version: 66.07.10.p01
glider: 573
mission: 9
dive: 154
start: 4 28 115 8 31 47
data:
$ID,573
$MISSION,9
$DIVE,154
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$D_ABORT,190
$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,53
$T_MISSION,68
$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,-14001.238
$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,24
$R_STBD_OVSHOOT,10
$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,60
$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,153
$GPS1,280415,082535,-3423.017,2550.245,25,1.1,26,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.2
$GPS2,280415,083123,-3423.049,2550.271,40,1.1,41,-27.8
$SPEED_LIMITS,0.174,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3435.580,2528.620
$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,270.7,40351,-15.8,-10.063
$D_GRID,160
$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,-1.02,-194.6,0.0,0.0,0,72,0.00,0.00,-45.58,0.000,2,0.000,0.000,82,1926,2580,0,0,0,0,0,0
$GC,74,-1.02,-194.6,3.2,-3.0,5,127,11.48,2.45,-31.67,0.000,4,0.268,0.102,2668,3343,3558,0,0,0,0,0,0
$GC,395,-0.85,-194.6,57.7,-15.5,56,405,0.20,2.42,0.00,0.000,6,0.174,0.085,2728,1936,3563,0,0,0,0,0,0
$GC,512,-0.76,-194.6,72.6,-12.9,75,520,0.17,2.35,0.00,0.000,4,0.188,0.083,2763,3349,3565,0,0,0,0,0,0
$GC,613,-0.73,-194.6,84.2,-10.3,92,622,0.05,2.47,0.00,0.000,6,0.157,0.088,2778,1919,3565,0,0,0,0,0,0
$GC,730,-0.71,-194.6,96.5,-10.4,111,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1919,3567,0,0,0,0,0,0
$GC,844,-0.68,-194.6,109.7,-12.1,130,858,0.08,2.45,0.00,0.000,4,0.249,0.092,2782,3352,3567,0,0,0,0,0,0
$GC,884,-0.68,-194.6,114.1,-10.9,135,891,0.03,2.45,0.00,0.000,6,0.245,0.090,2792,1918,3567,0,0,0,0,0,0
$GC,999,-0.68,-194.6,127.8,-11.8,154,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1918,3568,0,0,0,0,0,0
$STATE,1054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1054,begin apogee
$GC,1058,-0.25,0.0,133.1,9.3,163,1216,0.47,0.00,149.55,0.652,6,0.174,0.000,2935,1759,2760,0,0,0,0,0,0
$STATE,1217,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1219,1.02,194.6,138.1,0.0,184,1382,1.27,2.47,153.05,0.630,4,0.113,0.053,3353,330,1967,0,0,0,0,0,0
$GC,1473,0.94,194.6,116.2,11.9,221,1481,0.10,2.33,0.00,0.000,6,0.163,0.034,3328,1769,1962,0,0,0,0,0,0
$GC,1587,0.92,208.7,104.1,9.6,240,1612,0.00,2.35,12.62,0.582,4,0.000,0.057,3328,3180,1908,0,0,0,0,0,0
$GC,1649,0.86,208.7,97.5,11.3,249,1658,0.15,2.38,0.00,0.000,6,0.166,0.063,3298,1747,1907,0,0,0,0,0,0
$GC,1763,0.86,208.7,86.1,10.6,268,1772,0.00,2.33,0.00,0.000,4,0.000,0.059,3309,339,1906,0,0,0,0,0,0
$GC,1826,0.86,220.2,80.1,9.7,278,1842,0.00,2.30,10.60,0.575,6,0.000,0.040,3309,1750,1864,0,0,0,0,0,0
$GC,1948,0.86,223.2,68.1,10.0,298,1958,0.00,2.33,3.83,0.428,4,0.000,0.068,3309,3177,1852,0,0,0,0,0,0
$GC,1983,0.86,223.2,64.3,11.4,303,1990,0.08,2.33,0.00,0.000,6,0.187,0.063,3301,1758,1851,0,0,0,0,0,0
$GC,2095,0.86,225.0,51.9,10.0,322,2104,0.00,2.33,0.00,0.000,4,0.000,0.060,3311,343,1850,0,0,0,0,0,0
$GC,2152,0.86,225.0,46.1,10.5,331,2159,0.00,2.25,0.00,0.000,6,0.000,0.040,3311,1758,1849,0,0,0,0,0,0
$GC,2265,0.93,280.0,35.4,8.2,350,2317,0.00,2.38,43.20,0.613,4,0.000,0.068,3311,3172,1620,0,0,0,0,0,0
$GC,2375,0.97,316.3,26.3,8.8,366,2401,0.00,2.38,19.17,0.560,6,0.000,0.063,3320,1758,1470,0,0,0,0,0,0
$GC,2478,1.04,334.6,16.8,9.4,381,2498,0.10,2.35,8.82,0.491,4,0.093,0.056,3399,345,1393,0,0,0,0,0,0
$STATE,2580,end climb,SURFACE_DEPTH_REACHED
$STATE,2580,begin surface coast
$FINISH,1.2,1.011899
$STATE,2601,end surface coast,CONTROL_FINISHED_OK
$STATE,2601,begin surface
$SM_CCo,2679,0.00,0.000,0,0,1383,338.26
$SM_GC,2.17,9.05,0.00,0.00,0.054,0.000,0.000,83,1921,1383,-9.08,0.03,338.26
$IRIDIUM_FIX,-3427.77,2551.70,220208,212107
$TT8_MAMPS,0.026215
$HUMID,60.43
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,32.7
$24V_AH,24.2,16.555
$10V_AH,10.3,12.633
$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,23.225,48.050,400.850,0.000,0.000,22.320,45.684,160.314,2.250,0.000,43.283,919.442,200.140,396.485,1452.161,73.835,0.000,896.323,0.000,1070.884,0.000,17.553,0.000
$DEVICE_MAMPS,267.750,144.585,651.780,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.896,1074.842,772.395,1156.318,0.000,0.000,0.000,0.000,0.000,0.000
$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,30424,399
$CAP_FILE_SIZE,54536,0
$CFSIZE,2097086464,2076442624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.154, 79.3,1
$GPS,280415,091735,-3423.049,2550.152,37,0.8,37,-27.8