version: 66.07.10.p01
glider: 573
mission: 9
dive: 148
start: 4 28 115 3 10 11
data:
$ID,573
$MISSION,9
$DIVE,148
$D_SURF,3
$D_FLARE,3
$D_TGT,130
$D_ABORT,150
$D_NO_BLEED,500
$D_BOOST,0
$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,44
$T_MISSION,55
$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,200
$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,-13981.131
$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,21
$R_STBD_OVSHOOT,18
$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,2762
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,30
$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,147
$GPS1,280415,030435,-3423.259,2550.598,43,0.8,43,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.6
$GPS2,280415,030949,-3423.241,2550.640,15,0.8,16,-27.8
$SPEED_LIMITS,0.171,0.294
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3424.000,2544.000
$TGT_RADIUS,2000.000
$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,285.8,10243,-15.5,-9.848
$D_GRID,130
$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,-1.01,-194.6,0.0,0.0,0,69,0.00,0.00,-42.33,0.000,2,0.000,0.000,81,1929,2520,0,0,0,0,0,0
$GC,71,-1.01,-194.6,3.1,-3.1,5,125,11.30,2.40,-35.17,0.000,4,0.262,0.096,2671,3346,3558,0,0,0,0,0,0
$GC,253,-0.80,-194.6,30.8,-20.9,31,261,0.32,2.40,0.00,0.000,6,0.175,0.081,2759,1922,3561,0,0,0,0,0,0
$GC,370,-0.72,-194.6,52.1,-15.7,50,380,0.10,2.50,0.00,0.000,4,0.207,0.098,2782,493,3562,0,0,0,0,0,0
$GC,502,-0.69,-194.6,65.5,-8.2,71,510,0.10,2.50,0.00,0.000,6,0.220,0.096,2793,1913,3562,0,0,0,0,0,0
$GC,618,-0.69,-194.6,73.9,-7.0,90,627,0.00,2.42,0.00,0.000,4,0.000,0.092,2783,3340,3563,0,0,0,0,0,0
$GC,757,-0.69,-194.6,85.0,-9.2,113,765,0.00,2.40,0.00,0.000,6,0.000,0.084,2783,1916,3564,0,0,0,0,0,0
$GC,869,-0.69,-194.6,96.8,-11.0,132,879,0.03,2.40,0.00,0.000,4,0.255,0.086,2782,3337,3565,0,0,0,0,0,0
$GC,911,-0.69,-194.6,101.4,-11.3,138,920,0.00,2.42,0.00,0.000,6,0.000,0.086,2782,1925,3565,0,0,0,0,0,0
$GC,1028,-0.67,-194.6,114.7,-12.0,157,1036,0.08,0.00,0.00,0.000,6,0.195,0.000,2797,1925,3565,0,0,0,0,0,0
$GC,1144,-0.67,-194.6,127.8,-10.6,176,1153,0.00,2.45,0.00,0.000,4,0.000,0.093,2797,493,3566,0,0,0,0,0,0
$STATE,1167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1167,begin apogee
$GC,1173,-0.25,0.0,130.0,10.4,179,1331,0.47,0.00,148.85,0.647,6,0.179,0.000,2930,1765,2761,0,0,0,0,0,0
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1333,1.01,194.6,137.0,0.0,200,1497,1.27,2.42,152.85,0.624,4,0.110,0.047,3349,330,1966,0,0,0,0,0,0
$GC,1638,0.92,194.6,106.2,12.6,246,1648,0.08,2.33,0.00,0.000,6,0.135,0.032,3325,1783,1961,0,0,0,0,0,0
$GC,1755,0.88,194.6,93.9,10.1,265,1763,0.08,0.00,0.00,0.000,6,0.198,0.000,3307,1784,1960,0,0,0,0,0,0
$GC,1869,0.96,278.8,84.6,7.0,284,1945,0.08,2.35,69.53,0.614,4,0.123,0.059,3350,3169,1623,0,0,0,0,0,0
$GC,1988,0.93,298.7,74.8,9.2,301,2012,0.15,2.33,18.10,0.579,6,0.150,0.054,3319,1741,1544,0,0,0,0,0,0
$GC,2118,0.93,306.6,63.5,9.6,322,2134,0.00,2.28,7.78,0.529,4,0.000,0.054,3330,348,1510,0,0,0,0,0,0
$GC,2188,0.93,306.6,55.0,13.2,333,2197,0.00,2.28,0.00,0.000,6,0.000,0.036,3329,1746,1508,0,0,0,0,0,0
$GC,2302,0.96,306.6,39.4,11.9,352,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1746,1506,0,0,0,0,0,0
$GC,2418,1.00,306.6,27.1,11.0,371,2427,0.00,2.30,0.00,0.000,4,0.000,0.051,3338,348,1505,0,0,0,0,0,0
$GC,2541,1.00,306.6,13.2,11.8,390,2550,0.00,2.28,0.00,0.000,6,0.000,0.041,3339,1755,1503,0,0,0,0,0,0
$GC,2627,1.00,306.6,3.4,11.0,403,2636,0.00,2.30,0.00,0.000,4,0.000,0.062,3339,3177,1502,0,0,0,0,0,0
$STATE,2643,end climb,SURFACE_DEPTH_REACHED
$STATE,2643,begin surface coast
$FINISH,1.1,1.009546
$STATE,2663,end surface coast,CONTROL_FINISHED_OK
$STATE,2663,begin surface
$SM_CCo,2741,0.00,0.000,0,0,1497,310.30
$SM_GC,2.00,8.65,0.00,0.00,0.044,0.000,0.000,73,1923,1497,-9.09,0.11,310.30
$IRIDIUM_FIX,-3409.50,2550.70,220208,151538
$TT8_MAMPS,0.026215
$HUMID,59.64
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,24.3,16.059
$10V_AH,10.3,12.218
$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,22.700,47.075,397.100,0.000,0.000,27.156,21.888,171.535,2.750,0.000,18.537,941.593,205.678,395.624,1443.127,82.071,0.000,895.291,0.000,1097.067,0.000,17.511,0.000
$DEVICE_MAMPS,261.630,97.920,647.190,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.774,1101.373,792.387,1185.303,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331608
$DATA_FILE_SIZE,30436,408
$CAP_FILE_SIZE,54538,0
$CFSIZE,2097086464,2077032448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.245, 74.8,1
$GPS,280415,035705,-3423.172,2550.649,41,0.9,42,-27.8