version: 66.07.10.p01
glider: 573
mission: 9
dive: 221
start: 5 2 115 19 6 48
data:
$ID,573
$MISSION,9
$DIVE,221
$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,-14232.304
$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,11
$R_STBD_OVSHOOT,8
$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,220
$GPS1,020515,190035,-3424.844,2536.896,41,1.6,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-69.9
$GPS2,020515,190624,-3424.880,2536.894,20,1.7,21,-27.7
$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,287.6,22805,-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,24,-1.05,-170.3,0.0,0.0,0,70,0.00,0.00,-43.00,0.000,2,0.000,0.000,71,1936,2500,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.1,-2.8,5,125,11.23,0.00,-36.50,0.000,6,0.256,0.000,2676,1933,3562,0,0,0,0,0,0
$GC,203,-0.82,-170.3,19.3,-21.8,23,212,0.25,2.45,0.00,0.000,4,0.207,0.090,2735,3347,3564,0,0,0,0,0,0
$GC,414,-0.76,-170.3,51.5,-13.6,57,422,0.12,2.45,0.00,0.000,6,0.170,0.089,2766,1917,3566,0,0,0,0,0,0
$GC,532,-0.76,-170.3,66.0,-11.9,76,541,0.00,2.50,0.00,0.000,4,0.000,0.103,2766,500,3567,0,0,0,0,0,0
$GC,584,-0.73,-170.3,72.5,-12.6,84,594,0.05,2.50,0.00,0.000,6,0.180,0.091,2773,1914,3567,0,0,0,0,0,0
$GC,705,-0.73,-170.3,86.2,-11.7,103,712,0.00,2.47,0.00,0.000,4,0.000,0.105,2762,3354,3569,0,0,0,0,0,0
$GC,839,-0.73,-170.3,101.6,-11.1,125,847,0.08,2.50,0.00,0.000,6,0.173,0.100,2778,1918,3569,0,0,0,0,0,0
$GC,957,-0.73,-170.3,115.4,-11.8,144,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1918,3569,0,0,0,0,0,0
$GC,1076,-0.73,-170.3,129.0,-10.9,163,1089,0.00,2.50,0.00,0.000,4,0.000,0.108,2778,477,3570,0,0,0,0,0,0
$GC,1109,-0.73,-170.3,133.0,-12.3,167,1117,0.00,2.47,0.00,0.000,6,0.000,0.085,2769,1925,3570,0,0,0,0,0,0
$STATE,1211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1211,begin apogee
$GC,1215,-0.25,0.0,145.7,12.8,184,1358,0.55,0.00,131.10,0.666,6,0.181,0.000,2928,1725,2864,0,0,0,0,0,0
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1360,1.05,170.3,152.9,0.0,203,1509,1.30,2.33,132.80,0.646,4,0.112,0.055,3356,369,2167,0,0,0,0,0,0
$GC,1551,0.96,170.3,141.3,13.0,230,1562,0.08,2.33,0.00,0.000,6,0.145,0.039,3333,1764,2164,0,0,0,0,0,0
$GC,1673,0.90,170.3,129.2,10.9,249,1680,0.08,0.00,0.00,0.000,6,0.198,0.000,3315,1763,2162,0,0,0,0,0,0
$GC,1790,0.88,179.1,117.9,9.7,268,1805,0.00,2.30,7.62,0.557,4,0.000,0.053,3324,358,2133,0,0,0,0,0,0
$GC,1851,0.84,179.1,112.3,10.1,277,1858,0.12,2.25,0.00,0.000,6,0.157,0.041,3291,1757,2132,0,0,0,0,0,0
$GC,1967,0.90,235.7,102.2,7.8,296,2022,0.05,0.00,46.80,0.639,6,0.156,0.000,3335,1758,1901,0,0,0,0,0,0
$GC,2131,0.88,235.7,86.0,10.5,321,2139,0.12,2.38,0.00,0.000,4,0.151,0.075,3303,3186,1897,0,0,0,0,0,0
$GC,2196,0.89,239.9,79.5,9.8,331,2211,0.00,2.40,4.05,0.449,6,0.000,0.086,3312,1788,1886,0,0,0,0,0,0
$GC,2323,0.90,249.9,68.0,9.6,351,2339,0.00,2.45,10.27,0.585,4,0.000,0.065,3323,333,1845,0,0,0,0,0,0
$GC,2394,0.93,272.2,61.3,9.1,362,2419,0.00,2.33,20.00,0.615,6,0.000,0.043,3323,1755,1754,0,0,0,0,0,0
$GC,2531,0.97,304.6,49.7,8.7,383,2561,0.00,0.00,27.98,0.617,6,0.000,0.000,3323,1755,1622,0,0,0,0,0,0
$GC,2672,1.00,304.6,34.7,10.7,405,2679,0.00,2.33,0.00,0.000,4,0.000,0.056,3333,333,1615,0,0,0,0,0,0
$GC,2702,1.03,304.6,31.3,11.9,409,2709,0.00,2.33,0.00,0.000,6,0.000,0.047,3333,1757,1615,0,0,0,0,0,0
$GC,2824,1.08,311.4,19.7,9.7,428,2834,0.10,2.35,2.28,0.207,4,0.093,0.076,3401,3181,1595,0,0,0,0,0,0
$GC,2893,1.00,311.4,9.7,15.4,438,2903,0.20,2.38,0.00,0.000,6,0.142,0.063,3348,1754,1593,0,0,0,0,0,0
$STATE,2947,end climb,SURFACE_DEPTH_REACHED
$STATE,2947,begin surface coast
$FINISH,1.4,1.021606
$STATE,2981,end surface coast,CONTROL_FINISHED_OK
$STATE,2981,begin surface
$SM_CCo,3057,0.00,0.000,0,0,1587,313.00
$SM_GC,2.70,8.65,0.00,0.00,0.041,0.000,0.000,78,1973,1587,-9.08,1.50,313.00
$IRIDIUM_FIX,-3412.10,2536.67,270208,070719
$TT8_MAMPS,0.026964
$HUMID,60.55
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,30.5
$24V_AH,24.2,23.483
$10V_AH,10.2,20.942
$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,22.975,48.575,382.900,0.000,0.000,27.061,20.723,192.756,2.500,0.000,23.386,1050.003,289.653,398.839,1582.202,97.537,0.000,933.223,0.000,1198.418,0.000,17.680,0.000
$DEVICE_MAMPS,256.275,107.865,665.550,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.606,1205.811,861.275,1299.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331264
$DATA_FILE_SIZE,33669,451
$CAP_FILE_SIZE,61650,0
$CFSIZE,2097086464,2069004288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.264, 76.0,1
$GPS,020515,195859,-3424.796,2536.923,42,1.1,42,-27.7