version: 66.07.10.p01
glider: 573
mission: 9
dive: 165
start: 4 28 115 19 39 4
data:
$ID,573
$MISSION,9
$DIVE,165
$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,-14038.248
$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,14
$R_STBD_OVSHOOT,41
$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,2864
$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,164
$GPS1,280415,193237,-3424.663,2548.208,39,1.5,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-66.3
$GPS2,280415,193842,-3424.719,2548.211,16,1.2,16,-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,276.0,36010,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,103,0.00,0.00,-77.25,0.000,2,0.000,0.000,91,1947,2762,0,0,0,0,0,0
$GC,106,-1.02,-194.6,3.2,-3.2,9,150,11.75,2.58,-24.20,0.000,4,0.275,0.112,2682,497,3660,0,0,0,0,0,0
$GC,403,-0.85,-194.6,58.0,-18.3,55,411,0.28,2.50,0.00,0.000,6,0.210,0.106,2741,1892,3664,0,0,0,0,0,0
$GC,522,-0.76,-194.6,75.5,-14.4,74,532,0.12,2.50,0.00,0.000,4,0.200,0.097,2760,3341,3666,0,0,0,0,0,0
$GC,547,-0.70,-194.6,78.6,-13.5,77,555,0.12,2.45,0.00,0.000,6,0.179,0.090,2789,1913,3666,0,0,0,0,0,0
$GC,666,-0.70,-194.6,94.8,-14.0,96,676,0.00,2.53,0.00,0.000,4,0.000,0.109,2790,490,3667,0,0,0,0,0,0
$GC,690,-0.70,-194.6,97.6,-12.9,99,697,0.00,2.55,0.00,0.000,6,0.000,0.104,2781,1917,3667,0,0,0,0,0,0
$GC,808,-0.70,-194.6,113.1,-12.4,118,817,0.00,2.45,0.00,0.000,4,0.000,0.096,2770,3343,3668,0,0,0,0,0,0
$GC,954,-0.70,-194.6,130.8,-12.2,141,961,0.10,2.47,0.00,0.000,6,0.176,0.098,2792,1915,3669,0,0,0,0,0,0
$GC,1072,-0.70,-194.6,145.1,-11.6,160,1081,0.00,2.50,0.00,0.000,4,0.000,0.103,2792,487,3670,0,0,0,0,0,0
$GC,1114,-0.70,-194.6,150.1,-12.1,166,1123,0.00,2.55,0.00,0.000,6,0.000,0.099,2783,1914,3670,0,0,0,0,0,0
$GC,1234,-0.70,-194.6,164.7,-12.0,185,1241,0.00,2.42,0.00,0.000,4,0.000,0.100,2772,3348,3670,0,0,0,0,0,0
$GC,1297,-0.70,-194.6,172.1,-11.4,195,1305,0.08,2.53,0.00,0.000,6,0.186,0.104,2787,1910,3670,0,0,0,0,0,0
$GC,1415,-0.70,-194.6,185.4,-12.1,214,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1911,3670,0,0,0,0,0,0
$GC,1537,-0.70,-194.6,198.9,-12.2,233,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1910,3670,0,0,0,0,0,0
$STATE,1587,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1587,begin apogee
$GC,1591,-0.25,0.0,204.1,10.3,241,1747,0.47,0.00,151.10,0.702,6,0.171,0.000,2931,1757,2864,0,0,0,0,0,0
$STATE,1748,end apogee,CONTROL_FINISHED_OK
$STATE,1748,begin climb
$GC,1749,1.02,194.6,211.8,0.0,262,1912,1.27,2.47,153.45,0.680,4,0.107,0.054,3352,332,2068,0,0,0,0,0,0
$GC,1985,0.92,194.6,195.7,12.1,296,1996,0.10,2.38,0.00,0.000,6,0.135,0.035,3320,1771,2064,0,0,0,0,0,0
$GC,2106,0.88,207.5,183.9,9.6,315,2123,0.05,0.00,11.30,0.617,6,0.226,0.000,3309,1772,2017,0,0,0,0,0,0
$GC,2234,0.88,223.5,171.9,9.5,335,2256,0.00,0.00,14.75,0.636,6,0.000,0.000,3309,1772,1950,0,0,0,0,0,0
$GC,2365,0.91,269.8,159.4,8.4,356,2411,0.00,0.00,38.47,0.673,6,0.000,0.000,3309,1772,1764,0,0,0,0,0,0
$GC,2520,0.94,291.1,144.8,9.3,380,2544,0.00,0.00,18.15,0.637,6,0.000,0.000,3309,1772,1679,0,0,0,0,0,0
$GC,2654,0.94,291.1,131.4,10.1,401,2661,0.00,2.38,0.00,0.000,4,0.000,0.053,3319,322,1674,0,0,0,0,0,0
$GC,2699,0.94,291.1,126.6,11.1,408,2709,0.00,2.35,0.00,0.000,6,0.000,0.042,3319,1752,1674,0,0,0,0,0,0
$GC,2818,0.94,291.1,114.3,10.2,427,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1752,1673,0,0,0,0,0,0
$GC,2934,0.94,291.1,101.8,10.5,446,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1752,1672,0,0,0,0,0,0
$GC,3052,0.94,291.1,88.7,11.9,465,3059,0.00,2.30,0.00,0.000,4,0.000,0.070,3319,3182,1671,0,0,0,0,0,0
$GC,3104,0.91,291.1,82.0,13.2,473,3112,0.05,2.35,0.00,0.000,6,0.224,0.069,3317,1749,1670,0,0,0,0,0,0
$GC,3219,0.91,291.1,67.5,12.0,492,3229,0.00,2.30,0.00,0.000,4,0.000,0.060,3327,341,1671,0,0,0,0,0,0
$GC,3319,0.91,291.1,55.8,11.2,508,3330,0.03,2.30,0.00,0.000,6,0.149,0.040,3317,1770,1670,0,0,0,0,0,0
$GC,3440,0.92,301.4,44.1,9.7,527,3457,0.00,2.25,9.12,0.584,4,0.000,0.062,3317,3180,1635,0,0,0,0,0,0
$GC,3495,0.92,301.4,38.4,10.7,535,3502,0.00,2.35,0.00,0.000,6,0.000,0.069,3326,1747,1632,0,0,0,0,0,0
$GC,3614,1.04,396.7,29.0,6.7,554,3675,0.08,2.33,50.90,0.601,4,0.117,0.055,3397,335,1242,0,0,0,0,0,0
$GC,3721,0.99,396.7,18.2,12.7,568,3732,0.15,2.33,0.00,0.000,6,0.131,0.035,3348,1775,1236,0,0,0,0,0,0
$GC,3810,1.03,401.1,9.2,9.9,581,3819,0.00,2.28,0.00,0.000,4,0.000,0.062,3348,3172,1232,0,0,0,0,0,0
$GC,3846,1.03,401.1,5.3,11.3,586,3855,0.00,2.40,0.00,0.000,6,0.000,0.073,3357,1760,1231,0,0,0,0,0,0
$STATE,3862,end climb,SURFACE_DEPTH_REACHED
$STATE,3862,begin surface coast
$FINISH,1.1,1.010160
$STATE,3889,end surface coast,CONTROL_FINISHED_OK
$STATE,3889,begin surface
$SM_CCo,3965,0.00,0.000,0,0,1227,401.55
$SM_GC,1.92,8.88,0.00,0.00,0.051,0.000,0.000,85,1949,1227,-9.08,0.85,401.55
$IRIDIUM_FIX,-3409.50,2548.35,230208,070709
$TT8_MAMPS,0.027713
$HUMID,59.49
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,190.4,28.6
$24V_AH,24.1,17.612
$10V_AH,10.3,13.523
$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,23.525,63.350,447.250,0.000,0.000,26.224,41.331,197.112,4.000,0.000,18.141,1362.882,394.365,483.035,1991.509,106.911,0.000,1164.839,0.000,1545.857,0.000,27.373,0.000
$DEVICE_MAMPS,274.635,146.880,702.270,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.252,1561.599,1092.512,1683.997,0.000,0.000,0.000,0.000,0.000,0.000
$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,43662,592
$CAP_FILE_SIZE,76253,0
$CFSIZE,2097086464,2075295744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.129, 89.9,1
$GPS,280415,204623,-3424.904,2547.933,40,0.9,41,-27.8