version: 66.07.10.p01
glider: 573
mission: 9
dive: 201
start: 5 1 115 20 3 58
data:
$ID,573
$MISSION,9
$DIVE,201
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$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,-14163.145
$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,22
$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,200
$GPS1,010515,195504,-3427.193,2538.068,41,1.2,47,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.4
$GPS2,010515,200335,-3427.178,2538.157,43,1.6,44,-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,310.3,25404,-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,-170.3,0.0,0.0,0,70,0.00,0.00,-43.65,0.000,2,0.000,0.000,76,1931,2639,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.3,-3.0,5,117,11.25,2.58,-28.12,0.000,4,0.258,0.107,2668,497,3562,0,0,0,0,0,0
$GC,164,-0.84,-170.3,15.2,-21.7,17,174,0.30,2.58,0.00,0.000,6,0.210,0.093,2738,1923,3565,0,0,0,0,0,0
$GC,249,-0.72,-170.3,31.3,-17.1,30,259,0.17,2.50,0.00,0.000,4,0.198,0.099,2770,3348,3567,0,0,0,0,0,0
$GC,297,-0.72,-170.3,37.8,-12.6,37,305,0.05,2.55,0.00,0.000,6,0.181,0.106,2781,1926,3567,0,0,0,0,0,0
$GC,416,-0.72,-170.3,50.1,-10.8,56,425,0.00,2.55,0.00,0.000,4,0.000,0.105,2781,491,3568,0,0,0,0,0,0
$GC,439,-0.72,-170.3,53.0,-11.6,59,447,0.00,2.58,0.00,0.000,6,0.000,0.103,2772,1923,3568,0,0,0,0,0,0
$GC,556,-0.70,-170.3,67.9,-13.5,78,566,0.08,2.42,0.00,0.000,4,0.226,0.093,2775,3343,3569,0,0,0,0,0,0
$GC,619,-0.70,-170.3,76.0,-12.2,88,630,0.03,2.55,0.00,0.000,6,0.133,0.102,2783,1917,3569,0,0,0,0,0,0
$GC,741,-0.70,-170.3,89.8,-11.2,107,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1917,3570,0,0,0,0,0,0
$GC,857,-0.70,-170.3,102.5,-11.1,126,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1917,3571,0,0,0,0,0,0
$GC,977,-0.70,-170.3,115.1,-10.4,145,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1917,3571,0,0,0,0,0,0
$GC,1092,-0.70,-170.3,127.9,-10.9,164,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1917,3571,0,0,0,0,0,0
$GC,1212,-0.70,-170.3,140.8,-11.3,183,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1917,3572,0,0,0,0,0,0
$GC,1331,-0.70,-170.3,154.1,-10.6,202,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1917,3572,0,0,0,0,0,0
$GC,1451,-0.70,-170.3,166.7,-10.5,221,1458,0.00,2.45,0.00,0.000,4,0.000,0.098,2783,479,3572,0,0,0,0,0,0
$GC,1478,-0.70,-170.3,170.0,-11.6,225,1487,0.08,2.50,0.00,0.000,6,0.243,0.090,2787,1921,3572,0,0,0,0,0,0
$GC,1597,-0.70,-170.3,183.2,-11.5,244,1607,0.00,2.45,0.00,0.000,4,0.000,0.099,2777,3340,3572,0,0,0,0,0,0
$GC,1658,-0.72,-170.3,190.1,-11.7,253,1665,0.00,2.58,0.00,0.000,6,0.000,0.119,2777,1918,3572,0,0,0,0,0,0
$GC,1776,-0.72,-170.3,204.2,-12.4,272,1785,0.00,2.45,0.00,0.000,4,0.000,0.092,2777,487,3571,0,0,0,0,0,0
$GC,1812,-0.72,-170.3,208.8,-13.5,277,1819,0.08,2.45,0.00,0.000,6,0.236,0.085,2780,1919,3572,0,0,0,0,0,0
$GC,1930,-0.72,-170.3,224.5,-13.7,296,1940,0.00,2.47,0.00,0.000,4,0.000,0.107,2769,3338,3571,0,0,0,0,0,0
$GC,1992,-0.72,-170.3,232.3,-12.7,305,2000,0.05,2.53,0.00,0.000,6,0.189,0.109,2779,1913,3571,0,0,0,0,0,0
$GC,2109,-0.72,-170.3,248.5,-14.6,324,2119,0.00,2.45,0.00,0.000,4,0.000,0.096,2780,491,3571,0,0,0,0,0,0
$GC,2138,-0.72,-170.3,252.9,-14.8,328,2148,0.00,2.50,0.00,0.000,6,0.000,0.088,2771,1916,3571,0,0,0,0,0,0
$STATE,2221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2221,begin apogee
$GC,2225,-0.25,0.0,265.5,13.3,341,2365,0.55,0.00,134.27,0.762,6,0.181,0.000,2931,1717,2863,0,0,0,0,0,0
$STATE,2366,end apogee,CONTROL_FINISHED_OK
$STATE,2366,begin climb
$GC,2367,1.05,170.3,273.0,0.0,360,2514,1.30,2.33,135.38,0.734,4,0.109,0.053,3357,368,2167,0,0,0,0,0,0
$GC,2742,0.95,170.3,235.2,11.9,418,2752,0.08,2.28,0.00,0.000,6,0.138,0.034,3332,1764,2163,0,0,0,0,0,0
$GC,2863,0.90,170.3,222.7,10.1,437,2870,0.10,0.00,0.00,0.000,6,0.183,0.000,3307,1765,2162,0,0,0,0,0,0
$GC,2979,0.88,174.5,211.5,9.8,456,2989,0.00,0.00,3.47,0.451,6,0.000,0.000,3307,1765,2154,0,0,0,0,0,0
$GC,3098,0.88,177.3,199.9,9.9,475,3114,0.00,2.30,4.38,0.520,4,0.000,0.047,3316,362,2141,0,0,0,0,0,0
$GC,3166,0.85,180.8,193.5,9.9,485,3182,0.10,2.22,4.68,0.486,6,0.161,0.036,3291,1772,2127,0,0,0,0,0,0
$GC,3294,0.85,186.5,181.7,9.8,505,3310,0.00,0.00,6.57,0.603,6,0.000,0.000,3291,1772,2103,0,0,0,0,0,0
$GC,3420,0.91,236.0,171.6,8.1,525,3472,0.08,2.33,42.40,0.702,4,0.115,0.051,3349,367,1899,0,0,0,0,0,0
$GC,3535,0.86,236.0,158.9,12.6,542,3545,0.15,2.25,0.00,0.000,6,0.129,0.036,3300,1746,1895,0,0,0,0,0,0
$GC,3656,0.86,236.0,146.3,10.1,561,3663,0.00,2.33,0.00,0.000,4,0.000,0.063,3300,3187,1894,0,0,0,0,0,0
$GC,3685,0.86,236.0,143.4,10.6,565,3692,0.00,2.38,0.00,0.000,6,0.000,0.076,3309,1778,1893,0,0,0,0,0,0
$GC,3801,0.86,239.7,131.4,9.9,584,3811,0.00,2.38,0.00,0.000,4,0.000,0.057,3319,333,1893,0,0,0,0,0,0
$GC,3876,0.86,239.7,123.2,10.8,596,3887,0.05,2.30,0.00,0.000,6,0.134,0.038,3303,1759,1892,0,0,0,0,0,0
$GC,3996,0.87,246.5,111.7,9.7,615,4012,0.00,0.00,9.20,0.620,6,0.000,0.000,3303,1759,1857,0,0,0,0,0,0
$GC,4123,0.91,259.0,99.5,9.5,635,4140,0.00,2.40,12.27,0.636,4,0.000,0.053,3312,328,1806,0,0,0,0,0,0
$GC,4170,0.91,259.0,94.6,10.1,642,4180,0.00,2.33,0.00,0.000,6,0.000,0.041,3312,1753,1803,0,0,0,0,0,0
$GC,4291,0.95,275.9,82.8,9.3,661,4313,0.00,2.35,15.10,0.636,4,0.000,0.067,3312,3186,1739,0,0,0,0,0,0
$GC,4358,0.95,275.9,75.8,11.4,671,4365,0.00,2.40,0.00,0.000,6,0.000,0.073,3321,1757,1736,0,0,0,0,0,0
$GC,4474,0.95,275.9,63.5,10.5,690,4483,0.00,2.33,0.00,0.000,4,0.000,0.059,3333,338,1735,0,0,0,0,0,0
$GC,4533,0.95,275.9,57.4,10.8,699,4541,0.00,2.30,0.00,0.000,6,0.000,0.036,3333,1787,1735,0,0,0,0,0,0
$GC,4649,0.95,275.9,44.3,11.3,718,4658,0.00,2.30,0.00,0.000,4,0.000,0.073,3333,3179,1734,0,0,0,0,0,0
$GC,4686,0.95,275.9,40.2,12.8,723,4693,0.08,2.38,0.00,0.000,6,0.191,0.073,3326,1750,1733,0,0,0,0,0,0
$GC,4806,1.01,309.0,28.0,8.7,742,4833,0.00,2.35,17.52,0.599,4,0.000,0.060,3337,332,1603,0,0,0,0,0,0
$GC,4947,1.03,309.0,11.7,11.4,763,4956,0.00,2.33,0.00,0.000,6,0.000,0.041,3337,1762,1598,0,0,0,0,0,0
$STATE,5032,end climb,SURFACE_DEPTH_REACHED
$STATE,5032,begin surface coast
$FINISH,1.5,1.022249
$STATE,5059,end surface coast,CONTROL_FINISHED_OK
$STATE,5060,begin surface
$SM_CCo,5136,0.00,0.000,0,0,1591,312.26
$SM_GC,2.17,8.70,0.00,0.00,0.047,0.000,0.000,75,1933,1591,-9.08,0.40,312.26
$IRIDIUM_FIX,-3412.10,2540.16,260208,050524
$TT8_MAMPS,0.026215
$HUMID,59.17
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,251.0,29.4
$24V_AH,24.0,21.711
$10V_AH,10.2,19.218
$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,23.250,92.225,385.250,0.000,0.000,29.752,48.257,279.710,5.500,0.000,46.499,1853.223,525.365,489.620,2626.432,149.803,0.000,1308.844,0.000,2005.575,0.000,35.925,0.000
$DEVICE_MAMPS,257.805,118.575,761.940,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.586,2034.395,1402.281,2195.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331376
$DATA_FILE_SIZE,57000,780
$CAP_FILE_SIZE,101181,0
$CFSIZE,2097086464,2070904832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.086, 48.6,1
$GPS,010515,213053,-3426.754,2537.544,46,0.8,47,-27.8