version: 66.07.10.p01
glider: 573
mission: 9
dive: 103
start: 4 26 115 17 43 7
data:
$ID,573
$MISSION,9
$DIVE,103
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,55
$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,-13827.889
$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,2981
$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,1975
$C_ROLL_CLIMB,1602
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,19
$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,30
$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,102
$GPS1,260415,173723,-3419.943,2541.522,43,1.1,44,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.7
$GPS2,260415,174243,-3419.909,2541.633,19,1.2,20,-27.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3424.000,2544.000
$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,227.2,8395,-15.7,-10.000
$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,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,-43.53,0.000,2,0.000,0.000,77,1983,2571,0,0,0,0,0,0
$GC,72,-1.02,-194.6,3.2,-3.2,5,124,11.15,2.42,-32.85,0.000,4,0.262,0.095,2643,567,3558,0,0,0,0,0,0
$GC,133,-0.76,-194.6,6.8,-10.4,12,143,0.32,2.50,0.00,0.000,6,0.191,0.090,2725,1973,3559,0,0,0,0,0,0
$GC,220,-0.59,-194.6,23.2,-17.7,25,230,0.22,2.38,0.00,0.000,4,0.187,0.077,2773,3389,3560,0,0,0,0,0,0
$GC,246,-0.48,-194.6,26.7,-14.8,28,255,0.15,2.38,0.00,0.000,6,0.163,0.075,2818,1996,3560,0,0,0,0,0,0
$GC,329,-0.51,-194.6,33.9,-6.7,41,336,0.00,2.30,0.00,0.000,4,0.000,0.075,2809,3396,3561,0,0,0,0,0,0
$GC,417,-0.56,-194.6,40.3,-8.0,55,426,0.00,2.40,0.00,0.000,6,0.000,0.076,2809,1965,3562,0,0,0,0,0,0
$GC,532,-0.59,-194.6,51.2,-10.6,74,541,0.05,0.00,0.00,0.000,6,0.161,0.000,2765,1965,3562,0,0,0,0,0,0
$GC,646,-0.56,-194.6,64.7,-11.8,93,653,0.12,0.00,0.00,0.000,6,0.156,0.000,2796,1965,3562,0,0,0,0,0,0
$GC,760,-0.56,-194.6,77.1,-11.1,112,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1965,3563,0,0,0,0,0,0
$GC,876,-0.56,-194.6,88.8,-9.5,131,884,0.00,2.40,0.00,0.000,4,0.000,0.095,2796,544,3564,0,0,0,0,0,0
$STATE,894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,894,begin apogee
$GC,900,-0.25,0.0,90.7,10.9,133,1054,0.35,0.00,147.77,0.617,6,0.180,0.000,2893,1606,2762,0,0,0,0,0,0
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1056,1.02,194.6,100.6,0.0,154,1220,1.33,2.42,152.35,0.606,4,0.126,0.050,3315,180,1967,0,0,0,0,0,0
$GC,1286,0.99,194.6,85.8,10.4,187,1294,0.05,2.30,0.00,0.000,6,0.188,0.031,3303,1626,1963,0,0,0,0,0,0
$GC,1400,1.04,233.9,75.3,8.6,206,1439,0.00,2.47,32.65,0.592,4,0.000,0.051,3312,179,1806,0,0,0,0,0,0
$GC,1465,1.06,251.6,69.5,9.4,215,1488,0.00,2.28,15.80,0.567,6,0.000,0.032,3313,1605,1735,0,0,0,0,0,0
$GC,1593,1.07,260.0,56.2,9.7,236,1608,0.00,0.00,8.02,0.528,6,0.000,0.000,3312,1605,1700,0,0,0,0,0,0
$GC,1713,1.11,294.1,45.5,8.8,256,1752,0.08,2.30,29.52,0.584,4,0.115,0.051,3355,3006,1561,0,0,0,0,0,0
$GC,1790,1.05,294.1,36.4,13.4,267,1798,0.15,2.28,0.00,0.000,6,0.146,0.045,3323,1580,1558,0,0,0,0,0,0
$GC,1910,1.19,393.0,24.3,6.6,286,1972,0.12,2.40,50.58,0.557,4,0.081,0.050,3386,3016,1157,0,0,0,0,0,0
$GC,2055,1.16,393.0,5.2,14.2,306,2065,0.12,2.30,0.00,0.000,6,0.122,0.044,3353,1593,1148,0,0,0,0,0,0
$STATE,2073,end climb,SURFACE_DEPTH_REACHED
$STATE,2073,begin surface coast
$FINISH,1.4,1.022059
$STATE,2100,end surface coast,CONTROL_FINISHED_OK
$STATE,2101,begin surface
$SM_CCo,2176,0.00,0.000,0,0,1143,396.89
$SM_GC,2.13,8.85,0.00,0.00,0.047,0.000,0.000,85,1971,1143,-8.96,-0.11,396.89
$IRIDIUM_FIX,-3406.89,2540.25,210208,060639
$TT8_MAMPS,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.7,17.7
$24V_AH,24.3,12.507
$10V_AH,10.3,9.549
$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,23.075,38.025,436.700,0.000,0.000,26.290,43.786,155.316,2.000,0.000,21.781,699.788,158.147,406.513,1189.536,59.643,0.000,855.154,0.000,858.338,0.000,14.485,0.000
$DEVICE_MAMPS,262.395,94.860,617.355,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.834,856.015,630.365,919.483,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331536
$DATA_FILE_SIZE,23715,312
$CAP_FILE_SIZE,48821,0
$CFSIZE,2097086464,2081456128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.297, 72.8,1
$GPS,260415,182035,-3420.084,2541.945,40,1.0,41,-27.7