version: 66.07.10.p01
glider: 573
mission: 9
dive: 33
start: 4 24 115 14 2 29
data:
$ID,573
$MISSION,9
$DIVE,33
$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,-13592.489
$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,11
$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,32
$GPS1,240415,135605,-3424.575,2546.844,29,1.1,30,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-68.1
$GPS2,240415,140205,-3424.591,2546.771,39,1.1,40,-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,307.8,34867,-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,-54.12,0.000,2,0.000,0.000,89,2081,2751,0,0,0,0,0,0
$GC,82,-1.02,-194.6,3.2,-3.2,6,127,11.43,2.42,-22.12,0.000,4,0.265,0.096,2712,686,3559,0,0,0,0,0,0
$GC,397,-0.91,-194.6,49.3,-13.9,56,407,0.15,2.45,0.00,0.000,6,0.174,0.086,2746,2089,3563,0,0,0,0,0,0
$GC,514,-0.86,-194.6,62.6,-11.0,75,522,0.10,2.40,0.00,0.000,4,0.199,0.090,2770,681,3565,0,0,0,0,0,0
$GC,557,-0.86,-194.6,67.6,-10.8,82,566,0.00,2.50,0.00,0.000,6,0.000,0.093,2762,2097,3565,0,0,0,0,0,0
$GC,672,-0.83,-194.6,78.5,-9.7,101,679,0.08,2.33,0.00,0.000,4,0.210,0.080,2766,3521,3566,0,0,0,0,0,0
$GC,727,-0.83,-194.6,83.9,-9.6,110,737,0.03,2.42,0.00,0.000,6,0.139,0.080,2775,2097,3566,0,0,0,0,0,0
$GC,842,-0.83,-194.6,94.7,-8.9,129,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2097,3567,0,0,0,0,0,0
$GC,954,-0.83,-194.6,104.6,-8.3,148,964,0.00,2.50,0.00,0.000,4,0.000,0.103,2775,657,3567,0,0,0,0,0,0
$GC,982,-0.83,-194.6,107.1,-9.0,152,992,0.03,2.50,0.00,0.000,6,0.213,0.090,2773,2088,3567,0,0,0,0,0,0
$GC,1099,-0.83,-194.6,116.9,-8.1,171,1107,0.00,2.35,0.00,0.000,4,0.000,0.084,2763,3518,3568,0,0,0,0,0,0
$GC,1164,-0.83,-194.6,122.7,-8.7,181,1172,0.08,2.40,0.00,0.000,6,0.181,0.082,2779,2088,3568,0,0,0,0,0,0
$GC,1278,-0.83,-194.6,132.0,-8.3,200,1287,0.00,2.47,0.00,0.000,4,0.000,0.105,2779,664,3568,0,0,0,0,0,0
$GC,1313,-0.83,-194.6,135.0,-8.6,205,1320,0.00,2.45,0.00,0.000,6,0.000,0.090,2769,2092,3568,0,0,0,0,0,0
$GC,1430,-0.83,-194.6,145.5,-9.3,224,1439,0.00,2.38,0.00,0.000,4,0.000,0.084,2759,3512,3568,0,0,0,0,0,0
$GC,1477,-0.83,-194.6,150.0,-9.5,231,1485,0.10,2.40,0.00,0.000,6,0.180,0.083,2781,2086,3568,0,0,0,0,0,0
$GC,1590,-0.83,-194.6,160.1,-8.8,250,1599,0.00,2.47,0.00,0.000,4,0.000,0.105,2782,662,3568,0,0,0,0,0,0
$GC,1636,-0.83,-194.6,164.2,-10.0,257,1643,0.00,2.45,0.00,0.000,6,0.000,0.087,2773,2099,3568,0,0,0,0,0,0
$GC,1748,-0.83,-194.6,175.2,-9.7,276,1757,0.00,2.35,0.00,0.000,4,0.000,0.083,2762,3512,3567,0,0,0,0,0,0
$STATE,1763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1763,begin apogee
$GC,1769,-0.25,0.0,176.8,9.9,278,1928,0.62,0.00,150.02,0.695,6,0.150,0.000,2959,1616,2762,0,0,0,0,0,0
$STATE,1928,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1930,1.02,194.6,183.3,0.0,300,2099,1.25,2.47,154.75,0.672,4,0.096,0.055,3383,194,1965,0,0,0,0,0,0
$GC,2275,0.87,194.6,143.1,16.0,353,2283,0.20,2.30,0.00,0.000,6,0.157,0.034,3330,1661,1960,0,0,0,0,0,0
$GC,2389,0.80,194.6,128.8,11.6,372,2398,0.08,0.00,0.00,0.000,6,0.201,0.000,3312,1667,1960,0,0,0,0,0,0
$GC,2504,0.75,194.6,115.9,11.1,391,2512,0.08,0.00,0.00,0.000,6,0.198,0.000,3295,1668,1959,0,0,0,0,0,0
$GC,2616,0.75,194.6,103.5,11.1,410,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1668,1959,0,0,0,0,0,0
$GC,2731,0.75,194.6,91.6,10.6,429,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1668,1959,0,0,0,0,0,0
$GC,2842,0.73,194.6,79.7,10.4,448,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1668,1958,0,0,0,0,0,0
$GC,2956,0.71,194.6,67.6,10.7,467,2965,0.05,2.12,0.00,0.000,4,0.233,0.060,3283,3012,1957,0,0,0,0,0,0
$GC,3000,0.71,194.6,62.8,10.9,474,3009,0.00,2.30,0.00,0.000,6,0.000,0.061,3291,1604,1957,0,0,0,0,0,0
$GC,3115,0.73,207.5,52.0,9.6,493,3131,0.00,2.33,10.20,0.597,4,0.000,0.059,3302,206,1916,0,0,0,0,0,0
$GC,3171,0.70,207.5,46.3,10.2,502,3181,0.08,2.22,0.00,0.000,6,0.145,0.037,3277,1599,1914,0,0,0,0,0,0
$GC,3287,0.73,232.9,36.1,9.1,521,3318,0.00,2.35,21.38,0.617,4,0.000,0.059,3277,3037,1810,0,0,0,0,0,0
$GC,3386,0.73,235.5,25.7,9.9,536,3395,0.00,2.35,0.00,0.000,6,0.000,0.063,3285,1621,1807,0,0,0,0,0,0
$GC,3473,0.88,321.2,19.4,7.0,549,3525,0.12,2.35,43.75,0.565,4,0.079,0.057,3368,199,1449,0,0,0,0,0,0
$GC,3540,0.88,321.2,13.2,10.4,557,3550,0.10,2.33,0.00,0.000,6,0.129,0.037,3335,1627,1444,0,0,0,0,0,0
$GC,3627,0.92,321.2,3.7,11.1,570,3636,0.00,2.30,0.00,0.000,4,0.000,0.058,3335,3028,1440,0,0,0,0,0,0
$STATE,3643,end climb,SURFACE_DEPTH_REACHED
$STATE,3644,begin surface coast
$FINISH,1.3,1.022078
$STATE,3676,end surface coast,CONTROL_FINISHED_OK
$STATE,3676,begin surface
$SM_CCo,3752,0.00,0.000,0,0,1434,325.75
$SM_GC,2.03,8.75,0.00,0.00,0.045,0.000,0.000,74,2082,1434,-9.19,-0.23,325.75
$IRIDIUM_FIX,-3414.71,2549.49,190208,030324
$TT8_MAMPS,0.026964
$HUMID,59.45
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.4,56.1
$24V_AH,24.1,6.920
$10V_AH,10.4,5.639
$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,23.300,71.575,380.100,0.000,0.000,30.581,20.925,192.771,1.500,0.000,42.049,1354.177,297.746,436.484,1963.427,71.197,0.000,1090.922,0.000,1515.574,0.000,11.874,0.000
$DEVICE_MAMPS,264.690,104.805,695.385,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.365,1529.906,1081.889,1649.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331568
$DATA_FILE_SIZE,40621,577
$CAP_FILE_SIZE,75831,0
$CFSIZE,2097086464,2088271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.051,297.8,1
$GPS,240415,150605,-3424.462,2546.154,32,1.5,33,-27.8