version: 66.07.10.p01
glider: 573
mission: 9
dive: 233
start: 5 3 115 6 51 48
data:
$ID,573
$MISSION,9
$DIVE,233
$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,-14274.547
$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,12
$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,232
$GPS1,030515,064535,-3424.446,2536.170,39,1.1,39,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.7
$GPS2,030515,065124,-3424.457,2536.223,18,1.2,18,-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,288.5,21731,-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,-170.3,0.0,0.0,0,77,0.00,0.00,-50.80,0.000,2,0.000,0.000,77,1942,2663,0,0,0,0,0,0
$GC,80,-1.05,-170.3,3.4,-3.6,6,124,11.15,2.45,-26.02,0.000,4,0.256,0.106,2658,3354,3558,0,0,0,0,0,0
$GC,183,-0.83,-170.3,17.4,-21.2,20,193,0.30,2.58,0.00,0.000,6,0.180,0.099,2744,1918,3561,0,0,0,0,0,0
$GC,270,-0.72,-170.3,31.6,-14.2,33,277,0.15,0.00,0.00,0.000,6,0.192,0.000,2780,1918,3562,0,0,0,0,0,0
$GC,384,-0.72,-170.3,44.3,-9.7,52,393,0.00,2.50,0.00,0.000,4,0.000,0.103,2772,3337,3561,0,0,0,0,0,0
$GC,454,-0.72,-170.3,50.8,-9.5,63,463,0.05,2.55,0.00,0.000,6,0.181,0.109,2782,1910,3562,0,0,0,0,0,0
$GC,568,-0.72,-170.3,61.8,-10.1,82,577,0.00,2.53,0.00,0.000,4,0.000,0.105,2782,485,3563,0,0,0,0,0,0
$GC,591,-0.72,-170.3,64.3,-11.1,85,598,0.00,2.70,0.00,0.000,6,0.000,0.125,2773,1925,3563,0,0,0,0,0,0
$GC,705,-0.72,-170.3,77.6,-12.6,104,714,0.00,2.45,0.00,0.000,4,0.000,0.099,2763,3345,3564,0,0,0,0,0,0
$GC,816,-0.72,-170.3,91.0,-10.8,122,826,0.05,2.55,0.00,0.000,6,0.144,0.105,2777,1925,3564,0,0,0,0,0,0
$GC,932,-0.72,-170.3,103.4,-10.8,141,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1925,3566,0,0,0,0,0,0
$GC,1045,-0.72,-170.3,115.5,-11.4,160,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1925,3566,0,0,0,0,0,0
$GC,1161,-0.72,-170.3,127.8,-10.6,179,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1925,3566,0,0,0,0,0,0
$GC,1274,-0.72,-170.3,140.5,-11.8,198,1283,0.00,2.53,0.00,0.000,4,0.000,0.102,2777,478,3566,0,0,0,0,0,0
$STATE,1289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1289,begin apogee
$GC,1295,-0.25,0.0,142.2,10.7,200,1431,0.57,0.00,131.38,0.662,6,0.193,0.000,2931,1768,2864,0,0,0,0,0,0
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1434,1.05,170.3,149.0,0.0,218,1577,1.30,2.45,132.57,0.643,4,0.111,0.051,3358,328,2169,0,0,0,0,0,0
$GC,1660,0.95,170.3,132.9,11.0,251,1669,0.12,2.35,0.00,0.000,6,0.158,0.039,3326,1764,2165,0,0,0,0,0,0
$GC,1775,0.94,193.5,121.8,9.1,270,1799,0.00,0.00,19.75,0.616,6,0.000,0.000,3326,1764,2074,0,0,0,0,0,0
$GC,1907,0.90,194.4,108.8,10.0,291,1915,0.05,0.00,0.00,0.000,6,0.237,0.000,3315,1764,2071,0,0,0,0,0,0
$GC,2020,0.89,202.1,97.7,9.7,310,2036,0.00,0.00,8.23,0.564,6,0.000,0.000,3315,1764,2039,0,0,0,0,0,0
$GC,2140,0.91,218.7,86.2,9.4,330,2164,0.00,0.00,15.00,0.606,6,0.000,0.000,3315,1764,1971,0,0,0,0,0,0
$GC,2271,0.95,251.8,74.3,8.7,351,2301,0.00,0.00,28.62,0.621,6,0.000,0.000,3315,1764,1836,0,0,0,0,0,0
$GC,2408,1.00,292.9,62.7,8.4,373,2452,0.08,0.00,35.15,0.616,6,0.114,0.000,3377,1765,1668,0,0,0,0,0,0
$GC,2559,0.95,292.9,43.9,13.3,397,2567,0.17,2.38,0.00,0.000,4,0.154,0.077,3330,3188,1663,0,0,0,0,0,0
$GC,2603,0.95,292.9,36.8,17.2,404,2613,0.03,2.53,0.00,0.000,6,0.181,0.089,3331,1753,1663,0,0,0,0,0,0
$GC,2723,0.99,292.9,21.7,11.9,423,2733,0.00,2.38,0.00,0.000,4,0.000,0.064,3341,327,1661,0,0,0,0,0,0
$GC,2866,0.99,292.9,6.1,11.3,445,2875,0.00,2.38,0.00,0.000,6,0.000,0.055,3341,1749,1658,0,0,0,0,0,0
$STATE,2894,end climb,SURFACE_DEPTH_REACHED
$STATE,2894,begin surface coast
$FINISH,1.3,1.022126
$STATE,2927,end surface coast,CONTROL_FINISHED_OK
$STATE,2927,begin surface
$SM_CCo,2944,1.50,0.054,0,0,1638,300.24
$SM_GC,2.94,0.00,0.00,1.50,0.000,0.000,0.054,77,1941,1638,-9.20,0.62,300.24
$IRIDIUM_FIX,-3409.50,2534.32,270208,191937
$TT8_MAMPS,0.026964
$HUMID,60.59
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,25.3
$24V_AH,24.2,24.469
$10V_AH,10.3,21.853
$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,22.775,39.900,370.700,1.500,0.000,26.670,41.084,177.958,2.500,0.000,20.257,1060.120,171.047,387.094,1598.113,93.367,0.000,920.067,0.000,1210.910,0.000,17.681,0.000
$DEVICE_MAMPS,255.510,124.695,662.490,53.550,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.053,1218.619,871.269,1311.401,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331380
$DATA_FILE_SIZE,33756,454
$CAP_FILE_SIZE,59547,0
$CFSIZE,2097086464,2067824640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.138, 69.5,1
$GPS,030515,074205,-3424.403,2536.006,36,1.5,37,-27.7