version: 66.07.10.p01
glider: 573
mission: 9
dive: 202
start: 5 1 115 21 38 58
data:
$ID,573
$MISSION,9
$DIVE,202
$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,-14166.552
$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,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,201
$GPS1,010515,213053,-3426.754,2537.544,46,0.8,47,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-67.6
$GPS2,010515,213835,-3426.735,2537.624,29,1.9,30,-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,295.9,24425,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.05,-170.3,0.0,0.0,0,70,0.00,0.00,-43.92,0.000,2,0.000,0.000,74,1933,2618,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.2,-3.0,5,125,11.07,2.55,-29.77,0.000,4,0.252,0.107,2672,500,3563,0,0,0,0,0,0
$GC,140,-0.84,-170.3,9.2,-14.6,13,150,0.30,2.60,0.00,0.000,6,0.210,0.100,2741,1921,3565,0,0,0,0,0,0
$GC,227,-0.72,-170.3,24.9,-17.1,26,237,0.17,2.47,0.00,0.000,4,0.192,0.093,2774,3343,3566,0,0,0,0,0,0
$GC,312,-0.72,-170.3,35.5,-10.9,39,319,0.00,2.47,0.00,0.000,6,0.000,0.093,2774,1925,3566,0,0,0,0,0,0
$GC,427,-0.72,-170.3,47.6,-8.6,58,437,0.00,2.55,0.00,0.000,4,0.000,0.103,2774,483,3567,0,0,0,0,0,0
$GC,492,-0.72,-170.3,53.5,-9.5,68,502,0.05,2.53,0.00,0.000,6,0.175,0.087,2779,1914,3567,0,0,0,0,0,0
$GC,612,-0.72,-170.3,65.6,-10.6,87,619,0.00,2.42,0.00,0.000,4,0.000,0.096,2768,3345,3568,0,0,0,0,0,0
$GC,741,-0.72,-170.3,79.8,-11.4,108,755,0.03,2.50,0.00,0.000,6,0.133,0.095,2777,1927,3569,0,0,0,0,0,0
$GC,867,-0.72,-170.3,93.2,-10.8,127,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1926,3569,0,0,0,0,0,0
$GC,982,-0.72,-170.3,107.1,-12.0,146,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1926,3570,0,0,0,0,0,0
$GC,1101,-0.72,-170.3,120.4,-11.6,165,1108,0.00,2.47,0.00,0.000,4,0.000,0.100,2777,480,3571,0,0,0,0,0,0
$GC,1140,-0.72,-170.3,125.2,-12.3,171,1148,0.08,2.45,0.00,0.000,6,0.224,0.083,2781,1917,3571,0,0,0,0,0,0
$GC,1257,-0.72,-170.3,138.8,-12.0,190,1266,0.00,2.47,0.00,0.000,4,0.000,0.100,2771,3352,3571,0,0,0,0,0,0
$GC,1344,-0.72,-170.3,148.9,-11.3,204,1354,0.03,2.60,0.00,0.000,6,0.129,0.115,2780,1923,3570,0,0,0,0,0,0
$GC,1465,-0.72,-170.3,162.6,-11.3,223,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1923,3571,0,0,0,0,0,0
$GC,1580,-0.72,-170.3,176.2,-11.6,242,1589,0.00,2.50,0.00,0.000,4,0.000,0.098,2780,480,3571,0,0,0,0,0,0
$GC,1609,-0.72,-170.3,179.7,-12.5,246,1622,0.03,2.50,0.00,0.000,6,0.216,0.083,2778,1922,3571,0,0,0,0,0,0
$GC,1732,-0.72,-170.3,193.7,-11.8,265,1739,0.00,2.42,0.00,0.000,4,0.000,0.103,2767,3347,3571,0,0,0,0,0,0
$GC,1819,-0.72,-170.3,203.7,-10.9,279,1827,0.08,2.60,0.00,0.000,6,0.164,0.118,2782,1904,3571,0,0,0,0,0,0
$GC,1941,-0.72,-170.3,217.0,-10.5,298,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1905,3571,0,0,0,0,0,0
$STATE,2059,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2059,begin apogee
$GC,2063,-0.25,0.0,229.8,11.3,317,2206,0.50,0.00,133.65,0.734,6,0.173,0.000,2932,1760,2863,0,0,0,0,0,0
$STATE,2207,end apogee,CONTROL_FINISHED_OK
$STATE,2207,begin climb
$GC,2209,1.05,170.3,236.9,0.0,336,2357,1.30,2.47,134.80,0.709,4,0.107,0.052,3362,330,2167,0,0,0,0,0,0
$GC,2378,0.96,175.6,229.0,9.8,359,2396,0.12,2.38,5.35,0.535,6,0.161,0.034,3332,1781,2148,0,0,0,0,0,0
$GC,2508,0.90,175.6,215.7,10.1,379,2514,0.08,0.00,0.00,0.000,6,0.202,0.000,3315,1781,2145,0,0,0,0,0,0
$GC,2624,0.90,206.3,204.8,8.8,398,2655,0.00,0.00,26.80,0.685,6,0.000,0.000,3315,1781,2021,0,0,0,0,0,0
$GC,2763,0.88,206.3,191.1,10.1,420,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1781,2017,0,0,0,0,0,0
$GC,2882,0.88,206.3,179.6,10.3,439,2889,0.00,2.38,0.00,0.000,4,0.000,0.050,3325,322,2016,0,0,0,0,0,0
$GC,2923,0.85,209.0,175.5,9.9,445,2931,0.12,2.28,0.00,0.000,6,0.153,0.037,3292,1756,2016,0,0,0,0,0,0
$GC,3040,0.92,247.9,164.7,8.5,464,3080,0.08,0.00,35.08,0.685,6,0.115,0.000,3341,1756,1852,0,0,0,0,0,0
$GC,3191,0.89,247.9,148.8,10.8,487,3197,0.12,0.00,0.00,0.000,6,0.151,0.000,3308,1756,1848,0,0,0,0,0,0
$GC,3307,0.90,257.4,136.7,9.6,506,3322,0.00,0.00,8.98,0.612,6,0.000,0.000,3308,1756,1813,0,0,0,0,0,0
$GC,3431,0.90,257.4,124.5,10.2,526,3440,0.00,2.33,0.00,0.000,4,0.000,0.065,3308,3179,1811,0,0,0,0,0,0
$GC,3454,0.90,257.4,122.3,10.3,529,3462,0.00,2.38,0.00,0.000,6,0.000,0.073,3318,1753,1810,0,0,0,0,0,0
$GC,3570,0.90,257.4,110.0,11.1,548,3580,0.00,2.33,0.00,0.000,4,0.000,0.058,3328,337,1810,0,0,0,0,0,0
$GC,3643,0.88,257.4,102.0,11.2,559,3651,0.10,2.25,0.00,0.000,6,0.158,0.037,3302,1758,1809,0,0,0,0,0,0
$GC,3762,0.91,257.4,90.1,10.2,578,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1757,1809,0,0,0,0,0,0
$GC,3882,0.97,278.5,79.1,9.2,597,3904,0.10,0.00,19.15,0.644,6,0.093,0.000,3366,1757,1728,0,0,0,0,0,0
$GC,4014,0.92,278.5,63.2,12.0,618,4023,0.17,0.00,0.00,0.000,6,0.153,0.000,3317,1758,1723,0,0,0,0,0,0
$GC,4134,0.93,283.9,51.3,9.8,637,4150,0.00,2.33,5.25,0.519,4,0.000,0.065,3317,3175,1705,0,0,0,0,0,0
$GC,4165,0.93,283.9,48.0,10.5,641,4172,0.00,2.35,0.00,0.000,6,0.000,0.072,3326,1755,1705,0,0,0,0,0,0
$GC,4280,0.97,320.2,36.9,8.6,660,4321,0.00,2.35,31.77,0.628,4,0.000,0.057,3337,329,1556,0,0,0,0,0,0
$GC,4423,1.02,335.5,24.5,9.4,681,4441,0.00,2.35,7.62,0.516,6,0.000,0.042,3338,1759,1495,0,0,0,0,0,0
$GC,4518,1.10,368.7,16.0,8.7,695,4545,0.10,2.35,17.00,0.539,4,0.092,0.063,3398,3180,1355,0,0,0,0,0,0
$GC,4567,1.04,368.7,9.5,14.8,701,4577,0.15,2.38,0.00,0.000,6,0.137,0.057,3360,1745,1351,0,0,0,0,0,0
$STATE,4608,end climb,SURFACE_DEPTH_REACHED
$STATE,4609,begin surface coast
$FINISH,1.3,1.012665
$STATE,4629,end surface coast,CONTROL_FINISHED_OK
$STATE,4629,begin surface
$SM_CCo,4706,0.00,0.000,0,0,1344,372.85
$SM_GC,2.18,8.68,0.00,0.00,0.034,0.000,0.000,70,1965,1344,-9.10,1.30,372.85
$IRIDIUM_FIX,-3412.10,2537.80,260208,090917
$TT8_MAMPS,0.026964
$HUMID,58.89
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,210.5,34.1
$24V_AH,24.0,21.815
$10V_AH,10.2,19.330
$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,23.450,73.600,425.450,0.000,0.000,25.908,45.108,262.635,5.500,0.000,32.129,1670.677,473.332,493.742,2393.970,139.689,0.000,1270.000,0.000,1834.796,0.000,29.850,0.000
$DEVICE_MAMPS,252.450,136.170,734.400,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.647,1858.421,1283.443,2006.214,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331432
$DATA_FILE_SIZE,50370,710
$CAP_FILE_SIZE,93117,0
$CFSIZE,2097086464,2070839296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.141, 50.1,1
$GPS,010515,225835,-3426.499,2537.157,38,1.0,39,-27.8