version: 66.07.10.p01
glider: 573
mission: 9
dive: 159
start: 4 28 115 13 5 37
data:
$ID,573
$MISSION,9
$DIVE,159
$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,-14018.337
$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,15
$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,2784
$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,158
$GPS1,280415,125855,-3423.512,2549.706,39,2.0,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.0
$GPS2,280415,130512,-3423.536,2549.727,20,1.3,21,-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,274.9,39154,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,86,0.00,0.00,-59.30,0.000,2,0.000,0.000,79,1937,2750,0,0,0,0,0,0
$GC,88,-1.02,-194.6,3.2,-3.3,7,132,11.82,2.53,-23.75,0.000,4,0.275,0.106,2683,494,3580,1,0,0,0,0,0
$GC,399,-0.85,-194.6,60.6,-16.6,55,407,0.25,2.55,0.00,0.000,6,0.206,0.103,2736,1920,3584,0,0,0,0,0,0
$GC,517,-0.77,-194.6,78.0,-14.1,74,527,0.12,2.45,0.00,0.000,4,0.202,0.096,2756,3340,3585,0,0,0,0,0,0
$GC,593,-0.73,-194.6,87.6,-11.8,86,603,0.08,2.47,0.00,0.000,6,0.161,0.093,2777,1925,3585,0,0,0,0,0,0
$GC,717,-0.71,-194.6,100.7,-10.3,105,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1925,3586,0,0,0,0,0,0
$GC,833,-0.68,-194.6,113.9,-11.0,124,842,0.10,0.00,0.00,0.000,6,0.224,0.000,2799,1925,3587,0,0,0,0,0,0
$GC,952,-0.68,-194.6,126.3,-10.5,143,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1925,3588,0,0,0,0,0,0
$GC,1067,-0.68,-194.6,139.0,-11.1,162,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1925,3588,0,0,0,0,0,0
$GC,1191,-0.68,-194.6,152.0,-10.4,181,1198,0.00,2.42,0.00,0.000,4,0.000,0.095,2790,3349,3588,0,0,0,0,0,0
$STATE,1205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1205,begin apogee
$GC,1212,-0.25,0.0,153.9,10.9,183,1367,0.45,0.00,149.45,0.670,6,0.155,0.000,2930,1749,2784,0,0,0,0,0,0
$STATE,1368,end apogee,CONTROL_FINISHED_OK
$STATE,1368,begin climb
$GC,1369,1.02,194.6,161.6,0.0,204,1532,1.27,2.40,152.57,0.650,4,0.109,0.054,3350,330,1989,0,0,0,0,0,0
$GC,1594,0.94,194.6,145.0,11.3,236,1605,0.08,2.38,0.00,0.000,6,0.138,0.038,3325,1757,1986,0,0,0,0,0,0
$GC,1716,0.91,207.0,133.0,9.6,255,1733,0.00,2.40,11.07,0.592,4,0.000,0.061,3326,3182,1939,0,0,0,0,0,0
$GC,1760,0.87,213.2,128.5,9.8,261,1776,0.12,2.45,6.55,0.532,6,0.174,0.076,3304,1749,1915,0,0,0,0,0,0
$GC,1887,0.91,245.0,116.9,9.0,281,1924,0.00,2.40,28.20,0.629,4,0.000,0.063,3314,340,1783,0,0,0,0,0,0
$GC,2005,0.91,245.0,104.9,10.6,299,2012,0.00,2.30,0.00,0.000,6,0.000,0.041,3314,1756,1780,0,0,0,0,0,0
$GC,2123,0.94,276.9,93.2,9.0,318,2161,0.00,2.45,27.38,0.625,4,0.000,0.078,3314,3180,1653,0,0,0,0,0,0
$GC,2176,0.94,276.9,87.8,10.5,325,2183,0.00,2.45,0.00,0.000,6,0.000,0.079,3324,1758,1651,0,0,0,0,0,0
$GC,2291,0.94,276.9,74.3,11.8,344,2302,0.00,2.40,0.00,0.000,4,0.000,0.063,3335,333,1649,0,0,0,0,0,0
$GC,2364,0.92,276.9,65.9,12.4,355,2371,0.08,2.30,0.00,0.000,6,0.172,0.044,3317,1756,1648,0,0,0,0,0,0
$GC,2482,0.92,276.9,51.7,11.6,374,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1756,1647,0,0,0,0,0,0
$GC,2601,1.00,322.0,40.4,8.5,393,2647,0.08,2.38,38.50,0.622,4,0.116,0.069,3372,3183,1471,0,0,0,0,0,0
$GC,2723,0.95,322.0,27.5,12.5,411,2733,0.17,2.42,0.00,0.000,6,0.132,0.068,3326,1749,1466,0,0,0,0,0,0
$GC,2810,1.00,336.2,18.7,9.6,424,2829,0.00,2.40,6.72,0.480,4,0.000,0.063,3337,328,1410,0,0,0,0,0,0
$GC,2906,1.03,336.2,8.5,10.8,438,2915,0.00,2.38,0.00,0.000,6,0.000,0.051,3337,1750,1407,0,0,0,0,0,0
$STATE,2959,end climb,SURFACE_DEPTH_REACHED
$STATE,2959,begin surface coast
$FINISH,1.1,1.021991
$STATE,2998,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3074,0.00,0.000,0,0,1402,339.00
$SM_GC,1.87,8.75,0.00,0.00,0.047,0.000,0.000,71,1938,1402,-9.10,0.54,339.00
$IRIDIUM_FIX,-3438.25,2557.50,230208,010137
$TT8_MAMPS,0.026215
$HUMID,60.51
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.5,22.3
$24V_AH,24.2,16.994
$10V_AH,10.3,12.996
$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,23.375,49.125,420.450,0.000,0.000,27.507,58.546,185.365,3.000,0.000,23.255,1037.612,289.569,424.974,1623.639,89.166,0.000,973.642,0.000,1207.418,0.000,22.127,0.000
$DEVICE_MAMPS,274.635,118.575,670.140,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.694,1213.897,868.176,1305.991,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331544
$DATA_FILE_SIZE,33699,452
$CAP_FILE_SIZE,60612,1
$CFSIZE,2097086464,2075918336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1
$CURRENT,0.123, 95.1,1
$GPS,280415,135806,-3423.708,2549.540,43,1.0,43,-27.8