version: 66.07.10.p01
glider: 573
mission: 9
dive: 38
start: 4 24 115 19 24 1
data:
$ID,573
$MISSION,9
$DIVE,38
$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,-13609.107
$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,23
$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,37
$GPS1,240415,191735,-3424.099,2543.752,29,1.1,30,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.5
$GPS2,240415,192336,-3424.172,2543.698,41,0.9,42,-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,339.1,30158,-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,23,-1.02,-194.6,0.0,0.0,0,76,0.00,0.00,-51.08,0.000,2,0.000,0.000,81,2084,2704,0,0,0,0,0,0
$GC,78,-1.02,-194.6,3.2,-3.6,6,123,11.43,2.35,-23.92,0.000,4,0.264,0.083,2701,3514,3555,0,0,0,0,0,0
$GC,398,-0.93,-194.6,46.7,-12.0,56,407,0.12,2.40,0.00,0.000,6,0.155,0.076,2741,2100,3560,0,0,0,0,0,0
$GC,518,-0.87,-194.6,60.4,-12.1,75,525,0.10,2.47,0.00,0.000,4,0.192,0.098,2765,655,3561,0,0,0,0,0,0
$GC,586,-0.84,-194.6,68.8,-11.8,86,596,0.00,2.53,0.00,0.000,6,0.000,0.091,2757,2094,3561,0,0,0,0,0,0
$GC,705,-0.80,-194.6,82.4,-12.2,105,713,0.12,2.35,0.00,0.000,4,0.198,0.082,2776,3520,3563,0,0,0,0,0,0
$GC,781,-0.80,-194.6,91.0,-11.5,117,788,0.00,2.40,0.00,0.000,6,0.000,0.078,2776,2082,3563,0,0,0,0,0,0
$GC,901,-0.80,-194.6,104.1,-11.0,136,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2082,3563,0,0,0,0,0,0
$GC,1017,-0.80,-194.6,116.7,-11.0,155,1024,0.00,2.42,0.00,0.000,4,0.000,0.103,2776,658,3564,0,0,0,0,0,0
$GC,1070,-0.80,-194.6,122.9,-11.8,163,1078,0.10,2.45,0.00,0.000,6,0.216,0.086,2787,2098,3564,0,0,0,0,0,0
$GC,1189,-0.80,-194.6,136.0,-11.2,182,1198,0.00,2.35,0.00,0.000,4,0.000,0.085,2777,3508,3564,0,0,0,0,0,0
$GC,1224,-0.80,-194.6,139.4,-10.3,187,1231,0.00,2.40,0.00,0.000,6,0.000,0.085,2777,2082,3564,0,0,0,0,0,0
$GC,1339,-0.80,-194.6,151.8,-10.5,206,1349,0.00,2.45,0.00,0.000,4,0.000,0.099,2777,660,3565,0,0,0,0,0,0
$STATE,1354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1354,begin apogee
$GC,1359,-0.25,0.0,153.4,10.2,208,1517,0.62,0.00,148.95,0.670,6,0.158,0.000,2964,1629,2761,0,0,0,0,0,0
$STATE,1518,end apogee,CONTROL_FINISHED_OK
$STATE,1518,begin climb
$GC,1519,1.02,194.6,159.2,0.0,230,1682,1.23,2.53,153.98,0.650,4,0.094,0.054,3381,191,1966,0,0,0,0,0,0
$GC,1846,0.87,194.6,124.6,14.5,279,1854,0.17,2.30,0.00,0.000,6,0.158,0.034,3335,1659,1960,0,0,0,0,0,0
$GC,1962,0.80,194.6,110.6,11.7,298,1972,0.10,0.00,0.00,0.000,6,0.185,0.000,3311,1664,1960,0,0,0,0,0,0
$GC,2083,0.77,207.8,98.3,9.5,317,2098,0.00,0.00,11.27,0.594,6,0.000,0.000,3311,1664,1914,0,0,0,0,0,0
$GC,2208,0.73,207.8,85.6,10.2,337,2215,0.10,0.00,0.00,0.000,6,0.180,0.000,3285,1666,1911,0,0,0,0,0,0
$GC,2324,0.77,238.5,75.0,8.9,356,2354,0.00,0.00,26.15,0.624,6,0.000,0.000,3285,1666,1788,0,0,0,0,0,0
$GC,2462,0.78,242.6,61.7,9.9,378,2473,0.00,2.47,4.22,0.455,4,0.000,0.056,3296,193,1772,0,0,0,0,0,0
$GC,2511,0.78,242.6,57.0,10.3,385,2518,0.00,2.22,0.00,0.000,6,0.000,0.038,3296,1596,1770,0,0,0,0,0,0
$GC,2628,0.78,250.0,45.0,9.7,404,2644,0.00,0.00,7.82,0.522,6,0.000,0.000,3296,1596,1742,0,0,0,0,0,0
$GC,2752,0.82,279.0,33.1,9.0,424,2783,0.00,2.42,20.40,0.599,4,0.000,0.063,3296,3045,1622,0,0,0,0,0,0
$GC,2879,0.86,279.0,19.7,11.8,443,2888,0.00,2.40,0.00,0.000,6,0.000,0.062,3305,1601,1617,0,0,0,0,0,0
$GC,2964,0.89,303.7,10.9,9.1,456,2982,0.10,0.00,11.35,0.503,6,0.096,0.000,3364,1601,1524,0,0,0,0,0,0
$STATE,3033,end climb,SURFACE_DEPTH_REACHED
$STATE,3033,begin surface coast
$FINISH,1.4,1.014990
$STATE,3066,end surface coast,CONTROL_FINISHED_OK
$STATE,3066,begin surface
$SM_CCo,3142,0.00,0.000,0,0,1513,306.37
$SM_GC,2.25,8.77,0.00,0.00,0.044,0.000,0.000,82,2103,1513,-9.20,0.34,306.37
$IRIDIUM_FIX,-3409.50,2541.38,190208,070706
$TT8_MAMPS,0.026215
$HUMID,60.15
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.6,41.4
$24V_AH,24.2,7.356
$10V_AH,10.3,6.041
$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,22.975,43.425,384.150,0.000,0.000,35.369,30.904,179.850,1.750,0.000,44.388,1086.766,302.408,390.284,1677.244,61.531,0.000,930.180,0.000,1253.492,0.000,16.043,0.000
$DEVICE_MAMPS,263.925,103.275,670.140,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.848,1261.234,904.148,1357.463,0.000,0.000,0.000,0.000,0.000,0.000
$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,33787,471
$CAP_FILE_SIZE,59657,0
$CFSIZE,2097086464,2087813120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.110,196.2,1
$GPS,240415,201735,-3424.043,2543.314,40,1.2,41,-27.8