version: 66.07.10.p01
glider: 573
mission: 9
dive: 178
start: 4 29 115 17 25 22
data:
$ID,573
$MISSION,9
$DIVE,178
$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,-14082.336
$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,20
$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,177
$GPS1,290415,171723,-3426.254,2543.538,40,1.1,41,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-66.6
$GPS2,290415,172459,-3426.292,2543.596,43,1.0,44,-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,289.3,33273,-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,-44.10,0.000,2,0.000,0.000,75,1961,2682,0,0,0,0,0,0
$GC,74,-1.05,-170.3,3.1,-2.9,5,118,11.38,2.40,-26.85,0.000,4,0.262,0.100,2662,3331,3562,0,0,0,0,0,0
$GC,339,-0.90,-170.3,48.3,-15.9,46,348,0.20,2.45,0.00,0.000,6,0.171,0.087,2721,1924,3566,0,0,0,0,0,0
$GC,458,-0.81,-170.3,64.0,-13.3,65,465,0.12,0.00,0.00,0.000,6,0.203,0.000,2751,1923,3567,0,0,0,0,0,0
$GC,576,-0.77,-170.3,78.6,-11.8,84,586,0.08,0.00,0.00,0.000,6,0.211,0.000,2767,1924,3569,0,0,0,0,0,0
$GC,696,-0.75,-170.3,92.2,-11.0,103,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1924,3570,0,0,0,0,0,0
$GC,811,-0.75,-170.3,105.7,-11.5,122,820,0.00,2.38,0.00,0.000,4,0.000,0.087,2759,3315,3571,0,0,0,0,0,0
$GC,883,-0.75,-170.3,113.9,-11.6,133,890,0.08,2.40,0.00,0.000,6,0.175,0.093,2774,1916,3571,0,0,0,0,0,0
$GC,1001,-0.75,-170.3,128.0,-11.7,152,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1916,3571,0,0,0,0,0,0
$GC,1122,-0.75,-170.3,140.8,-10.2,171,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1916,3571,0,0,0,0,0,0
$GC,1236,-0.75,-170.3,152.9,-10.3,190,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1915,3572,0,0,0,0,0,0
$GC,1357,-0.75,-170.3,165.4,-11.0,209,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1916,3571,0,0,0,0,0,0
$GC,1471,-0.75,-170.3,178.4,-11.9,228,1481,0.00,2.42,0.00,0.000,4,0.000,0.093,2767,3323,3572,0,0,0,0,0,0
$GC,1495,-0.75,-170.3,180.7,-11.1,231,1502,0.00,2.40,0.00,0.000,6,0.000,0.091,2766,1918,3572,0,0,0,0,0,0
$GC,1612,-0.75,-170.3,195.6,-12.0,250,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1918,3572,0,0,0,0,0,0
$GC,1731,-0.75,-170.3,209.0,-11.3,269,1738,0.00,2.40,0.00,0.000,4,0.000,0.097,2758,3322,3572,0,0,0,0,0,0
$GC,1763,-0.75,-170.3,212.9,-11.3,274,1772,0.00,2.45,0.00,0.000,6,0.000,0.093,2758,1910,3571,0,0,0,0,0,0
$GC,1883,-0.75,-170.3,226.4,-11.9,293,1890,0.08,0.00,0.00,0.000,6,0.187,0.000,2772,1910,3571,0,0,0,0,0,0
$GC,1998,-0.75,-170.3,239.3,-10.7,312,2008,0.00,2.47,0.00,0.000,4,0.000,0.103,2764,3322,3572,0,0,0,0,0,0
$GC,2027,-0.75,-170.3,242.5,-11.3,316,2037,0.00,2.45,0.00,0.000,6,0.000,0.096,2764,1924,3571,0,0,0,0,0,0
$GC,2146,-0.75,-170.3,255.3,-13.0,335,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1923,3571,0,0,0,0,0,0
$GC,2261,-0.75,-170.3,269.1,-11.8,354,2270,0.00,2.47,0.00,0.000,4,0.000,0.097,2764,487,3571,0,0,0,0,0,0
$GC,2290,-0.72,-170.3,272.7,-12.5,358,2300,0.05,2.38,0.00,0.000,6,0.180,0.073,2770,1889,3570,0,0,0,0,0,0
$STATE,2377,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2377,begin apogee
$GC,2382,-0.25,0.0,283.4,13.3,372,2524,0.52,0.00,134.38,0.779,6,0.181,0.000,2925,1716,2863,0,0,0,0,0,0
$STATE,2525,end apogee,CONTROL_FINISHED_OK
$STATE,2525,begin climb
$GC,2526,1.05,170.3,291.2,0.0,391,2675,1.35,2.30,135.82,0.752,4,0.116,0.052,3362,378,2167,0,0,0,0,0,0
$GC,2882,0.95,170.3,261.5,10.8,445,2890,0.12,2.22,0.00,0.000,6,0.163,0.033,3330,1796,2163,0,0,0,0,0,0
$GC,3000,0.93,204.0,250.6,8.7,464,3040,0.00,2.40,28.20,0.725,4,0.000,0.050,3340,377,2030,0,0,0,0,0,0
$GC,3070,0.87,204.0,243.6,10.6,474,3080,0.10,2.22,0.00,0.000,6,0.151,0.033,3308,1759,2029,0,0,0,0,0,0
$GC,3191,0.93,247.4,232.7,8.3,493,3235,0.00,0.00,37.08,0.725,6,0.000,0.000,3308,1759,1854,0,0,0,0,0,0
$GC,3345,0.93,247.4,218.0,10.1,517,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1759,1849,0,0,0,0,0,0
$GC,3460,0.96,272.7,206.8,9.0,536,3485,0.00,0.00,22.30,0.706,6,0.000,0.000,3308,1759,1752,0,0,0,0,0,0
$GC,3595,0.98,272.7,193.8,10.6,557,3602,0.08,2.28,0.00,0.000,4,0.116,0.053,3362,371,1747,0,0,0,0,0,0
$GC,3625,0.95,272.7,190.3,12.0,561,3633,0.12,2.17,0.00,0.000,6,0.155,0.034,3329,1748,1746,0,0,0,0,0,0
$GC,3741,0.95,272.7,175.1,12.1,580,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1749,1745,0,0,0,0,0,0
$GC,3861,0.95,272.7,161.9,10.6,599,3867,0.00,2.22,0.00,0.000,4,0.000,0.051,3339,367,1745,0,0,0,0,0,0
$GC,3893,0.93,274.2,158.5,10.0,604,3904,0.05,2.22,0.00,0.000,6,0.151,0.036,3321,1756,1744,0,0,0,0,0,0
$GC,4014,0.93,274.2,145.9,10.6,623,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1757,1744,0,0,0,0,0,0
$GC,4129,0.93,274.2,133.8,10.8,642,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1756,1744,0,0,0,0,0,0
$GC,4248,0.95,289.6,121.9,9.4,661,4268,0.00,0.00,15.10,0.672,6,0.000,0.000,3322,1756,1682,0,0,0,0,0,0
$GC,4377,0.95,292.2,109.0,9.9,682,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1756,1679,0,0,0,0,0,0
$GC,4495,0.95,292.2,97.1,10.5,701,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1756,1677,0,0,0,0,0,0
$GC,4609,0.95,292.2,84.4,10.6,720,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1756,1677,0,0,0,0,0,0
$GC,4729,0.98,292.2,72.6,10.4,739,4735,0.00,2.22,0.00,0.000,4,0.000,0.052,3331,368,1676,0,0,0,0,0,0
$GC,4804,0.98,292.2,64.3,11.1,751,4811,0.00,2.17,0.00,0.000,6,0.000,0.037,3331,1758,1675,0,0,0,0,0,0
$GC,4921,0.98,292.2,52.2,10.9,770,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1758,1675,0,0,0,0,0,0
$GC,5039,0.98,292.2,38.7,11.4,789,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1758,1675,0,0,0,0,0,0
$GC,5156,0.98,292.2,22.6,15.0,808,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3331,1758,1673,0,0,0,0,0,0
$GC,5243,1.01,292.2,13.8,10.3,821,5252,0.00,2.28,0.00,0.000,4,0.000,0.063,3331,3171,1673,0,0,0,0,0,0
$GC,5310,1.01,292.2,6.1,12.5,831,5319,0.00,2.22,0.00,0.000,6,0.000,0.054,3340,1787,1672,0,0,0,0,0,0
$STATE,5339,end climb,SURFACE_DEPTH_REACHED
$STATE,5339,begin surface coast
$FINISH,1.5,1.009279
$STATE,5371,end surface coast,CONTROL_FINISHED_OK
$STATE,5372,begin surface
$SM_CCo,5387,3.25,0.053,0,0,1639,300.24
$SM_GC,2.94,0.00,0.00,3.25,0.000,0.000,0.053,76,1950,1639,-9.20,0.88,300.24
$IRIDIUM_FIX,-3412.10,2543.64,240208,040456
$TT8_MAMPS,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,271.0,27.0
$24V_AH,24.0,19.030
$10V_AH,10.3,15.252
$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,23.025,56.500,372.875,3.250,0.000,25.106,20.571,261.270,6.000,0.000,46.677,1988.654,504.764,479.919,2742.995,133.185,0.000,1323.537,0.000,2147.695,0.000,38.987,0.000
$DEVICE_MAMPS,262.395,102.510,778.770,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.956,2179.282,1497.109,2353.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331336
$DATA_FILE_SIZE,60391,840
$CAP_FILE_SIZE,98663,0
$CFSIZE,2097086464,2073788416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.300, 74.8,1
$GPS,290415,185629,-3426.105,2543.651,41,1.7,42,-27.8