version: 66.07.10.p01
glider: 573
mission: 9
dive: 181
start: 4 29 115 22 21 17
data:
$ID,573
$MISSION,9
$DIVE,181
$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,-14092.548
$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,17
$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,180
$GPS1,290415,221359,-3426.003,2544.209,72,1.5,73,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-57.7
$GPS2,290415,222054,-3426.008,2544.381,20,1.2,21,-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,272.3,34397,-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,-170.3,0.0,0.0,0,79,0.00,0.00,-52.20,0.000,2,0.000,0.000,74,1916,2876,0,0,0,0,0,0
$GC,81,-1.05,-170.3,3.3,-3.7,6,118,11.10,2.40,-16.73,0.000,4,0.255,0.089,2662,3341,3562,1,0,0,0,0,0
$GC,249,-0.90,-170.3,33.7,-18.0,31,257,0.22,2.42,0.00,0.000,6,0.171,0.084,2723,1921,3565,0,0,0,0,0,0
$GC,363,-0.80,-170.3,51.6,-14.1,50,372,0.15,2.53,0.00,0.000,4,0.189,0.103,2762,506,3567,0,0,0,0,0,0
$GC,467,-0.76,-170.3,65.1,-11.4,67,474,0.08,2.50,0.00,0.000,6,0.221,0.095,2768,1925,3568,0,0,0,0,0,0
$GC,581,-0.74,-170.3,77.3,-10.4,86,590,0.00,2.42,0.00,0.000,4,0.000,0.090,2758,3351,3569,0,0,0,0,0,0
$GC,686,-0.72,-170.3,88.1,-10.2,103,694,0.10,2.45,0.00,0.000,6,0.168,0.088,2781,1913,3569,0,0,0,0,0,0
$GC,801,-0.72,-170.3,99.7,-9.6,122,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1913,3570,0,0,0,0,0,0
$GC,919,-0.72,-170.3,110.3,-8.9,141,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1912,3571,0,0,0,0,0,0
$GC,1033,-0.72,-170.3,122.3,-10.9,160,1042,0.00,2.47,0.00,0.000,4,0.000,0.093,2773,3346,3571,0,0,0,0,0,0
$GC,1096,-0.72,-170.3,128.6,-10.2,170,1105,0.03,2.47,0.00,0.000,6,0.139,0.092,2782,1924,3571,0,0,0,0,0,0
$GC,1212,-0.72,-170.3,140.4,-9.7,189,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3571,0,0,0,0,0,0
$GC,1325,-0.72,-170.3,152.7,-10.7,208,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3571,0,0,0,0,0,0
$GC,1441,-0.72,-170.3,165.3,-9.8,227,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3572,0,0,0,0,0,0
$GC,1555,-0.72,-170.3,177.8,-11.3,246,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3572,0,0,0,0,0,0
$GC,1673,-0.72,-170.3,190.3,-10.3,265,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3571,0,0,0,0,0,0
$GC,1786,-0.72,-170.3,203.0,-12.0,284,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3571,0,0,0,0,0,0
$GC,1900,-0.72,-170.3,215.8,-11.5,303,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1924,3571,0,0,0,0,0,0
$GC,2012,-0.72,-170.3,227.7,-9.9,322,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1924,3571,0,0,0,0,0,0
$GC,2128,-0.72,-170.3,238.9,-10.3,341,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3571,0,0,0,0,0,0
$GC,2245,-0.72,-170.3,250.8,-10.7,360,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1924,3571,0,0,0,0,0,0
$GC,2364,-0.72,-170.3,263.5,-11.1,379,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1924,3571,0,0,0,0,0,0
$STATE,2474,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2474,begin apogee
$GC,2479,-0.25,0.0,275.5,10.1,398,2623,0.50,0.00,134.18,0.773,6,0.175,0.000,2931,1753,2864,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2624,begin climb
$GC,2625,1.05,170.3,282.1,0.0,417,2773,1.27,2.45,135.68,0.746,4,0.105,0.051,3356,333,2168,0,0,0,0,0,0
$GC,2867,0.95,170.3,265.4,10.9,453,2875,0.10,2.33,0.00,0.000,6,0.165,0.034,3332,1770,2164,0,0,0,0,0,0
$GC,2982,0.90,170.3,254.0,10.3,472,2991,0.08,0.00,0.00,0.000,6,0.202,0.000,3314,1770,2162,0,0,0,0,0,0
$GC,3099,0.88,186.5,243.5,9.4,491,3120,0.00,0.00,13.90,0.692,6,0.000,0.000,3314,1771,2102,0,0,0,0,0,0
$GC,3225,0.85,186.5,230.7,10.4,512,3234,0.08,0.00,0.00,0.000,6,0.195,0.000,3297,1771,2100,0,0,0,0,0,0
$GC,3340,0.89,216.5,219.9,8.8,531,3370,0.00,0.00,25.92,0.715,6,0.000,0.000,3297,1771,1980,0,0,0,0,0,0
$GC,3477,0.89,216.5,207.5,10.2,553,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1771,1976,0,0,0,0,0,0
$GC,3590,0.94,260.7,197.9,8.3,572,3637,0.08,0.00,37.97,0.715,6,0.118,0.000,3344,1770,1798,0,0,0,0,0,0
$GC,3742,0.92,260.7,182.1,11.0,596,3751,0.10,0.00,0.00,0.000,6,0.161,0.000,3319,1771,1794,0,0,0,0,0,0
$GC,3857,0.95,288.4,171.4,8.9,615,3888,0.00,2.40,23.85,0.692,4,0.000,0.051,3329,323,1688,0,0,0,0,0,0
$GC,3926,0.96,292.6,165.0,9.8,625,3943,0.00,2.33,4.93,0.532,6,0.000,0.039,3329,1762,1671,0,0,0,0,0,0
$GC,4050,0.97,298.8,153.1,9.8,645,4067,0.00,0.00,7.03,0.598,6,0.000,0.000,3329,1762,1644,0,0,0,0,0,0
$GC,4173,0.97,298.8,141.0,10.5,665,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1762,1642,0,0,0,0,0,0
$GC,4285,0.97,298.8,128.5,11.3,684,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1762,1641,0,0,0,0,0,0
$GC,4400,0.99,298.8,114.9,11.8,703,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1762,1641,0,0,0,0,0,0
$GC,4513,1.01,298.8,100.5,12.6,722,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1762,1640,0,0,0,0,0,0
$GC,4627,1.01,298.8,87.1,11.6,741,4635,0.00,2.30,0.00,0.000,4,0.000,0.070,3329,3183,1639,0,0,0,0,0,0
$GC,4655,1.01,298.8,83.6,12.1,745,4664,0.00,2.38,0.00,0.000,6,0.000,0.071,3338,1743,1639,0,0,0,0,0,0
$GC,4771,1.01,298.8,69.7,11.7,764,4780,0.00,2.30,0.00,0.000,4,0.000,0.060,3350,342,1639,0,0,0,0,0,0
$GC,4843,0.99,298.8,61.2,11.8,776,4852,0.00,2.28,0.00,0.000,6,0.000,0.041,3349,1753,1638,0,0,0,0,0,0
$GC,4959,1.02,323.8,49.9,9.0,795,4989,0.00,2.33,22.65,0.636,4,0.000,0.053,3359,329,1543,0,0,0,0,0,0
$GC,5071,1.02,323.8,36.9,13.1,813,5079,0.00,2.33,0.00,0.000,6,0.000,0.044,3359,1772,1537,0,0,0,0,0,0
$GC,5191,1.02,323.8,20.2,13.2,832,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1772,1535,0,0,0,0,0,0
$GC,5276,0.99,323.8,9.3,13.1,845,5286,0.08,0.00,0.00,0.000,6,0.174,0.000,3341,1773,1534,0,0,0,0,0,0
$STATE,5324,end climb,SURFACE_DEPTH_REACHED
$STATE,5324,begin surface coast
$FINISH,1.3,1.022103
$STATE,5357,end surface coast,CONTROL_FINISHED_OK
$STATE,5357,begin surface
$SM_CCo,5433,0.00,0.000,0,0,1529,327.47
$SM_GC,2.10,8.50,0.00,0.00,0.033,0.000,0.000,73,1924,1529,-9.11,0.17,327.47
$IRIDIUM_FIX,-3414.71,2541.29,240208,101019
$TT8_MAMPS,0.026215
$HUMID,60.78
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.5,30.0
$24V_AH,24.0,19.336
$10V_AH,10.3,15.636
$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,22.450,43.675,406.100,0.000,0.000,26.265,25.966,243.694,5.750,0.000,23.283,2013.011,458.359,492.957,2750.898,136.369,0.000,1351.069,0.000,2191.490,0.000,37.457,0.000
$DEVICE_MAMPS,254.745,138.465,773.415,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.382,2223.116,1520.319,2399.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331364
$DATA_FILE_SIZE,63610,857
$CAP_FILE_SIZE,97653,1
$CFSIZE,2097086464,2073526272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1
$CURRENT,0.320, 71.9,1
$GPS,290415,235305,-3426.042,2544.587,42,1.1,43,-27.8