294.4,97.6,9.7,702,4452,0.00,2.28,9.12,0.604,4,0.000,0.055,3292,3032,1561,0,0,0,0,0,0
$GC,4488,0.79,294.4,92.0,10.8,710,4497,0.00,2.33,0.00,0.000,6,0.000,0.055,3301,1622,1560,0,0,0,0,0,0
$GC,4604,0.79,294.4,79.3,10.9,729,4611,0.00,2.28,0.00,0.000,4,0.000,0.057,3312,209,1558,0,0,0,0,0,0
$GC,4642,0.79,294.4,74.5,12.7,735,4650,0.00,2.25,0.00,0.000,6,0.000,0.037,3312,1614,1558,0,0,0,0,0,0
$GC,4755,0.79,294.4,60.4,13.0,754,4764,0.00,2.30,0.00,0.000,4,0.000,0.062,3312,3020,1557,0,0,0,0,0,0
$GC,4813,0.77,294.4,53.2,13.4,763,4821,0.10,2.25,0.00,0.000,6,0.164,0.054,3295,1612,1556,0,0,0,0,0,0
$GC,4927,0.79,294.4,39.3,11.5,782,4935,0.00,2.30,0.00,0.000,4,0.000,0.058,3305,209,1556,0,0,0,0,0,0
$GC,4972,0.79,294.4,33.8,12.7,789,4979,0.00,2.22,0.00,0.000,6,0.000,0.038,3305,1630,1556,0,0,0,0,0,0
$GC,5092,0.88,337.0,21.1,8.5,808,5118,0.08,0.00,21.55,0.581,6,0.120,0.000,3351,1631,1387,0,0,0,0,0,0
$GC,5195,0.88,337.0,9.1,12.1,823,5205,0.08,0.00,0.00,0.000,6,0.167,0.000,3333,1632,1380,0,0,0,0,0,0
$STATE,5255,end climb,SURFACE_DEPTH_REACHED
$STATE,5255,begin surface coast
$FINISH,1.3,1.004959
$STATE,5289,end surface coast,CONTROL_FINISHED_OK
$STATE,5289,begin surface
$SM_CCo,5364,0.00,0.000,0,0,1372,340.96
$SM_GC,2.10,8.52,0.00,0.00,0.036,0.000,0.000,81,2081,1372,-9.18,-0.25,340.96
$IRIDIUM_FIX,-3414.71,2549.49,180208,232340
$TT8_MAMPS,0.026964
$HUMID,59.52
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,240.1,45.0
$24V_AH,24.0,6.646
$10V_AH,10.3,5.342
$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,23.575,114.675,416.525,0.000,0.000,31.982,45.639,287.119,4.250,0.000,43.300,1985.155,428.661,547.568,2794.421,105.466,0.000,1434.435,0.000,2148.675,0.000,30.421,0.000
$DEVICE_MAMPS,260.865,97.155,758.115,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.714,2178.710,1503.958,2350.283,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331568
$DATA_FILE_SIZE,63757,837
$CAP_FILE_SIZE,111025,0
$CFSIZE,2097086464,2088566784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.028,101.5,1
$GPS,240415,111829,-3425.304,2548.006,46,0.9,47,-27.8