version: 66.07.10.p01
glider: 573
mission: 9
dive: 162
start: 4 28 115 16 11 26
data:
$ID,573
$MISSION,9
$DIVE,162
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,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,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,-14028.086
$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,10
$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,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,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,161
$GPS1,280415,160205,-3424.133,2549.069,29,1.1,30,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-69.3
$GPS2,280415,161105,-3424.184,2549.089,38,1.0,38,-27.8
$SPEED_LIMITS,0.173,0.296
$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,282.6,37673,-15.7,-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,-1.02,-194.6,0.0,0.0,0,78,0.00,0.00,-51.80,0.000,2,0.000,0.000,71,1939,2597,0,0,0,0,0,0
$GC,81,-1.02,-194.6,3.1,-3.5,6,133,11.68,2.55,-31.17,0.000,4,0.269,0.111,2684,494,3582,0,0,0,0,0,0
$GC,382,-0.85,-194.6,54.4,-17.0,53,390,0.28,2.58,0.00,0.000,6,0.207,0.109,2744,1922,3586,0,0,0,0,0,0
$GC,499,-0.77,-194.6,70.3,-13.1,72,509,0.10,2.45,0.00,0.000,4,0.205,0.096,2756,3346,3588,0,0,0,0,0,0
$GC,546,-0.72,-194.6,76.2,-12.0,79,554,0.10,2.45,0.00,0.000,6,0.180,0.092,2779,1918,3588,0,0,0,0,0,0
$GC,660,-0.69,-194.6,91.8,-14.0,98,669,0.05,0.00,0.00,0.000,6,0.272,0.000,2789,1918,3589,0,0,0,0,0,0
$GC,774,-0.69,-194.6,107.1,-13.4,117,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1918,3589,0,0,0,0,0,0
$GC,887,-0.69,-194.6,122.1,-12.5,136,896,0.00,2.53,0.00,0.000,4,0.000,0.107,2789,485,3590,0,0,0,0,0,0
$GC,946,-0.67,-194.6,129.8,-13.9,145,954,0.10,2.53,0.00,0.000,6,0.236,0.099,2800,1920,3590,0,0,0,0,0,0
$GC,1062,-0.67,-194.6,143.7,-11.4,164,1071,0.00,2.45,0.00,0.000,4,0.000,0.101,2789,3341,3591,0,0,0,0,0,0
$GC,1145,-0.67,-194.6,153.8,-11.9,177,1152,0.00,2.47,0.00,0.000,6,0.000,0.102,2790,1917,3590,0,0,0,0,0,0
$GC,1257,-0.67,-194.6,166.3,-10.9,196,1266,0.05,0.00,0.00,0.000,6,0.196,0.000,2800,1917,3591,0,0,0,0,0,0
$STATE,1292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1292,begin apogee
$GC,1297,-0.25,0.0,170.0,11.4,201,1452,0.43,0.00,150.27,0.675,6,0.173,0.000,2928,1756,2784,0,0,0,0,0,0
$STATE,1453,end apogee,CONTROL_FINISHED_OK
$STATE,1453,begin climb
$GC,1455,1.02,194.6,178.9,0.0,222,1618,1.30,2.47,153.68,0.654,4,0.112,0.054,3354,330,1988,0,0,0,0,0,0
$GC,1662,0.93,194.6,164.8,11.8,251,1670,0.12,2.35,0.00,0.000,6,0.158,0.036,3322,1769,1984,0,0,0,0,0,0
$GC,1777,0.94,240.7,154.0,8.4,270,1823,0.00,2.33,38.30,0.640,4,0.000,0.060,3322,3175,1801,0,0,0,0,0,0
$GC,1848,0.90,241.9,147.9,10.0,280,1858,0.05,2.47,0.00,0.000,6,0.154,0.072,3316,1748,1799,0,0,0,0,0,0
$GC,1965,0.93,267.5,136.6,9.1,299,1996,0.00,2.35,23.30,0.630,4,0.000,0.057,3326,332,1693,0,0,0,0,0,0
$GC,2091,0.93,267.5,123.3,10.3,319,2099,0.00,2.30,0.00,0.000,6,0.000,0.040,3326,1755,1689,0,0,0,0,0,0
$GC,2206,0.95,282.2,111.8,9.5,338,2230,0.00,2.38,13.48,0.610,4,0.000,0.053,3336,336,1631,0,0,0,0,0,0
$GC,2260,0.93,282.2,105.0,12.3,346,2270,0.03,2.33,0.00,0.000,6,0.147,0.040,3326,1753,1629,0,0,0,0,0,0
$GC,2377,0.95,295.6,92.8,9.5,365,2393,0.00,0.00,12.75,0.604,6,0.000,0.000,3326,1753,1577,0,0,0,0,0,0
$GC,2499,0.98,320.8,81.2,9.1,385,2529,0.00,0.00,22.92,0.622,6,0.000,0.000,3325,1753,1474,0,0,0,0,0,0
$GC,2635,0.98,322.7,68.4,9.9,407,2643,0.00,2.33,0.00,0.000,4,0.000,0.056,3335,333,1469,0,0,0,0,0,0
$GC,2702,0.98,322.7,60.3,11.6,418,2711,0.00,2.35,0.00,0.000,6,0.000,0.045,3335,1760,1468,0,0,0,0,0,0
$GC,2817,0.98,322.7,47.1,11.9,437,2824,0.00,2.33,0.00,0.000,4,0.000,0.074,3335,3190,1467,0,0,0,0,0,0
$GC,2860,0.98,322.7,41.5,12.8,444,2869,0.00,2.45,0.00,0.000,6,0.000,0.077,3344,1751,1466,0,0,0,0,0,0
$GC,2975,0.98,322.7,27.0,13.1,463,2985,0.00,2.35,0.00,0.000,4,0.000,0.065,3356,335,1466,0,0,0,0,0,0
$GC,3049,0.98,322.7,17.6,11.6,474,3059,0.05,2.33,0.00,0.000,6,0.134,0.047,3336,1759,1465,0,0,0,0,0,0
$GC,3136,1.03,344.5,8.9,9.3,487,3155,0.00,2.30,10.82,0.499,4,0.000,0.069,3336,3182,1375,0,0,0,0,0,0
$STATE,3193,end climb,SURFACE_DEPTH_REACHED
$STATE,3193,begin surface coast
$FINISH,1.2,1.009831
$STATE,3226,end surface coast,CONTROL_FINISHED_OK
$STATE,3226,begin surface
$SM_CCo,3303,0.00,0.000,0,0,1365,347.83
$SM_GC,2.01,8.73,0.00,0.00,0.048,0.000,0.000,80,1912,1365,-9.08,-0.20,347.83
$IRIDIUM_FIX,-3401.68,2608.26,230208,040401
$TT8_MAMPS,0.026215
$HUMID,60.63
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.1,34.7
$24V_AH,24.2,17.296
$10V_AH,10.3,13.239
$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,23.050,57.900,425.525,0.000,0.000,26.830,40.903,337.075,3.000,0.000,39.940,1149.412,256.600,440.644,1901.940,104.162,0.000,1031.043,0.000,1319.502,0.000,20.733,0.000
$DEVICE_MAMPS,272.340,137.700,674.730,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.559,1330.392,944.003,1433.559,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331516
$DATA_FILE_SIZE,37092,500
$CAP_FILE_SIZE,69623,0
$CFSIZE,2097086464,2075590656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.149, 99.7,1
$GPS,280415,170735,-3424.346,2548.852,33,1.7,34,-27.8