version: 66.07.10.p01
glider: 573
mission: 9
dive: 35
start: 4 24 115 16 20 29
data:
$ID,573
$MISSION,9
$DIVE,35
$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,-13599.271
$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,20
$R_STBD_OVSHOOT,21
$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,34
$GPS1,240415,161105,-3424.383,2545.487,28,1.5,28,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.3
$GPS2,240415,162005,-3424.412,2545.359,39,1.2,40,-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,319.3,32708,-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,-194.6,0.0,0.0,0,70,0.00,0.00,-43.92,0.000,2,0.000,0.000,74,2089,2550,0,0,0,0,0,0
$GC,71,-1.02,-194.6,3.0,-3.0,5,125,11.32,2.38,-32.30,0.000,4,0.259,0.083,2699,3508,3557,0,0,0,0,0,0
$GC,396,-0.92,-194.6,47.0,-12.1,56,405,0.17,2.38,0.00,0.000,6,0.153,0.074,2753,2104,3561,0,0,0,0,0,0
$GC,511,-0.88,-194.6,59.9,-11.1,75,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2104,3562,0,0,0,0,0,0
$GC,623,-0.84,-194.6,73.2,-11.8,94,633,0.10,2.35,0.00,0.000,4,0.190,0.073,2769,3511,3564,0,0,0,0,0,0
$GC,670,-0.84,-194.6,78.4,-11.3,101,679,0.00,2.40,0.00,0.000,6,0.000,0.084,2769,2084,3564,0,0,0,0,0,0
$GC,783,-0.84,-194.6,90.9,-11.3,120,792,0.00,2.47,0.00,0.000,4,0.000,0.099,2769,654,3565,0,0,0,0,0,0
$GC,806,-0.82,-194.6,93.5,-12.0,123,814,0.10,2.42,0.00,0.000,6,0.202,0.086,2781,2084,3565,0,0,0,0,0,0
$GC,919,-0.82,-194.6,106.2,-11.1,142,928,0.00,2.38,0.00,0.000,4,0.000,0.082,2771,3508,3565,0,0,0,0,0,0
$GC,990,-0.82,-194.6,114.1,-11.2,153,997,0.00,2.40,0.00,0.000,6,0.000,0.085,2771,2085,3565,0,0,0,0,0,0
$GC,1104,-0.82,-194.6,126.8,-9.7,172,1113,0.00,2.45,0.00,0.000,4,0.000,0.101,2771,667,3566,0,0,0,0,0,0
$GC,1142,-0.80,-194.6,131.3,-12.2,178,1152,0.08,2.45,0.00,0.000,6,0.178,0.087,2783,2082,3566,0,0,0,0,0,0
$GC,1259,-0.80,-194.6,143.3,-10.3,197,1267,0.00,2.35,0.00,0.000,4,0.000,0.084,2773,3510,3566,0,0,0,0,0,0
$GC,1310,-0.80,-194.6,148.8,-11.1,205,1319,0.08,2.40,0.00,0.000,6,0.185,0.086,2789,2086,3566,0,0,0,0,0,0
$GC,1425,-0.80,-194.6,159.5,-8.7,224,1434,0.00,2.45,0.00,0.000,4,0.000,0.100,2789,663,3566,0,0,0,0,0,0
$STATE,1440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1440,begin apogee
$GC,1445,-0.25,0.0,161.4,10.7,226,1603,0.57,0.00,149.00,0.676,6,0.164,0.000,2959,1626,2761,0,0,0,0,0,0
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1605,1.02,194.6,168.5,0.0,248,1769,1.25,2.50,153.90,0.656,4,0.095,0.054,3383,198,1967,0,0,0,0,0,0
$GC,2003,0.87,194.6,123.7,14.1,310,2012,0.15,2.30,0.00,0.000,6,0.150,0.034,3337,1654,1960,0,0,0,0,0,0
$GC,2119,0.80,194.6,110.3,11.5,329,2127,0.12,0.00,0.00,0.000,6,0.175,0.000,3305,1658,1959,0,0,0,0,0,0
$GC,2233,0.78,207.9,98.7,9.5,348,2250,0.00,0.00,11.10,0.596,6,0.000,0.000,3305,1658,1914,0,0,0,0,0,0
$GC,2355,0.75,207.9,86.5,10.1,368,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1658,1911,0,0,0,0,0,0
$GC,2469,0.72,207.9,75.2,10.3,387,2476,0.10,0.00,0.00,0.000,6,0.182,0.000,3279,1659,1911,0,0,0,0,0,0
$GC,2581,0.78,259.2,65.3,8.2,406,2627,0.08,0.00,42.83,0.630,6,0.119,0.000,3323,1659,1705,0,0,0,0,0,0
$GC,2733,0.76,259.2,50.3,10.4,430,2742,0.10,2.45,0.00,0.000,4,0.160,0.058,3308,195,1698,0,0,0,0,0,0
$GC,2772,0.78,276.6,46.5,9.4,436,2798,0.00,2.25,14.98,0.593,6,0.000,0.038,3308,1583,1633,0,0,0,0,0,0
$GC,2905,0.82,309.5,34.7,8.9,457,2936,0.00,2.47,25.95,0.601,4,0.000,0.063,3308,3046,1499,0,0,0,0,0,0
$GC,2962,0.83,322.1,29.0,9.6,465,2973,0.00,2.40,6.62,0.495,6,0.000,0.058,3318,1607,1448,0,0,0,0,0,0
$GC,3050,0.90,343.7,20.7,9.3,478,3068,0.08,0.00,10.70,0.522,6,0.117,0.000,3372,1607,1357,0,0,0,0,0,0
$GC,3145,0.86,343.7,9.1,12.5,492,3155,0.15,2.40,0.00,0.000,4,0.150,0.063,3331,3044,1352,0,0,0,0,0,0
$GC,3175,0.86,343.7,5.7,11.2,496,3184,0.00,2.35,0.00,0.000,6,0.000,0.060,3340,1622,1351,0,0,0,0,0,0
$STATE,3198,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,1.2,1.014615
$STATE,3225,end surface coast,CONTROL_FINISHED_OK
$STATE,3225,begin surface
$SM_CCo,3301,0.00,0.000,0,0,1347,347.09
$SM_GC,1.99,8.73,0.00,0.00,0.044,0.000,0.000,82,2100,1347,-9.17,0.25,347.09
$IRIDIUM_FIX,-3409.50,2541.38,190208,050513
$TT8_MAMPS,0.026215
$HUMID,59.60
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,69.8
$24V_AH,24.2,7.098
$10V_AH,10.4,5.807
$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,23.175,52.875,415.075,0.000,0.000,60.225,120.490,182.875,0.750,0.000,41.743,1166.062,327.168,423.217,1871.237,66.486,0.000,1013.751,0.000,1328.525,0.000,7.192,0.000
$DEVICE_MAMPS,259.335,100.980,676.260,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.292,1337.818,950.067,1440.271,0.000,0.000,0.000,0.000,0.000,0.000
$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,37054,503
$CAP_FILE_SIZE,66750,0
$CFSIZE,2097086464,2088075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.084,244.8,1
$GPS,240415,171635,-3424.244,2544.845,33,1.4,34,-27.8