version: 66.07.10.p01
glider: 573
mission: 9
dive: 182
start: 4 30 115 0 4 53
data:
$ID,573
$MISSION,9
$DIVE,182
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$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,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,-14095.923
$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,3020
$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,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,11
$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,2864
$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,181
$GPS1,290415,235305,-3426.042,2544.587,42,1.1,43,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-60.1
$GPS2,300415,000430,-3426.007,2544.932,40,1.7,41,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$TGT_RADIUS,3000.000
$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,275.8,35234,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,87,0.00,0.00,-60.25,0.000,2,0.000,0.000,73,1925,3046,0,0,0,0,0,0
$GC,90,-1.05,-170.3,3.2,-1.0,7,118,11.32,2.55,-11.27,0.000,4,0.260,0.101,2667,493,3563,0,0,0,0,0,0
$GC,177,-0.84,-170.3,22.4,-21.8,19,186,0.30,2.50,0.00,0.000,6,0.207,0.083,2738,1912,3567,0,0,0,0,0,0
$GC,261,-0.75,-170.3,35.8,-13.0,32,271,0.15,0.00,0.00,0.000,6,0.200,0.000,2775,1912,3568,0,0,0,0,0,0
$GC,381,-0.73,-170.3,49.5,-10.6,51,389,0.00,2.47,0.00,0.000,4,0.000,0.098,2775,500,3569,0,0,0,0,0,0
$GC,434,-0.73,-170.3,54.7,-9.9,59,442,0.08,2.50,0.00,0.000,6,0.216,0.094,2780,1916,3569,0,0,0,0,0,0
$GC,551,-0.73,-170.3,67.1,-11.5,78,560,0.00,2.47,0.00,0.000,4,0.000,0.096,2770,3353,3569,0,0,0,0,0,0
$GC,647,-0.73,-170.3,77.8,-11.4,93,654,0.00,2.47,0.00,0.000,6,0.000,0.093,2770,1924,3571,0,0,0,0,0,0
$GC,762,-0.73,-170.3,91.6,-12.5,112,771,0.03,0.00,0.00,0.000,6,0.251,0.000,2779,1924,3571,0,0,0,0,0,0
$GC,881,-0.73,-170.3,105.6,-11.7,131,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1924,3572,0,0,0,0,0,0
$GC,999,-0.73,-170.3,119.0,-10.6,150,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1924,3572,0,0,0,0,0,0
$GC,1117,-0.73,-170.3,131.7,-11.4,169,1124,0.00,2.42,0.00,0.000,4,0.000,0.095,2769,3348,3573,0,0,0,0,0,0
$GC,1161,-0.73,-170.3,137.1,-11.6,176,1171,0.00,2.47,0.00,0.000,6,0.000,0.093,2769,1925,3573,0,0,0,0,0,0
$GC,1281,-0.73,-170.3,150.6,-12.0,195,1288,0.03,0.00,0.00,0.000,6,0.253,0.000,2778,1925,3573,0,0,0,0,0,0
$GC,1396,-0.73,-170.3,164.5,-11.9,214,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1925,3573,0,0,0,0,0,0
$GC,1515,-0.73,-170.3,178.4,-11.7,233,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1925,3573,0,0,0,0,0,0
$GC,1633,-0.73,-170.3,192.8,-11.4,252,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1925,3573,0,0,0,0,0,0
$GC,1754,-0.73,-170.3,206.6,-11.6,271,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1924,3573,0,0,0,0,0,0
$GC,1870,-0.73,-170.3,219.8,-11.3,290,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1924,3573,0,0,0,0,0,0
$GC,1991,-0.73,-170.3,234.2,-12.8,309,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1925,3573,0,0,0,0,0,0
$GC,2107,-0.73,-170.3,249.0,-11.9,328,2117,0.00,2.50,0.00,0.000,4,0.000,0.099,2778,480,3572,0,0,0,0,0,0
$GC,2131,-0.73,-170.3,251.6,-12.4,331,2138,0.05,2.42,0.00,0.000,6,0.259,0.079,2777,1919,3572,0,0,0,0,0,0
$GC,2248,-0.73,-170.3,267.9,-12.9,350,2257,0.00,2.47,0.00,0.000,4,0.000,0.106,2767,3341,3572,0,0,0,0,0,0
$GC,2300,-0.73,-170.3,273.5,-10.6,357,2308,0.08,2.45,0.00,0.000,6,0.181,0.097,2782,1916,3572,0,0,0,0,0,0
$STATE,2390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2391,begin apogee
$GC,2395,-0.25,0.0,284.0,12.2,372,2538,0.47,0.00,134.20,0.774,6,0.170,0.000,2926,1759,2864,0,0,0,0,0,0
$STATE,2538,end apogee,CONTROL_FINISHED_OK
$STATE,2538,begin climb
$GC,2540,1.05,170.3,291.7,0.0,391,2689,1.33,2.47,135.73,0.747,4,0.109,0.054,3363,328,2167,0,0,0,0,0,0
$GC,2728,0.94,170.3,282.8,10.7,417,2736,0.15,2.35,0.00,0.000,6,0.161,0.034,3325,1768,2164,0,0,0,0,0,0
$GC,2847,0.90,170.3,271.4,10.4,436,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1768,2163,0,0,0,0,0,0
$GC,2968,0.90,201.0,260.1,8.8,455,2998,0.05,0.00,25.92,0.721,6,0.233,0.000,3314,1769,2043,0,0,0,0,0,0
$GC,3110,0.95,242.9,248.7,8.4,477,3154,0.00,0.00,35.65,0.721,6,0.000,0.000,3314,1769,1872,0,0,0,0,0,0
$GC,3266,0.95,242.9,234.2,10.8,501,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1769,1868,0,0,0,0,0,0
$GC,3380,0.95,243.0,221.5,10.0,520,3390,0.00,2.40,0.00,0.000,4,0.000,0.051,3324,319,1867,0,0,0,0,0,0
$GC,3421,0.93,243.0,217.0,11.5,526,3430,0.00,2.35,0.00,0.000,6,0.000,0.038,3324,1761,1867,0,0,0,0,0,0
$GC,3541,0.93,243.0,204.1,11.2,545,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1761,1867,0,0,0,0,0,0
$GC,3655,0.93,243.0,191.6,10.5,564,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1760,1866,0,0,0,0,0,0
$GC,3774,0.93,243.0,179.2,10.8,583,3781,0.00,2.30,0.00,0.000,4,0.000,0.069,3324,3183,1865,0,0,0,0,0,0
$GC,3807,0.90,243.0,175.1,12.2,588,3818,0.05,2.42,0.00,0.000,6,0.157,0.073,3317,1742,1865,0,0,0,0,0,0
$GC,3928,0.90,243.0,161.9,11.2,607,3935,0.00,2.30,0.00,0.000,4,0.000,0.059,3327,317,1865,0,0,0,0,0,0
$GC,3980,0.88,243.0,156.0,11.5,615,3988,0.10,2.28,0.00,0.000,6,0.162,0.037,3301,1760,1865,0,0,0,0,0,0
$GC,4099,0.88,243.0,142.6,11.1,634,4108,0.00,2.28,0.00,0.000,4,0.000,0.063,3301,3170,1864,0,0,0,0,0,0
$GC,4122,0.88,243.0,140.0,11.8,637,4129,0.00,2.33,0.00,0.000,6,0.000,0.072,3310,1754,1864,0,0,0,0,0,0
$GC,4237,0.88,243.0,126.0,11.4,656,4248,0.00,2.33,0.00,0.000,4,0.000,0.061,3321,335,1864,0,0,0,0,0,0
$GC,4298,0.88,243.0,118.9,12.2,665,4305,0.08,2.25,0.00,0.000,6,0.174,0.040,3304,1758,1864,0,0,0,0,0,0
$GC,4415,0.90,243.0,106.2,10.3,684,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1758,1864,0,0,0,0,0,0
$GC,4534,0.92,243.0,94.6,10.0,703,4541,0.00,2.25,0.00,0.000,4,0.000,0.066,3304,3178,1863,0,0,0,0,0,0
$GC,4574,0.92,243.0,90.3,10.8,709,4581,0.00,2.35,0.00,0.000,6,0.000,0.076,3312,1755,1863,0,0,0,0,0,0
$GC,4690,0.92,243.0,77.0,12.0,728,4700,0.00,2.33,0.00,0.000,4,0.000,0.062,3323,333,1863,0,0,0,0,0,0
$GC,4738,0.92,243.0,71.1,11.9,735,4745,0.00,2.28,0.00,0.000,6,0.000,0.041,3324,1753,1862,0,0,0,0,0,0
$GC,4854,0.92,243.0,57.5,11.0,754,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1753,1862,0,0,0,0,0,0
$GC,4974,0.97,287.7,46.5,8.2,773,5019,0.00,2.33,37.25,0.652,4,0.000,0.054,3333,338,1688,0,0,0,0,0,0
$GC,5298,0.97,287.7,10.7,12.5,824,5309,0.00,2.33,0.00,0.000,6,0.000,0.048,3333,1752,1680,0,0,0,0,0,0
$STATE,5359,end climb,SURFACE_DEPTH_REACHED
$STATE,5359,begin surface coast
$FINISH,1.5,1.022115
$STATE,5386,end surface coast,CONTROL_FINISHED_OK
$STATE,5386,begin surface
$SM_CCo,5402,3.92,0.050,0,0,1640,300.24
$SM_GC,2.78,0.00,0.00,3.92,0.000,0.000,0.050,80,1947,1640,-9.19,0.79,300.24
$IRIDIUM_FIX,-3414.71,2541.29,240208,101019
$TT8_MAMPS,0.026964
$HUMID,60.15
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,270.6,28.2
$24V_AH,24.0,19.446
$10V_AH,10.2,15.767
$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,22.825,72.250,368.750,3.925,0.000,25.973,20.476,478.328,6.000,0.000,43.365,1985.500,500.261,494.834,2942.648,172.916,0.000,1344.156,0.000,2142.746,0.000,38.966,0.000
$DEVICE_MAMPS,260.100,147.645,774.180,50.490,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.352,2174.956,1494.183,2351.877,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,60528,837
$CAP_FILE_SIZE,104848,0
$CFSIZE,2097086464,2073395200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.362, 77.1,1
$GPS,300415,013605,-3426.037,2545.244,31,1.1,32,-27.8