version: 66.07.10.p01
glider: 573
mission: 9
dive: 36
start: 4 24 115 17 22 54
data:
$ID,573
$MISSION,9
$DIVE,36
$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,-13602.492
$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,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,35
$GPS1,240415,171635,-3424.244,2544.845,33,1.4,34,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.3
$GPS2,240415,172231,-3424.309,2544.736,19,2.0,20,-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,327.2,31744,-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,-194.6,0.0,0.0,0,87,0.00,0.00,-60.67,0.000,2,0.000,0.000,82,2100,2803,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.2,-3.8,7,133,11.50,2.35,-21.23,0.000,4,0.265,0.085,2706,3503,3560,0,0,0,0,0,0
$GC,410,-0.92,-194.6,47.4,-17.1,57,418,0.15,2.33,0.00,0.000,6,0.171,0.073,2745,2104,3564,0,0,0,0,0,0
$GC,527,-0.88,-194.6,62.2,-12.6,76,536,0.08,0.00,0.00,0.000,6,0.213,0.000,2761,2103,3565,0,0,0,0,0,0
$GC,646,-0.85,-194.6,75.2,-10.2,95,653,0.00,2.30,0.00,0.000,4,0.000,0.075,2753,3506,3566,0,0,0,0,0,0
$GC,675,-0.85,-194.6,78.2,-10.6,99,683,0.08,2.38,0.00,0.000,6,0.174,0.081,2769,2091,3566,0,0,0,0,0,0
$GC,790,-0.85,-194.6,91.3,-11.3,118,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2090,3567,0,0,0,0,0,0
$GC,909,-0.85,-194.6,104.7,-11.1,137,916,0.00,2.42,0.00,0.000,4,0.000,0.099,2769,660,3567,0,0,0,0,0,0
$GC,949,-0.83,-194.6,109.2,-11.5,143,960,0.08,2.45,0.00,0.000,6,0.214,0.091,2776,2086,3568,0,0,0,0,0,0
$GC,1068,-0.83,-194.6,123.7,-11.3,162,1078,0.00,2.38,0.00,0.000,4,0.000,0.083,2766,3508,3568,0,0,0,0,0,0
$GC,1119,-0.83,-194.6,129.6,-11.2,170,1129,0.00,2.42,0.00,0.000,6,0.000,0.082,2766,2082,3568,0,0,0,0,0,0
$GC,1238,-0.83,-194.6,142.4,-11.0,189,1246,0.05,2.42,0.00,0.000,4,0.197,0.101,2776,650,3568,0,0,0,0,0,0
$GC,1266,-0.83,-194.6,145.6,-11.1,193,1273,0.00,2.45,0.00,0.000,6,0.000,0.086,2767,2091,3568,0,0,0,0,0,0
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1349,-0.25,0.0,154.9,12.1,206,1508,0.62,0.00,149.40,0.670,6,0.150,0.000,2963,1610,2762,0,0,0,0,0,0
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1510,1.02,194.6,161.0,0.0,228,1680,1.23,2.42,154.23,0.650,4,0.094,0.053,3380,203,1965,0,0,0,0,0,0
$GC,1790,0.87,194.6,132.6,14.7,269,1798,0.17,2.28,0.00,0.000,6,0.157,0.033,3333,1651,1961,0,0,0,0,0,0
$GC,1907,0.80,194.6,118.5,11.5,288,1916,0.10,0.00,0.00,0.000,6,0.184,0.000,3309,1656,1960,0,0,0,0,0,0
$GC,2026,0.77,202.1,106.1,9.7,307,2041,0.00,0.00,6.18,0.532,6,0.000,0.000,3309,1655,1938,0,0,0,0,0,0
$GC,2151,0.73,202.1,93.1,10.9,327,2158,0.10,0.00,0.00,0.000,6,0.182,0.000,3283,1657,1937,0,0,0,0,0,0
$GC,2268,0.79,249.2,82.6,8.4,346,2314,0.05,0.00,40.03,0.627,6,0.159,0.000,3319,1658,1744,0,0,0,0,0,0
$GC,2422,0.78,262.9,66.9,9.5,370,2439,0.08,0.00,11.95,0.586,6,0.174,0.000,3302,1657,1689,0,0,0,0,0,0
$GC,2548,0.80,281.4,55.2,9.4,390,2572,0.00,2.40,16.42,0.598,4,0.000,0.056,3312,196,1613,0,0,0,0,0,0
$GC,2598,0.80,281.4,50.2,10.6,397,2605,0.00,2.25,0.00,0.000,6,0.000,0.038,3312,1604,1610,0,0,0,0,0,0
$GC,2713,0.80,281.4,37.4,11.0,416,2722,0.00,2.35,0.00,0.000,4,0.000,0.064,3312,3029,1608,0,0,0,0,0,0
$GC,2773,0.77,281.4,30.5,12.1,425,2781,0.10,2.30,0.00,0.000,6,0.169,0.057,3297,1601,1608,0,0,0,0,0,0
$GC,2897,0.93,364.4,20.2,7.1,444,2948,0.15,2.38,41.40,0.562,4,0.073,0.056,3374,3030,1272,0,0,0,0,0,0
$GC,2994,0.88,364.4,8.3,14.3,457,3004,0.12,2.30,0.00,0.000,6,0.123,0.050,3342,1621,1266,0,0,0,0,0,0
$STATE,3037,end climb,SURFACE_DEPTH_REACHED
$STATE,3037,begin surface coast
$FINISH,1.4,1.021874
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3146,0.00,0.000,0,0,1259,368.68
$SM_GC,2.19,8.77,0.00,0.00,0.045,0.000,0.000,91,2090,1259,-9.19,0.00,368.68
$IRIDIUM_FIX,-3412.10,2542.51,190208,060659
$TT8_MAMPS,0.026964
$HUMID,60.08
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.4,63.8
$24V_AH,24.2,7.189
$10V_AH,10.4,5.884
$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,23.425,44.225,419.600,0.000,0.000,37.256,46.654,177.453,0.750,0.000,22.544,1066.492,302.700,424.970,1660.595,59.918,0.000,989.839,0.000,1246.565,0.000,7.167,0.000
$DEVICE_MAMPS,265.455,100.980,670.140,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.780,1255.184,900.610,1350.820,0.000,0.000,0.000,0.000,0.000,0.000
$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,33658,468
$CAP_FILE_SIZE,61324,0
$CFSIZE,2097086464,2088009728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.079,218.6,1
$GPS,240415,181634,-3424.146,2544.259,39,1.0,43,-27.8