version: 66.07.10.p01
glider: 573
mission: 9
dive: 183
start: 4 30 115 1 44 50
data:
$ID,573
$MISSION,9
$DIVE,183
$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,-14099.333
$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,18
$R_STBD_OVSHOOT,14
$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,182
$GPS1,300415,013605,-3426.037,2545.244,31,1.1,32,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-54.8
$GPS2,300415,014427,-3425.943,2545.500,76,1.7,77,-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,278.9,36084,-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,-170.3,0.0,0.0,0,71,0.00,0.00,-43.40,0.000,2,0.000,0.000,79,1947,2657,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.2,-3.3,5,118,12.52,2.62,-25.58,0.000,4,0.291,0.115,2674,507,3561,6,0,0,0,0,0
$GC,127,-0.86,-170.3,6.7,-5.4,11,138,0.25,2.62,0.00,0.000,6,0.196,0.112,2733,1914,3563,0,0,0,0,0,0
$GC,215,-0.77,-170.3,18.8,-15.3,24,225,0.15,0.00,0.00,0.000,6,0.197,0.000,2770,1914,3565,0,0,0,0,0,0
$GC,302,-0.72,-170.3,31.5,-13.5,37,309,0.05,2.45,0.00,0.000,4,0.252,0.095,2769,3350,3566,0,0,0,0,0,0
$GC,319,-0.67,-170.3,33.4,-13.8,39,327,0.12,2.45,0.00,0.000,6,0.180,0.087,2799,1924,3566,0,0,0,0,0,0
$GC,434,-0.67,-170.3,46.7,-10.6,58,442,0.00,2.55,0.00,0.000,4,0.000,0.107,2799,498,3567,0,0,0,0,0,0
$GC,560,-0.70,-170.3,59.7,-10.9,79,569,0.00,2.65,0.00,0.000,6,0.000,0.122,2790,1924,3568,0,0,0,0,0,0
$GC,674,-0.70,-170.3,73.0,-11.2,98,683,0.00,2.42,0.00,0.000,4,0.000,0.095,2778,3340,3568,0,0,0,0,0,0
$GC,779,-0.70,-170.3,84.7,-10.4,115,788,0.05,2.47,0.00,0.000,6,0.186,0.098,2789,1920,3570,0,0,0,0,0,0
$GC,895,-0.70,-170.3,97.1,-11.4,134,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1920,3570,0,0,0,0,0,0
$GC,1009,-0.70,-170.3,108.1,-9.9,153,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1921,3571,0,0,0,0,0,0
$GC,1122,-0.70,-170.3,119.4,-9.6,172,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1920,3571,0,0,0,0,0,0
$GC,1242,-0.70,-170.3,132.0,-10.2,191,1250,0.00,2.42,0.00,0.000,4,0.000,0.094,2780,3346,3572,0,0,0,0,0,0
$GC,1294,-0.72,-170.3,137.6,-10.8,199,1302,0.00,2.50,0.00,0.000,6,0.000,0.104,2781,1919,3572,0,0,0,0,0,0
$GC,1411,-0.72,-170.3,150.1,-11.1,218,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3572,0,0,0,0,0,0
$GC,1527,-0.72,-170.3,162.9,-10.9,237,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3572,0,0,0,0,0,0
$GC,1640,-0.72,-170.3,175.8,-11.6,256,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3572,0,0,0,0,0,0
$GC,1755,-0.72,-170.3,188.4,-11.0,275,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3572,0,0,0,0,0,0
$GC,1869,-0.72,-170.3,200.9,-11.3,294,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1920,3572,0,0,0,0,0,0
$GC,1983,-0.72,-170.3,213.1,-10.8,313,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3572,0,0,0,0,0,0
$GC,2096,-0.72,-170.3,225.7,-10.8,332,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3572,0,0,0,0,0,0
$GC,2210,-0.72,-170.3,237.8,-11.0,351,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1920,3572,0,0,0,0,0,0
$GC,2323,-0.72,-170.3,251.2,-11.5,370,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3571,0,0,0,0,0,0
$GC,2441,-0.72,-170.3,265.0,-12.4,389,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1920,3571,0,0,0,0,0,0
$GC,2554,-0.72,-170.3,278.0,-10.6,408,2563,0.00,2.47,0.00,0.000,4,0.000,0.100,2780,488,3571,0,0,0,0,0,0
$GC,2589,-0.72,-170.3,281.9,-11.5,413,2597,0.05,2.45,0.00,0.000,6,0.250,0.084,2779,1929,3571,0,0,0,0,0,0
$STATE,2605,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2605,begin apogee
$GC,2609,-0.25,0.0,284.1,13.1,415,2752,0.50,0.00,134.75,0.771,6,0.175,0.000,2929,1716,2863,0,0,0,0,0,0
$STATE,2753,end apogee,CONTROL_FINISHED_OK
$STATE,2753,begin climb
$GC,2754,1.05,170.3,293.1,0.0,434,2903,1.30,2.35,135.73,0.747,4,0.111,0.053,3356,358,2168,0,0,0,0,0,0
$GC,3073,0.95,170.3,270.2,10.4,483,3082,0.10,2.28,0.00,0.000,6,0.165,0.035,3331,1773,2163,0,0,0,0,0,0
$GC,3188,0.91,187.7,259.2,9.3,502,3213,0.08,0.00,15.10,0.697,6,0.207,0.000,3314,1774,2096,0,0,0,0,0,0
$GC,3320,0.89,187.7,246.3,10.1,523,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1774,2094,0,0,0,0,0,0
$GC,3433,0.86,187.7,234.8,10.4,542,3442,0.08,0.00,0.00,0.000,6,0.198,0.000,3297,1773,2093,0,0,0,0,0,0
$GC,3547,0.89,211.3,224.0,9.1,561,3570,0.00,0.00,20.65,0.711,6,0.000,0.000,3297,1774,2001,0,0,0,0,0,0
$GC,3675,0.89,211.3,211.4,10.6,582,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1774,1997,0,0,0,0,0,0
$GC,3789,0.91,230.6,199.9,9.2,601,3812,0.00,2.38,17.45,0.696,4,0.000,0.052,3306,359,1922,0,0,0,0,0,0
$GC,3837,0.92,240.7,194.9,9.6,608,3853,0.00,2.30,9.52,0.646,6,0.000,0.041,3307,1758,1882,0,0,0,0,0,0
$GC,3960,0.95,246.5,182.6,9.8,628,3976,0.03,2.40,6.25,0.590,4,0.238,0.073,3340,3180,1858,0,0,0,0,0,0
$GC,3996,0.92,246.5,178.4,12.3,633,4004,0.12,2.35,0.00,0.000,6,0.170,0.069,3318,1769,1857,0,0,0,0,0,0
$GC,4112,0.92,246.5,165.4,11.1,652,4121,0.00,2.38,0.00,0.000,4,0.000,0.060,3329,335,1856,0,0,0,0,0,0
$GC,4181,0.90,246.5,157.6,11.0,663,4190,0.08,2.28,0.00,0.000,6,0.171,0.037,3311,1767,1855,0,0,0,0,0,0
$GC,4295,0.91,258.2,146.1,9.5,682,4311,0.00,0.00,11.52,0.635,6,0.000,0.000,3311,1768,1810,0,0,0,0,0,0
$GC,4416,0.92,265.9,134.3,9.7,702,4432,0.00,0.00,8.15,0.618,6,0.000,0.000,3311,1768,1778,0,0,0,0,0,0
$GC,4539,0.96,283.3,123.1,9.3,722,4563,0.05,0.00,16.15,0.662,6,0.158,0.000,3350,1768,1708,0,0,0,0,0,0
$GC,4671,0.94,283.3,109.2,11.3,743,4679,0.10,0.00,0.00,0.000,6,0.161,0.000,3325,1768,1704,0,0,0,0,0,0
$GC,4783,0.94,283.3,96.7,10.9,762,4792,0.00,2.30,0.00,0.000,4,0.000,0.065,3324,3173,1703,0,0,0,0,0,0
$GC,4829,0.94,283.3,91.1,13.1,769,4836,0.00,2.35,0.00,0.000,6,0.000,0.070,3334,1753,1703,0,0,0,0,0,0
$GC,4941,0.94,283.3,76.0,12.9,788,4950,0.00,2.33,0.00,0.000,4,0.000,0.060,3345,339,1702,0,0,0,0,0,0
$GC,5023,0.92,283.3,64.5,13.6,801,5030,0.10,2.25,0.00,0.000,6,0.162,0.041,3319,1757,1702,0,0,0,0,0,0
$GC,5137,1.01,339.6,54.4,7.8,820,5197,0.08,2.40,48.62,0.650,4,0.118,0.053,3381,335,1476,0,0,0,0,0,0
$GC,5460,0.97,339.6,7.4,15.2,871,5471,0.12,2.33,0.00,0.000,6,0.134,0.044,3341,1753,1466,0,0,0,0,0,0
$STATE,5496,end climb,SURFACE_DEPTH_REACHED
$STATE,5497,begin surface coast
$FINISH,1.2,1.022022
$STATE,5523,end surface coast,CONTROL_FINISHED_OK
$STATE,5523,begin surface
$SM_CCo,5599,0.00,0.000,0,0,1463,343.66
$SM_GC,2.02,8.75,0.00,0.00,0.047,0.000,0.000,78,1933,1463,-9.09,0.40,343.66
$IRIDIUM_FIX,-3412.10,2543.64,240208,131317
$TT8_MAMPS,0.026964
$HUMID,59.76
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.80
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,260.4,37.2
$24V_AH,24.0,19.555
$10V_AH,10.3,15.903
$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,24.675,63.375,423.900,0.000,0.000,26.003,20.654,275.587,17.500,0.000,79.237,2076.614,448.924,522.074,2898.740,157.161,0.000,1405.276,0.000,2254.827,0.000,37.471,0.000
$DEVICE_MAMPS,290.700,121.635,771.120,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.548,2288.431,1566.682,2471.177,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331308
$DATA_FILE_SIZE,63802,880
$CAP_FILE_SIZE,105393,6
$CFSIZE,2097086464,2073296896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,2
$CURRENT,0.423, 80.6,1
$GPS,300415,031923,-3425.918,2546.071,41,1.0,42,-27.8