version: 66.07.10.p01
glider: 573
mission: 9
dive: 173
start: 4 29 115 7 46 14
data:
$ID,573
$MISSION,9
$DIVE,173
$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,-14065.09
$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,23
$R_STBD_OVSHOOT,9
$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,172
$GPS1,290415,073804,-3426.041,2545.969,38,1.7,50,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-63.5
$GPS2,290415,074553,-3426.031,2546.055,72,1.1,72,-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,263.6,31926,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.02,-194.6,0.0,0.0,0,88,0.00,0.00,-61.08,0.000,2,0.000,0.000,89,1915,3005,0,0,0,0,0,0
$GC,91,-1.02,-194.6,3.0,-2.2,7,126,11.32,0.00,-15.43,0.000,6,0.263,0.000,2682,1915,3660,0,0,0,0,0,0
$GC,203,-0.81,-194.6,24.7,-19.7,23,212,0.25,0.00,0.00,0.000,6,0.210,0.000,2749,1915,3663,0,0,0,0,0,0
$GC,287,-0.70,-194.6,39.1,-14.2,36,297,0.17,2.50,0.00,0.000,4,0.203,0.093,2791,493,3664,0,0,0,0,0,0
$GC,312,-0.63,-194.6,42.0,-12.5,39,320,0.12,2.65,0.00,0.000,6,0.210,0.119,2810,1928,3664,0,0,0,0,0,0
$GC,430,-0.63,-194.6,51.9,-7.4,58,440,0.00,2.40,0.00,0.000,4,0.000,0.087,2800,3345,3665,0,0,0,0,0,0
$GC,503,-0.66,-194.6,57.9,-7.9,69,510,0.00,2.40,0.00,0.000,6,0.000,0.084,2800,1933,3666,0,0,0,0,0,0
$GC,623,-0.68,-194.6,68.2,-9.6,88,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1933,3667,0,0,0,0,0,0
$GC,744,-0.71,-194.6,79.9,-9.9,107,754,0.00,2.38,0.00,0.000,4,0.000,0.084,2791,3355,3668,0,0,0,0,0,0
$GC,787,-0.74,-194.6,84.6,-10.8,113,794,0.00,2.47,0.00,0.000,6,0.000,0.092,2791,1915,3668,0,0,0,0,0,0
$GC,905,-0.74,-194.6,97.5,-10.5,132,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1915,3668,0,0,0,0,0,0
$GC,1022,-0.74,-194.6,109.7,-10.8,151,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1915,3669,0,0,0,0,0,0
$GC,1141,-0.74,-194.6,122.4,-10.5,170,1151,0.00,2.45,0.00,0.000,4,0.000,0.088,2782,3351,3670,0,0,0,0,0,0
$GC,1178,-0.74,-194.6,125.8,-10.0,175,1185,0.00,2.50,0.00,0.000,6,0.000,0.102,2782,1916,3669,0,0,0,0,0,0
$GC,1296,-0.74,-194.6,138.4,-10.4,194,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1916,3670,0,0,0,0,0,0
$GC,1417,-0.74,-194.6,151.1,-11.1,213,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1916,3670,0,0,0,0,0,0
$GC,1533,-0.74,-194.6,163.4,-10.6,232,1542,0.00,2.45,0.00,0.000,4,0.000,0.092,2782,483,3671,0,0,0,0,0,0
$GC,1556,-0.74,-194.6,165.8,-11.2,235,1563,0.00,2.45,0.00,0.000,6,0.000,0.082,2772,1919,3670,0,0,0,0,0,0
$GC,1672,-0.71,-194.6,179.4,-11.1,254,1684,0.05,2.40,0.00,0.000,4,0.258,0.093,2771,3338,3670,0,0,0,0,0,0
$GC,1746,-0.71,-194.6,187.6,-11.2,265,1754,0.08,2.42,0.00,0.000,6,0.179,0.094,2786,1918,3670,0,0,0,0,0,0
$GC,1863,-0.71,-194.6,199.8,-10.6,284,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3670,0,0,0,0,0,0
$GC,1982,-0.71,-194.6,211.6,-9.6,303,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3670,0,0,0,0,0,0
$GC,2100,-0.71,-194.6,223.4,-9.9,322,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3670,0,0,0,0,0,0
$GC,2221,-0.71,-194.6,234.9,-9.0,341,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3669,0,0,0,0,0,0
$GC,2337,-0.71,-194.6,246.2,-9.5,360,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3669,0,0,0,0,0,0
$GC,2456,-0.71,-194.6,257.5,-10.1,379,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1917,3669,0,0,0,0,0,0
$GC,2572,-0.71,-194.6,268.7,-9.6,398,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3669,0,0,0,0,0,0
$GC,2690,-0.71,-194.6,280.9,-10.5,417,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1918,3668,0,0,0,0,0,0
$GC,2806,-0.71,-194.6,293.2,-10.1,436,2815,0.00,2.42,0.00,0.000,4,0.000,0.088,2787,481,3668,0,0,0,0,0,0
$GC,2835,-0.71,-194.6,296.2,-10.9,440,2844,0.00,2.47,0.00,0.000,6,0.000,0.082,2778,1921,3668,0,0,0,0,0,0
$STATE,2934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2934,begin apogee
$GC,2938,-0.25,0.0,307.8,11.7,456,3101,0.50,0.00,153.10,0.792,6,0.171,0.000,2929,1720,2863,0,0,0,0,0,0
$STATE,3102,end apogee,CONTROL_FINISHED_OK
$STATE,3102,begin climb
$GC,3103,1.02,194.6,315.9,0.0,478,3274,1.27,2.33,155.70,0.764,4,0.111,0.050,3347,368,2067,0,0,0,0,0,0
$GC,3410,0.92,194.6,292.3,11.7,523,3418,0.10,2.25,0.00,0.000,6,0.164,0.031,3322,1781,2063,0,0,0,0,0,0
$GC,3527,0.87,196.1,280.5,10.0,542,3537,0.08,0.00,0.00,0.000,6,0.196,0.000,3305,1783,2062,0,0,0,0,0,0
$GC,3648,0.88,232.9,270.1,8.7,561,3684,0.00,0.00,32.35,0.739,6,0.000,0.000,3305,1783,1913,0,0,0,0,0,0
$GC,3793,0.89,242.3,256.3,9.7,584,3809,0.00,2.33,8.55,0.653,4,0.000,0.047,3315,359,1876,0,0,0,0,0,0
$GC,3843,0.86,242.3,251.6,10.7,591,3851,0.08,2.22,0.00,0.000,6,0.172,0.033,3298,1771,1874,0,0,0,0,0,0
$GC,3959,0.90,271.8,240.7,9.0,610,3990,0.00,0.00,26.65,0.726,6,0.000,0.000,3298,1771,1754,0,0,0,0,0,0
$GC,4100,0.97,311.6,228.2,8.6,632,4139,0.10,0.00,35.08,0.724,6,0.094,0.000,3351,1771,1592,0,0,0,0,0,0
$GC,4250,0.94,311.6,210.5,12.8,655,4258,0.10,2.30,0.00,0.000,4,0.156,0.050,3335,363,1586,0,0,0,0,0,0
$GC,4283,0.91,311.6,206.1,11.7,660,4293,0.05,2.22,0.00,0.000,6,0.140,0.033,3317,1765,1586,0,0,0,0,0,0
$GC,4404,0.91,311.6,193.7,10.4,679,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1765,1584,0,0,0,0,0,0
$GC,4517,0.91,311.6,181.5,10.6,698,4527,0.00,2.30,0.00,0.000,4,0.000,0.050,3326,359,1583,0,0,0,0,0,0
$GC,4553,0.91,311.6,177.8,11.2,703,4561,0.00,2.17,0.00,0.000,6,0.000,0.034,3326,1749,1583,0,0,0,0,0,0
$GC,4668,0.91,311.6,164.4,11.6,722,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1750,1583,0,0,0,0,0,0
$GC,4788,0.91,311.6,151.4,11.0,741,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1749,1582,0,0,0,0,0,0
$GC,4904,0.91,311.6,137.7,11.8,760,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1749,1582,0,0,0,0,0,0
$GC,5022,0.91,311.6,124.9,10.3,779,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1750,1582,0,0,0,0,0,0
$GC,5136,0.91,311.6,112.6,10.4,798,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1749,1582,0,0,0,0,0,0
$GC,5255,0.91,311.6,100.4,10.6,817,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1750,1581,0,0,0,0,0,0
$GC,5371,0.91,311.6,87.5,11.0,836,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1750,1581,0,0,0,0,0,0
$GC,5489,0.91,311.6,74.1,11.3,855,5496,0.00,2.20,0.00,0.000,4,0.000,0.050,3336,364,1580,0,0,0,0,0,0
$GC,5518,0.91,311.6,70.9,11.3,859,5526,0.08,2.17,0.00,0.000,6,0.172,0.034,3317,1771,1580,0,0,0,0,0,0
$GC,5635,0.91,311.6,57.9,10.2,878,5645,0.00,2.22,0.00,0.000,4,0.000,0.057,3317,3172,1580,0,0,0,0,0,0
$GC,5671,0.91,311.6,54.2,11.2,883,5678,0.00,2.22,0.00,0.000,6,0.000,0.059,3325,1775,1580,0,0,0,0,0,0
$GC,5786,0.91,311.6,41.2,10.2,902,5796,0.00,2.30,0.00,0.000,4,0.000,0.055,3337,346,1579,0,0,0,0,0,0
$GC,5839,0.91,311.6,35.4,11.2,910,5849,0.05,2.22,0.00,0.000,6,0.141,0.036,3318,1756,1579,0,0,0,0,0,0
$GC,5962,0.97,337.0,23.5,9.1,929,5982,0.00,2.33,12.12,0.582,4,0.000,0.050,3328,337,1488,0,0,0,0,0,0
$GC,6022,1.04,361.2,17.7,9.2,937,6042,0.05,2.25,12.12,0.555,6,0.072,0.037,3377,1747,1388,0,0,0,0,0,0
$GC,6120,0.98,361.2,5.7,14.2,951,6129,0.15,0.00,0.00,0.000,6,0.145,0.000,3334,1747,1381,0,0,0,0,0,0
$STATE,6136,end climb,SURFACE_DEPTH_REACHED
$STATE,6136,begin surface coast
$FINISH,1.2,1.021605
$STATE,6162,end surface coast,CONTROL_FINISHED_OK
$STATE,6163,begin surface
$SM_CCo,6239,0.00,0.000,0,0,1377,364.76
$SM_GC,2.06,8.75,0.00,0.00,0.050,0.000,0.000,72,1930,1377,-9.10,0.31,364.76
$IRIDIUM_FIX,-3412.10,2544.86,230208,191915
$TT8_MAMPS,0.026215
$HUMID,61.53
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,290.6,32.1
$24V_AH,23.9,18.484
$10V_AH,10.2,14.515
$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,23.350,71.000,435.675,0.000,0.000,24.163,17.597,255.724,6.500,0.000,73.865,2261.493,650.531,565.983,3076.150,153.494,0.000,1542.111,0.000,2431.385,0.000,41.999,0.000
$DEVICE_MAMPS,263.160,118.575,791.775,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.999,2470.544,1684.981,2670.096,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331496
$DATA_FILE_SIZE,70495,957
$CAP_FILE_SIZE,115274,0
$CFSIZE,2097086464,2074411008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.088, 48.1,1
$GPS,290415,093123,-3426.328,2545.331,37,1.8,37,-27.8