version: 66.07.10.p01
glider: 573
mission: 9
dive: 120
start: 4 27 115 5 49 23
data:
$ID,573
$MISSION,9
$DIVE,120
$D_SURF,3
$D_FLARE,3
$D_TGT,110
$D_ABORT,140
$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,37
$T_MISSION,47
$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,-13885.314
$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,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,14
$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,119
$GPS1,270415,054405,-3419.912,2545.257,25,1.3,26,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-64.6
$GPS2,270415,054902,-3419.879,2545.305,18,1.3,18,-27.7
$SPEED_LIMITS,0.172,0.295
$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,267.3,7888,-15.6,-9.910
$D_GRID,110
$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,25,-1.01,-194.6,0.0,0.0,0,79,0.00,0.00,-52.33,0.000,2,0.000,0.000,76,1933,2669,0,0,0,0,0,0
$GC,82,-1.01,-194.6,3.3,-2.9,6,127,11.18,2.47,-24.65,0.000,4,0.258,0.103,2682,498,3559,0,0,0,0,0,0
$GC,142,-0.78,-194.6,10.3,-14.4,13,152,0.30,2.55,0.00,0.000,6,0.190,0.095,2756,1917,3560,0,0,0,0,0,0
$GC,229,-0.66,-194.6,25.4,-17.4,26,239,0.17,0.00,0.00,0.000,6,0.194,0.000,2800,1917,3561,0,0,0,0,0,0
$GC,315,-0.66,-194.6,35.8,-12.3,39,322,0.00,2.38,0.00,0.000,4,0.000,0.084,2790,3346,3562,0,0,0,0,0,0
$GC,415,-0.66,-194.6,45.2,-8.7,55,423,0.05,2.42,0.00,0.000,6,0.188,0.090,2801,1929,3563,0,0,0,0,0,0
$GC,535,-0.66,-194.6,54.6,-8.1,74,544,0.00,2.50,0.00,0.000,4,0.000,0.097,2801,488,3563,0,0,0,0,0,0
$GC,595,-0.66,-194.6,60.2,-9.9,83,603,0.00,2.53,0.00,0.000,6,0.000,0.097,2792,1923,3564,0,0,0,0,0,0
$GC,712,-0.66,-194.6,72.2,-9.5,102,723,0.03,2.38,0.00,0.000,4,0.293,0.086,2789,3341,3564,0,0,0,0,0,0
$GC,828,-0.66,-194.6,83.3,-9.8,120,837,0.00,2.47,0.00,0.000,6,0.000,0.090,2789,1914,3565,0,0,0,0,0,0
$STATE,903,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,903,begin apogee
$GC,907,-0.25,0.0,90.0,9.2,131,1064,0.45,0.00,148.12,0.617,6,0.152,0.000,2929,1756,2762,0,0,0,0,0,0
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1066,1.01,194.6,97.9,0.0,152,1228,1.27,0.00,151.68,0.604,6,0.113,0.000,3337,1755,1967,0,0,0,0,0,0
$GC,1337,0.95,194.6,77.7,11.0,192,1346,0.00,2.38,0.00,0.000,4,0.000,0.054,3348,329,1963,0,0,0,0,0,0
$GC,1385,0.87,194.6,72.1,12.4,199,1393,0.17,2.30,0.00,0.000,6,0.146,0.034,3299,1778,1963,0,0,0,0,0,0
$GC,1503,0.91,230.9,60.6,8.7,218,1542,0.00,2.28,29.83,0.590,4,0.000,0.054,3300,3163,1819,0,0,0,0,0,0
$GC,1562,0.94,255.0,55.5,9.1,226,1593,0.00,2.35,21.60,0.575,6,0.000,0.058,3308,1757,1720,0,0,0,0,0,0
$GC,1701,1.00,306.9,43.2,8.1,248,1755,0.10,2.38,43.85,0.588,4,0.095,0.053,3376,346,1508,0,0,0,0,0,0
$GC,1847,0.94,306.9,26.5,12.0,270,1858,0.15,2.28,0.00,0.000,6,0.128,0.034,3327,1756,1503,0,0,0,0,0,0
$GC,1935,0.97,306.9,17.3,10.1,283,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1756,1501,0,0,0,0,0,0
$GC,2020,1.01,306.9,9.1,9.9,296,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1756,1499,0,0,0,0,0,0
$STATE,2092,end climb,SURFACE_DEPTH_REACHED
$STATE,2092,begin surface coast
$FINISH,1.2,1.011301
$STATE,2137,end surface coast,CONTROL_FINISHED_OK
$STATE,2137,begin surface
$SM_CCo,2213,0.00,0.000,0,0,1494,310.79
$SM_GC,2.02,8.75,0.00,0.00,0.050,0.000,0.000,75,1940,1494,-9.10,0.59,310.79
$IRIDIUM_FIX,-3414.71,2546.00,210208,181841
$TT8_MAMPS,0.026215
$HUMID,60.08
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,16.7
$24V_AH,24.3,13.836
$10V_AH,10.3,10.485
$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,22.625,34.200,395.075,0.000,0.000,28.082,17.685,159.304,2.000,0.000,19.933,711.434,185.555,383.430,1180.068,63.729,0.000,822.012,0.000,871.324,0.000,14.483,0.000
$DEVICE_MAMPS,292.995,134.640,616.590,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.695,870.465,646.939,935.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331544
$DATA_FILE_SIZE,23726,314
$CAP_FILE_SIZE,46318,0
$CFSIZE,2097086464,2079784960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.269, 68.8,1
$GPS,270415,062729,-3419.848,2545.361,41,1.2,42,-27.7