version: 66.07.10.p01
glider: 573
mission: 9
dive: 65
start: 4 25 115 16 9 41
data:
$ID,573
$MISSION,9
$DIVE,65
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,650
$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,230
$T_MISSION,245
$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,-13698.523
$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,1870
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,3200
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,17
$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,200
$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,64
$GPS1,250415,155935,-3421.427,2536.528,27,0.9,28,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.8
$GPS2,250415,160855,-3421.449,2536.508,29,4.9,49,-27.6
$SPEED_LIMITS,0.030,0.040
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3428.620,2530.300
$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,198.1,16316,-17.1,-1.739
$D_GRID,120
$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,-0.39,-8.3,0.0,0.0,0,97,0.00,0.00,-70.90,0.000,2,0.000,0.000,83,3207,2682,0,0,0,0,0,0
$GC,99,-0.39,-8.3,3.1,-1.8,8,119,7.28,0.90,-3.88,0.000,4,0.269,0.091,1730,3806,2796,0,0,0,0,0,0
$GC,286,0.55,-8.3,30.4,-15.9,36,296,1.25,0.90,0.00,0.000,6,0.257,0.037,2032,3204,2799,0,0,0,0,0,0
$GC,400,1.38,-8.3,35.7,-8.2,55,408,1.08,2.22,0.00,0.000,4,0.255,0.056,2294,1800,2800,0,0,0,0,0,0
$GC,670,1.95,-8.3,41.4,-2.4,101,679,0.80,2.30,0.00,0.000,6,0.231,0.068,2485,3219,2802,0,0,0,0,0,0
$GC,785,1.94,-12.6,42.6,-1.1,120,795,0.00,2.30,-0.17,0.000,4,0.000,0.076,2486,1817,2818,0,0,0,0,0,0
$GC,877,1.94,-12.6,45.1,-1.8,135,885,0.00,2.28,0.00,0.000,6,0.000,0.072,2477,3189,2820,0,0,0,0,0,0
$GC,992,1.94,-12.6,50.6,-4.3,154,1001,0.00,0.93,0.00,0.000,4,0.000,0.064,2472,3785,2820,0,0,0,0,0,0
$GC,1265,1.94,-12.6,66.7,-5.8,200,1275,0.03,0.88,0.00,0.000,6,0.231,0.040,2479,3198,2820,0,0,0,0,0,0
$GC,1381,1.94,-12.6,73.9,-6.3,219,1388,0.00,0.93,0.00,0.000,4,0.000,0.062,2475,3786,2820,0,0,0,0,0,0
$GC,1654,1.94,-12.6,89.8,-5.7,265,1662,0.00,0.88,0.00,0.000,6,0.000,0.040,2476,3199,2821,0,0,0,0,0,0
$GC,1769,1.94,-12.6,97.3,-6.3,284,1778,0.00,0.93,0.00,0.000,4,0.000,0.062,2472,3782,2821,0,0,0,0,0,0
$GC,1966,1.94,-12.6,111.5,-7.5,317,1975,0.03,0.88,0.00,0.000,6,0.213,0.042,2480,3195,2822,0,0,0,0,0,0
$GC,2081,1.94,-12.6,111.6,-1.8,336,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,3195,2822,0,0,0,0,0,0
$GC,2198,1.93,-24.9,111.6,-0.0,355,2205,0.00,0.00,-0.30,0.000,6,0.000,0.000,2480,3195,2872,0,0,0,0,0,0
$GC,2312,2.07,-36.4,111.5,-0.1,374,2322,0.17,0.00,-0.28,0.000,6,0.185,0.000,2527,3195,2916,0,0,0,0,0,0
$GC,2429,2.05,-49.1,111.6,0.0,393,2439,0.00,0.00,-0.32,0.000,6,0.000,0.000,2527,3195,2970,0,0,0,0,0,0
$GC,2544,2.04,-60.4,111.7,-0.1,412,2553,0.00,0.00,-0.28,0.000,6,0.000,0.000,2527,3195,3015,0,0,0,0,0,0
$GC,2661,2.02,-73.4,111.7,0.1,431,2668,0.00,0.00,-0.32,0.000,6,0.000,0.000,2527,3195,3067,0,0,0,0,0,0
$GC,2773,2.01,-85.5,111.8,-0.0,450,2783,0.00,0.95,-0.28,0.000,4,0.000,0.098,2523,3780,3115,0,0,0,0,0,0
$GC,2856,1.99,-98.0,111.8,0.0,463,2864,0.00,0.88,-0.32,0.000,6,0.000,0.044,2523,3210,3168,0,0,0,0,0,0
$GC,2970,1.98,-109.6,111.8,-0.1,482,2980,0.08,2.35,-0.28,0.000,4,0.122,0.094,2472,1794,3211,0,0,0,0,0,0
$GC,3244,1.96,-122.1,111.8,0.0,528,3255,0.08,2.38,-0.32,0.000,6,0.171,0.088,2487,3191,3266,0,0,0,0,0,0
$GC,3361,1.95,-133.7,111.8,-0.1,547,3369,0.00,2.30,-0.28,0.000,4,0.000,0.090,2488,1791,3311,0,0,0,0,0,0
$GC,3632,1.91,-146.0,111.8,-0.0,593,3641,0.00,2.38,-0.35,0.000,6,0.000,0.090,2479,3206,3363,0,0,0,0,0,0
$GC,3748,1.85,-156.2,111.9,-0.3,612,3757,0.05,0.00,-0.25,0.000,6,0.165,0.000,2437,3206,3402,0,0,0,0,0,0
$GC,3864,1.78,-171.5,111.8,0.4,631,3871,0.00,0.00,-0.43,0.000,6,0.000,0.000,2438,3206,3469,0,0,0,0,0,0
$GC,3978,1.70,-183.8,111.9,-0.0,650,3988,0.08,0.00,-0.32,0.000,6,0.122,0.000,2386,3206,3520,0,0,0,0,0,0
$GC,4095,1.61,-194.6,111.9,0.0,669,4103,0.00,0.00,-0.25,0.000,6,0.000,0.000,2387,3206,3562,0,0,0,0,0,0
$STATE,4110,end dive,NO_VERTICAL_VELOCITY
$STATE,4111,begin apogee
$GC,4114,-0.11,0.0,111.8,0.0,671,4274,1.40,0.00,147.68,0.662,6,0.034,0.000,1808,3041,2762,0,0,0,0,0,0
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4275,begin climb
$GC,4276,0.61,194.6,111.5,0.0,691,4437,1.08,0.00,151.77,0.627,6,0.252,0.000,2054,3037,1967,0,0,0,0,0,0
$GC,4552,1.98,194.6,62.4,23.3,729,4559,1.95,0.00,0.00,0.000,6,0.276,0.000,2495,3037,1962,0,0,0,0,0,0
$GC,4675,1.98,194.6,42.9,18.1,748,4685,0.00,1.27,0.00,0.000,4,0.000,0.076,2490,3786,1961,0,0,0,0,0,0
$GC,4847,3.03,194.6,17.5,14.8,774,4859,1.33,1.15,0.00,0.000,6,0.227,0.040,2828,3041,1962,0,0,0,0,0,0
$GC,4940,3.03,194.6,9.0,12.8,787,4950,0.00,2.40,0.00,0.000,4,0.000,0.093,2829,1662,1962,0,0,0,0,0,0
$STATE,5023,end climb,SURFACE_DEPTH_REACHED
$STATE,5023,begin surface coast
$FINISH,1.5,1.008544
$STATE,5063,end surface coast,CONTROL_FINISHED_OK
$STATE,5063,begin surface
$SM_CCo,5079,48.10,0.500,0,0,1536,300.24
$SM_GC,2.60,0.00,0.00,48.10,0.000,0.000,0.500,79,3217,1536,-5.60,0.48,300.24
$IRIDIUM_FIX,-3356.48,2537.99,200208,050503
$TT8_MAMPS,0.026964
$HUMID,58.82
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,24.3,9.457
$10V_AH,10.3,7.700
$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,23.900,35.325,299.450,48.100,0.000,30.415,48.826,347.646,0.000,0.000,52.269,2079.636,312.237,446.954,2774.314,112.835,0.000,1191.290,0.000,2077.266,0.000,1.009,0.000
$DEVICE_MAMPS,276.165,97.920,662.490,500.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.510,2105.475,1458.535,2271.629,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331540
$DATA_FILE_SIZE,57061,805
$CAP_FILE_SIZE,91653,0
$CFSIZE,2097086464,2085126144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.035,318.9,1
$GPS,250415,173624,-3421.424,2536.414,40,1.2,41,-27.6