version: 66.07.10.p01
glider: 573
mission: 9
dive: 121
start: 4 27 115 6 32 52
data:
$ID,573
$MISSION,9
$DIVE,121
$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,-13888.716
$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,18
$R_STBD_OVSHOOT,34
$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,120
$GPS1,270415,062729,-3419.848,2545.361,41,1.2,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-63.5
$GPS2,270415,063231,-3419.817,2545.409,16,1.3,17,-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,268.2,8041,-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,-52.22,0.000,2,0.000,0.000,75,1940,2762,0,0,0,0,0,0
$GC,81,-1.01,-194.6,3.0,-2.6,6,126,11.40,2.38,-21.12,0.000,4,0.264,0.099,2675,3316,3561,0,0,0,0,0,0
$GC,178,-0.79,-194.6,18.4,-20.5,19,188,0.25,2.42,0.00,0.000,6,0.164,0.085,2750,1919,3562,0,0,0,0,0,0
$GC,264,-0.71,-194.6,32.8,-15.5,32,275,0.15,2.38,0.00,0.000,4,0.182,0.080,2780,3315,3563,0,0,0,0,0,0
$GC,294,-0.67,-194.6,37.1,-14.6,36,304,0.05,2.42,0.00,0.000,6,0.155,0.090,2795,1923,3563,0,0,0,0,0,0
$GC,416,-0.67,-194.6,49.2,-9.8,55,423,0.00,2.45,0.00,0.000,4,0.000,0.096,2796,485,3564,0,0,0,0,0,0
$GC,517,-0.67,-194.6,59.2,-9.5,71,524,0.03,2.47,0.00,0.000,6,0.285,0.094,2794,1896,3565,0,0,0,0,0,0
$GC,638,-0.67,-194.6,70.5,-9.2,90,647,0.00,2.45,0.00,0.000,4,0.000,0.088,2783,3346,3565,0,0,0,0,0,0
$GC,745,-0.67,-194.6,81.3,-10.3,107,753,0.08,2.45,0.00,0.000,6,0.187,0.088,2798,1903,3566,0,0,0,0,0,0
$STATE,835,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,835,begin apogee
$GC,839,-0.25,0.0,90.3,10.8,121,995,0.43,0.00,148.43,0.615,6,0.156,0.000,2931,1758,2762,0,0,0,0,0,0
$STATE,996,end apogee,CONTROL_FINISHED_OK
$STATE,996,begin climb
$GC,997,1.01,194.6,96.8,0.0,142,1159,1.25,2.40,151.50,0.601,4,0.111,0.050,3345,330,1967,0,0,0,0,0,0
$GC,1209,0.94,194.6,81.6,11.2,172,1219,0.05,2.38,0.00,0.000,6,0.136,0.034,3328,1782,1965,0,0,0,0,0,0
$GC,1330,0.91,205.4,69.7,9.5,191,1348,0.05,2.22,10.05,0.541,4,0.225,0.051,3317,3173,1922,0,0,0,0,0,0
$GC,1391,0.86,205.4,63.4,10.5,200,1402,0.08,2.38,0.00,0.000,6,0.145,0.058,3302,1741,1921,0,0,0,0,0,0
$GC,1512,0.90,239.5,52.8,8.7,219,1548,0.00,2.30,29.20,0.587,4,0.000,0.054,3312,340,1783,0,0,0,0,0,0
$GC,1630,0.90,240.6,41.6,9.9,237,1637,0.00,2.25,0.00,0.000,6,0.000,0.037,3311,1753,1779,0,0,0,0,0,0
$GC,1747,0.92,249.9,30.3,9.6,256,1758,0.00,2.38,6.45,0.493,4,0.000,0.050,3321,331,1742,0,0,0,0,0,0
$GC,1786,0.92,253.1,26.7,9.8,261,1795,0.00,2.30,1.45,0.106,6,0.000,0.036,3321,1758,1730,0,0,0,0,0,0
$GC,1873,0.97,271.8,18.1,9.3,274,1891,0.00,2.30,9.43,0.494,4,0.000,0.059,3321,3171,1651,0,0,0,0,0,0
$GC,1918,0.97,272.5,13.8,9.9,280,1928,0.00,2.35,0.00,0.000,6,0.000,0.059,3330,1753,1648,0,0,0,0,0,0
$GC,2005,0.97,272.5,4.5,10.9,293,2014,0.00,2.33,0.00,0.000,4,0.000,0.057,3341,330,1645,0,0,0,0,0,0
$STATE,2021,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,1.3,1.010382
$STATE,2054,end surface coast,CONTROL_FINISHED_OK
$STATE,2054,begin surface
$SM_CCo,2072,12.30,0.469,0,0,1537,300.24
$SM_GC,2.97,0.00,0.00,12.30,0.000,0.000,0.469,75,1924,1537,-9.21,0.14,300.24
$IRIDIUM_FIX,-3427.77,2536.48,210208,191935
$TT8_MAMPS,0.026964
$HUMID,60.19
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,15.3
$24V_AH,24.3,13.910
$10V_AH,10.3,10.539
$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,22.450,47.950,356.500,12.300,0.000,28.309,20.726,161.776,2.000,0.000,18.796,695.462,125.218,373.008,1140.817,68.310,0.000,790.927,0.000,833.566,0.000,14.466,0.000
$DEVICE_MAMPS,285.345,133.875,615.060,468.945,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.653,830.628,617.151,893.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331540
$DATA_FILE_SIZE,23752,300
$CAP_FILE_SIZE,48347,0
$CFSIZE,2097086464,2079686656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.277, 71.5,1
$GPS,270415,070852,-3419.830,2545.477,42,2.0,42,-27.7