version: 66.07.10.p01
glider: 573
mission: 9
dive: 104
start: 4 26 115 18 26 24
data:
$ID,573
$MISSION,9
$DIVE,104
$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,-13831.271
$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,39
$R_STBD_OVSHOOT,15
$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,103
$GPS1,260415,182035,-3420.084,2541.945,40,1.0,41,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-63.2
$GPS2,260415,182600,-3420.052,2542.069,16,1.4,17,-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,230.7,7885,-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,-194.6,0.0,0.0,0,86,0.00,0.00,-59.62,0.000,2,0.000,0.000,85,1972,2557,0,0,0,0,0,0
$GC,88,-1.02,-194.6,3.0,-3.1,7,141,11.18,2.47,-32.12,0.000,4,0.264,0.101,2629,3402,3559,0,0,0,0,0,0
$GC,342,-0.81,-194.6,46.6,-16.9,46,352,0.28,2.38,0.00,0.000,6,0.167,0.076,2713,2006,3561,0,0,0,0,0,0
$GC,460,-0.69,-194.6,64.2,-15.1,65,468,0.15,2.33,0.00,0.000,4,0.193,0.076,2742,3408,3562,0,0,0,0,0,0
$GC,500,-0.63,-194.6,69.6,-12.6,71,509,0.12,2.40,0.00,0.000,6,0.164,0.074,2773,1968,3563,0,0,0,0,0,0
$GC,618,-0.61,-194.6,82.6,-10.5,90,627,0.00,2.47,0.00,0.000,4,0.000,0.098,2774,539,3564,0,0,0,0,0,0
$GC,675,-0.56,-194.6,88.7,-11.0,99,684,0.12,2.45,0.00,0.000,6,0.210,0.083,2793,1973,3564,0,0,0,0,0,0
$STATE,694,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,694,begin apogee
$GC,698,-0.25,0.0,90.8,11.6,101,852,0.32,0.00,147.68,0.618,6,0.158,0.000,2892,1594,2761,0,0,0,0,0,0
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,854,1.02,194.6,101.2,0.0,122,1017,1.30,2.40,151.98,0.603,4,0.122,0.050,3309,172,1967,0,0,0,0,0,0
$GC,1095,1.02,194.6,86.3,10.8,157,1102,0.00,2.33,0.00,0.000,6,0.000,0.032,3309,1631,1963,0,0,0,0,0,0
$GC,1209,1.02,194.6,74.4,10.1,176,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1631,1962,0,0,0,0,0,0
$GC,1324,1.05,222.4,63.8,9.0,195,1354,0.00,2.40,23.10,0.587,4,0.000,0.050,3319,175,1853,0,0,0,0,0,0
$GC,1395,1.03,222.4,56.5,10.5,206,1405,0.00,2.30,0.00,0.000,6,0.000,0.033,3319,1614,1851,0,0,0,0,0,0
$GC,1511,1.05,242.7,45.5,9.3,225,1534,0.00,2.30,17.90,0.578,4,0.000,0.056,3320,3005,1771,0,0,0,0,0,0
$GC,1589,1.03,245.8,37.9,9.9,237,1597,0.05,2.30,0.00,0.000,6,0.207,0.048,3315,1566,1768,0,0,0,0,0,0
$GC,1706,1.03,245.8,25.9,11.4,256,1715,0.00,2.35,0.00,0.000,4,0.000,0.054,3315,3011,1766,0,0,0,0,0,0
$GC,1773,1.03,245.8,18.9,10.1,266,1782,0.00,2.28,0.00,0.000,6,0.000,0.049,3323,1597,1765,0,0,0,0,0,0
$GC,1859,1.04,260.2,10.3,9.5,279,1878,0.00,2.30,7.85,0.461,4,0.000,0.054,3334,199,1699,0,0,0,0,0,0
$GC,1899,1.04,260.2,6.1,10.7,284,1908,0.03,2.22,0.00,0.000,6,0.140,0.037,3322,1585,1696,0,0,0,0,0,0
$STATE,1934,end climb,SURFACE_DEPTH_REACHED
$STATE,1934,begin surface coast
$FINISH,1.3,1.022580
$STATE,1973,end surface coast,CONTROL_FINISHED_OK
$STATE,1973,begin surface
$SM_CCo,1990,18.00,0.482,0,0,1536,300.24
$SM_GC,2.11,0.00,0.00,18.00,0.000,0.000,0.482,87,1972,1536,-9.05,-0.06,300.24
$IRIDIUM_FIX,-3406.89,2540.25,210208,060639
$TT8_MAMPS,0.026964
$HUMID,59.96
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,16.4
$24V_AH,24.3,12.583
$10V_AH,10.3,9.602
$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,22.250,39.025,348.500,18.000,0.000,27.315,46.195,161.177,2.000,0.000,19.529,675.314,89.602,375.626,1154.501,57.164,0.000,785.058,0.000,821.585,0.000,14.469,0.000
$DEVICE_MAMPS,263.925,100.980,618.120,481.950,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.277,818.041,610.668,878.192,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331520
$DATA_FILE_SIZE,20403,295
$CAP_FILE_SIZE,45071,0
$CFSIZE,2097086464,2081357824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.302, 71.2,1
$GPS,260415,190105,-3420.181,2542.302,39,1.2,40,-27.7