version: 66.07.10.p01
glider: 573
mission: 9
dive: 172
start: 4 29 115 6 3 14
data:
$ID,573
$MISSION,9
$DIVE,172
$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,-14061.682
$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,24
$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,171
$GPS1,290415,055523,-3425.863,2546.392,41,1.1,42,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-60.1
$GPS2,290415,060253,-3425.846,2546.478,45,1.0,45,-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,266.9,32653,-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,22,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,87,0.00,0.00,-60.72,0.000,2,0.000,0.000,79,1942,2738,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.1,-3.3,7,134,11.32,2.47,-27.52,0.000,4,0.261,0.107,2669,3332,3659,0,0,0,0,0,0
$GC,187,-0.81,-194.6,14.8,-18.2,20,196,0.28,2.45,0.00,0.000,6,0.171,0.086,2749,1928,3663,0,0,0,0,0,0
$GC,273,-0.69,-194.6,30.3,-17.0,33,282,0.17,2.53,0.00,0.000,4,0.193,0.099,2792,483,3664,0,0,0,0,0,0
$GC,353,-0.66,-194.6,43.1,-14.8,46,363,0.05,2.65,0.00,0.000,6,0.213,0.116,2797,1900,3665,0,0,0,0,0,0
$GC,469,-0.66,-194.6,56.4,-10.7,65,477,0.00,2.42,0.00,0.000,4,0.000,0.087,2787,3353,3666,0,0,0,0,0,0
$GC,592,-0.66,-194.6,68.9,-10.3,85,601,0.08,2.47,0.00,0.000,6,0.176,0.089,2802,1911,3666,0,0,0,0,0,0
$GC,707,-0.68,-194.6,79.9,-9.5,104,717,0.00,2.42,0.00,0.000,4,0.000,0.083,2793,3342,3668,0,0,0,0,0,0
$GC,758,-0.71,-194.6,85.2,-10.1,112,767,0.00,2.47,0.00,0.000,6,0.000,0.089,2794,1915,3668,0,0,0,0,0,0
$GC,873,-0.73,-194.6,97.0,-10.5,131,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1916,3669,0,0,0,0,0,0
$GC,985,-0.73,-194.6,109.3,-10.8,150,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1916,3669,0,0,0,0,0,0
$GC,1102,-0.73,-194.6,121.8,-11.0,169,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3670,0,0,0,0,0,0
$GC,1217,-0.73,-194.6,133.7,-9.8,188,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3670,0,0,0,0,0,0
$GC,1333,-0.73,-194.6,145.3,-9.9,207,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3670,0,0,0,0,0,0
$GC,1446,-0.73,-194.6,157.6,-11.0,226,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1916,3670,0,0,0,0,0,0
$GC,1563,-0.73,-194.6,169.9,-11.1,245,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3670,0,0,0,0,0,0
$GC,1678,-0.73,-194.6,182.6,-10.6,264,1687,0.00,2.42,0.00,0.000,4,0.000,0.092,2794,491,3671,0,0,0,0,0,0
$GC,1706,-0.73,-194.6,185.7,-11.8,268,1715,0.00,2.47,0.00,0.000,6,0.000,0.086,2784,1914,3671,0,0,0,0,0,0
$GC,1822,-0.73,-194.6,199.1,-12.4,287,1832,0.00,2.40,0.00,0.000,4,0.000,0.091,2773,3358,3670,0,0,0,0,0,0
$GC,1917,-0.73,-194.6,210.1,-11.6,302,1926,0.00,2.53,0.00,0.000,6,0.000,0.099,2773,1923,3670,0,0,0,0,0,0
$GC,2031,-0.73,-194.6,223.4,-11.8,321,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1923,3670,0,0,0,0,0,0
$GC,2143,-0.73,-194.6,236.8,-11.4,340,2152,0.00,2.45,0.00,0.000,4,0.000,0.094,2773,489,3670,0,0,0,0,0,0
$GC,2172,-0.70,-194.6,239.9,-12.4,344,2184,0.08,2.42,0.00,0.000,6,0.205,0.073,2783,1920,3670,0,0,0,0,0,0
$GC,2291,-0.70,-194.6,253.7,-11.8,363,2298,0.00,2.42,0.00,0.000,4,0.000,0.099,2773,3356,3669,0,0,0,0,0,0
$GC,2369,-0.70,-194.6,263.1,-10.9,376,2378,0.03,2.53,0.00,0.000,6,0.129,0.098,2782,1918,3669,0,0,0,0,0,0
$GC,2485,-0.70,-194.6,276.0,-11.7,395,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1918,3669,0,0,0,0,0,0
$STATE,2526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2526,begin apogee
$GC,2530,-0.25,0.0,281.0,11.4,402,2689,0.50,0.00,152.90,0.770,6,0.166,0.000,2935,1746,2863,0,0,0,0,0,0
$STATE,2690,end apogee,CONTROL_FINISHED_OK
$STATE,2690,begin climb
$GC,2691,1.02,194.6,288.7,0.0,423,2861,1.25,2.47,154.82,0.744,4,0.106,0.050,3348,325,2067,0,0,0,0,0,0
$GC,2910,0.92,194.6,275.5,10.9,454,2920,0.08,2.40,0.00,0.000,6,0.137,0.032,3324,1779,2064,0,0,0,0,0,0
$GC,3028,0.87,202.5,264.1,9.7,473,3044,0.10,0.00,7.20,0.618,6,0.185,0.000,3300,1780,2037,0,0,0,0,0,0
$GC,3152,0.91,251.2,253.0,8.3,493,3198,0.00,0.00,42.20,0.724,6,0.000,0.000,3300,1780,1838,0,0,0,0,0,0
$GC,3305,0.93,265.5,238.6,9.5,517,3328,0.00,2.45,13.20,0.675,4,0.000,0.049,3310,329,1779,0,0,0,0,0,0
$GC,3372,0.93,265.5,231.5,11.1,527,3379,0.00,2.30,0.00,0.000,6,0.000,0.034,3309,1766,1777,0,0,0,0,0,0
$GC,3484,0.96,289.0,220.6,9.2,546,3508,0.00,0.00,21.20,0.698,6,0.000,0.000,3309,1766,1684,0,0,0,0,0,0
$GC,3613,0.96,291.3,208.6,9.9,567,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1766,1679,0,0,0,0,0,0
$GC,3725,0.96,291.3,197.8,10.1,586,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1766,1678,0,0,0,0,0,0
$GC,3841,0.97,300.9,187.1,9.7,605,3858,0.08,0.00,10.85,0.659,6,0.120,0.000,3357,1766,1637,0,0,0,0,0,0
$GC,3965,0.92,300.9,172.5,12.6,625,3972,0.15,0.00,0.00,0.000,6,0.145,0.000,3315,1767,1634,0,0,0,0,0,0
$GC,4077,0.92,300.9,160.0,11.3,644,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1767,1633,0,0,0,0,0,0
$GC,4192,0.92,300.9,147.9,11.0,663,4199,0.00,2.30,0.00,0.000,4,0.000,0.050,3325,329,1633,0,0,0,0,0,0
$GC,4247,0.92,300.9,141.1,12.4,672,4256,0.00,2.28,0.00,0.000,6,0.000,0.035,3325,1755,1632,0,0,0,0,0,0
$GC,4362,0.92,300.9,127.8,12.3,691,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1755,1632,0,0,0,0,0,0
$GC,4473,0.92,300.9,114.6,11.9,710,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1755,1631,0,0,0,0,0,0
$GC,4588,0.93,302.3,101.8,10.0,729,4596,0.00,2.25,0.00,0.000,4,0.000,0.060,3325,3177,1631,0,0,0,0,0,0
$GC,4674,0.90,302.3,91.8,11.0,743,4682,0.10,2.28,0.00,0.000,6,0.168,0.053,3308,1738,1630,0,0,0,0,0,0
$GC,4787,0.92,319.3,80.8,9.4,762,4812,0.00,2.25,16.52,0.639,4,0.000,0.054,3319,341,1562,0,0,0,0,0,0
$GC,4837,0.92,319.3,76.1,10.2,769,4845,0.00,2.25,0.00,0.000,6,0.000,0.036,3319,1770,1559,0,0,0,0,0,0
$GC,4950,0.92,319.3,63.5,11.5,788,4959,0.00,2.25,0.00,0.000,4,0.000,0.060,3319,3169,1558,0,0,0,0,0,0
$GC,5012,0.92,319.3,55.9,11.8,798,5021,0.00,2.28,0.00,0.000,6,0.000,0.054,3328,1761,1558,0,0,0,0,0,0
$GC,5128,0.92,319.3,44.1,10.0,817,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,1762,1556,0,0,0,0,0,0
$GC,5242,0.93,327.0,33.3,9.7,836,5258,0.00,2.33,6.43,0.555,4,0.000,0.054,3339,337,1530,0,0,0,0,0,0
$GC,5309,0.93,327.0,26.9,10.3,846,5318,0.05,2.25,0.00,0.000,6,0.127,0.035,3320,1752,1528,0,0,0,0,0,0
$GC,5396,0.97,327.0,17.1,11.6,859,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1752,1527,0,0,0,0,0,0
$GC,5483,1.00,327.0,6.8,13.2,872,5491,0.05,0.00,0.00,0.000,6,0.159,0.000,3369,1752,1525,0,0,0,0,0,0
$STATE,5511,end climb,SURFACE_DEPTH_REACHED
$STATE,5511,begin surface coast
$FINISH,1.2,1.021949
$STATE,5532,end surface coast,CONTROL_FINISHED_OK
$STATE,5532,begin surface
$SM_CCo,5608,0.00,0.000,0,0,1520,329.43
$SM_GC,2.05,8.55,0.00,0.00,0.034,0.000,0.000,90,1914,1520,-9.08,-0.14,329.43
$IRIDIUM_FIX,-3414.71,2546.00,230208,171757
$TT8_MAMPS,0.026964
$HUMID,60.27
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.4,35.0
$24V_AH,24.0,18.372
$10V_AH,10.3,14.369
$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,22.900,72.500,425.325,0.000,0.000,27.885,40.542,237.760,5.750,0.000,47.348,2067.807,455.384,542.114,2844.460,149.387,0.000,1451.308,0.000,2247.430,0.000,37.437,0.000
$DEVICE_MAMPS,260.865,137.700,770.355,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.221,2281.073,1563.270,2463.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331528
$DATA_FILE_SIZE,63781,879
$CAP_FILE_SIZE,105590,0
$CFSIZE,2097086464,2074574848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.140, 55.2,1
$GPS,290415,073804,-3426.041,2545.969,38,1.7,50,-27.8