version: 66.07.10.p01
glider: 573
mission: 9
dive: 176
start: 4 29 115 13 48 47
data:
$ID,573
$MISSION,9
$DIVE,176
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$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,-14075.466
$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,14
$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,175
$GPS1,290415,133952,-3426.566,2543.742,26,1.7,42,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.4
$GPS2,290415,134823,-3426.562,2543.792,43,1.5,44,-27.8
$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,298.0,33639,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.05,-170.3,0.0,0.0,0,77,0.00,0.00,-51.33,0.000,2,0.000,0.000,77,1931,2609,0,0,0,0,0,0
$GC,80,-1.05,-170.3,3.0,-3.2,6,133,11.35,2.53,-29.75,0.000,4,0.262,0.103,2670,497,3563,0,0,0,0,0,0
$GC,236,-0.81,-170.3,28.1,-23.5,28,245,0.32,2.50,0.00,0.000,6,0.194,0.087,2750,1916,3566,0,0,0,0,0,0
$GC,317,-0.75,-170.3,39.2,-10.7,41,325,0.10,2.38,0.00,0.000,4,0.195,0.081,2763,3352,3567,0,0,0,0,0,0
$GC,471,-0.75,-170.3,55.6,-10.5,67,479,0.00,2.40,0.00,0.000,6,0.000,0.076,2764,1918,3568,0,0,0,0,0,0
$GC,585,-0.75,-170.3,68.9,-12.1,86,594,0.00,2.47,0.00,0.000,4,0.000,0.095,2763,488,3569,0,0,0,0,0,0
$GC,602,-0.73,-170.3,70.9,-11.8,88,612,0.08,2.50,0.00,0.000,6,0.184,0.088,2776,1909,3569,0,0,0,0,0,0
$GC,720,-0.73,-170.3,86.0,-12.9,107,728,0.00,2.38,0.00,0.000,4,0.000,0.084,2765,3346,3571,0,0,0,0,0,0
$GC,748,-0.73,-170.3,89.7,-12.6,111,758,0.08,2.42,0.00,0.000,6,0.168,0.086,2781,1922,3571,0,0,0,0,0,0
$GC,864,-0.73,-170.3,103.0,-10.4,130,873,0.00,2.42,0.00,0.000,4,0.000,0.082,2772,3354,3571,0,0,0,0,0,0
$GC,922,-0.73,-170.3,109.6,-11.3,139,931,0.00,2.50,0.00,0.000,6,0.000,0.096,2772,1907,3571,0,0,0,0,0,0
$GC,1038,-0.73,-170.3,122.7,-10.7,158,1046,0.00,2.53,0.00,0.000,4,0.000,0.108,2772,483,3572,0,0,0,0,0,0
$GC,1084,-0.70,-170.3,128.0,-12.3,165,1091,0.10,2.45,0.00,0.000,6,0.210,0.080,2784,1925,3572,0,0,0,0,0,0
$GC,1198,-0.70,-170.3,141.8,-11.7,184,1207,0.00,2.42,0.00,0.000,4,0.000,0.092,2773,3349,3572,0,0,0,0,0,0
$GC,1289,-0.70,-170.3,152.3,-11.6,199,1298,0.08,2.47,0.00,0.000,6,0.181,0.095,2789,1915,3573,0,0,0,0,0,0
$GC,1406,-0.70,-170.3,165.4,-10.7,218,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1915,3572,0,0,0,0,0,0
$GC,1521,-0.70,-170.3,178.6,-11.1,237,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1915,3572,0,0,0,0,0,0
$GC,1635,-0.72,-170.3,191.9,-11.5,256,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1915,3572,0,0,0,0,0,0
$GC,1749,-0.72,-170.3,205.0,-11.3,275,1757,0.00,2.40,0.00,0.000,4,0.000,0.091,2780,3343,3572,0,0,0,0,0,0
$GC,1782,-0.75,-170.3,209.1,-11.5,280,1791,0.00,2.53,0.00,0.000,6,0.000,0.105,2780,1922,3572,0,0,0,0,0,0
$GC,1898,-0.75,-170.3,222.5,-11.6,299,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1922,3572,0,0,0,0,0,0
$GC,2010,-0.75,-170.3,235.9,-12.0,318,2019,0.00,2.50,0.00,0.000,4,0.000,0.103,2780,488,3572,0,0,0,0,0,0
$GC,2033,-0.75,-170.3,238.5,-12.2,321,2040,0.00,2.42,0.00,0.000,6,0.000,0.078,2771,1924,3572,0,0,0,0,0,0
$GC,2149,-0.75,-170.3,253.1,-12.4,340,2158,0.00,2.40,0.00,0.000,4,0.000,0.091,2760,3344,3572,0,0,0,0,0,0
$GC,2220,-0.75,-170.3,261.6,-12.1,351,2229,0.08,2.50,0.00,0.000,6,0.178,0.105,2776,1913,3571,0,0,0,0,0,0
$GC,2335,-0.75,-170.3,275.9,-12.2,370,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1913,3570,0,0,0,0,0,0
$GC,2449,-0.75,-170.3,289.8,-12.4,389,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1913,3571,0,0,0,0,0,0
$GC,2564,-0.75,-170.3,304.0,-12.1,408,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1913,3570,0,0,0,0,0,0
$GC,2679,-0.75,-170.3,317.3,-11.8,427,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1913,3570,0,0,0,0,0,0
$STATE,2705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2705,begin apogee
$GC,2709,-0.25,0.0,320.3,10.8,431,2852,0.52,0.00,135.70,0.802,6,0.175,0.000,2932,1760,2863,0,0,0,0,0,0
$STATE,2853,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2855,1.05,170.3,327.9,0.0,450,3003,1.30,2.50,136.32,0.774,4,0.107,0.057,3361,331,2168,0,0,0,0,0,0
$GC,3028,0.97,179.4,318.8,9.7,474,3045,0.08,2.40,8.88,0.660,6,0.138,0.033,3337,1773,2131,0,0,0,0,0,0
$GC,3151,0.92,183.4,306.3,9.9,494,3161,0.08,0.00,4.20,0.521,6,0.199,0.000,3321,1776,2116,0,0,0,0,0,0
$GC,3270,0.90,198.5,295.5,9.4,513,3291,0.00,0.00,14.65,0.716,6,0.000,0.000,3320,1776,2053,0,0,0,0,0,0
$GC,3398,0.89,216.1,282.7,9.3,534,3423,0.00,2.45,15.82,0.719,4,0.000,0.054,3330,331,1981,0,0,0,0,0,0
$GC,3460,0.86,223.4,276.7,9.7,543,3478,0.12,2.28,7.45,0.641,6,0.157,0.034,3298,1762,1953,0,0,0,0,0,0
$GC,3585,0.90,259.5,265.6,8.6,563,3623,0.00,0.00,32.03,0.742,6,0.000,0.000,3298,1762,1805,0,0,0,0,0,0
$GC,3729,0.97,285.9,252.8,9.0,586,3759,0.10,0.00,23.40,0.728,6,0.094,0.000,3350,1762,1697,0,0,0,0,0,0
$GC,3865,0.97,285.9,237.5,11.7,608,3874,0.08,0.00,0.00,0.000,6,0.168,0.000,3332,1762,1693,0,0,0,0,0,0
$GC,3980,0.97,285.9,224.7,11.4,627,3988,0.00,2.35,0.00,0.000,4,0.000,0.057,3341,328,1691,0,0,0,0,0,0
$GC,4013,0.97,285.9,220.8,12.2,632,4022,0.00,2.30,0.00,0.000,6,0.000,0.036,3342,1756,1691,0,0,0,0,0,0
$GC,4127,0.97,285.9,207.7,11.5,651,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1756,1691,0,0,0,0,0,0
$GC,4238,0.97,285.9,194.5,12.0,670,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1756,1690,0,0,0,0,0,0
$GC,4352,0.97,285.9,181.7,11.3,689,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1756,1690,0,0,0,0,0,0
$GC,4463,0.97,285.9,168.7,11.4,708,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1756,1690,0,0,0,0,0,0
$GC,4578,0.97,285.9,155.5,11.6,727,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1756,1690,0,0,0,0,0,0
$GC,4691,0.97,285.9,141.5,12.7,746,4700,0.00,2.35,0.00,0.000,4,0.000,0.057,3352,330,1689,0,0,0,0,0,0
$GC,4731,0.94,285.9,136.2,13.5,752,4741,0.08,2.28,0.00,0.000,6,0.132,0.036,3325,1768,1689,0,0,0,0,0,0
$GC,4847,0.94,285.9,122.1,11.8,771,4855,0.00,2.33,0.00,0.000,4,0.000,0.056,3335,328,1688,0,0,0,0,0,0
$GC,4880,0.94,285.9,117.8,12.9,776,4889,0.03,2.28,0.00,0.000,6,0.162,0.037,3326,1760,1688,0,0,0,0,0,0
$GC,4996,0.94,285.9,103.9,12.0,795,5004,0.00,2.22,0.00,0.000,4,0.000,0.057,3326,3179,1687,0,0,0,0,0,0
$GC,5036,0.94,285.9,98.9,12.8,801,5043,0.00,2.30,0.00,0.000,6,0.000,0.060,3336,1746,1687,0,0,0,0,0,0
$GC,5148,0.94,285.9,84.6,12.5,820,5158,0.00,2.30,0.00,0.000,4,0.000,0.061,3346,337,1687,0,0,0,0,0,0
$GC,5253,0.91,285.9,71.3,12.7,837,5261,0.12,2.22,0.00,0.000,6,0.154,0.036,3312,1769,1686,0,0,0,0,0,0
$GC,5367,0.94,285.9,58.6,11.5,856,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,1770,1686,0,0,0,0,0,0
$GC,5481,0.97,285.9,45.5,12.0,875,5489,0.05,0.00,0.00,0.000,6,0.159,0.000,3351,1770,1686,0,0,0,0,0,0
$GC,5593,0.97,285.9,30.3,14.3,894,5603,0.08,2.33,0.00,0.000,4,0.173,0.057,3342,343,1686,0,0,0,0,0,0
$GC,5630,0.97,285.9,25.8,12.8,899,5640,0.00,2.25,0.00,0.000,6,0.000,0.039,3341,1756,1685,0,0,0,0,0,0
$GC,5718,1.01,295.8,16.7,9.6,912,5728,0.00,2.25,3.60,0.386,4,0.000,0.060,3342,3183,1656,0,0,0,0,0,0
$GC,5773,1.01,295.8,10.3,10.2,920,5783,0.00,2.30,0.00,0.000,6,0.000,0.059,3352,1766,1655,0,0,0,0,0,0
$STATE,5833,end climb,SURFACE_DEPTH_REACHED
$STATE,5833,begin surface coast
$FINISH,1.3,1.021981
$STATE,5860,end surface coast,CONTROL_FINISHED_OK
$STATE,5860,begin surface
$SM_CCo,5876,0.90,0.063,0,0,1640,300.24
$SM_GC,2.76,0.00,0.00,0.90,0.000,0.000,0.063,70,1947,1640,-9.22,0.79,300.24
$IRIDIUM_FIX,-3412.10,2546.00,240208,010108
$TT8_MAMPS,0.026964
$HUMID,61.10
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.0,35.0
$24V_AH,23.9,18.832
$10V_AH,10.3,14.981
$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,23.550,91.350,382.050,0.900,0.000,24.631,44.684,284.584,6.750,0.000,47.155,2215.025,420.587,539.690,3050.678,161.924,0.000,1486.388,0.000,2379.318,0.000,43.535,0.000
$DEVICE_MAMPS,261.630,149.175,801.720,62.730,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.296,2416.279,1652.190,2610.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331356
$DATA_FILE_SIZE,67242,933
$CAP_FILE_SIZE,116744,0
$CFSIZE,2097086464,2074017792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.216, 84.7,1
$GPS,290415,152759,-3426.439,2543.501,39,1.0,40,-27.8