version: 66.07.10.p01
glider: 573
mission: 9
dive: 227
start: 5 3 115 1 0 54
data:
$ID,573
$MISSION,9
$DIVE,227
$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,-14253.128
$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,12
$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,226
$GPS1,030515,005435,-3424.668,2536.717,34,1.2,35,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-71.1
$GPS2,030515,010030,-3424.709,2536.740,17,1.2,17,-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,286.3,22547,-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,-170.3,0.0,0.0,0,71,0.00,0.00,-44.88,0.000,2,0.000,0.000,80,1936,2658,0,0,0,0,0,0
$GC,74,-1.05,-170.3,3.4,-2.5,5,117,11.12,0.00,-24.40,0.000,6,0.255,0.000,2672,1937,3562,0,0,0,0,0,0
$GC,194,-0.83,-170.3,22.4,-19.9,22,205,0.25,2.45,0.00,0.000,4,0.210,0.093,2730,3342,3564,0,0,0,0,0,0
$GC,438,-0.78,-170.3,56.0,-13.1,61,445,0.15,2.47,0.00,0.000,6,0.171,0.095,2768,1920,3566,0,0,0,0,0,0
$GC,556,-0.78,-170.3,71.3,-12.6,80,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1921,3567,0,0,0,0,0,0
$GC,674,-0.78,-170.3,85.5,-12.5,99,681,0.00,2.47,0.00,0.000,4,0.000,0.103,2767,488,3568,0,0,0,0,0,0
$GC,703,-0.75,-170.3,89.2,-13.0,103,711,0.05,2.50,0.00,0.000,6,0.239,0.090,2769,1925,3568,0,0,0,0,0,0
$GC,823,-0.75,-170.3,104.4,-12.6,122,832,0.00,2.47,0.00,0.000,4,0.000,0.106,2759,3340,3569,0,0,0,0,0,0
$GC,930,-0.75,-170.3,117.8,-12.6,139,937,0.05,2.53,0.00,0.000,6,0.190,0.109,2769,1921,3570,0,0,0,0,0,0
$GC,1050,-0.75,-170.3,132.5,-12.5,158,1059,0.00,2.53,0.00,0.000,4,0.000,0.102,2769,477,3570,0,0,0,0,0,0
$GC,1086,-0.72,-170.3,136.6,-12.6,163,1094,0.10,2.47,0.00,0.000,6,0.212,0.085,2780,1920,3570,0,0,0,0,0,0
$STATE,1173,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1173,begin apogee
$GC,1178,-0.25,0.0,146.9,10.6,177,1315,0.50,0.00,131.93,0.665,6,0.174,0.000,2930,1719,2863,0,0,0,0,0,0
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,1.05,170.3,153.9,0.0,195,1467,1.30,2.33,132.43,0.648,4,0.110,0.055,3358,367,2167,0,0,0,0,0,0
$GC,1613,0.95,170.3,131.5,10.9,239,1621,0.12,2.28,0.00,0.000,6,0.163,0.041,3326,1770,2164,0,0,0,0,0,0
$GC,1731,0.96,212.4,121.1,8.3,258,1772,0.00,2.40,34.60,0.634,4,0.000,0.051,3335,361,1996,0,0,0,0,0,0
$GC,1803,0.93,228.8,114.6,9.4,268,1828,0.03,2.33,14.80,0.601,6,0.152,0.044,3327,1755,1929,0,0,0,0,0,0
$GC,1939,0.97,262.9,102.5,8.7,289,1976,0.00,2.42,29.20,0.625,4,0.000,0.074,3326,3192,1791,0,0,0,0,0,0
$GC,1997,1.01,288.7,97.4,9.0,297,2028,0.00,2.47,23.25,0.610,6,0.000,0.090,3335,1788,1685,0,0,0,0,0,0
$GC,2140,1.03,304.8,84.6,9.4,319,2162,0.00,2.42,14.50,0.594,4,0.000,0.061,3347,330,1621,0,0,0,0,0,0
$GC,2291,1.03,304.8,68.4,11.9,343,2298,0.00,2.35,0.00,0.000,6,0.000,0.046,3347,1765,1616,0,0,0,0,0,0
$GC,2406,1.03,304.8,53.4,13.2,362,2416,0.00,2.42,0.00,0.000,4,0.000,0.090,3347,3182,1615,0,0,0,0,0,0
$GC,2442,1.00,304.8,48.4,15.3,367,2449,0.00,2.45,0.00,0.000,6,0.000,0.086,3356,1757,1615,0,0,0,0,0,0
$GC,2558,1.00,304.8,29.6,15.2,386,2568,0.00,2.42,0.00,0.000,4,0.000,0.080,3356,3181,1614,0,0,0,0,0,0
$GC,2588,1.00,304.8,25.9,12.6,390,2598,0.05,2.47,0.00,0.000,6,0.158,0.085,3349,1757,1614,0,0,0,0,0,0
$GC,2675,1.00,304.8,16.1,11.7,403,2684,0.00,2.35,0.00,0.000,4,0.000,0.066,3359,338,1613,0,0,0,0,0,0
$GC,2736,1.00,304.8,8.7,11.8,412,2746,0.03,2.35,0.00,0.000,6,0.151,0.047,3350,1765,1612,0,0,0,0,0,0
$STATE,2790,end climb,SURFACE_DEPTH_REACHED
$STATE,2790,begin surface coast
$FINISH,1.3,1.000993
$STATE,2823,end surface coast,CONTROL_FINISHED_OK
$STATE,2823,begin surface
$SM_CCo,2900,0.00,0.000,0,0,1606,308.58
$SM_GC,2.36,8.82,0.00,0.00,0.054,0.000,0.000,77,1934,1606,-9.09,0.40,308.58
$IRIDIUM_FIX,-3409.50,2536.67,270208,131316
$TT8_MAMPS,0.026215
$HUMID,60.51
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.9,30.6
$24V_AH,24.2,23.979
$10V_AH,10.3,21.396
$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,22.575,53.975,380.700,0.000,0.000,23.794,41.688,184.740,2.500,0.000,19.630,986.024,277.513,392.884,1516.520,94.346,0.000,904.913,0.000,1134.421,0.000,17.677,0.000
$DEVICE_MAMPS,254.745,141.525,664.785,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.653,1139.974,811.841,1225.576,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331356
$DATA_FILE_SIZE,30209,425
$CAP_FILE_SIZE,58326,0
$CFSIZE,2097086464,2068447232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.179, 76.4,1
$GPS,030515,015029,-3424.636,2536.590,43,1.0,43,-27.7