version: 66.07.10.p01
glider: 573
mission: 9
dive: 31
start: 4 24 115 11 26 59
data:
$ID,573
$MISSION,9
$DIVE,31
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$D_ABORT,360
$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,110
$T_MISSION,120
$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,-13585.816
$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,3050
$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,2090
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,14
$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,2762
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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,30
$GPS1,240415,111829,-3425.304,2548.006,46,0.9,47,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.8
$GPS2,240415,112635,-3425.305,2547.926,39,1.4,40,-27.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3421.000,2542.000
$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,336.5,12069,-15.7,-10.000
$D_GRID,330
$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,24,-1.02,-194.6,0.0,0.0,0,80,0.00,0.00,-53.72,0.000,2,0.000,0.000,80,2082,2666,0,0,0,0,0,0
$GC,82,-1.02,-194.6,3.4,-3.4,6,128,11.32,2.38,-25.62,0.000,4,0.261,0.084,2695,3520,3559,0,0,0,0,0,0
$GC,402,-0.92,-194.6,50.7,-13.2,56,412,0.15,2.40,0.00,0.000,6,0.152,0.073,2742,2098,3563,0,0,0,0,0,0
$GC,522,-0.87,-194.6,64.1,-12.3,75,530,0.10,2.33,0.00,0.000,4,0.194,0.073,2758,3511,3564,0,0,0,0,0,0
$GC,610,-0.87,-194.6,73.7,-11.3,89,617,0.00,2.40,0.00,0.000,6,0.000,0.079,2758,2086,3564,0,0,0,0,0,0
$GC,725,-0.84,-194.6,86.7,-11.0,108,735,0.08,2.45,0.00,0.000,4,0.185,0.097,2774,662,3565,0,0,0,0,0,0
$GC,749,-0.84,-194.6,88.9,-10.4,111,757,0.00,2.47,0.00,0.000,6,0.000,0.094,2765,2089,3565,0,0,0,0,0,0
$GC,867,-0.82,-194.6,101.1,-9.0,130,878,0.08,2.35,0.00,0.000,4,0.212,0.079,2769,3511,3566,0,0,0,0,0,0
$GC,940,-0.82,-194.6,108.2,-9.8,141,947,0.00,2.38,0.00,0.000,6,0.000,0.079,2770,2089,3566,0,0,0,0,0,0
$GC,1055,-0.82,-194.6,119.8,-9.9,160,1065,0.00,2.45,0.00,0.000,4,0.000,0.098,2769,664,3567,0,0,0,0,0,0
$GC,1079,-0.82,-194.6,122.1,-10.4,163,1087,0.10,2.42,0.00,0.000,6,0.204,0.087,2782,2089,3567,0,0,0,0,0,0
$GC,1194,-0.82,-194.6,134.2,-10.2,182,1204,0.00,2.35,0.00,0.000,4,0.000,0.083,2771,3501,3567,0,0,0,0,0,0
$GC,1242,-0.82,-194.6,139.0,-10.1,189,1249,0.00,2.38,0.00,0.000,6,0.000,0.083,2771,2089,3567,0,0,0,0,0,0
$GC,1361,-0.82,-194.6,151.3,-10.1,208,1370,0.00,2.45,0.00,0.000,4,0.000,0.099,2771,660,3567,0,0,0,0,0,0
$GC,1409,-0.80,-194.6,156.4,-11.7,215,1417,0.10,2.42,0.00,0.000,6,0.213,0.084,2784,2093,3567,0,0,0,0,0,0
$GC,1527,-0.80,-194.6,168.3,-9.7,234,1536,0.00,2.35,0.00,0.000,4,0.000,0.083,2773,3505,3567,0,0,0,0,0,0
$GC,1585,-0.80,-194.6,174.3,-10.9,243,1593,0.08,2.38,0.00,0.000,6,0.187,0.084,2788,2091,3567,0,0,0,0,0,0
$GC,1704,-0.80,-194.6,186.8,-10.3,262,1713,0.00,2.45,0.00,0.000,4,0.000,0.096,2788,654,3567,0,0,0,0,0,0
$GC,1743,-0.80,-194.6,190.5,-10.9,267,1751,0.00,2.45,0.00,0.000,6,0.000,0.089,2779,2088,3567,0,0,0,0,0,0
$GC,1862,-0.80,-194.6,204.1,-11.0,286,1871,0.00,2.38,0.00,0.000,4,0.000,0.083,2769,3518,3567,0,0,0,0,0,0
$GC,1909,-0.80,-194.6,208.8,-10.6,293,1916,0.08,2.40,0.00,0.000,6,0.189,0.083,2784,2088,3566,0,0,0,0,0,0
$STATE,2012,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2012,begin apogee
$GC,2016,-0.25,0.0,219.5,9.7,310,2175,0.55,0.00,150.48,0.725,6,0.149,0.000,2959,1614,2762,0,0,0,0,0,0
$STATE,2176,end apogee,CONTROL_FINISHED_OK
$STATE,2176,begin climb
$GC,2177,1.02,194.6,226.5,0.0,332,2347,1.25,2.45,155.50,0.700,4,0.093,0.054,3384,199,1966,0,0,0,0,0,0
$GC,2445,0.86,194.6,202.3,14.1,371,2453,0.20,2.30,0.00,0.000,6,0.158,0.034,3331,1656,1961,0,0,0,0,0,0
$GC,2564,0.79,194.6,188.6,11.3,390,2573,0.10,0.00,0.00,0.000,6,0.187,0.000,3307,1662,1961,0,0,0,0,0,0
$GC,2684,0.75,194.6,175.8,10.5,409,2690,0.05,0.00,0.00,0.000,6,0.235,0.000,3296,1662,1960,0,0,0,0,0,0
$GC,2801,0.72,194.6,163.9,10.4,428,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1663,1960,0,0,0,0,0,0
$GC,2920,0.69,194.6,152.4,10.1,447,2927,0.10,0.00,0.00,0.000,6,0.183,0.000,3270,1663,1959,0,0,0,0,0,0
$GC,3035,0.70,203.1,141.2,9.7,466,3052,0.00,2.45,6.82,0.585,4,0.000,0.057,3281,192,1934,0,0,0,0,0,0
$GC,3073,0.72,214.7,137.8,9.6,471,3090,0.00,2.22,11.62,0.633,6,0.000,0.038,3281,1605,1886,0,0,0,0,0,0
$GC,3200,0.73,226.6,125.4,9.6,491,3217,0.00,2.38,10.98,0.625,4,0.000,0.060,3281,3036,1838,0,0,0,0,0,0
$GC,3266,0.73,226.6,118.7,10.2,501,3273,0.00,2.33,0.00,0.000,6,0.000,0.059,3290,1598,1836,0,0,0,0,0,0
$GC,3384,0.76,250.0,107.6,9.2,520,3415,0.00,2.35,21.00,0.636,4,0.000,0.057,3302,205,1740,0,0,0,0,0,0
$GC,3427,0.76,250.0,103.0,10.3,526,3437,0.00,2.30,0.00,0.000,6,0.000,0.037,3301,1628,1738,0,0,0,0,0,0
$GC,3547,0.76,250.0,90.4,10.1,545,3554,0.00,2.30,0.00,0.000,4,0.000,0.060,3302,3053,1736,0,0,0,0,0,0
$GC,3574,0.76,250.0,87.3,11.8,549,3582,0.05,2.33,0.00,0.000,6,0.219,0.056,3298,1612,1735,0,0,0,0,0,0
$GC,3690,0.76,250.0,74.9,10.1,568,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1611,1735,0,0,0,0,0,0
$GC,3807,0.76,250.0,62.5,11.3,587,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1612,1734,0,0,0,0,0,0
$GC,3921,0.76,250.0,48.8,11.6,606,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1612,1734,0,0,0,0,0,0
$GC,4040,0.76,250.0,35.1,10.7,625,4047,0.00,2.25,0.00,0.000,4,0.000,0.057,3309,208,1733,0,0,0,0,0,0
$GC,4085,0.76,250.0,29.8,11.2,632,4095,0.03,2.22,0.00,0.000,6,0.148,0.037,3298,1615,1733,0,0,0,0,0,0
$GC,4173,0.86,313.0,21.9,7.8,645,4217,0.08,2.33,31.12,0.588,4,0.118,0.058,3341,3032,1482,0,0,0,0,0,0
$GC,4238,0.86,313.0,15.7,10.5,653,4247,0.05,2.30,0.00,0.000,6,0.138,0.051,3333,1620,1479,0,0,0,0,0,0
$GC,4324,0.86,313.0,6.4,11.5,666,4334,0.00,2.33,0.00,0.000,4,0.000,0.059,3343,213,1476,0,0,0,0,0,0
$GC,4342,0.86,313.0,4.5,10.5,668,4352,0.05,2.25,0.00,0.000,6,0.138,0.037,3325,1615,1475,0,0,0,0,0,0
$STATE,4359,end climb,SURFACE_DEPTH_REACHED
$STATE,4359,begin surface coast
$FINISH,1.5,1.020731
$STATE,4392,end surface coast,CONTROL_FINISHED_OK
$STATE,4392,begin surface
$SM_CCo,4468,0.00,0.000,0,0,1470,316.92
$SM_GC,2.35,8.73,0.00,0.00,0.048,0.000,0.000,72,2101,1470,-9.20,0.31,316.92
$IRIDIUM_FIX,-3409.50,2548.35,190208,000017
$TT8_MAMPS,0.026964
$HUMID,59.72
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.5,38.7
$24V_AH,24.1,6.744
$10V_AH,10.3,5.450
$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,23.300,86.775,387.525,0.000,0.000,38.805,65.035,254.605,3.500,0.000,42.548,1595.094,443.658,479.610,2348.861,91.338,0.000,1225.219,0.000,1754.031,0.000,27.019,0.000
$DEVICE_MAMPS,260.865,123.930,725.220,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.528,1773.615,1236.805,1914.627,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331544
$DATA_FILE_SIZE,50430,675
$CAP_FILE_SIZE,90008,0
$CFSIZE,2097086464,2088468480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.024, 37.3,1
$GPS,240415,124235,-3424.802,2547.491,36,1.1,37,-27.8