version: 66.07.10.p01
glider: 573
mission: 9
dive: 188
start: 4 30 115 9 46 46
data:
$ID,573
$MISSION,9
$DIVE,188
$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,-14116.491
$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,13
$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,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,187
$GPS1,300415,093905,-3425.406,2549.711,30,1.1,30,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-53.5
$GPS2,300415,094623,-3425.366,2549.816,39,1.9,40,-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,269.7,42565,-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,-170.3,0.0,0.0,0,95,0.00,0.00,-68.30,0.000,2,0.000,0.000,74,1934,2891,0,0,0,0,0,0
$GC,97,-1.05,-170.3,3.2,-2.1,8,133,11.32,2.42,-16.33,0.000,4,0.262,0.100,2659,3350,3561,0,0,0,0,0,0
$GC,155,-0.83,-170.3,12.7,-18.5,15,164,0.30,2.47,0.00,0.000,6,0.186,0.083,2743,1927,3562,0,0,0,0,0,0
$GC,241,-0.73,-170.3,29.2,-18.2,28,251,0.15,2.45,0.00,0.000,4,0.198,0.088,2771,3341,3564,0,0,0,0,0,0
$GC,277,-0.66,-170.3,34.7,-16.2,33,286,0.12,2.53,0.00,0.000,6,0.178,0.106,2798,1919,3565,0,0,0,0,0,0
$GC,392,-0.68,-170.3,49.5,-9.5,52,404,0.00,2.55,0.00,0.000,4,0.000,0.109,2799,494,3565,0,0,0,0,0,0
$GC,539,-0.71,-170.3,62.8,-11.2,76,548,0.00,2.67,0.00,0.000,6,0.000,0.122,2790,1912,3566,0,0,0,0,0,0
$GC,655,-0.71,-170.3,75.2,-11.2,95,662,0.00,2.45,0.00,0.000,4,0.000,0.100,2779,3354,3567,0,0,0,0,0,0
$GC,753,-0.73,-170.3,85.3,-9.7,111,760,0.00,2.55,0.00,0.000,6,0.000,0.106,2779,1911,3568,0,0,0,0,0,0
$GC,867,-0.73,-170.3,97.1,-10.4,130,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1910,3569,0,0,0,0,0,0
$GC,981,-0.73,-170.3,109.1,-10.9,149,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1910,3570,0,0,0,0,0,0
$GC,1093,-0.73,-170.3,121.6,-10.3,168,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1911,3570,0,0,0,0,0,0
$GC,1208,-0.73,-170.3,133.3,-10.5,187,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1910,3570,0,0,0,0,0,0
$GC,1321,-0.73,-170.3,145.2,-10.4,206,1329,0.00,2.50,0.00,0.000,4,0.000,0.103,2779,481,3570,0,0,0,0,0,0
$GC,1355,-0.73,-170.3,149.1,-11.8,211,1365,0.00,2.50,0.00,0.000,6,0.000,0.090,2770,1926,3571,0,0,0,0,0,0
$GC,1471,-0.73,-170.3,162.4,-11.3,230,1480,0.00,2.40,0.00,0.000,4,0.000,0.094,2759,3337,3571,0,0,0,0,0,0
$GC,1575,-0.73,-170.3,174.7,-11.7,247,1583,0.10,2.47,0.00,0.000,6,0.169,0.103,2781,1920,3570,0,0,0,0,0,0
$GC,1690,-0.73,-170.3,187.4,-9.7,266,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1920,3570,0,0,0,0,0,0
$GC,1806,-0.73,-170.3,199.9,-12.2,285,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1920,3570,0,0,0,0,0,0
$GC,1920,-0.73,-170.3,213.4,-13.4,304,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1920,3569,0,0,0,0,0,0
$GC,2035,-0.73,-170.3,227.9,-13.2,323,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1920,3570,0,0,0,0,0,0
$GC,2147,-0.73,-170.3,241.9,-11.4,342,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1920,3569,0,0,0,0,0,0
$GC,2265,-0.73,-170.3,256.0,-13.1,361,2273,0.00,2.47,0.00,0.000,4,0.000,0.106,2781,483,3569,0,0,0,0,0,0
$GC,2298,-0.73,-170.3,260.8,-14.3,366,2307,0.00,2.53,0.00,0.000,6,0.000,0.090,2772,1923,3569,0,0,0,0,0,0
$STATE,2365,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2366,begin apogee
$GC,2370,-0.25,0.0,268.9,11.0,377,2511,0.55,0.00,133.07,0.766,6,0.179,0.000,2934,1722,2864,0,0,0,0,0,0
$STATE,2512,end apogee,CONTROL_FINISHED_OK
$STATE,2512,begin climb
$GC,2513,1.05,170.3,277.9,0.0,396,2655,1.27,0.00,134.73,0.737,6,0.103,0.000,3348,1722,2169,0,0,0,0,0,0
$GC,2762,0.95,170.3,260.0,11.9,433,2770,0.08,2.25,0.00,0.000,4,0.187,0.054,3342,359,2163,0,0,0,0,0,0
$GC,2867,0.87,170.3,246.4,11.6,450,2877,0.10,2.33,0.00,0.000,6,0.142,0.040,3310,1773,2162,0,0,0,0,0,0
$GC,2984,0.85,170.3,232.9,13.1,469,2992,0.08,0.00,0.00,0.000,6,0.201,0.000,3294,1772,2162,0,0,0,0,0,0
$GC,3096,0.94,251.3,222.9,6.8,488,3166,0.10,0.00,66.07,0.720,6,0.096,0.000,3349,1773,1839,0,0,0,0,0,0
$GC,3271,0.91,251.3,206.1,10.0,515,3279,0.12,2.33,0.00,0.000,4,0.160,0.052,3327,362,1833,0,0,0,0,0,0
$GC,3311,0.89,251.3,202.2,10.8,521,3320,0.08,2.28,0.00,0.000,6,0.172,0.042,3309,1764,1832,0,0,0,0,0,0
$GC,3424,0.97,321.2,192.7,7.3,540,3494,0.08,0.00,59.38,0.703,6,0.116,0.000,3358,1765,1552,0,0,0,0,0,0
$GC,3601,0.98,327.1,175.9,9.8,567,3609,0.08,0.00,5.72,0.557,6,0.164,0.000,3340,1765,1530,0,0,0,0,0,0
$GC,3715,0.99,341.0,165.1,9.5,586,3738,0.00,0.00,13.93,0.636,6,0.000,0.000,3339,1765,1471,0,0,0,0,0,0
$GC,3842,1.07,408.0,155.5,7.4,607,3910,0.08,2.40,58.22,0.683,4,0.112,0.052,3398,367,1197,0,0,0,0,0,0
$GC,3976,1.02,408.0,139.2,13.5,627,3984,0.17,2.25,0.00,0.000,6,0.151,0.036,3351,1764,1191,0,0,0,0,0,0
$GC,4091,1.11,460.0,127.9,8.0,646,4143,0.08,0.00,43.12,0.666,6,0.112,0.000,3401,1765,986,0,0,0,0,0,0
$GC,4251,1.08,460.0,109.4,12.1,671,4258,0.12,2.30,0.00,0.000,4,0.156,0.055,3379,362,979,0,0,0,0,0,0
$GC,4336,1.08,460.0,99.3,11.9,685,4344,0.00,2.25,0.00,0.000,6,0.000,0.042,3379,1752,978,0,0,0,0,0,0
$GC,4448,1.08,460.0,85.7,11.9,704,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1751,976,0,0,0,0,0,0
$GC,4562,1.08,460.0,69.7,14.3,723,4569,0.00,2.25,0.00,0.000,4,0.000,0.055,3389,366,976,0,0,0,0,0,0
$GC,4588,1.08,460.0,65.8,14.7,727,4596,0.08,2.22,0.00,0.000,6,0.175,0.041,3370,1759,975,0,0,0,0,0,0
$GC,4704,1.10,460.0,49.0,14.8,746,4713,0.00,2.35,0.00,0.000,4,0.000,0.071,3370,3183,974,0,0,0,0,0,0
$GC,4742,1.10,460.0,42.8,15.8,752,4751,0.00,2.35,0.00,0.000,6,0.000,0.071,3379,1788,974,0,0,0,0,0,0
$GC,4859,1.13,460.0,28.0,12.5,771,4868,0.00,2.40,0.00,0.000,4,0.000,0.065,3390,336,973,0,0,0,0,0,0
$GC,4914,1.13,460.0,18.9,18.1,779,4923,0.00,2.30,0.00,0.000,6,0.000,0.041,3390,1761,972,0,0,0,0,0,0
$GC,5000,1.10,460.0,3.6,19.5,792,5009,0.05,0.00,0.00,0.000,6,0.210,0.000,3378,1762,970,0,0,0,0,0,0
$STATE,5017,end climb,SURFACE_DEPTH_REACHED
$STATE,5017,begin surface coast
$FINISH,1.4,1.022084
$STATE,5044,end surface coast,CONTROL_FINISHED_OK
$STATE,5044,begin surface
$SM_CCo,5120,0.00,0.000,0,0,968,465.08
$SM_GC,1.92,8.82,0.00,0.00,0.049,0.000,0.000,75,1930,968,-9.10,0.31,465.08
$IRIDIUM_FIX,-3412.10,2546.00,240208,212150
$TT8_MAMPS,0.026964
$HUMID,61.10
$INTERNAL_PRESSURE,9.30389
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.2,33.7
$24V_AH,24.0,20.106
$10V_AH,10.2,16.516
$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,23.925,67.825,514.250,0.000,0.000,27.776,42.230,230.531,5.500,0.000,42.084,1850.956,401.982,567.544,2608.657,132.823,0.000,1428.244,0.000,2035.738,0.000,35.923,0.000
$DEVICE_MAMPS,261.630,133.110,765.765,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.473,2066.582,1411.976,2231.423,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331420
$DATA_FILE_SIZE,57010,798
$CAP_FILE_SIZE,98305,0
$CFSIZE,2097086464,2072805376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.479, 75.1,1
$GPS,300415,111317,-3425.353,2550.520,28,1.2,39,-27.8