version: 66.07.10.p01
glider: 573
mission: 9
dive: 110
start: 4 26 115 22 44 26
data:
$ID,573
$MISSION,9
$DIVE,110
$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,-13851.438
$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,21
$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,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,109
$GPS1,260415,223851,-3420.336,2543.729,29,1.2,45,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-64.4
$GPS2,260415,224402,-3420.290,2543.794,16,0.9,18,-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,250.1,6879,-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,-194.6,0.0,0.0,0,77,0.00,0.00,-51.33,0.000,2,0.000,0.000,75,1964,2754,0,0,0,0,0,0
$GC,80,-1.02,-194.6,3.2,-3.5,6,125,11.27,2.40,-21.83,0.000,4,0.261,0.094,2670,3369,3561,0,0,0,0,0,0
$GC,203,-0.81,-194.6,23.3,-21.4,23,212,0.28,2.38,0.00,0.000,6,0.161,0.073,2753,1962,3562,0,0,0,0,0,0
$GC,288,-0.74,-194.6,35.4,-11.2,36,297,0.10,2.53,0.00,0.000,4,0.191,0.100,2777,529,3563,0,0,0,0,0,0
$GC,324,-0.71,-194.6,39.4,-11.7,41,335,0.10,2.47,0.00,0.000,6,0.220,0.092,2788,1944,3563,0,0,0,0,0,0
$GC,445,-0.71,-194.6,53.2,-11.2,60,454,0.00,2.40,0.00,0.000,4,0.000,0.085,2778,3370,3564,0,0,0,0,0,0
$GC,553,-0.71,-194.6,65.1,-11.6,77,560,0.00,2.42,0.00,0.000,6,0.000,0.086,2778,1943,3565,0,0,0,0,0,0
$GC,668,-0.71,-194.6,78.2,-10.7,96,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1943,3565,0,0,0,0,0,0
$STATE,783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,783,begin apogee
$GC,787,-0.25,0.0,90.5,11.8,114,945,0.50,0.00,148.38,0.614,6,0.155,0.000,2933,1712,2761,0,0,0,0,0,0
$STATE,946,end apogee,CONTROL_FINISHED_OK
$STATE,946,begin climb
$GC,947,1.02,194.6,98.0,0.0,135,1109,1.25,2.40,151.95,0.599,4,0.106,0.055,3338,3138,1968,0,0,0,0,0,0
$GC,1136,0.95,194.6,85.2,13.6,161,1143,0.10,2.38,0.00,0.000,6,0.171,0.050,3324,1690,1965,0,0,0,0,0,0
$GC,1253,0.90,194.6,72.2,10.0,180,1262,0.00,2.30,0.00,0.000,4,0.000,0.053,3334,303,1963,0,0,0,0,0,0
$GC,1317,0.84,194.6,65.0,10.9,190,1327,0.12,2.30,0.00,0.000,6,0.130,0.034,3294,1731,1963,0,0,0,0,0,0
$GC,1437,0.91,253.2,54.7,8.0,209,1498,0.05,2.33,48.53,0.591,4,0.159,0.058,3330,3121,1726,0,0,0,0,0,0
$GC,1560,0.87,253.2,42.7,11.9,227,1568,0.15,2.30,0.00,0.000,6,0.151,0.056,3299,1709,1722,0,0,0,0,0,0
$GC,1677,0.90,253.2,29.4,10.9,246,1687,0.00,2.33,0.00,0.000,4,0.000,0.057,3310,304,1720,0,0,0,0,0,0
$GC,1820,0.99,297.5,17.4,8.5,268,1848,0.05,2.28,21.25,0.525,6,0.070,0.040,3355,1708,1547,0,0,0,0,0,0
$GC,1926,1.03,327.8,6.8,9.0,283,1951,0.00,2.35,14.23,0.472,4,0.000,0.059,3355,3140,1421,0,0,0,0,0,0
$STATE,1959,end climb,SURFACE_DEPTH_REACHED
$STATE,1959,begin surface coast
$FINISH,1.4,1.022063
$STATE,1986,end surface coast,CONTROL_FINISHED_OK
$STATE,1986,begin surface
$SM_CCo,2064,0.00,0.000,0,0,1413,330.90
$SM_GC,2.06,8.80,0.00,0.00,0.044,0.000,0.000,76,1961,1413,-9.10,0.34,330.90
$IRIDIUM_FIX,-3346.09,2546.24,210208,111149
$TT8_MAMPS,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,17.9
$24V_AH,24.3,13.062
$10V_AH,10.3,9.931
$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,22.775,37.975,384.325,0.000,0.000,22.647,37.214,157.850,2.000,0.000,20.270,659.606,177.996,368.993,1125.021,60.610,0.000,784.510,0.000,808.524,0.000,14.469,0.000
$DEVICE_MAMPS,260.865,129.285,614.295,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.166,805.624,600.796,865.086,0.000,0.000,0.000,0.000,0.000,0.000
$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,20331,291
$CAP_FILE_SIZE,44065,0
$CFSIZE,2097086464,2080768000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.273, 68.9,1
$GPS,260415,232005,-3420.359,2543.918,43,0.9,43,-27.7