version: 66.07.10.p01
glider: 573
mission: 9
dive: 122
start: 4 27 115 7 14 17
data:
$ID,573
$MISSION,9
$DIVE,122
$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,-13892.156
$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,13
$R_STBD_OVSHOOT,13
$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,121
$GPS1,270415,070852,-3419.830,2545.477,42,2.0,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-66.7
$GPS2,270415,071356,-3419.801,2545.525,14,2.2,34,-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,269.4,8119,-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,-194.6,0.0,0.0,0,71,0.00,0.00,-44.20,0.000,2,0.000,0.000,76,1924,2582,0,0,0,0,0,0
$GC,73,-1.01,-194.6,3.1,-3.3,5,125,11.45,0.00,-32.28,0.000,6,0.265,0.000,2685,1922,3557,0,0,0,0,0,0
$GC,202,-0.78,-194.6,19.9,-20.6,23,212,0.28,2.47,0.00,0.000,4,0.200,0.089,2762,498,3560,0,0,0,0,0,0
$GC,227,-0.61,-194.6,24.3,-18.8,26,237,0.22,2.53,0.00,0.000,6,0.186,0.093,2817,1913,3561,0,0,0,0,0,0
$GC,314,-0.61,-194.6,34.3,-11.0,39,321,0.00,2.40,0.00,0.000,4,0.000,0.086,2805,3358,3561,0,0,0,0,0,0
$GC,452,-0.65,-194.6,47.2,-9.2,61,459,0.00,2.47,0.00,0.000,6,0.000,0.089,2805,1911,3562,0,0,0,0,0,0
$GC,568,-0.67,-194.6,57.9,-9.3,80,578,0.00,2.45,0.00,0.000,4,0.000,0.096,2806,492,3563,0,0,0,0,0,0
$GC,631,-0.67,-194.6,63.7,-9.6,89,638,0.00,2.53,0.00,0.000,6,0.000,0.098,2796,1925,3563,0,0,0,0,0,0
$GC,747,-0.67,-194.6,74.8,-9.0,108,757,0.00,2.38,0.00,0.000,4,0.000,0.084,2786,3344,3563,0,0,0,0,0,0
$GC,824,-0.67,-194.6,82.1,-9.5,120,834,0.03,2.47,0.00,0.000,6,0.138,0.090,2794,1916,3564,0,0,0,0,0,0
$STATE,911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,911,begin apogee
$GC,915,-0.25,0.0,90.1,10.7,133,1068,0.45,0.00,148.02,0.616,6,0.159,0.000,2934,1756,2761,0,0,0,0,0,0
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1070,1.01,194.6,98.1,0.0,153,1232,1.25,2.40,152.20,0.602,4,0.108,0.050,3349,326,1966,0,0,0,0,0,0
$GC,1275,0.93,194.6,83.4,12.6,182,1285,0.08,2.38,0.00,0.000,6,0.136,0.034,3324,1780,1963,0,0,0,0,0,0
$GC,1396,0.88,194.6,70.6,10.4,201,1403,0.08,0.00,0.00,0.000,6,0.195,0.000,3308,1784,1962,0,0,0,0,0,0
$GC,1512,0.89,203.2,59.0,9.6,220,1522,0.00,0.00,7.72,0.523,6,0.000,0.000,3307,1784,1933,0,0,0,0,0,0
$GC,1632,0.93,234.6,49.1,8.8,239,1669,0.00,2.45,27.25,0.588,4,0.000,0.052,3317,321,1803,0,0,0,0,0,0
$GC,1714,0.91,236.5,41.8,9.8,251,1721,0.00,2.30,0.00,0.000,6,0.000,0.037,3317,1762,1800,0,0,0,0,0,0
$GC,1829,0.94,258.2,30.6,9.2,270,1845,0.00,0.00,13.55,0.553,6,0.000,0.000,3317,1762,1708,0,0,0,0,0,0
$GC,1960,0.98,261.2,17.3,9.8,290,1968,0.00,2.30,0.00,0.000,4,0.000,0.059,3317,3175,1702,0,0,0,0,0,0
$GC,1984,1.01,261.2,14.9,10.0,293,1993,0.00,2.35,0.00,0.000,6,0.000,0.059,3326,1751,1701,0,0,0,0,0,0
$GC,2070,1.02,265.4,6.8,9.8,306,2080,0.05,2.30,2.60,0.220,4,0.161,0.057,3385,328,1678,0,0,0,0,0,0
$STATE,2106,end climb,SURFACE_DEPTH_REACHED
$STATE,2106,begin surface coast
$FINISH,1.3,1.019969
$STATE,2133,end surface coast,CONTROL_FINISHED_OK
$STATE,2133,begin surface
$SM_CCo,2151,15.90,0.480,0,0,1536,300.24
$SM_GC,2.39,0.00,0.00,15.90,0.000,0.000,0.480,73,1945,1536,-9.21,0.74,300.24
$IRIDIUM_FIX,-3414.71,2541.29,210208,191900
$TT8_MAMPS,0.026215
$HUMID,59.84
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,15.2
$24V_AH,24.3,13.984
$10V_AH,10.3,10.595
$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,22.550,39.075,351.350,15.900,0.000,27.349,17.325,151.347,2.000,0.000,37.544,736.855,135.294,365.120,1186.993,62.785,0.000,785.435,0.000,869.052,0.000,14.477,0.000
$DEVICE_MAMPS,265.455,132.345,615.825,480.420,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.265,868.209,643.567,933.032,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331548
$DATA_FILE_SIZE,23708,315
$CAP_FILE_SIZE,47917,0
$CFSIZE,2097086464,2079588352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.261, 68.1,1
$GPS,270415,075135,-3419.800,2545.565,37,1.5,38,-27.7