version: 66.07.10.p01
glider: 573
mission: 9
dive: 32
start: 4 24 115 12 49 47
data:
$ID,573
$MISSION,9
$DIVE,32
$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,-13589.118
$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,28
$R_STBD_OVSHOOT,15
$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,31
$GPS1,240415,124235,-3424.802,2547.491,36,1.1,37,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-67.1
$GPS2,240415,124923,-3424.809,2547.428,41,1.0,42,-27.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3418.960,2525.020
$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,310.9,35947,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,78,0.00,0.00,-51.72,0.000,2,0.000,0.000,72,2101,2718,0,0,0,0,0,0
$GC,80,-1.02,-194.6,3.4,-3.9,6,123,11.48,2.45,-22.85,0.000,4,0.264,0.092,2712,679,3559,0,0,0,0,0,0
$GC,394,-0.91,-194.6,49.7,-12.4,56,404,0.15,2.42,0.00,0.000,6,0.174,0.080,2746,2085,3563,0,0,0,0,0,0
$GC,510,-0.86,-194.6,62.5,-11.2,75,517,0.10,0.00,0.00,0.000,6,0.197,0.000,2770,2084,3564,0,0,0,0,0,0
$GC,622,-0.84,-194.6,73.8,-10.9,94,631,0.00,2.38,0.00,0.000,4,0.000,0.076,2760,3513,3565,0,0,0,0,0,0
$GC,678,-0.84,-194.6,79.2,-10.5,103,687,0.08,2.35,0.00,0.000,6,0.184,0.076,2776,2105,3565,0,0,0,0,0,0
$GC,793,-0.84,-194.6,90.5,-10.6,122,802,0.00,2.53,0.00,0.000,4,0.000,0.102,2776,653,3566,0,0,0,0,0,0
$GC,820,-0.84,-194.6,93.5,-10.2,126,829,0.00,2.53,0.00,0.000,6,0.000,0.093,2767,2087,3566,0,0,0,0,0,0
$GC,935,-0.82,-194.6,105.7,-10.8,145,943,0.08,2.33,0.00,0.000,4,0.215,0.083,2771,3513,3566,0,0,0,0,0,0
$GC,999,-0.82,-194.6,112.7,-10.2,155,1007,0.00,2.38,0.00,0.000,6,0.000,0.076,2771,2089,3566,0,0,0,0,0,0
$GC,1114,-0.82,-194.6,125.0,-10.4,174,1124,0.00,2.47,0.00,0.000,4,0.000,0.099,2771,651,3567,0,0,0,0,0,0
$GC,1149,-0.80,-194.6,128.4,-11.0,179,1158,0.12,2.45,0.00,0.000,6,0.210,0.086,2790,2092,3567,0,0,0,0,0,0
$GC,1266,-0.80,-194.6,140.0,-10.1,198,1276,0.00,2.38,0.00,0.000,4,0.000,0.083,2779,3514,3567,0,0,0,0,0,0
$GC,1324,-0.82,-194.6,145.4,-9.3,207,1332,0.00,2.40,0.00,0.000,6,0.000,0.085,2779,2091,3567,0,0,0,0,0,0
$GC,1440,-0.82,-194.6,156.6,-9.3,226,1449,0.00,2.47,0.00,0.000,4,0.000,0.098,2779,651,3567,0,0,0,0,0,0
$GC,1488,-0.82,-194.6,161.0,-9.9,233,1496,0.00,2.45,0.00,0.000,6,0.000,0.086,2770,2092,3567,0,0,0,0,0,0
$GC,1602,-0.82,-194.6,172.7,-10.2,252,1612,0.03,2.35,0.00,0.000,4,0.295,0.084,2767,3507,3567,0,0,0,0,0,0
$GC,1636,-0.82,-194.6,176.3,-10.9,257,1644,0.08,2.38,0.00,0.000,6,0.176,0.083,2782,2089,3567,0,0,0,0,0,0
$GC,1749,-0.82,-194.6,187.2,-9.4,276,1758,0.00,2.45,0.00,0.000,4,0.000,0.098,2782,659,3567,0,0,0,0,0,0
$STATE,1771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1771,begin apogee
$GC,1776,-0.25,0.0,189.4,10.2,279,1934,0.60,0.00,149.88,0.703,6,0.161,0.000,2961,1631,2763,0,0,0,0,0,0
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1935,begin climb
$GC,1936,1.02,194.6,196.1,0.0,301,2104,1.23,2.50,154.95,0.679,4,0.096,0.054,3377,200,1967,0,0,0,0,0,0
$GC,2285,0.87,194.6,159.2,13.6,355,2294,0.17,2.28,0.00,0.000,6,0.155,0.033,3331,1655,1962,0,0,0,0,0,0
$GC,2398,0.80,194.6,145.6,11.9,374,2407,0.08,0.00,0.00,0.000,6,0.197,0.000,3314,1661,1961,0,0,0,0,0,0
$GC,2513,0.75,194.6,133.5,11.3,393,2520,0.08,0.00,0.00,0.000,6,0.200,0.000,3296,1661,1960,0,0,0,0,0,0
$GC,2625,0.75,214.6,122.6,9.3,412,2649,0.00,0.00,16.50,0.637,6,0.000,0.000,3297,1661,1887,0,0,0,0,0,0
$GC,2754,0.75,214.6,109.4,10.6,433,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1661,1883,0,0,0,0,0,0
$GC,2865,0.75,214.6,97.2,11.2,452,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1661,1883,0,0,0,0,0,0
$GC,2980,0.76,220.5,85.5,9.8,471,2988,0.00,0.00,6.20,0.549,6,0.000,0.000,3297,1661,1861,0,0,0,0,0,0
$GC,3093,0.76,220.5,73.8,10.2,490,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1661,1860,0,0,0,0,0,0
$GC,3207,0.76,220.5,62.4,10.4,509,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1662,1859,0,0,0,0,0,0
$GC,3318,0.76,220.5,50.5,10.1,528,3327,0.00,2.38,0.00,0.000,4,0.000,0.057,3307,202,1858,0,0,0,0,0,0
$GC,3341,0.76,220.5,48.3,10.7,531,3349,0.00,2.20,0.00,0.000,6,0.000,0.037,3307,1606,1858,0,0,0,0,0,0
$GC,3454,0.78,238.8,36.9,9.4,550,3479,0.00,2.33,16.08,0.598,4,0.000,0.060,3307,3029,1788,0,0,0,0,0,0
$GC,3584,0.77,251.4,23.6,9.6,570,3604,0.05,2.33,6.35,0.500,6,0.145,0.056,3299,1598,1734,0,0,0,0,0,0
$GC,3682,0.88,317.7,16.1,7.7,584,3725,0.10,2.33,32.85,0.555,4,0.093,0.057,3367,209,1462,0,0,0,0,0,0
$GC,3740,0.84,317.7,10.3,11.1,591,3751,0.12,2.28,0.00,0.000,6,0.134,0.036,3326,1623,1458,0,0,0,0,0,0
$STATE,3807,end climb,SURFACE_DEPTH_REACHED
$STATE,3808,begin surface coast
$FINISH,1.4,1.012755
$STATE,3841,end surface coast,CONTROL_FINISHED_OK
$STATE,3841,begin surface
$SM_CCo,3917,0.00,0.000,0,0,1450,321.83
$SM_GC,2.20,8.62,0.00,0.00,0.041,0.000,0.000,90,2081,1450,-9.17,-0.28,321.83
$IRIDIUM_FIX,-3412.10,2546.00,190208,020258
$TT8_MAMPS,0.026964
$HUMID,59.56
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.4,48.6
$24V_AH,24.1,6.833
$10V_AH,10.4,5.547
$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,23.150,62.225,382.800,0.000,0.000,30.501,39.465,213.860,2.500,0.000,44.636,1415.622,316.134,436.777,2091.756,73.758,0.000,1104.307,0.000,1586.411,0.000,20.791,0.000
$DEVICE_MAMPS,294.525,101.745,703.035,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.649,1602.997,1127.979,1727.043,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331588
$DATA_FILE_SIZE,43500,606
$CAP_FILE_SIZE,77255,0
$CFSIZE,2097086464,2088370176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.045,344.5,1
$GPS,240415,135605,-3424.575,2546.844,29,1.1,30,-27.8