version: 66.07.10.p01
glider: 573
mission: 9
dive: 157
start: 4 28 115 11 10 12
data:
$ID,573
$MISSION,9
$DIVE,157
$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,-14011.525
$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,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,156
$GPS1,280415,110429,-3423.281,2550.035,38,1.4,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.0
$GPS2,280415,110948,-3423.326,2550.048,19,1.5,19,-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,278.0,39778,-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,-194.6,0.0,0.0,0,78,0.00,0.00,-51.70,0.000,2,0.000,0.000,77,1933,2758,0,0,0,0,0,0
$GC,81,-1.02,-194.6,3.1,-3.6,6,125,11.82,2.47,-22.90,0.000,4,0.276,0.099,2666,3357,3558,0,0,0,0,0,0
$GC,392,-0.86,-194.6,57.4,-18.2,56,402,0.22,2.50,0.00,0.000,6,0.181,0.090,2731,1925,3563,0,0,0,0,0,0
$GC,511,-0.78,-194.6,74.0,-13.9,75,519,0.15,2.40,0.00,0.000,4,0.200,0.086,2760,3353,3564,0,0,0,0,0,0
$GC,603,-0.74,-194.6,85.6,-12.6,90,612,0.00,2.58,0.00,0.000,6,0.000,0.106,2760,1917,3565,0,0,0,0,0,0
$GC,718,-0.69,-194.6,99.4,-12.2,109,727,0.12,0.00,0.00,0.000,6,0.195,0.000,2788,1917,3566,0,0,0,0,0,0
$GC,835,-0.67,-194.6,111.2,-10.0,128,844,0.05,0.00,0.00,0.000,6,0.286,0.000,2796,1917,3567,0,0,0,0,0,0
$GC,954,-0.67,-194.6,124.0,-9.3,147,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1916,3568,0,0,0,0,0,0
$GC,1066,-0.67,-194.6,136.2,-11.8,166,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1917,3567,0,0,0,0,0,0
$STATE,1122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1122,begin apogee
$GC,1126,-0.25,0.0,142.0,9.9,175,1283,0.45,0.00,150.15,0.656,6,0.175,0.000,2930,1753,2761,0,0,0,0,0,0
$STATE,1284,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1285,1.02,194.6,150.1,0.0,196,1448,1.27,2.50,153.48,0.641,4,0.111,0.056,3350,323,1967,0,0,0,0,0,0
$GC,1503,0.94,194.6,135.1,11.8,227,1512,0.10,2.38,0.00,0.000,6,0.168,0.037,3325,1766,1963,0,0,0,0,0,0
$GC,1617,0.89,194.6,122.5,10.5,246,1626,0.08,0.00,0.00,0.000,6,0.200,0.000,3309,1766,1961,0,0,0,0,0,0
$GC,1733,0.92,219.2,111.6,9.2,265,1763,0.00,0.00,20.92,0.618,6,0.000,0.000,3309,1766,1866,0,0,0,0,0,0
$GC,1869,0.93,226.2,98.6,9.8,287,1885,0.00,0.00,7.18,0.545,6,0.000,0.000,3309,1767,1838,0,0,0,0,0,0
$GC,1992,0.93,228.8,86.7,10.0,307,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1766,1836,0,0,0,0,0,0
$GC,2104,0.95,241.3,75.1,9.6,326,2120,0.00,0.00,14.23,0.604,6,0.000,0.000,3309,1767,1778,0,0,0,0,0,0
$GC,2226,1.00,285.6,63.5,8.5,346,2273,0.10,2.40,38.12,0.623,4,0.096,0.054,3383,330,1596,0,0,0,0,0,0
$GC,2286,0.93,285.6,57.0,12.2,354,2295,0.20,2.38,0.00,0.000,6,0.141,0.039,3321,1764,1593,0,0,0,0,0,0
$GC,2401,1.01,351.7,47.3,7.8,373,2468,0.08,2.42,56.88,0.612,4,0.113,0.071,3377,3174,1326,0,0,0,0,0,0
$GC,2538,0.97,351.7,32.3,12.0,394,2548,0.15,2.42,0.00,0.000,6,0.125,0.065,3337,1747,1318,0,0,0,0,0,0
$GC,2662,1.01,351.7,19.5,11.2,413,2671,0.00,2.35,0.00,0.000,4,0.000,0.063,3348,346,1316,0,0,0,0,0,0
$GC,2760,1.04,351.7,8.0,11.5,428,2769,0.00,2.35,0.00,0.000,6,0.000,0.053,3348,1747,1313,0,0,0,0,0,0
$STATE,2807,end climb,SURFACE_DEPTH_REACHED
$STATE,2807,begin surface coast
$FINISH,1.1,0.999328
$STATE,2840,end surface coast,CONTROL_FINISHED_OK
$STATE,2840,begin surface
$SM_CCo,2916,0.00,0.000,0,0,1309,356.17
$SM_GC,2.02,8.90,0.00,0.00,0.054,0.000,0.000,76,1948,1309,-9.10,0.82,356.17
$IRIDIUM_FIX,-3406.89,2549.56,220208,232337
$TT8_MAMPS,0.026964
$HUMID,60.47
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,41.4
$24V_AH,24.2,16.816
$10V_AH,10.3,12.845
$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,23.700,29.825,440.950,0.000,0.000,26.302,18.134,176.022,2.000,0.000,21.149,997.440,222.102,418.724,1532.995,78.128,0.000,952.860,0.000,1170.833,0.000,14.721,0.000
$DEVICE_MAMPS,286.110,154.530,656.370,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.801,1176.734,841.703,1268.941,0.000,0.000,0.000,0.000,0.000,0.000
$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,33849,440
$CAP_FILE_SIZE,55571,0
$CFSIZE,2097086464,2076114944
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.126, 89.3,1
$GPS,280415,120005,-3423.363,2549.863,44,1.1,45,-27.8