version: 66.07.10.p01
glider: 573
mission: 9
dive: 177
start: 4 29 115 15 36 16
data:
$ID,573
$MISSION,9
$DIVE,177
$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,-14078.886
$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,16
$R_STBD_OVSHOOT,37
$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,176
$GPS1,290415,152759,-3426.439,2543.501,39,1.0,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-63.8
$GPS2,290415,153553,-3426.450,2543.540,42,1.6,43,-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,295.6,33229,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,71,0.00,0.00,-43.33,0.000,2,0.000,0.000,69,1948,2664,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.2,-2.6,5,118,11.52,2.58,-26.12,0.000,4,0.265,0.116,2677,500,3563,0,0,0,0,0,0
$GC,202,-0.81,-170.3,23.7,-22.7,23,212,0.30,2.53,0.00,0.000,6,0.201,0.099,2749,1890,3566,0,0,0,0,0,0
$GC,286,-0.74,-170.3,37.4,-13.4,36,296,0.10,2.50,0.00,0.000,4,0.200,0.087,2762,3354,3566,0,0,0,0,0,0
$GC,409,-0.74,-170.3,50.3,-9.8,55,417,0.05,2.42,0.00,0.000,6,0.188,0.083,2773,1925,3567,0,0,0,0,0,0
$GC,526,-0.74,-170.3,62.8,-10.9,74,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1925,3568,0,0,0,0,0,0
$GC,647,-0.74,-170.3,75.5,-10.3,93,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1925,3569,0,0,0,0,0,0
$GC,761,-0.74,-170.3,87.7,-10.9,112,770,0.00,2.53,0.00,0.000,4,0.000,0.105,2773,493,3570,0,0,0,0,0,0
$GC,791,-0.74,-170.3,91.0,-11.1,116,800,0.00,2.50,0.00,0.000,6,0.000,0.088,2764,1920,3570,0,0,0,0,0,0
$GC,912,-0.72,-170.3,104.7,-10.9,135,920,0.10,2.38,0.00,0.000,4,0.212,0.093,2775,3346,3571,0,0,0,0,0,0
$GC,1015,-0.72,-170.3,115.3,-10.5,151,1022,0.00,2.47,0.00,0.000,6,0.000,0.094,2774,1908,3571,0,0,0,0,0,0
$GC,1130,-0.72,-170.3,127.7,-10.4,170,1140,0.00,2.50,0.00,0.000,4,0.000,0.104,2775,483,3572,0,0,0,0,0,0
$GC,1153,-0.72,-170.3,129.9,-10.6,173,1162,0.10,2.45,0.00,0.000,6,0.213,0.083,2786,1921,3572,0,0,0,0,0,0
$GC,1275,-0.72,-170.3,142.6,-10.0,192,1283,0.00,2.42,0.00,0.000,4,0.000,0.093,2775,3342,3572,0,0,0,0,0,0
$GC,1362,-0.74,-170.3,151.1,-9.5,206,1371,0.00,2.50,0.00,0.000,6,0.000,0.097,2775,1918,3572,0,0,0,0,0,0
$GC,1482,-0.74,-170.3,162.3,-9.8,225,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3572,0,0,0,0,0,0
$GC,1597,-0.74,-170.3,173.8,-9.9,244,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3572,0,0,0,0,0,0
$GC,1715,-0.74,-170.3,185.8,-10.7,263,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3572,0,0,0,0,0,0
$GC,1830,-0.74,-170.3,197.9,-11.2,282,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3572,0,0,0,0,0,0
$GC,1951,-0.74,-170.3,210.2,-10.3,301,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3571,0,0,0,0,0,0
$GC,2066,-0.74,-170.3,221.8,-10.1,320,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3571,0,0,0,0,0,0
$GC,2184,-0.74,-170.3,233.5,-9.9,339,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3571,0,0,0,0,0,0
$GC,2299,-0.74,-170.3,245.6,-10.1,358,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1918,3571,0,0,0,0,0,0
$GC,2419,-0.74,-170.3,257.9,-10.8,377,2426,0.00,2.45,0.00,0.000,4,0.000,0.100,2766,3343,3571,0,0,0,0,0,0
$GC,2459,-0.74,-170.3,262.4,-11.9,383,2466,0.00,2.50,0.00,0.000,6,0.000,0.103,2766,1911,3571,0,0,0,0,0,0
$GC,2576,-0.74,-170.3,276.5,-12.2,402,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1911,3571,0,0,0,0,0,0
$GC,2698,-0.74,-170.3,291.2,-12.4,421,2705,0.00,2.42,0.00,0.000,4,0.000,0.097,2766,481,3571,0,0,0,0,0,0
$GC,2744,-0.71,-170.3,297.4,-14.4,428,2753,0.08,2.42,0.00,0.000,6,0.195,0.071,2778,1920,3570,0,0,0,0,0,0
$STATE,2772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2772,begin apogee
$GC,2776,-0.25,0.0,301.2,12.6,432,2919,0.50,0.00,134.77,0.793,6,0.174,0.000,2927,1723,2862,0,0,0,0,0,0
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin climb
$GC,2921,1.05,170.3,310.8,0.0,451,3070,1.33,2.35,135.88,0.768,4,0.109,0.053,3362,365,2168,0,0,0,0,0,0
$GC,3197,0.94,170.3,292.7,10.3,492,3207,0.10,2.30,0.00,0.000,6,0.142,0.033,3331,1778,2164,0,0,0,0,0,0
$GC,3319,0.92,198.4,281.9,8.9,511,3350,0.05,2.42,23.95,0.735,4,0.236,0.052,3331,362,2053,0,0,0,0,0,0
$GC,3389,0.86,198.4,274.7,10.7,521,3397,0.12,2.25,0.00,0.000,6,0.161,0.034,3299,1770,2051,0,0,0,0,0,0
$GC,3508,0.89,226.1,263.4,8.9,540,3538,0.00,0.00,23.95,0.731,6,0.000,0.000,3299,1770,1941,0,0,0,0,0,0
$GC,3646,0.89,226.1,250.2,10.0,562,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1769,1938,0,0,0,0,0,0
$GC,3764,0.89,226.1,238.6,10.2,581,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1770,1937,0,0,0,0,0,0
$GC,3879,0.90,236.1,226.8,9.6,600,3894,0.00,0.00,9.12,0.667,6,0.000,0.000,3299,1770,1901,0,0,0,0,0,0
$GC,4003,0.93,236.1,214.8,10.1,620,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1770,1899,0,0,0,0,0,0
$GC,4122,0.96,243.8,203.8,9.7,639,4138,0.10,2.30,8.15,0.650,4,0.096,0.052,3362,360,1869,0,0,0,0,0,0
$GC,4164,0.89,243.8,198.9,12.3,645,4172,0.20,2.20,0.00,0.000,6,0.149,0.034,3307,1764,1868,0,0,0,0,0,0
$GC,4281,0.89,243.8,185.9,10.4,664,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1764,1867,0,0,0,0,0,0
$GC,4399,0.89,243.8,173.9,10.6,683,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1764,1866,0,0,0,0,0,0
$GC,4513,0.89,243.8,161.9,10.3,702,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1763,1867,0,0,0,0,0,0
$GC,4632,0.89,246.7,150.1,9.9,721,4639,0.00,2.25,0.00,0.000,4,0.000,0.054,3316,359,1866,0,0,0,0,0,0
$GC,4664,0.89,246.7,146.7,10.2,726,4674,0.00,2.22,0.00,0.000,6,0.000,0.035,3315,1758,1865,0,0,0,0,0,0
$GC,4784,0.89,246.7,134.6,10.2,745,4791,0.00,2.22,0.00,0.000,4,0.000,0.059,3316,3174,1865,0,0,0,0,0,0
$GC,4815,0.89,246.7,131.0,10.8,750,4826,0.05,2.28,0.00,0.000,6,0.145,0.060,3307,1781,1865,0,0,0,0,0,0
$GC,4936,0.92,264.6,119.0,9.3,769,4967,0.00,2.38,19.20,0.673,4,0.000,0.059,3318,346,1782,0,0,0,0,0,0
$GC,5017,0.92,264.6,110.4,10.3,781,5024,0.00,2.22,0.00,0.000,6,0.000,0.037,3318,1758,1780,0,0,0,0,0,0
$GC,5133,0.92,269.0,98.4,9.8,800,5142,0.00,0.00,4.28,0.506,6,0.000,0.000,3318,1758,1767,0,0,0,0,0,0
$GC,5253,0.93,278.7,86.9,9.6,819,5267,0.00,0.00,10.32,0.610,6,0.000,0.000,3318,1758,1725,0,0,0,0,0,0
$GC,5378,0.96,278.7,73.7,11.1,839,5385,0.00,2.30,0.00,0.000,4,0.000,0.054,3328,334,1723,0,0,0,0,0,0
$GC,5418,0.96,278.7,68.9,12.3,845,5425,0.00,2.28,0.00,0.000,6,0.000,0.037,3327,1758,1723,0,0,0,0,0,0
$GC,5533,0.96,278.7,55.0,12.3,864,5542,0.00,2.30,0.00,0.000,4,0.000,0.062,3327,3171,1721,0,0,0,0,0,0
$GC,5560,0.96,278.7,51.3,13.4,868,5569,0.00,2.33,0.00,0.000,6,0.000,0.059,3337,1751,1721,0,0,0,0,0,0
$GC,5680,0.96,278.7,34.3,15.4,887,5687,0.00,2.28,0.00,0.000,4,0.000,0.059,3348,334,1721,0,0,0,0,0,0
$GC,5739,0.96,278.7,24.8,16.8,896,5748,0.05,2.28,0.00,0.000,6,0.133,0.039,3330,1753,1720,0,0,0,0,0,0
$GC,5826,0.99,278.7,14.4,10.7,909,5835,0.00,2.28,0.00,0.000,4,0.000,0.057,3329,3175,1719,0,0,0,0,0,0
$GC,5869,0.99,278.7,10.0,10.9,915,5878,0.00,2.30,0.00,0.000,6,0.000,0.060,3339,1767,1719,0,0,0,0,0,0
$STATE,5934,end climb,SURFACE_DEPTH_REACHED
$STATE,5934,begin surface coast
$FINISH,1.4,1.022045
$STATE,5967,end surface coast,CONTROL_FINISHED_OK
$STATE,5967,begin surface
$SM_CCo,5983,8.50,0.051,0,0,1639,300.24
$SM_GC,3.18,0.00,0.00,8.50,0.000,0.000,0.051,75,1961,1639,-9.21,1.19,300.24
$IRIDIUM_FIX,-3412.10,2540.16,240208,030356
$TT8_MAMPS,0.027713
$HUMID,61.49
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,280.5,35.5
$24V_AH,24.0,18.932
$10V_AH,10.3,15.123
$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,23.375,85.875,369.625,8.500,0.000,26.620,18.856,283.137,6.250,0.000,45.187,2219.976,573.457,520.062,3006.078,148.290,0.000,1452.816,0.000,2366.900,0.000,40.516,0.000
$DEVICE_MAMPS,265.455,115.515,792.540,51.255,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.748,2404.332,1645.494,2598.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,67038,930
$CAP_FILE_SIZE,113542,0
$CFSIZE,2097086464,2073886720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.271, 81.0,1
$GPS,290415,171723,-3426.254,2543.538,40,1.1,41,-27.8