version: 66.07.10.p01
glider: 573
mission: 9
dive: 167
start: 4 28 115 22 12 40
data:
$ID,573
$MISSION,9
$DIVE,167
$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,-14044.591
$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,46
$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,166
$GPS1,280415,220604,-3425.048,2547.669,40,0.9,44,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-69.7
$GPS2,280415,221219,-3425.109,2547.682,18,1.0,18,-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,274.4,34938,-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,-194.6,0.0,0.0,0,89,0.00,0.00,-62.28,0.000,2,0.000,0.000,82,1953,2665,0,0,0,0,0,0
$GC,91,-1.02,-194.6,3.2,-3.1,7,136,11.57,2.62,-26.90,0.000,4,0.269,0.111,2681,500,3661,0,0,0,0,0,0
$GC,410,-0.84,-194.6,61.6,-15.9,57,418,0.28,2.50,0.00,0.000,6,0.213,0.106,2741,1892,3666,0,0,0,0,0,0
$GC,526,-0.76,-194.6,77.8,-11.2,76,535,0.12,0.00,0.00,0.000,6,0.197,0.000,2771,1893,3667,0,0,0,0,0,0
$GC,642,-0.72,-194.6,89.3,-10.1,95,653,0.05,2.47,0.00,0.000,4,0.261,0.099,2769,3355,3669,0,0,0,0,0,0
$GC,767,-0.72,-194.6,102.0,-10.2,115,775,0.05,2.47,0.00,0.000,6,0.191,0.096,2779,1923,3670,0,0,0,0,0,0
$GC,883,-0.70,-194.6,114.1,-11.7,134,892,0.03,0.00,0.00,0.000,6,0.297,0.000,2786,1923,3671,0,0,0,0,0,0
$GC,998,-0.70,-194.6,125.9,-9.6,153,1006,0.00,2.47,0.00,0.000,4,0.000,0.102,2786,483,3671,0,0,0,0,0,0
$GC,1026,-0.70,-194.6,129.1,-11.0,157,1035,0.08,2.50,0.00,0.000,6,0.230,0.091,2790,1925,3671,0,0,0,0,0,0
$GC,1143,-0.70,-194.6,141.1,-10.2,176,1152,0.00,2.45,0.00,0.000,4,0.000,0.099,2780,3350,3671,0,0,0,0,0,0
$GC,1237,-0.70,-194.6,150.9,-10.3,191,1244,0.00,2.47,0.00,0.000,6,0.000,0.099,2780,1920,3671,0,0,0,0,0,0
$GC,1350,-0.70,-194.6,162.7,-10.2,210,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3672,0,0,0,0,0,0
$GC,1466,-0.70,-194.6,175.3,-10.9,229,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3671,0,0,0,0,0,0
$GC,1578,-0.70,-194.6,187.3,-10.4,248,1587,0.00,2.50,0.00,0.000,4,0.000,0.103,2771,3346,3672,0,0,0,0,0,0
$GC,1613,-0.70,-194.6,191.0,-10.7,253,1622,0.10,2.53,0.00,0.000,6,0.174,0.109,2794,1916,3671,0,0,0,0,0,0
$GC,1728,-0.70,-194.6,202.7,-10.6,272,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3671,0,0,0,0,0,0
$GC,1842,-0.70,-194.6,214.5,-10.2,291,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3671,0,0,0,0,0,0
$GC,1954,-0.70,-194.6,226.7,-10.6,310,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1916,3671,0,0,0,0,0,0
$STATE,1991,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1991,begin apogee
$GC,1995,-0.25,0.0,230.4,10.4,316,2153,0.45,0.00,151.60,0.737,6,0.166,0.000,2932,1756,2863,0,0,0,0,0,0
$STATE,2154,end apogee,CONTROL_FINISHED_OK
$STATE,2154,begin climb
$GC,2155,1.02,194.6,237.4,0.0,337,2317,1.27,0.00,153.65,0.708,6,0.110,0.000,3339,1756,2068,0,0,0,0,0,0
$GC,2425,0.94,194.6,217.9,12.3,377,2432,0.05,0.00,0.00,0.000,6,0.200,0.000,3329,1755,2064,0,0,0,0,0,0
$GC,2538,0.88,194.6,205.4,11.0,396,2547,0.10,2.38,0.00,0.000,4,0.187,0.055,3315,326,2062,0,0,0,0,0,0
$GC,2596,0.84,194.6,199.5,10.2,405,2605,0.10,2.33,0.00,0.000,6,0.163,0.040,3290,1765,2062,0,0,0,0,0,0
$GC,2709,0.88,229.3,189.3,8.8,424,2740,0.00,0.00,28.60,0.685,6,0.000,0.000,3290,1765,1929,0,0,0,0,0,0
$GC,2846,0.89,241.3,176.9,9.6,446,2862,0.00,2.38,11.20,0.636,4,0.000,0.065,3290,3177,1879,0,0,0,0,0,0
$GC,2893,0.91,250.8,172.2,9.7,453,2910,0.00,2.42,9.45,0.617,6,0.000,0.076,3299,1750,1839,0,0,0,0,0,0
$GC,3017,0.91,250.8,159.4,10.5,473,3025,0.00,2.33,0.00,0.000,4,0.000,0.060,3310,331,1836,0,0,0,0,0,0
$GC,3069,0.91,250.8,154.0,11.3,481,3077,0.00,2.30,0.00,0.000,6,0.000,0.041,3310,1758,1836,0,0,0,0,0,0
$GC,3181,0.91,250.8,142.3,10.5,500,3190,0.00,2.38,0.00,0.000,4,0.000,0.074,3310,3174,1835,0,0,0,0,0,0
$GC,3239,0.87,250.8,136.3,10.8,509,3247,0.08,2.38,0.00,0.000,6,0.196,0.072,3303,1748,1835,0,0,0,0,0,0
$GC,3353,0.88,257.1,125.1,9.8,528,3369,0.00,2.33,6.07,0.567,4,0.000,0.060,3313,342,1814,0,0,0,0,0,0
$GC,3424,0.86,257.1,118.2,10.5,539,3432,0.05,2.25,0.00,0.000,6,0.196,0.039,3302,1760,1813,0,0,0,0,0,0
$GC,3539,0.88,272.9,107.3,9.5,558,3562,0.00,0.00,15.23,0.650,6,0.000,0.000,3301,1760,1749,0,0,0,0,0,0
$GC,3669,0.91,294.1,95.7,9.3,579,3691,0.00,0.00,19.02,0.650,6,0.000,0.000,3302,1760,1662,0,0,0,0,0,0
$GC,3797,0.94,299.3,83.5,9.8,600,3807,0.05,0.00,5.15,0.520,6,0.161,0.000,3345,1760,1643,0,0,0,0,0,0
$GC,3914,0.91,299.3,70.1,11.7,619,3922,0.10,2.30,0.00,0.000,4,0.157,0.066,3319,3181,1641,0,0,0,0,0,0
$GC,3954,0.91,299.3,65.4,10.7,625,3961,0.00,2.38,0.00,0.000,6,0.000,0.074,3328,1758,1639,0,0,0,0,0,0
$GC,4067,0.91,299.3,53.5,10.6,644,4076,0.00,2.33,0.00,0.000,4,0.000,0.058,3339,338,1638,0,0,0,0,0,0
$GC,4140,0.89,299.3,46.0,10.8,656,4150,0.08,2.30,0.00,0.000,6,0.130,0.041,3313,1758,1637,0,0,0,0,0,0
$GC,4257,0.96,339.3,36.3,8.6,675,4301,0.00,2.38,33.53,0.633,4,0.000,0.056,3322,344,1477,0,0,0,0,0,0
$GC,4346,1.00,339.3,27.4,10.5,688,4356,0.03,2.35,0.00,0.000,6,0.106,0.047,3357,1757,1474,0,0,0,0,0,0
$GC,4433,1.00,339.3,17.1,11.3,701,4443,0.00,2.35,0.00,0.000,4,0.000,0.068,3357,3180,1472,0,0,0,0,0,0
$GC,4495,0.98,339.3,9.6,12.6,710,4505,0.08,2.35,0.00,0.000,6,0.133,0.060,3340,1760,1470,0,0,0,0,0,0
$STATE,4556,end climb,SURFACE_DEPTH_REACHED
$STATE,4556,begin surface coast
$FINISH,1.0,1.007218
$STATE,4588,end surface coast,CONTROL_FINISHED_OK
$STATE,4589,begin surface
$SM_CCo,4665,0.00,0.000,0,0,1465,343.17
$SM_GC,1.99,8.80,0.00,0.00,0.052,0.000,0.000,79,1953,1465,-9.08,0.96,343.17
$IRIDIUM_FIX,-3359.08,2549.64,230208,101011
$TT8_MAMPS,0.026215
$HUMID,60.75
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,210.2,35.1
$24V_AH,24.1,17.824
$10V_AH,10.3,13.737
$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,23.500,67.750,433.500,0.000,0.000,31.600,20.568,212.760,4.500,0.000,20.655,1697.189,372.659,498.768,2353.538,122.742,0.000,1265.740,0.000,1862.902,0.000,29.866,0.000
$DEVICE_MAMPS,296.820,136.170,736.695,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.242,1887.384,1306.514,2037.284,0.000,0.000,0.000,0.000,0.000,0.000
$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,53791,724
$CAP_FILE_SIZE,90126,0
$CFSIZE,2097086464,2075099136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.175, 73.1,1
$GPS,280415,233136,-3425.233,2547.531,38,1.0,39,-27.8