version: 66.07.10.p01
glider: 573
mission: 9
dive: 109
start: 4 26 115 22 1 59
data:
$ID,573
$MISSION,9
$DIVE,109
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$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,30
$T_MISSION,40
$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,-13848.033
$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,3020
$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,1949
$C_ROLL_CLIMB,1714
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,39
$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,108
$GPS1,260415,215335,-3420.363,2543.503,37,1.8,38,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-64.7
$GPS2,260415,220135,-3420.261,2543.619,33,1.4,34,-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,247.9,6949,-15.7,-10.000
$D_GRID,90
$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,-194.6,0.0,0.0,0,81,0.00,0.00,-54.33,0.000,2,0.000,0.000,73,1984,2723,0,0,0,0,0,0
$GC,83,-1.02,-194.6,3.3,-3.7,6,127,11.23,2.30,-23.02,0.000,4,0.259,0.086,2673,3343,3560,0,0,0,0,0,0
$GC,225,-0.81,-194.6,26.3,-21.9,26,234,0.25,2.33,0.00,0.000,6,0.161,0.068,2748,1961,3562,0,0,0,0,0,0
$GC,308,-0.72,-194.6,40.2,-14.3,39,316,0.12,2.50,0.00,0.000,4,0.177,0.097,2782,509,3563,0,0,0,0,0,0
$GC,353,-0.68,-194.6,45.8,-11.0,46,363,0.08,2.50,0.00,0.000,6,0.198,0.091,2793,1918,3563,0,0,0,0,0,0
$GC,470,-0.68,-194.6,56.6,-8.9,65,478,0.00,2.42,0.00,0.000,4,0.000,0.086,2782,3383,3563,0,0,0,0,0,0
$GC,559,-0.68,-194.6,64.3,-8.3,79,566,0.08,2.42,0.00,0.000,6,0.184,0.084,2798,1948,3564,0,0,0,0,0,0
$GC,673,-0.68,-194.6,73.9,-8.8,98,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1947,3565,0,0,0,0,0,0
$GC,786,-0.68,-194.6,84.3,-10.5,117,794,0.00,2.42,0.00,0.000,4,0.000,0.093,2798,509,3566,0,0,0,0,0,0
$GC,815,-0.68,-194.6,87.2,-10.6,121,822,0.00,2.50,0.00,0.000,6,0.000,0.090,2789,1955,3566,0,0,0,0,0,0
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,853,-0.25,0.0,90.1,7.9,126,1006,0.47,0.00,148.30,0.611,6,0.159,0.000,2935,1705,2762,0,0,0,0,0,0
$STATE,1007,end apogee,CONTROL_FINISHED_OK
$STATE,1007,begin climb
$GC,1008,1.02,194.6,98.1,0.0,146,1170,1.25,2.38,152.05,0.597,4,0.108,0.050,3350,290,1968,0,0,0,0,0,0
$GC,1194,0.94,194.6,86.3,12.2,172,1204,0.08,2.35,0.00,0.000,6,0.132,0.031,3325,1725,1965,0,0,0,0,0,0
$GC,1312,0.91,201.4,73.9,9.8,191,1327,0.00,2.40,6.68,0.496,4,0.000,0.048,3336,283,1939,0,0,0,0,0,0
$GC,1376,0.85,201.4,67.1,11.8,201,1385,0.15,2.28,0.00,0.000,6,0.156,0.032,3296,1725,1938,0,0,0,0,0,0
$GC,1489,0.90,245.0,56.9,8.5,220,1535,0.00,2.30,36.58,0.588,4,0.000,0.053,3295,3120,1761,0,0,0,0,0,0
$GC,1579,0.90,245.0,48.5,10.6,233,1587,0.00,2.33,0.00,0.000,6,0.000,0.057,3305,1701,1758,0,0,0,0,0,0
$GC,1691,0.92,259.4,37.4,9.5,252,1708,0.00,2.35,12.40,0.553,4,0.000,0.054,3316,297,1703,0,0,0,0,0,0
$GC,1740,0.92,259.4,32.7,10.5,259,1747,0.00,2.25,0.00,0.000,6,0.000,0.036,3316,1704,1701,0,0,0,0,0,0
$GC,1861,1.01,303.5,20.5,8.5,278,1896,0.08,2.35,22.23,0.535,4,0.122,0.051,3372,299,1520,0,0,0,0,0,0
$GC,1955,0.98,303.5,10.5,11.6,291,1964,0.10,2.30,0.00,0.000,6,0.129,0.037,3339,1715,1517,0,0,0,0,0,0
$STATE,2028,end climb,SURFACE_DEPTH_REACHED
$STATE,2028,begin surface coast
$FINISH,1.5,1.014499
$STATE,2062,end surface coast,CONTROL_FINISHED_OK
$STATE,2062,begin surface
$SM_CCo,2137,0.00,0.000,0,0,1509,307.36
$SM_GC,2.21,8.77,0.00,0.00,0.049,0.000,0.000,75,1964,1509,-9.08,0.42,307.36
$IRIDIUM_FIX,-3404.29,2543.73,210208,111104
$TT8_MAMPS,0.026215
$HUMID,59.49
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,17.6
$24V_AH,24.3,12.985
$10V_AH,10.3,9.878
$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,22.650,43.500,378.225,0.000,0.000,53.042,102.660,156.212,2.000,0.000,36.560,701.389,214.288,373.173,1281.491,64.473,0.000,798.380,0.000,853.622,0.000,14.484,0.000
$DEVICE_MAMPS,258.570,97.155,611.235,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.257,851.456,627.192,913.528,0.000,0.000,0.000,0.000,0.000,0.000
$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,23697,307
$CAP_FILE_SIZE,48395,0
$CFSIZE,2097086464,2080866304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.258, 65.6,1
$GPS,260415,223851,-3420.336,2543.729,29,1.2,45,-27.7