version: 66.07.10.p01
glider: 573
mission: 9
dive: 189
start: 4 30 115 11 21 45
data:
$ID,573
$MISSION,9
$DIVE,189
$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,-14119.94
$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,7
$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,188
$GPS1,300415,111317,-3425.353,2550.520,28,1.2,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-55.1
$GPS2,300415,112122,-3425.346,2550.670,40,1.2,58,-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,268.3,43865,-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,-170.3,0.0,0.0,0,112,0.00,0.00,-85.00,0.000,2,0.000,0.000,74,1931,3019,0,0,0,0,0,0
$GC,114,-1.05,-170.3,3.3,-2.8,10,150,11.35,2.47,-13.35,0.000,4,0.262,0.101,2664,3350,3564,0,0,0,0,0,0
$GC,228,-0.84,-170.3,22.5,-21.8,26,237,0.28,2.50,0.00,0.000,6,0.179,0.087,2743,1917,3567,0,0,0,0,0,0
$GC,312,-0.74,-170.3,38.5,-18.3,39,320,0.15,0.00,0.00,0.000,6,0.184,0.000,2780,1917,3567,0,0,0,0,0,0
$GC,426,-0.74,-170.3,56.2,-11.6,58,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1917,3568,0,0,0,0,0,0
$GC,540,-0.74,-170.3,67.5,-10.5,77,547,0.00,2.45,0.00,0.000,4,0.000,0.090,2772,3363,3569,0,0,0,0,0,0
$GC,602,-0.74,-170.3,74.1,-10.5,87,610,0.00,2.50,0.00,0.000,6,0.000,0.093,2771,1912,3570,0,0,0,0,0,0
$GC,717,-0.74,-170.3,86.7,-10.4,106,726,0.00,2.50,0.00,0.000,4,0.000,0.096,2762,3354,3571,0,0,0,0,0,0
$GC,768,-0.74,-170.3,92.0,-10.5,114,778,0.03,2.55,0.00,0.000,6,0.130,0.104,2771,1924,3571,0,0,0,0,0,0
$GC,885,-0.74,-170.3,104.3,-12.3,133,892,0.00,2.50,0.00,0.000,4,0.000,0.106,2772,487,3571,0,0,0,0,0,0
$GC,993,-0.71,-170.3,118.2,-11.7,151,1002,0.10,2.50,0.00,0.000,6,0.210,0.091,2784,1926,3572,0,0,0,0,0,0
$GC,1109,-0.71,-170.3,129.2,-10.2,170,1118,0.00,2.47,0.00,0.000,4,0.000,0.107,2774,3343,3572,0,0,0,0,0,0
$GC,1202,-0.71,-170.3,137.2,-8.2,185,1210,0.08,2.47,0.00,0.000,6,0.181,0.101,2789,1916,3572,0,0,0,0,0,0
$GC,1317,-0.71,-170.3,147.1,-8.2,204,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1916,3572,0,0,0,0,0,0
$GC,1433,-0.71,-170.3,157.2,-9.1,223,1441,0.00,2.45,0.00,0.000,4,0.000,0.104,2789,485,3573,0,0,0,0,0,0
$GC,1477,-0.71,-170.3,161.9,-9.6,230,1487,0.00,2.62,0.00,0.000,6,0.000,0.111,2780,1920,3573,0,0,0,0,0,0
$GC,1594,-0.71,-170.3,173.3,-9.5,249,1601,0.00,2.40,0.00,0.000,4,0.000,0.098,2770,3349,3573,0,0,0,0,0,0
$GC,1656,-0.71,-170.3,179.5,-10.2,259,1665,0.08,2.50,0.00,0.000,6,0.182,0.104,2785,1919,3572,0,0,0,0,0,0
$GC,1772,-0.73,-170.3,191.3,-8.9,278,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1919,3572,0,0,0,0,0,0
$GC,1888,-0.73,-170.3,203.4,-11.7,297,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1920,3572,0,0,0,0,0,0
$GC,2000,-0.73,-170.3,216.8,-12.3,316,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1919,3573,0,0,0,0,0,0
$GC,2116,-0.73,-170.3,227.6,-9.2,335,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1920,3572,0,0,0,0,0,0
$GC,2229,-0.73,-170.3,238.8,-9.7,354,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1919,3572,0,0,0,0,0,0
$GC,2343,-0.73,-170.3,251.1,-13.2,373,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1919,3572,0,0,0,0,0,0
$GC,2457,-0.73,-170.3,264.6,-12.5,392,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1920,3571,0,0,0,0,0,0
$STATE,2562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2562,begin apogee
$GC,2566,-0.25,0.0,275.9,10.9,410,2709,0.47,0.00,133.52,0.767,6,0.174,0.000,2928,1758,2865,0,0,0,0,0,0
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2711,1.05,170.3,283.8,0.0,429,2860,1.30,2.47,135.43,0.742,4,0.102,0.053,3363,326,2168,0,0,0,0,0,0
$GC,2867,1.00,212.7,277.7,8.3,450,2913,0.05,2.42,35.58,0.711,6,0.145,0.036,3347,1765,1996,0,0,0,0,0,0
$GC,3020,1.00,260.9,262.1,8.1,474,3065,0.00,0.00,41.10,0.715,6,0.000,0.000,3347,1765,1799,0,0,0,0,0,0
$GC,3171,0.96,260.9,247.4,11.5,498,3180,0.08,0.00,0.00,0.000,6,0.201,0.000,3330,1765,1793,0,0,0,0,0,0
$GC,3285,0.96,260.9,233.4,13.6,517,3292,0.00,2.38,0.00,0.000,4,0.000,0.052,3340,321,1792,0,0,0,0,0,0
$GC,3335,0.92,260.9,227.9,11.1,525,3343,0.08,2.35,0.00,0.000,6,0.174,0.042,3322,1769,1791,0,0,0,0,0,0
$GC,3449,0.94,272.2,216.4,9.6,544,3464,0.00,0.00,10.10,0.655,6,0.000,0.000,3322,1769,1753,0,0,0,0,0,0
$GC,3569,0.94,272.2,204.4,10.2,564,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1769,1750,0,0,0,0,0,0
$GC,3684,0.95,280.0,193.3,9.7,583,3701,0.00,0.00,8.10,0.629,6,0.000,0.000,3321,1769,1721,0,0,0,0,0,0
$GC,3807,0.95,284.8,181.2,9.8,603,3816,0.00,0.00,5.43,0.565,6,0.000,0.000,3322,1769,1702,0,0,0,0,0,0
$GC,3921,0.95,284.8,168.8,11.9,622,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1769,1700,0,0,0,0,0,0
$GC,4036,0.95,284.8,156.1,11.5,641,4043,0.00,2.33,0.00,0.000,4,0.000,0.052,3332,329,1699,0,0,0,0,0,0
$GC,4097,0.95,284.8,148.6,12.3,651,4105,0.00,2.30,0.00,0.000,6,0.000,0.044,3332,1764,1699,0,0,0,0,0,0
$GC,4209,0.95,284.8,135.2,12.2,670,4218,0.00,2.35,0.00,0.000,4,0.000,0.076,3331,3177,1699,0,0,0,0,0,0
$GC,4243,0.95,284.8,131.1,12.6,675,4252,0.05,2.42,0.00,0.000,6,0.232,0.086,3330,1749,1698,0,0,0,0,0,0
$GC,4357,0.95,284.8,117.2,11.3,694,4366,0.00,2.33,0.00,0.000,4,0.000,0.060,3341,329,1698,0,0,0,0,0,0
$GC,4473,0.92,284.8,103.2,11.6,713,4481,0.10,2.28,0.00,0.000,6,0.167,0.040,3315,1770,1698,0,0,0,0,0,0
$GC,4586,0.92,284.8,90.9,10.2,732,4595,0.00,2.33,0.00,0.000,4,0.000,0.054,3325,339,1698,0,0,0,0,0,0
$GC,4625,0.92,284.8,86.4,11.5,738,4634,0.00,2.30,0.00,0.000,6,0.000,0.043,3325,1762,1697,0,0,0,0,0,0
$GC,4739,0.92,284.8,74.5,10.9,757,4746,0.00,2.30,0.00,0.000,4,0.000,0.073,3325,3184,1697,0,0,0,0,0,0
$GC,4767,0.92,284.8,71.5,11.5,761,4775,0.08,2.35,0.00,0.000,6,0.194,0.072,3317,1755,1696,0,0,0,0,0,0
$GC,4881,0.95,284.8,57.7,11.1,780,4890,0.00,2.30,0.00,0.000,4,0.000,0.061,3328,342,1697,0,0,0,0,0,0
$GC,4942,0.95,284.8,50.5,11.5,790,4951,0.00,2.28,0.00,0.000,6,0.000,0.043,3328,1753,1696,0,0,0,0,0,0
$GC,5059,0.97,284.8,39.3,10.4,809,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1753,1696,0,0,0,0,0,0
$GC,5175,1.04,312.1,28.1,8.9,828,5200,0.08,0.00,16.75,0.594,6,0.120,0.000,3385,1754,1587,0,0,0,0,0,0
$GC,5278,0.98,312.1,14.2,16.2,843,5288,0.17,0.00,0.00,0.000,6,0.150,0.000,3336,1755,1583,0,0,0,0,0,0
$STATE,5363,end climb,SURFACE_DEPTH_REACHED
$STATE,5364,begin surface coast
$FINISH,1.3,1.022113
$STATE,5384,end surface coast,CONTROL_FINISHED_OK
$STATE,5384,begin surface
$SM_CCo,5460,0.00,0.000,0,0,1575,316.19
$SM_GC,2.27,8.62,0.00,0.00,0.044,0.000,0.000,70,1929,1575,-9.10,0.31,316.19
$IRIDIUM_FIX,-3412.10,2551.84,240208,232355
$TT8_MAMPS,0.026964
$HUMID,60.12
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.4,29.9
$24V_AH,24.0,20.206
$10V_AH,10.2,16.648
$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,23.125,72.975,386.000,0.000,0.000,37.140,42.250,248.144,5.750,0.000,60.209,2027.416,439.230,513.135,2819.114,149.327,0.000,1389.610,0.000,2192.160,0.000,37.467,0.000
$DEVICE_MAMPS,261.630,135.405,767.295,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.709,2226.735,1524.211,2403.991,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331352
$DATA_FILE_SIZE,63867,859
$CAP_FILE_SIZE,103756,0
$CFSIZE,2097086464,2072707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.474, 77.9,1
$GPS,300415,125359,-3425.406,2551.459,41,1.0,42,-27.8