version: 66.07.10.p01
glider: 573
mission: 9
dive: 164
start: 4 28 115 18 26 52
data:
$ID,573
$MISSION,9
$DIVE,164
$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,-14034.877
$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,11
$R_STBD_OVSHOOT,34
$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,163
$GPS1,280415,182029,-3424.562,2548.555,42,1.2,43,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.5
$GPS2,280415,182631,-3424.573,2548.523,15,1.2,17,-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,282.5,36556,-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,-194.6,0.0,0.0,0,97,0.00,0.00,-69.88,0.000,2,0.000,0.000,87,1953,2745,0,0,0,0,0,0
$GC,99,-1.02,-194.6,3.0,-3.2,8,143,11.90,2.60,-23.05,0.000,4,0.278,0.109,2683,500,3581,0,0,0,0,0,0
$GC,411,-0.85,-194.6,52.8,-13.0,58,421,0.22,2.58,0.00,0.000,6,0.209,0.110,2734,1896,3585,0,0,0,0,0,0
$GC,530,-0.76,-194.6,67.0,-12.4,77,537,0.15,0.00,0.00,0.000,6,0.203,0.000,2771,1896,3586,0,0,0,0,0,0
$GC,643,-0.72,-194.6,83.2,-14.2,96,652,0.05,0.00,0.00,0.000,6,0.262,0.000,2779,1897,3588,0,0,0,0,0,0
$GC,759,-0.69,-194.6,98.5,-13.3,115,768,0.08,2.47,0.00,0.000,4,0.242,0.100,2782,3357,3588,0,0,0,0,0,0
$GC,909,-0.69,-194.6,117.2,-12.1,140,918,0.00,2.55,0.00,0.000,6,0.000,0.102,2782,1922,3589,0,0,0,0,0,0
$GC,1025,-0.69,-194.6,131.0,-11.9,159,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1923,3590,0,0,0,0,0,0
$GC,1137,-0.69,-194.6,144.2,-11.6,178,1147,0.00,2.53,0.00,0.000,4,0.000,0.105,2782,481,3590,0,0,0,0,0,0
$GC,1164,-0.66,-194.6,147.2,-11.0,182,1174,0.08,2.50,0.00,0.000,6,0.201,0.088,2793,1915,3590,0,0,0,0,0,0
$GC,1282,-0.66,-194.6,160.3,-10.9,201,1290,0.00,2.45,0.00,0.000,4,0.000,0.103,2783,3356,3590,0,0,0,0,0,0
$GC,1322,-0.66,-194.6,165.4,-12.4,207,1330,0.08,2.53,0.00,0.000,6,0.181,0.106,2798,1916,3590,0,0,0,0,0,0
$GC,1438,-0.66,-194.6,178.7,-11.0,226,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3590,0,0,0,0,0,0
$GC,1555,-0.66,-194.6,191.2,-10.5,245,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1916,3590,0,0,0,0,0,0
$STATE,1596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1596,begin apogee
$GC,1600,-0.25,0.0,195.7,10.2,252,1758,0.45,0.00,149.82,0.708,6,0.174,0.000,2933,1759,2783,0,0,0,0,0,0
$STATE,1758,end apogee,CONTROL_FINISHED_OK
$STATE,1758,begin climb
$GC,1760,1.02,194.6,203.2,0.0,273,1922,1.25,2.50,153.55,0.678,4,0.109,0.054,3346,326,1989,0,0,0,0,0,0
$GC,1976,0.93,194.6,188.7,11.2,304,1986,0.08,2.40,0.00,0.000,6,0.138,0.037,3322,1764,1985,0,0,0,0,0,0
$GC,2093,0.95,237.0,178.5,8.5,323,2131,0.00,0.00,35.65,0.657,6,0.000,0.000,3322,1763,1817,0,0,0,0,0,0
$GC,2237,0.93,242.5,165.8,9.8,346,2248,0.00,2.38,5.47,0.522,4,0.000,0.061,3322,3180,1794,0,0,0,0,0,0
$GC,2273,0.90,243.5,162.5,10.0,351,2282,0.08,2.42,0.00,0.000,6,0.196,0.071,3314,1746,1792,0,0,0,0,0,0
$GC,2389,0.90,267.7,150.6,9.2,370,2420,0.00,2.35,22.75,0.646,4,0.000,0.061,3325,333,1691,0,0,0,0,0,0
$GC,2497,0.88,267.7,138.5,12.4,387,2506,0.08,2.30,0.00,0.000,6,0.167,0.041,3306,1758,1687,0,0,0,0,0,0
$GC,2613,0.88,267.7,127.2,10.5,406,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1758,1686,0,0,0,0,0,0
$GC,2727,0.93,311.5,116.9,8.5,425,2771,0.00,2.38,37.70,0.654,4,0.000,0.054,3315,332,1513,0,0,0,0,0,0
$GC,2791,1.01,353.5,111.4,8.6,434,2838,0.05,2.38,37.28,0.638,6,0.071,0.044,3356,1755,1340,0,0,0,0,0,0
$GC,2943,1.01,353.5,94.5,11.0,458,2952,0.00,2.40,0.00,0.000,4,0.000,0.072,3357,3180,1333,0,0,0,0,0,0
$GC,2976,0.98,353.5,90.5,13.4,463,2985,0.12,2.40,0.00,0.000,6,0.163,0.071,3334,1752,1332,0,0,0,0,0,0
$GC,3091,0.98,353.5,77.6,11.3,482,3100,0.00,2.35,0.00,0.000,4,0.000,0.061,3345,340,1331,0,0,0,0,0,0
$GC,3206,0.98,353.5,65.1,10.7,501,3213,0.00,2.30,0.00,0.000,6,0.000,0.044,3345,1768,1330,0,0,0,0,0,0
$GC,3318,1.01,379.3,54.3,9.1,520,3349,0.00,2.38,21.60,0.619,4,0.000,0.070,3345,3186,1234,0,0,0,0,0,0
$GC,3370,1.07,427.7,50.2,8.3,527,3417,0.00,2.40,41.08,0.615,6,0.000,0.070,3354,1749,1039,0,0,0,0,0,0
$GC,3523,1.13,453.4,36.0,9.1,551,3554,0.10,2.38,20.98,0.594,4,0.092,0.055,3424,338,932,0,0,0,0,0,0
$GC,3637,1.07,453.4,21.6,13.6,568,3647,0.17,2.33,0.00,0.000,6,0.132,0.034,3368,1781,926,0,0,0,0,0,0
$GC,3725,1.09,453.4,9.4,13.0,581,3734,0.00,2.28,0.00,0.000,4,0.000,0.063,3368,3166,924,0,0,0,0,0,0
$GC,3749,1.09,453.4,5.9,14.8,584,3758,0.00,2.38,0.00,0.000,6,0.000,0.069,3377,1761,923,0,0,0,0,0,0
$STATE,3771,end climb,SURFACE_DEPTH_REACHED
$STATE,3771,begin surface coast
$FINISH,1.1,1.012048
$STATE,3797,end surface coast,CONTROL_FINISHED_OK
$STATE,3797,begin surface
$SM_CCo,3873,0.00,0.000,0,0,921,456.99
$SM_GC,1.70,8.98,0.00,0.00,0.054,0.000,0.000,91,1947,921,-9.08,0.79,456.99
$IRIDIUM_FIX,-3348.69,2353.26,230208,060627
$TT8_MAMPS,0.026964
$HUMID,60.39
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.4,29.7
$24V_AH,24.1,17.510
$10V_AH,10.3,13.428
$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,23.900,63.450,525.875,0.000,0.000,25.317,39.905,193.954,3.750,0.000,19.342,1346.566,290.262,523.803,1976.641,104.065,0.000,1217.842,0.000,1534.025,0.000,25.832,0.000
$DEVICE_MAMPS,277.695,140.760,707.625,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.656,1551.481,1079.175,1671.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331520
$DATA_FILE_SIZE,43720,591
$CAP_FILE_SIZE,77376,0
$CFSIZE,2097086464,2075394048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.111, 90.1,1
$GPS,280415,193237,-3424.663,2548.208,39,1.5,40,-27.8