version: 66.07.10.p01
glider: 573
mission: 9
dive: 168
start: 4 28 115 23 38 56
data:
$ID,573
$MISSION,9
$DIVE,168
$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,-14048.027
$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,37
$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,167
$GPS1,280415,233136,-3425.233,2547.531,38,1.0,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.0
$GPS2,280415,233835,-3425.271,2547.554,41,1.0,41,-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,274.0,34609,-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,-194.6,0.0,0.0,0,79,0.00,0.00,-53.00,0.000,2,0.000,0.000,79,1953,2715,0,0,0,0,0,0
$GC,82,-1.02,-194.6,3.1,-3.3,6,127,11.45,2.40,-27.98,0.000,4,0.265,0.101,2669,3323,3660,0,0,0,0,0,0
$GC,259,-0.79,-194.6,34.8,-22.5,32,269,0.30,2.47,0.00,0.000,6,0.169,0.092,2757,1914,3665,0,0,0,0,0,0
$GC,378,-0.71,-194.6,53.1,-14.2,51,386,0.12,2.47,0.00,0.000,4,0.199,0.105,2787,495,3666,0,0,0,0,0,0
$GC,459,-0.71,-194.6,62.7,-11.0,64,468,0.00,2.53,0.00,0.000,6,0.000,0.102,2779,1887,3666,0,0,0,0,0,0
$GC,574,-0.71,-194.6,74.2,-9.9,83,582,0.00,2.47,0.00,0.000,4,0.000,0.096,2767,3354,3668,0,0,0,0,0,0
$GC,707,-0.71,-194.6,88.6,-11.4,105,714,0.08,2.47,0.00,0.000,6,0.167,0.092,2783,1909,3669,0,0,0,0,0,0
$GC,822,-0.71,-194.6,101.3,-10.7,124,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1909,3670,0,0,0,0,0,0
$GC,935,-0.71,-194.6,113.7,-11.6,143,943,0.00,2.47,0.00,0.000,4,0.000,0.096,2774,3361,3670,0,0,0,0,0,0
$GC,1001,-0.71,-194.6,121.3,-11.1,154,1010,0.00,2.50,0.00,0.000,6,0.000,0.093,2774,1925,3670,0,0,0,0,0,0
$GC,1116,-0.71,-194.6,133.9,-11.6,173,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1925,3670,0,0,0,0,0,0
$GC,1229,-0.71,-194.6,146.7,-10.8,192,1238,0.03,0.00,0.00,0.000,6,0.254,0.000,2782,1925,3670,0,0,0,0,0,0
$GC,1345,-0.71,-194.6,159.5,-11.2,211,1353,0.00,2.45,0.00,0.000,4,0.000,0.102,2773,3354,3671,0,0,0,0,0,0
$GC,1385,-0.71,-194.6,164.2,-11.4,217,1393,0.05,2.50,0.00,0.000,6,0.186,0.100,2784,1910,3671,0,0,0,0,0,0
$GC,1500,-0.71,-194.6,177.0,-11.2,236,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1910,3671,0,0,0,0,0,0
$GC,1617,-0.71,-194.6,190.3,-11.3,255,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1910,3671,0,0,0,0,0,0
$GC,1731,-0.71,-194.6,202.8,-11.7,274,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1911,3671,0,0,0,0,0,0
$GC,1846,-0.71,-194.6,215.1,-10.2,293,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1910,3671,0,0,0,0,0,0
$GC,1960,-0.71,-194.6,227.5,-10.1,312,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1910,3670,0,0,0,0,0,0
$STATE,2069,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2069,begin apogee
$GC,2073,-0.25,0.0,239.7,11.7,330,2236,0.50,0.00,152.10,0.740,6,0.172,0.000,2935,1755,2862,0,0,0,0,0,0
$STATE,2237,end apogee,CONTROL_FINISHED_OK
$STATE,2237,begin climb
$GC,2238,1.02,194.6,246.8,0.0,352,2401,1.25,2.47,154.10,0.711,4,0.109,0.051,3347,332,2069,0,0,0,0,0,0
$GC,2456,0.92,194.6,231.9,12.2,383,2465,0.12,2.38,0.00,0.000,6,0.158,0.034,3316,1784,2065,0,0,0,0,0,0
$GC,2570,0.88,198.2,220.1,9.9,402,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1783,2063,0,0,0,0,0,0
$GC,2684,0.84,198.2,208.8,10.5,421,2691,0.10,0.00,0.00,0.000,6,0.181,0.000,3291,1784,2062,0,0,0,0,0,0
$GC,2798,0.87,220.6,198.3,9.2,440,2822,0.00,0.00,22.08,0.685,6,0.000,0.000,3291,1784,1964,0,0,0,0,0,0
$GC,2930,0.88,232.0,185.9,9.6,461,2945,0.00,0.00,10.48,0.640,6,0.000,0.000,3292,1784,1917,0,0,0,0,0,0
$GC,3051,0.88,232.0,173.9,10.3,481,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1784,1914,0,0,0,0,0,0
$GC,3162,0.88,232.0,162.8,10.0,500,3171,0.00,2.40,0.00,0.000,4,0.000,0.054,3301,335,1913,0,0,0,0,0,0
$GC,3198,0.89,244.6,159.4,9.6,505,3221,0.00,2.30,11.85,0.649,6,0.000,0.044,3301,1758,1865,0,0,0,0,0,0
$GC,3327,0.89,244.6,145.9,10.3,526,3335,0.00,2.38,0.00,0.000,4,0.000,0.073,3301,3183,1862,0,0,0,0,0,0
$GC,3365,0.89,244.6,141.2,12.0,532,3374,0.00,2.40,0.00,0.000,6,0.000,0.064,3310,1747,1861,0,0,0,0,0,0
$GC,3482,0.87,244.6,127.4,12.0,551,3490,0.00,2.30,0.00,0.000,4,0.000,0.059,3322,329,1861,0,0,0,0,0,0
$GC,3537,0.84,244.6,120.2,12.0,560,3547,0.08,2.30,0.00,0.000,6,0.133,0.040,3296,1751,1861,0,0,0,0,0,0
$GC,3653,0.84,244.6,107.6,10.7,579,3661,0.00,2.28,0.00,0.000,4,0.000,0.064,3296,3178,1860,0,0,0,0,0,0
$GC,3697,0.84,244.6,102.4,11.4,586,3707,0.03,2.38,0.00,0.000,6,0.185,0.070,3296,1757,1860,0,0,0,0,0,0
$GC,3813,0.84,244.6,90.7,10.8,605,3820,0.00,2.30,0.00,0.000,4,0.000,0.061,3306,327,1860,0,0,0,0,0,0
$GC,3844,0.84,244.6,87.1,10.9,610,3853,0.03,2.33,0.00,0.000,6,0.152,0.044,3296,1759,1859,0,0,0,0,0,0
$GC,3960,0.84,244.6,75.7,10.3,629,3967,0.00,2.28,0.00,0.000,4,0.000,0.067,3296,3181,1859,0,0,0,0,0,0
$GC,3991,0.84,244.6,72.2,11.0,634,4000,0.03,2.38,0.00,0.000,6,0.177,0.068,3296,1756,1859,0,0,0,0,0,0
$GC,4107,0.85,249.2,60.9,9.8,653,4114,0.00,0.00,4.45,0.504,6,0.000,0.000,3296,1756,1847,0,0,0,0,0,0
$GC,4220,0.89,285.1,50.0,8.8,672,4258,0.00,2.33,31.33,0.639,4,0.000,0.060,3306,336,1700,0,0,0,0,0,0
$GC,4312,0.91,285.1,40.9,10.9,686,4320,0.00,2.35,0.00,0.000,6,0.000,0.046,3306,1757,1695,0,0,0,0,0,0
$GC,4428,1.01,333.8,30.5,8.3,705,4462,0.12,2.40,27.05,0.608,4,0.082,0.054,3392,336,1500,0,0,0,0,0,0
$GC,4502,0.95,333.8,21.0,14.5,715,4513,0.20,2.33,0.00,0.000,6,0.135,0.039,3329,1758,1494,0,0,0,0,0,0
$GC,4590,0.99,347.7,11.7,9.5,728,4608,0.00,2.38,5.85,0.448,4,0.000,0.067,3329,3178,1443,0,0,0,0,0,0
$GC,4654,1.01,347.7,4.9,10.3,737,4664,0.00,2.42,0.00,0.000,6,0.000,0.073,3337,1755,1440,0,0,0,0,0,0
$STATE,4671,end climb,SURFACE_DEPTH_REACHED
$STATE,4671,begin surface coast
$FINISH,1.2,1.012581
$STATE,4704,end surface coast,CONTROL_FINISHED_OK
$STATE,4704,begin surface
$SM_CCo,4780,0.00,0.000,0,0,1434,350.77
$SM_GC,2.06,8.85,0.00,0.00,0.053,0.000,0.000,72,1968,1434,-9.09,1.39,350.77
$IRIDIUM_FIX,-3409.50,2550.70,230208,111156
$TT8_MAMPS,0.026964
$HUMID,60.75
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,230.4,23.9
$24V_AH,24.1,17.925
$10V_AH,10.2,13.853
$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,23.325,72.400,419.275,0.000,0.000,25.534,19.034,238.179,5.000,0.000,42.900,1751.930,381.620,493.603,2442.947,132.469,0.000,1286.437,0.000,1912.173,0.000,32.876,0.000
$DEVICE_MAMPS,264.690,143.820,739.755,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.133,1937.701,1335.963,2092.705,0.000,0.000,0.000,0.000,0.000,0.000
$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,53754,744
$CAP_FILE_SIZE,92881,0
$CFSIZE,2097086464,2075000832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.188, 73.6,1
$GPS,290415,005936,-3425.428,2547.310,27,1.2,28,-27.8