version: 66.07.10.p01
glider: 573
mission: 9
dive: 66
start: 4 25 115 17 44 15
data:
$ID,573
$MISSION,9
$DIVE,66
$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,-13701.81
$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,37
$R_STBD_OVSHOOT,23
$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,60
$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,65
$GPS1,250415,173624,-3421.424,2536.414,40,1.2,41,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.8
$GPS2,250415,174329,-3421.456,2536.418,46,1.4,47,-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,197.7,16227,-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,-8.3,0.0,0.0,0,78,0.00,0.00,-51.88,0.000,6,0.000,0.000,79,3217,2797,0,0,0,0,0,0
$GC,80,-0.39,-8.3,3.2,-2.9,6,98,7.30,0.93,0.00,0.000,4,0.269,0.055,1731,3801,2800,0,0,0,0,0,0
$GC,247,0.57,-8.3,29.5,-15.4,31,256,1.25,0.93,0.00,0.000,6,0.252,0.038,2036,3195,2802,0,0,0,0,0,0
$GC,327,1.42,-8.3,34.3,-12.2,44,336,1.15,2.25,0.00,0.000,4,0.249,0.060,2316,1808,2804,0,0,0,0,0,0
$GC,390,1.42,-8.3,35.3,-5.4,54,400,0.03,2.33,0.00,0.000,6,0.269,0.072,2313,3201,2804,0,0,0,0,0,0
$GC,505,1.99,-8.3,37.8,-1.9,73,514,0.70,0.90,0.00,0.000,4,0.229,0.057,2492,3780,2805,0,0,0,0,0,0
$GC,779,1.99,-8.3,49.6,-4.8,119,786,0.00,0.88,0.00,0.000,6,0.000,0.040,2491,3201,2806,0,0,0,0,0,0
$GC,892,1.99,-8.3,54.9,-4.7,138,901,0.00,0.93,0.00,0.000,4,0.000,0.062,2488,3777,2806,0,0,0,0,0,0
$GC,1166,1.99,-8.3,69.3,-5.5,184,1176,0.03,0.88,0.00,0.000,6,0.223,0.040,2495,3191,2807,0,0,0,0,0,0
$GC,1285,1.99,-8.3,75.1,-5.1,203,1292,0.00,0.95,0.00,0.000,4,0.000,0.061,2492,3785,2806,0,0,0,0,0,0
$GC,1555,1.99,-8.3,89.4,-5.5,249,1564,0.00,0.88,0.00,0.000,6,0.000,0.039,2492,3203,2807,0,0,0,0,0,0
$STATE,1575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1575,begin apogee
$GC,1579,-0.11,0.0,90.7,5.6,252,1596,1.73,0.00,10.15,0.587,6,0.047,0.000,1822,3039,2762,0,0,0,0,0,0
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1597,begin climb
$GC,1598,0.39,8.3,91.9,0.0,254,1615,0.68,2.20,8.07,0.556,4,0.260,0.060,1988,1653,2726,0,0,0,0,0,0
$GC,1884,1.84,8.3,91.9,2.5,301,1895,1.92,2.28,0.00,0.000,6,0.248,0.066,2452,3061,2727,0,0,0,0,0,0
$GC,2004,1.84,8.3,88.8,3.0,320,2013,0.00,1.12,0.00,0.000,4,0.000,0.064,2446,3778,2727,0,0,0,0,0,0
$GC,2283,1.85,12.2,85.0,1.2,366,2293,0.00,1.10,4.45,0.483,6,0.000,0.041,2447,3062,2712,0,0,0,0,0,0
$GC,2402,1.85,18.5,83.9,0.8,385,2414,0.00,2.38,6.78,0.556,4,0.000,0.073,2447,1638,2686,0,0,0,0,0,0
$GC,2624,1.85,18.5,76.5,3.6,421,2635,0.10,2.33,0.00,0.000,6,0.248,0.075,2457,3050,2685,0,0,0,0,0,0
$GC,2743,1.85,18.5,70.7,4.7,440,2752,0.00,1.15,0.00,0.000,4,0.000,0.066,2452,3788,2685,0,0,0,0,0,0
$GC,2777,1.85,18.5,69.2,4.7,445,2787,0.00,1.15,0.00,0.000,6,0.000,0.040,2452,3044,2685,0,0,0,0,0,0
$GC,2895,1.85,18.5,64.7,4.1,464,2904,0.00,2.30,0.00,0.000,4,0.000,0.074,2452,1645,2685,0,0,0,0,0,0
$GC,3000,1.85,18.5,61.0,3.4,481,3011,0.08,2.33,0.00,0.000,6,0.262,0.077,2455,3059,2685,0,0,0,0,0,0
$GC,3118,1.85,18.5,56.8,3.6,500,3127,0.00,1.12,0.00,0.000,4,0.000,0.065,2450,3777,2685,0,0,0,0,0,0
$GC,3236,1.85,18.5,52.5,3.6,519,3243,0.00,1.12,0.00,0.000,6,0.000,0.041,2450,3050,2684,0,0,0,0,0,0
$GC,3353,1.85,18.5,48.9,3.2,538,3362,0.00,2.30,0.00,0.000,4,0.000,0.077,2450,1648,2684,0,0,0,0,0,0
$GC,3613,1.85,18.5,42.8,2.2,581,3624,0.08,2.33,0.00,0.000,6,0.262,0.078,2454,3060,2684,0,0,0,0,0,0
$GC,3732,1.85,18.5,40.1,2.2,600,3741,0.00,1.12,0.00,0.000,4,0.000,0.064,2448,3780,2683,0,0,0,0,0,0
$GC,3814,1.85,18.5,39.1,1.9,613,3823,0.00,1.12,0.00,0.000,6,0.000,0.041,2448,3049,2683,0,0,0,0,0,0
$GC,3931,1.86,22.9,37.6,1.1,632,3942,0.00,2.35,4.43,0.483,4,0.000,0.078,2449,1645,2668,0,0,0,0,0,0
$GC,4074,1.86,22.9,34.3,2.3,655,4082,0.10,2.33,0.00,0.000,6,0.256,0.080,2459,3052,2667,0,0,0,0,0,0
$GC,4191,1.86,22.9,32.4,2.0,674,4200,0.00,1.15,0.00,0.000,4,0.000,0.064,2454,3786,2667,0,0,0,0,0,0
$STATE,4394,end climb,NO_VERTICAL_VELOCITY
$STATE,4395,begin surface
$SM_CCo,4397,329.77,0.501,8,0,409,577.18
$SM_GC,1.91,6.40,0.00,0.00,0.037,0.000,0.000,85,3196,413,-5.49,-0.11,576.20
$IRIDIUM_FIX,-3359.08,2535.64,200208,070752
$TT8_MAMPS,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.26483
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,40.6
$24V_AH,24.5,9.526
$10V_AH,10.3,7.809
$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,21.525,46.325,33.875,329.775,0.000,30.853,45.038,217.208,0.750,0.000,49.013,2013.219,324.668,568.480,2334.267,84.215,0.000,1154.601,0.000,1785.921,0.000,7.074,0.000
$DEVICE_MAMPS,269.280,79.560,586.755,501.075,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.662,1809.101,1219.888,1955.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331572
$DATA_FILE_SIZE,50372,708
$CAP_FILE_SIZE,79312,8
$CFSIZE,2097086464,2085027840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,8,1
$CURRENT,0.022, 24.4,1
$GPS,250415,190635,-3421.412,2536.412,37,0.9,38,-27.6