version: 66.07.10.p01
glider: 573
mission: 9
dive: 179
start: 4 29 115 19 4 28
data:
$ID,573
$MISSION,9
$DIVE,179
$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,-14085.724
$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,19
$R_STBD_OVSHOOT,39
$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,178
$GPS1,290415,185629,-3426.105,2543.651,41,1.7,42,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.1
$GPS2,290415,190405,-3426.157,2543.732,46,1.1,46,-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,280.7,33446,-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,-170.3,0.0,0.0,0,70,0.00,0.00,-43.72,0.000,2,0.000,0.000,75,1950,2667,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.2,-3.0,5,116,11.40,0.00,-24.75,0.000,6,0.264,0.000,2669,1946,3560,0,0,0,0,0,0
$GC,193,-0.85,-170.3,22.3,-18.5,22,202,0.25,2.35,0.00,0.000,4,0.203,0.083,2729,3317,3564,0,0,0,0,0,0
$GC,314,-0.79,-170.3,39.6,-13.6,41,322,0.12,2.35,0.00,0.000,6,0.172,0.079,2759,1921,3566,0,0,0,0,0,0
$GC,434,-0.76,-170.3,52.2,-10.2,60,443,0.00,2.53,0.00,0.000,4,0.000,0.104,2760,493,3567,0,0,0,0,0,0
$GC,470,-0.72,-170.3,56.3,-12.1,65,478,0.12,2.47,0.00,0.000,6,0.197,0.096,2780,1895,3567,0,0,0,0,0,0
$GC,585,-0.72,-170.3,69.4,-11.3,84,598,0.00,2.50,0.00,0.000,4,0.000,0.094,2770,3352,3568,0,0,0,0,0,0
$GC,647,-0.72,-170.3,76.0,-10.7,93,655,0.05,2.47,0.00,0.000,6,0.187,0.093,2780,1916,3568,0,0,0,0,0,0
$GC,765,-0.72,-170.3,89.2,-11.0,112,775,0.00,2.50,0.00,0.000,4,0.000,0.103,2780,493,3570,0,0,0,0,0,0
$GC,806,-0.72,-170.3,93.7,-12.0,118,815,0.00,2.58,0.00,0.000,6,0.000,0.101,2772,1920,3570,0,0,0,0,0,0
$GC,926,-0.72,-170.3,107.3,-11.8,137,933,0.00,2.38,0.00,0.000,4,0.000,0.090,2760,3351,3570,0,0,0,0,0,0
$GC,1049,-0.72,-170.3,123.1,-12.3,157,1057,0.10,2.45,0.00,0.000,6,0.174,0.092,2783,1920,3570,0,0,0,0,0,0
$GC,1168,-0.72,-170.3,136.4,-10.3,176,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1920,3570,0,0,0,0,0,0
$GC,1287,-0.72,-170.3,148.5,-10.7,195,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1920,3571,0,0,0,0,0,0
$GC,1402,-0.72,-170.3,160.8,-11.5,214,1412,0.00,2.45,0.00,0.000,4,0.000,0.090,2775,3350,3571,0,0,0,0,0,0
$GC,1454,-0.72,-170.3,166.5,-10.8,222,1463,0.00,2.47,0.00,0.000,6,0.000,0.093,2775,1927,3571,0,0,0,0,0,0
$GC,1573,-0.72,-170.3,179.1,-10.4,241,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1927,3571,0,0,0,0,0,0
$GC,1692,-0.72,-170.3,192.3,-11.2,260,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1927,3571,0,0,0,0,0,0
$GC,1810,-0.72,-170.3,205.0,-10.6,279,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1926,3570,0,0,0,0,0,0
$GC,1927,-0.72,-170.3,217.8,-10.3,298,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1927,3570,0,0,0,0,0,0
$GC,2047,-0.72,-170.3,230.2,-11.1,317,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1927,3570,0,0,0,0,0,0
$GC,2163,-0.72,-170.3,243.8,-10.6,336,2173,0.00,2.50,0.00,0.000,4,0.000,0.098,2774,478,3570,0,0,0,0,0,0
$GC,2193,-0.72,-170.3,247.2,-11.2,340,2203,0.05,2.47,0.00,0.000,6,0.194,0.078,2778,1926,3570,0,0,0,0,0,0
$GC,2316,-0.72,-170.3,261.7,-12.4,359,2323,0.00,2.45,0.00,0.000,4,0.000,0.107,2768,3354,3570,0,0,0,0,0,0
$GC,2368,-0.72,-170.3,267.8,-11.5,367,2376,0.08,2.47,0.00,0.000,6,0.181,0.094,2782,1907,3570,0,0,0,0,0,0
$STATE,2407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2408,begin apogee
$GC,2412,-0.25,0.0,272.7,11.5,373,2551,0.50,0.00,134.07,0.771,6,0.173,0.000,2933,1754,2864,0,0,0,0,0,0
$STATE,2552,end apogee,CONTROL_FINISHED_OK
$STATE,2552,begin climb
$GC,2553,1.05,170.3,279.0,0.0,392,2702,1.30,2.45,135.43,0.744,4,0.106,0.051,3362,333,2168,0,0,0,0,0,0
$GC,2747,0.93,170.3,269.5,10.1,419,2755,0.15,2.35,0.00,0.000,6,0.156,0.034,3324,1787,2164,0,0,0,0,0,0
$GC,2865,0.95,231.0,259.0,7.6,438,2925,0.00,2.50,50.75,0.727,4,0.000,0.050,3334,335,1919,0,0,0,0,0,0
$GC,2962,0.91,231.0,249.4,11.8,452,2973,0.05,2.35,0.00,0.000,6,0.156,0.036,3317,1754,1916,0,0,0,0,0,0
$GC,3082,0.91,231.0,236.5,11.3,471,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1754,1915,0,0,0,0,0,0
$GC,3197,0.93,246.5,224.6,9.4,490,3213,0.00,0.00,13.70,0.682,6,0.000,0.000,3318,1754,1859,0,0,0,0,0,0
$GC,3322,0.93,246.5,211.6,10.1,510,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1754,1855,0,0,0,0,0,0
$GC,3441,0.93,246.5,199.6,11.1,529,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1754,1854,0,0,0,0,0,0
$GC,3556,0.93,246.5,186.6,11.3,548,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1754,1854,0,0,0,0,0,0
$GC,3674,0.93,246.5,174.1,10.2,567,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1754,1854,0,0,0,0,0,0
$GC,3789,0.93,246.5,162.0,10.3,586,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1754,1853,0,0,0,0,0,0
$GC,3907,0.93,246.5,150.4,10.3,605,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1754,1853,0,0,0,0,0,0
$GC,4024,0.95,261.2,139.0,9.4,624,4040,0.00,0.00,13.38,0.669,6,0.000,0.000,3318,1754,1798,0,0,0,0,0,0
$GC,4149,0.99,297.2,127.8,8.6,644,4188,0.05,0.00,31.48,0.685,6,0.159,0.000,3360,1755,1652,0,0,0,0,0,0
$GC,4299,0.97,297.2,112.2,11.1,667,4305,0.10,0.00,0.00,0.000,6,0.158,0.000,3334,1755,1647,0,0,0,0,0,0
$GC,4414,0.97,297.2,99.7,10.5,686,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1755,1647,0,0,0,0,0,0
$GC,4532,0.97,297.2,87.7,10.3,705,4539,0.00,2.30,0.00,0.000,4,0.000,0.054,3344,331,1645,0,0,0,0,0,0
$GC,4572,0.97,297.2,83.2,11.3,711,4579,0.00,2.25,0.00,0.000,6,0.000,0.038,3344,1755,1645,0,0,0,0,0,0
$GC,4687,0.97,297.2,69.8,11.0,730,4697,0.00,2.35,0.00,0.000,4,0.000,0.053,3354,328,1645,0,0,0,0,0,0
$GC,4712,0.97,297.2,67.4,10.6,733,4719,0.08,2.28,0.00,0.000,6,0.175,0.039,3336,1767,1644,0,0,0,0,0,0
$GC,4829,0.97,297.2,55.3,10.2,752,4839,0.00,2.35,0.00,0.000,4,0.000,0.053,3345,333,1644,0,0,0,0,0,0
$GC,4877,0.97,297.2,50.6,10.2,759,4884,0.00,2.25,0.00,0.000,6,0.000,0.039,3345,1758,1643,0,0,0,0,0,0
$GC,4993,0.97,297.2,37.8,12.1,778,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1759,1643,0,0,0,0,0,0
$GC,5113,0.97,297.2,22.8,11.5,797,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1759,1642,0,0,0,0,0,0
$GC,5198,0.97,297.2,13.6,10.4,810,5207,0.00,2.30,0.00,0.000,4,0.000,0.065,3345,3178,1641,0,0,0,0,0,0
$GC,5290,0.93,297.2,3.9,10.6,824,5301,0.10,2.33,0.00,0.000,6,0.143,0.062,3322,1756,1639,0,0,0,0,0,0
$STATE,5308,end climb,SURFACE_DEPTH_REACHED
$STATE,5308,begin surface coast
$FINISH,1.6,1.022090
$STATE,5342,end surface coast,CONTROL_FINISHED_OK
$STATE,5342,begin surface
$SM_CCo,5418,0.00,0.000,0,0,1636,301.22
$SM_GC,2.18,8.80,0.00,0.00,0.060,0.000,0.000,80,1952,1636,-9.08,0.90,301.22
$IRIDIUM_FIX,-3412.10,2542.51,240208,060617
$TT8_MAMPS,0.026964
$HUMID,60.82
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.5,27.0
$24V_AH,24.0,19.129
$10V_AH,10.3,15.380
$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,23.300,68.025,378.800,0.000,0.000,26.795,45.838,239.784,5.750,0.000,48.077,1965.787,555.370,493.664,2724.881,137.452,0.000,1340.700,0.000,2129.688,0.000,38.012,0.000
$DEVICE_MAMPS,263.925,148.410,771.120,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.098,2159.498,1487.307,2333.320,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331368
$DATA_FILE_SIZE,60513,831
$CAP_FILE_SIZE,99658,0
$CFSIZE,2097086464,2073690112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.316, 70.3,1
$GPS,290415,203559,-3426.028,2543.871,40,1.3,41,-27.8