version: 66.07.10.p01
glider: 573
mission: 9
dive: 175
start: 4 29 115 11 42 50
data:
$ID,573
$MISSION,9
$DIVE,175
$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,-14071.898
$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,28
$R_STBD_OVSHOOT,15
$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,174
$GPS1,290415,113406,-3426.799,2544.425,27,1.5,28,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-59.0
$GPS2,290415,114228,-3426.778,2544.479,39,1.2,45,-27.8
$SPEED_LIMITS,0.173,0.296
$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,298.4,34738,-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,-60.78,0.000,2,0.000,0.000,70,1943,2702,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.1,-3.9,7,134,11.70,2.58,-27.30,0.000,4,0.269,0.112,2680,514,3659,0,0,0,0,0,0
$GC,149,-0.80,-194.6,9.4,-14.9,14,160,0.32,2.53,0.00,0.000,6,0.212,0.096,2756,1911,3663,0,0,0,0,0,0
$GC,237,-0.66,-194.6,25.7,-18.5,27,246,0.20,2.42,0.00,0.000,4,0.215,0.084,2793,3334,3664,0,0,0,0,0,0
$GC,355,-0.66,-194.6,40.0,-10.6,46,365,0.00,2.45,0.00,0.000,6,0.000,0.089,2793,1934,3665,0,0,0,0,0,0
$GC,475,-0.66,-194.6,52.6,-10.6,65,482,0.00,2.50,0.00,0.000,4,0.000,0.096,2793,476,3667,0,0,0,0,0,0
$GC,503,-0.66,-194.6,55.7,-11.4,69,510,0.10,2.65,0.00,0.000,6,0.235,0.117,2803,1917,3667,0,0,0,0,0,0
$GC,619,-0.66,-194.6,69.3,-11.4,88,628,0.00,2.40,0.00,0.000,4,0.000,0.085,2792,3341,3668,0,0,0,0,0,0
$GC,654,-0.68,-194.6,73.0,-11.5,93,662,0.00,2.47,0.00,0.000,6,0.000,0.091,2792,1904,3668,0,0,0,0,0,0
$GC,771,-0.68,-194.6,86.8,-11.9,112,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1905,3669,0,0,0,0,0,0
$GC,891,-0.68,-194.6,99.3,-10.5,131,898,0.00,2.40,0.00,0.000,4,0.000,0.093,2792,484,3669,0,0,0,0,0,0
$GC,931,-0.68,-194.6,103.4,-10.6,137,939,0.05,2.55,0.00,0.000,6,0.257,0.099,2792,1927,3669,0,0,0,0,0,0
$GC,1050,-0.68,-194.6,116.1,-11.1,156,1059,0.00,2.38,0.00,0.000,4,0.000,0.083,2781,3346,3670,0,0,0,0,0,0
$GC,1126,-0.68,-194.6,124.1,-10.7,168,1136,0.03,2.47,0.00,0.000,6,0.138,0.090,2790,1916,3670,0,0,0,0,0,0
$GC,1247,-0.68,-194.6,136.5,-10.4,187,1254,0.00,2.42,0.00,0.000,4,0.000,0.095,2790,483,3671,0,0,0,0,0,0
$GC,1275,-0.68,-194.6,139.6,-11.0,191,1284,0.08,2.50,0.00,0.000,6,0.236,0.090,2795,1925,3671,0,0,0,0,0,0
$GC,1395,-0.68,-194.6,152.7,-10.8,210,1404,0.00,2.42,0.00,0.000,4,0.000,0.093,2784,3350,3671,0,0,0,0,0,0
$GC,1480,-0.68,-194.6,161.6,-11.2,223,1488,0.05,2.42,0.00,0.000,6,0.187,0.088,2794,1918,3671,0,0,0,0,0,0
$GC,1596,-0.68,-194.6,174.4,-11.2,242,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1918,3671,0,0,0,0,0,0
$GC,1715,-0.68,-194.6,187.3,-10.4,261,1723,0.00,2.42,0.00,0.000,4,0.000,0.096,2794,485,3671,0,0,0,0,0,0
$GC,1735,-0.68,-194.6,189.6,-10.9,264,1748,0.00,2.47,0.00,0.000,6,0.000,0.083,2786,1914,3670,0,0,0,0,0,0
$GC,1858,-0.68,-194.6,203.4,-11.4,283,1866,0.00,2.38,0.00,0.000,4,0.000,0.089,2775,3345,3670,0,0,0,0,0,0
$GC,1934,-0.68,-194.6,212.1,-11.6,295,1941,0.10,2.42,0.00,0.000,6,0.175,0.090,2798,1916,3669,0,0,0,0,0,0
$GC,2051,-0.68,-194.6,225.4,-10.7,314,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3670,0,0,0,0,0,0
$GC,2171,-0.68,-194.6,238.7,-11.6,333,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3669,0,0,0,0,0,0
$GC,2287,-0.70,-194.6,251.7,-11.3,352,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3669,0,0,0,0,0,0
$GC,2407,-0.70,-194.6,264.7,-11.7,371,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3669,0,0,0,0,0,0
$GC,2524,-0.72,-194.6,277.4,-11.6,390,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3668,0,0,0,0,0,0
$GC,2644,-0.72,-194.6,292.1,-13.4,409,2652,0.00,2.45,0.00,0.000,4,0.000,0.098,2790,3352,3668,0,0,0,0,0,0
$GC,2665,-0.75,-194.6,294.7,-12.0,412,2674,0.00,2.50,0.00,0.000,6,0.000,0.096,2790,1920,3668,0,0,0,0,0,0
$GC,2787,-0.75,-194.6,308.2,-10.9,431,2794,0.00,2.45,0.00,0.000,4,0.000,0.103,2781,3343,3668,0,0,0,0,0,0
$GC,2839,-0.75,-194.6,314.3,-11.6,439,2847,0.00,2.42,0.00,0.000,6,0.000,0.092,2781,1921,3668,0,0,0,0,0,0
$GC,2955,-0.75,-194.6,328.0,-11.2,458,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1920,3668,0,0,0,0,0,0
$GC,3076,-0.75,-194.6,341.4,-10.4,477,3083,0.00,2.38,0.00,0.000,4,0.000,0.086,2781,484,3668,0,0,0,0,0,0
$GC,3104,-0.75,-194.6,344.7,-11.8,481,3111,0.00,2.42,0.00,0.000,6,0.000,0.079,2771,1923,3668,0,0,0,0,0,0
$STATE,3155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3155,begin apogee
$GC,3159,-0.25,0.0,351.7,13.3,489,3323,0.52,0.00,153.90,0.823,6,0.168,0.000,2930,1723,2864,0,0,0,0,0,0
$STATE,3324,end apogee,CONTROL_FINISHED_OK
$STATE,3324,begin climb
$GC,3326,1.02,194.6,360.7,0.0,511,3493,1.27,2.33,157.05,0.793,4,0.111,0.049,3347,359,2068,0,0,0,0,0,0
$GC,3615,0.93,194.6,338.8,12.2,554,3626,0.08,2.30,0.00,0.000,6,0.140,0.031,3323,1774,2063,0,0,0,0,0,0
$GC,3737,0.87,198.1,327.2,9.9,573,3744,0.08,0.00,0.00,0.000,6,0.197,0.000,3306,1775,2062,0,0,0,0,0,0
$GC,3853,0.88,239.1,316.0,8.6,592,3899,0.00,2.38,37.62,0.773,4,0.000,0.050,3316,358,1887,0,0,0,0,0,0
$GC,3924,0.86,239.1,309.4,10.3,602,3935,0.05,2.28,0.00,0.000,6,0.140,0.032,3299,1765,1883,0,0,0,0,0,0
$GC,4045,0.90,278.3,298.5,8.7,621,4091,0.00,2.35,34.33,0.761,4,0.000,0.059,3299,3157,1727,0,0,0,0,0,0
$GC,4110,0.90,278.3,291.9,10.3,630,4120,0.00,2.35,0.00,0.000,6,0.000,0.063,3307,1779,1724,0,0,0,0,0,0
$GC,4230,0.94,305.3,280.2,9.1,649,4261,0.00,2.38,23.83,0.745,4,0.000,0.053,3318,345,1620,0,0,0,0,0,0
$GC,4351,0.94,305.3,266.5,11.5,668,4361,0.00,2.28,0.00,0.000,6,0.000,0.034,3318,1756,1615,0,0,0,0,0,0
$GC,4471,0.94,305.3,253.9,10.5,687,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1756,1613,0,0,0,0,0,0
$GC,4586,0.94,305.3,241.8,10.9,706,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1756,1613,0,0,0,0,0,0
$GC,4704,0.94,305.3,229.4,10.7,725,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1756,1612,0,0,0,0,0,0
$GC,4821,0.94,305.3,217.3,11.1,744,4830,0.00,2.30,0.00,0.000,4,0.000,0.051,3327,347,1612,0,0,0,0,0,0
$GC,4856,0.94,305.3,213.6,11.1,749,4863,0.00,2.20,0.00,0.000,6,0.000,0.034,3326,1764,1611,0,0,0,0,0,0
$GC,4972,0.94,306.5,201.1,10.0,768,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1764,1611,0,0,0,0,0,0
$GC,5091,0.97,331.7,190.2,9.1,787,5122,0.00,2.40,23.80,0.727,4,0.000,0.051,3335,334,1510,0,0,0,0,0,0
$GC,5173,0.92,331.7,181.6,12.1,799,5180,0.08,2.22,0.00,0.000,6,0.169,0.034,3316,1754,1506,0,0,0,0,0,0
$GC,5290,0.96,344.2,170.3,9.6,818,5308,0.00,2.33,12.18,0.680,4,0.000,0.053,3327,338,1458,0,0,0,0,0,0
$GC,5364,0.96,344.2,162.6,11.1,829,5372,0.00,2.28,0.00,0.000,6,0.000,0.034,3327,1753,1455,0,0,0,0,0,0
$GC,5481,0.98,346.1,150.3,9.9,848,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1753,1453,0,0,0,0,0,0
$GC,5599,0.98,346.1,138.3,10.2,867,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1753,1453,0,0,0,0,0,0
$GC,5716,0.98,346.1,126.1,10.0,886,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1754,1453,0,0,0,0,0,0
$GC,5835,0.98,346.1,113.7,10.8,905,5842,0.00,2.28,0.00,0.000,4,0.000,0.050,3336,335,1452,0,0,0,0,0,0
$GC,5910,0.98,346.1,104.9,12.5,917,5917,0.00,2.22,0.00,0.000,6,0.000,0.034,3336,1765,1452,0,0,0,0,0,0
$GC,6027,0.98,346.1,92.6,10.4,936,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1765,1452,0,0,0,0,0,0
$GC,6146,0.99,353.3,81.0,9.8,955,6161,0.00,0.00,8.62,0.622,6,0.000,0.000,3336,1765,1422,0,0,0,0,0,0
$GC,6272,0.99,353.3,68.1,10.6,975,6279,0.00,2.28,0.00,0.000,4,0.000,0.050,3346,339,1420,0,0,0,0,0,0
$GC,6303,0.99,353.3,64.3,11.2,980,6312,0.00,2.25,0.00,0.000,6,0.000,0.037,3346,1752,1419,0,0,0,0,0,0
$GC,6423,0.99,353.3,50.9,11.2,999,6430,0.00,2.28,0.00,0.000,4,0.000,0.050,3356,331,1419,0,0,0,0,0,0
$GC,6463,0.97,353.3,46.1,13.1,1005,6471,0.08,2.28,0.00,0.000,6,0.170,0.036,3336,1762,1418,0,0,0,0,0,0
$GC,6580,0.99,353.3,32.3,11.1,1024,6590,0.00,2.25,0.00,0.000,4,0.000,0.057,3336,3177,1417,0,0,0,0,0,0
$GC,6623,0.99,353.3,27.4,11.5,1030,6633,0.00,2.30,0.00,0.000,6,0.000,0.057,3345,1760,1417,0,0,0,0,0,0
$GC,6710,0.99,353.3,18.0,10.9,1043,6719,0.00,2.30,0.00,0.000,4,0.000,0.057,3356,345,1415,0,0,0,0,0,0
$GC,6796,0.99,353.3,8.2,13.3,1056,6806,0.03,2.25,0.00,0.000,6,0.145,0.040,3345,1752,1414,0,0,0,0,0,0
$STATE,6845,end climb,SURFACE_DEPTH_REACHED
$STATE,6845,begin surface coast
$FINISH,1.2,1.011264
$STATE,6871,end surface coast,CONTROL_FINISHED_OK
$STATE,6871,begin surface
$SM_CCo,6948,0.00,0.000,0,0,1410,356.66
$SM_GC,1.94,8.70,0.00,0.00,0.050,0.000,0.000,78,1931,1410,-9.08,0.34,356.66
$IRIDIUM_FIX,-3412.10,2543.64,230208,222223
$TT8_MAMPS,0.026964
$HUMID,61.34
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,340.7,25.5
$24V_AH,23.8,18.727
$10V_AH,10.3,14.838
$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,23.500,119.500,451.325,0.000,0.000,27.319,31.643,291.108,7.750,0.000,47.110,2517.996,720.819,624.350,3408.674,174.343,0.000,1707.974,0.000,2708.369,0.000,49.614,0.000
$DEVICE_MAMPS,269.280,117.045,823.140,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.478,2754.068,1876.199,2979.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331340
$DATA_FILE_SIZE,77123,1067
$CAP_FILE_SIZE,131208,0
$CFSIZE,2097086464,2074116096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.137, 81.5,1
$GPS,290415,133952,-3426.566,2543.742,26,1.7,42,-27.8