version: 66.07.10.p01
glider: 573
mission: 9
dive: 166
start: 4 28 115 20 52 59
data:
$ID,573
$MISSION,9
$DIVE,166
$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,-14041.702
$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,16
$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,165
$GPS1,280415,204623,-3424.904,2547.933,40,0.9,41,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.6
$GPS2,280415,205237,-3424.940,2547.919,16,1.3,17,-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,278.0,35411,-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,-194.6,0.0,0.0,0,86,0.00,0.00,-60.22,0.000,2,0.000,0.000,84,1949,2641,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.2,-3.7,7,142,11.62,2.60,-29.60,0.000,4,0.271,0.113,2679,512,3661,0,0,0,0,0,0
$GC,417,-0.83,-194.6,66.2,-18.0,58,427,0.28,2.50,0.00,0.000,6,0.203,0.102,2745,1892,3665,0,0,0,0,0,0
$GC,540,-0.76,-194.6,82.6,-12.2,77,548,0.10,2.47,0.00,0.000,4,0.209,0.099,2758,3354,3667,0,0,0,0,0,0
$GC,678,-0.72,-194.6,98.5,-11.4,99,686,0.10,2.45,0.00,0.000,6,0.172,0.092,2780,1925,3668,0,0,0,0,0,0
$GC,799,-0.72,-194.6,111.5,-10.6,118,808,0.00,2.53,0.00,0.000,4,0.000,0.106,2780,493,3670,0,0,0,0,0,0
$GC,834,-0.69,-194.6,115.3,-11.3,123,842,0.10,2.50,0.00,0.000,6,0.212,0.094,2791,1926,3670,0,0,0,0,0,0
$GC,951,-0.69,-194.6,128.0,-10.7,142,960,0.00,2.45,0.00,0.000,4,0.000,0.101,2782,3344,3670,0,0,0,0,0,0
$GC,1036,-0.69,-194.6,136.7,-9.9,155,1043,0.00,2.50,0.00,0.000,6,0.000,0.102,2782,1909,3670,0,0,0,0,0,0
$GC,1152,-0.69,-194.6,149.5,-10.5,174,1164,0.00,2.45,0.00,0.000,4,0.000,0.099,2781,494,3670,0,0,0,0,0,0
$GC,1178,-0.69,-194.6,152.0,-10.5,177,1186,0.10,2.47,0.00,0.000,6,0.223,0.093,2792,1922,3670,0,0,0,0,0,0
$GC,1296,-0.69,-194.6,164.7,-11.0,196,1306,0.00,2.45,0.00,0.000,4,0.000,0.101,2782,3343,3671,0,0,0,0,0,0
$GC,1403,-0.69,-194.6,175.8,-10.0,213,1410,0.00,2.50,0.00,0.000,6,0.000,0.106,2782,1916,3671,0,0,0,0,0,0
$GC,1519,-0.69,-194.6,188.1,-9.9,232,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1916,3671,0,0,0,0,0,0
$GC,1642,-0.69,-194.6,201.2,-11.3,251,1649,0.00,2.42,0.00,0.000,4,0.000,0.096,2781,481,3670,0,0,0,0,0,0
$GC,1683,-0.67,-194.6,206.0,-12.8,257,1691,0.12,2.47,0.00,0.000,6,0.223,0.091,2799,1917,3670,0,0,0,0,0,0
$STATE,1792,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1792,begin apogee
$GC,1796,-0.25,0.0,218.0,10.7,274,1953,0.43,0.00,151.75,0.718,6,0.160,0.000,2931,1717,2863,0,0,0,0,0,0
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1955,1.02,194.6,226.8,0.0,295,2119,1.27,2.35,153.35,0.695,4,0.113,0.052,3347,364,2069,0,0,0,0,0,0
$GC,2185,0.93,194.6,212.1,12.0,328,2195,0.08,2.33,0.00,0.000,6,0.140,0.036,3323,1768,2065,0,0,0,0,0,0
$GC,2307,0.88,194.6,199.7,10.3,347,2313,0.08,0.00,0.00,0.000,6,0.196,0.000,3306,1768,2063,0,0,0,0,0,0
$GC,2423,0.85,196.5,188.3,9.9,366,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1768,2062,0,0,0,0,0,0
$GC,2542,0.83,206.6,177.2,9.7,385,2558,0.08,0.00,10.45,0.632,6,0.197,0.000,3288,1769,2020,0,0,0,0,0,0
$GC,2669,0.87,242.0,165.4,8.8,405,2706,0.00,2.33,29.70,0.675,4,0.000,0.063,3288,3179,1878,0,0,0,0,0,0
$GC,2742,0.87,242.0,158.1,10.4,416,2752,0.00,2.40,0.00,0.000,6,0.000,0.077,3297,1794,1874,0,0,0,0,0,0
$GC,2862,0.90,270.7,146.8,9.0,435,2893,0.00,2.50,25.38,0.665,4,0.000,0.063,3308,335,1759,0,0,0,0,0,0
$GC,2960,0.92,282.8,137.1,9.6,450,2984,0.00,2.35,11.45,0.621,6,0.000,0.043,3308,1755,1709,0,0,0,0,0,0
$GC,3095,0.92,282.8,124.1,10.1,471,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1755,1705,0,0,0,0,0,0
$GC,3209,0.92,285.5,112.4,9.9,490,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1755,1705,0,0,0,0,0,0
$GC,3329,0.98,316.5,101.5,8.9,509,3365,0.08,0.00,29.02,0.655,6,0.117,0.000,3360,1756,1573,0,0,0,0,0,0
$GC,3475,0.94,316.5,84.4,11.0,532,3485,0.12,2.35,0.00,0.000,4,0.154,0.063,3326,3181,1567,0,0,0,0,0,0
$GC,3523,0.94,316.5,79.5,10.1,539,3530,0.00,2.38,0.00,0.000,6,0.000,0.073,3336,1757,1566,0,0,0,0,0,0
$GC,3640,1.01,373.2,69.9,8.1,558,3695,0.00,2.45,48.50,0.642,4,0.000,0.060,3347,329,1339,0,0,0,0,0,0
$GC,3762,1.05,402.4,58.8,9.0,576,3793,0.00,2.38,25.10,0.616,6,0.000,0.044,3347,1758,1222,0,0,0,0,0,0
$GC,3903,1.07,402.4,42.0,12.6,598,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,1758,1215,0,0,0,0,0,0
$GC,4023,1.10,402.4,27.6,11.5,617,4033,0.08,2.35,0.00,0.000,4,0.118,0.055,3407,335,1213,0,0,0,0,0,0
$GC,4055,1.07,402.4,23.0,14.9,621,4065,0.10,2.30,0.00,0.000,6,0.128,0.035,3373,1771,1212,0,0,0,0,0,0
$GC,4141,1.07,402.4,11.0,13.8,634,4150,0.00,2.28,0.00,0.000,4,0.000,0.061,3373,3169,1211,0,0,0,0,0,0
$GC,4190,1.07,402.4,4.6,13.0,641,4199,0.05,2.40,0.00,0.000,6,0.164,0.073,3365,1756,1210,0,0,0,0,0,0
$STATE,4206,end climb,SURFACE_DEPTH_REACHED
$STATE,4206,begin surface coast
$FINISH,1.2,1.021959
$STATE,4233,end surface coast,CONTROL_FINISHED_OK
$STATE,4233,begin surface
$SM_CCo,4309,0.00,0.000,0,0,1206,406.46
$SM_GC,1.94,8.80,0.00,0.00,0.047,0.000,0.000,82,1952,1206,-9.09,0.93,406.46
$IRIDIUM_FIX,-3412.10,2546.00,230208,090917
$TT8_MAMPS,0.026964
$HUMID,60.63
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,210.5,21.9
$24V_AH,24.1,17.722
$10V_AH,10.3,13.625
$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,23.575,68.475,484.700,0.000,0.000,26.639,25.251,215.472,4.750,0.000,19.643,1494.180,431.717,511.708,2138.807,114.227,0.000,1241.330,0.000,1669.386,0.000,33.214,0.000
$DEVICE_MAMPS,270.810,113.220,718.335,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.144,1687.505,1168.061,1820.473,0.000,0.000,0.000,0.000,0.000,0.000
$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,47267,647
$CAP_FILE_SIZE,82588,0
$CFSIZE,2097086464,2075197440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.152, 76.5,1
$GPS,280415,220604,-3425.048,2547.669,40,0.9,44,-27.8