version: 66.07.10.p01
glider: 573
mission: 9
dive: 171
start: 4 29 115 4 23 54
data:
$ID,573
$MISSION,9
$DIVE,171
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,0
$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,200
$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,-14058.241
$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,18
$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,170
$GPS1,290415,041606,-3425.677,2546.761,44,1.7,45,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-62.6
$GPS2,290415,042334,-3425.683,2546.871,44,1.2,50,-27.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3435.580,2528.620
$TGT_RADIUS,2000.000
$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,270.1,33320,-15.7,-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,23,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,87,0.00,0.00,-60.58,0.000,2,0.000,0.000,70,1933,2853,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.4,-4.7,7,126,11.43,2.60,-19.12,0.000,4,0.262,0.112,2684,491,3661,0,0,0,0,0,0
$GC,141,-0.72,-194.6,11.7,-16.7,13,151,0.38,2.67,0.00,0.000,6,0.203,0.114,2775,1919,3664,0,0,0,0,0,0
$GC,228,-0.64,-194.6,24.8,-13.6,26,238,0.15,0.00,0.00,0.000,6,0.218,0.000,2810,1919,3666,0,0,0,0,0,0
$GC,314,-0.62,-194.6,36.1,-13.4,39,321,0.00,2.42,0.00,0.000,4,0.000,0.090,2799,3355,3666,0,0,0,0,0,0
$GC,395,-0.65,-194.6,45.1,-9.7,52,404,0.00,2.55,0.00,0.000,6,0.000,0.101,2799,1929,3667,0,0,0,0,0,0
$GC,515,-0.68,-194.6,54.7,-8.2,71,522,0.00,2.42,0.00,0.000,4,0.000,0.090,2791,3361,3667,0,0,0,0,0,0
$GC,567,-0.71,-194.6,59.3,-8.5,79,575,0.00,2.50,0.00,0.000,6,0.000,0.096,2791,1916,3668,0,0,0,0,0,0
$GC,687,-0.71,-194.6,70.9,-9.2,98,696,0.00,2.50,0.00,0.000,4,0.000,0.096,2782,3352,3669,0,0,0,0,0,0
$GC,746,-0.71,-194.6,76.9,-10.2,107,753,0.00,2.47,0.00,0.000,6,0.000,0.092,2783,1910,3669,0,0,0,0,0,0
$GC,863,-0.71,-194.6,89.3,-10.9,126,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3670,0,0,0,0,0,0
$GC,983,-0.71,-194.6,102.0,-10.7,145,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3670,0,0,0,0,0,0
$GC,1100,-0.71,-194.6,115.1,-11.1,164,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3671,0,0,0,0,0,0
$GC,1219,-0.71,-194.6,127.5,-10.8,183,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3671,0,0,0,0,0,0
$GC,1336,-0.71,-194.6,140.3,-11.0,202,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1911,3672,0,0,0,0,0,0
$GC,1455,-0.71,-194.6,153.1,-10.8,221,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3672,0,0,0,0,0,0
$GC,1571,-0.71,-194.6,166.1,-11.2,240,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1911,3672,0,0,0,0,0,0
$GC,1690,-0.71,-194.6,179.1,-11.0,259,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3672,0,0,0,0,0,0
$GC,1808,-0.71,-194.6,192.5,-10.7,278,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3671,0,0,0,0,0,0
$GC,1928,-0.71,-194.6,205.9,-11.6,297,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3671,0,0,0,0,0,0
$GC,2043,-0.71,-194.6,219.4,-11.5,316,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1910,3671,0,0,0,0,0,0
$GC,2164,-0.71,-194.6,232.9,-11.2,335,2171,0.00,2.40,0.00,0.000,4,0.000,0.092,2782,483,3671,0,0,0,0,0,0
$GC,2191,-0.71,-194.6,236.2,-12.3,339,2199,0.08,2.47,0.00,0.000,6,0.220,0.090,2787,1921,3671,0,0,0,0,0,0
$GC,2310,-0.71,-194.6,249.7,-11.4,358,2325,0.00,2.45,0.00,0.000,4,0.000,0.101,2776,3344,3670,0,0,0,0,0,0
$GC,2399,-0.71,-194.6,259.6,-11.1,371,2406,0.00,2.47,0.00,0.000,6,0.000,0.100,2777,1920,3670,0,0,0,0,0,0
$STATE,2442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2442,begin apogee
$GC,2446,-0.25,0.0,264.4,10.4,378,2605,0.50,0.00,152.93,0.760,6,0.161,0.000,2930,1743,2863,0,0,0,0,0,0
$STATE,2605,end apogee,CONTROL_FINISHED_OK
$STATE,2605,begin climb
$GC,2607,1.02,194.6,272.0,0.0,399,2775,1.27,2.45,155.02,0.732,4,0.109,0.051,3348,330,2068,0,0,0,0,0,0
$GC,2833,0.92,194.6,257.1,12.1,431,2841,0.12,2.35,0.00,0.000,6,0.156,0.033,3316,1780,2064,0,0,0,0,0,0
$GC,2950,0.88,205.0,245.3,9.7,450,2967,0.00,0.00,9.40,0.640,6,0.000,0.000,3316,1780,2027,0,0,0,0,0,0
$GC,3076,0.86,217.7,233.4,9.6,470,3092,0.08,0.00,11.88,0.663,6,0.194,0.000,3300,1781,1975,0,0,0,0,0,0
$GC,3201,0.90,249.3,222.2,8.9,490,3232,0.00,0.00,27.92,0.702,6,0.000,0.000,3300,1781,1846,0,0,0,0,0,0
$GC,3341,0.91,261.6,209.4,9.6,512,3357,0.00,0.00,11.60,0.656,6,0.000,0.000,3299,1781,1796,0,0,0,0,0,0
$GC,3465,0.92,268.5,197.8,9.8,532,3481,0.00,2.42,7.10,0.604,4,0.000,0.051,3309,330,1768,0,0,0,0,0,0
$GC,3506,0.93,274.9,193.8,9.8,538,3523,0.00,2.33,7.32,0.605,6,0.000,0.038,3309,1750,1741,0,0,0,0,0,0
$GC,3632,0.94,289.0,181.5,9.5,558,3648,0.00,0.00,13.57,0.663,6,0.000,0.000,3309,1750,1685,0,0,0,0,0,0
$GC,3757,0.95,290.1,169.6,10.0,578,3766,0.00,2.38,0.00,0.000,4,0.000,0.066,3309,3181,1680,0,0,0,0,0,0
$GC,3786,0.95,290.1,166.5,10.7,582,3796,0.00,2.40,0.00,0.000,6,0.000,0.066,3319,1755,1680,0,0,0,0,0,0
$GC,3905,0.95,290.1,153.7,10.8,601,3912,0.00,2.30,0.00,0.000,4,0.000,0.057,3330,332,1680,0,0,0,0,0,0
$GC,3981,0.92,290.1,144.8,11.7,613,3989,0.05,2.28,0.00,0.000,6,0.195,0.037,3318,1772,1679,0,0,0,0,0,0
$GC,4097,0.92,290.1,131.8,10.6,632,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1772,1678,0,0,0,0,0,0
$GC,4216,0.92,290.1,119.0,10.6,651,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1772,1679,0,0,0,0,0,0
$GC,4330,0.92,290.1,106.2,10.7,670,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1773,1678,0,0,0,0,0,0
$GC,4449,0.92,290.1,93.6,11.1,689,4456,0.00,2.22,0.00,0.000,4,0.000,0.063,3319,3174,1677,0,0,0,0,0,0
$GC,4469,0.92,290.1,91.1,11.4,692,4478,0.00,2.35,0.00,0.000,6,0.000,0.066,3327,1751,1677,0,0,0,0,0,0
$GC,4588,0.92,290.1,77.0,11.9,711,4595,0.00,2.25,0.00,0.000,4,0.000,0.057,3338,338,1676,0,0,0,0,0,0
$GC,4627,0.89,290.1,71.7,13.4,717,4635,0.12,2.22,0.00,0.000,6,0.157,0.034,3304,1769,1676,0,0,0,0,0,0
$GC,4744,0.91,314.2,59.5,9.2,736,4775,0.00,2.28,21.83,0.650,4,0.000,0.060,3305,3162,1581,0,0,0,0,0,0
$GC,4812,0.92,317.2,52.7,9.9,746,4821,0.00,2.35,0.00,0.000,6,0.000,0.065,3312,1752,1578,0,0,0,0,0,0
$GC,4932,1.02,378.9,42.9,7.9,765,4998,0.10,2.40,55.65,0.640,4,0.095,0.054,3386,338,1316,0,0,0,0,0,0
$GC,5046,0.98,378.9,32.2,10.6,781,5054,0.17,2.28,0.00,0.000,6,0.145,0.034,3338,1758,1312,0,0,0,0,0,0
$GC,5168,0.98,378.9,20.1,10.6,800,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,1758,1308,0,0,0,0,0,0
$GC,5253,1.00,378.9,10.6,11.7,813,5262,0.00,2.35,0.00,0.000,4,0.000,0.054,3348,337,1306,0,0,0,0,0,0
$GC,5296,1.00,378.9,5.1,12.9,819,5305,0.00,2.33,0.00,0.000,6,0.000,0.045,3348,1752,1305,0,0,0,0,0,0
$STATE,5312,end climb,SURFACE_DEPTH_REACHED
$STATE,5312,begin surface coast
$FINISH,1.2,1.022015
$STATE,5339,end surface coast,CONTROL_FINISHED_OK
$STATE,5339,begin surface
$SM_CCo,5415,0.00,0.000,0,0,1301,383.40
$SM_GC,1.87,8.93,0.00,0.00,0.057,0.000,0.000,80,1941,1301,-9.08,0.62,383.40
$IRIDIUM_FIX,-3412.10,2600.03,230208,161615
$TT8_MAMPS,0.026964
$HUMID,60.55
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.7,28.5
$24V_AH,24.0,18.265
$10V_AH,10.2,14.234
$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,23.375,72.475,474.225,0.000,0.000,26.921,43.220,232.589,5.500,0.000,52.355,1920.374,540.495,561.314,2706.371,134.817,0.000,1439.345,0.000,2116.068,0.000,35.903,0.000
$DEVICE_MAMPS,261.630,133.110,760.410,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.218,2146.556,1480.960,2319.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331608
$DATA_FILE_SIZE,60271,825
$CAP_FILE_SIZE,102319,0
$CFSIZE,2097086464,2074673152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.138, 62.2,1
$GPS,290415,055523,-3425.863,2546.392,41,1.1,42,-27.8