version: 66.07.10.p01
glider: 573
mission: 9
dive: 124
start: 4 27 115 8 41 10
data:
$ID,573
$MISSION,9
$DIVE,124
$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,-13898.996
$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,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,123
$GPS1,270415,083529,-3419.724,2545.658,41,1.2,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.7
$GPS2,270415,084048,-3419.692,2545.722,14,1.7,15,-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,266.9,8401,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.01,-194.6,0.0,0.0,0,81,0.00,0.00,-54.53,0.000,2,0.000,0.000,84,1927,2790,0,0,0,0,0,0
$GC,83,-1.01,-194.6,3.1,-2.3,6,128,11.40,2.45,-20.75,0.000,4,0.265,0.100,2675,3341,3560,0,0,0,0,0,0
$GC,136,-0.57,-194.6,9.1,-11.4,12,146,0.52,2.45,0.00,0.000,6,0.179,0.083,2825,1929,3561,0,0,0,0,0,0
$GC,223,-0.57,-194.6,20.9,-10.7,25,233,0.00,2.50,0.00,0.000,4,0.000,0.096,2825,494,3563,0,0,0,0,0,0
$GC,254,-0.57,-194.6,24.1,-10.2,29,265,0.03,2.55,0.00,0.000,6,0.216,0.096,2823,1911,3563,0,0,0,0,0,0
$GC,341,-0.60,-194.6,31.5,-8.4,42,350,0.00,2.42,0.00,0.000,4,0.000,0.086,2812,3344,3563,0,0,0,0,0,0
$GC,527,-0.64,-194.6,47.3,-8.4,73,535,0.00,2.42,0.00,0.000,6,0.000,0.086,2812,1918,3565,0,0,0,0,0,0
$GC,643,-0.68,-194.6,57.7,-8.7,92,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1918,3565,0,0,0,0,0,0
$GC,759,-0.71,-194.6,67.7,-8.6,111,766,0.08,2.42,0.00,0.000,4,0.124,0.097,2763,489,3566,0,0,0,0,0,0
$GC,791,-0.68,-194.6,71.4,-10.8,116,801,0.12,2.45,0.00,0.000,6,0.184,0.079,2789,1914,3566,0,0,0,0,0,0
$GC,906,-0.68,-194.6,83.2,-9.6,135,913,0.00,2.40,0.00,0.000,4,0.000,0.090,2778,3361,3567,0,0,0,0,0,0
$GC,968,-0.68,-194.6,89.9,-10.8,145,980,0.08,2.45,0.00,0.000,6,0.177,0.086,2794,1916,3567,0,0,0,0,0,0
$STATE,987,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,987,begin apogee
$GC,991,-0.25,0.0,91.9,10.8,147,1145,0.45,0.00,148.48,0.618,6,0.162,0.000,2933,1756,2761,0,0,0,0,0,0
$STATE,1146,end apogee,CONTROL_FINISHED_OK
$STATE,1146,begin climb
$GC,1147,1.01,194.6,99.1,0.0,167,1310,1.27,2.40,152.12,0.600,4,0.114,0.050,3351,322,1967,0,0,0,0,0,0
$GC,1406,0.93,194.6,77.7,12.6,205,1415,0.12,2.33,0.00,0.000,6,0.155,0.034,3318,1778,1964,0,0,0,0,0,0
$GC,1523,0.92,207.5,66.3,9.5,224,1539,0.00,0.00,11.50,0.550,6,0.000,0.000,3317,1778,1915,0,0,0,0,0,0
$GC,1644,0.92,225.8,54.7,9.3,244,1668,0.00,0.00,16.42,0.568,6,0.000,0.000,3318,1778,1839,0,0,0,0,0,0
$GC,1774,0.92,229.8,41.9,9.8,265,1784,0.00,2.42,4.40,0.439,4,0.000,0.050,3328,326,1825,0,0,0,0,0,0
$GC,1815,0.89,229.8,37.7,10.7,271,1823,0.08,2.28,0.00,0.000,6,0.171,0.037,3309,1757,1823,0,0,0,0,0,0
$GC,1931,0.98,305.7,28.2,7.3,290,1983,0.08,2.35,40.47,0.567,4,0.120,0.059,3357,3175,1511,0,0,0,0,0,0
$GC,2036,0.95,305.7,17.5,11.1,304,2045,0.12,2.38,0.00,0.000,6,0.130,0.057,3326,1741,1506,0,0,0,0,0,0
$GC,2123,1.03,342.1,9.7,8.7,317,2150,0.08,2.33,17.02,0.491,4,0.116,0.054,3396,343,1362,0,0,0,0,0,0
$STATE,2176,end climb,SURFACE_DEPTH_REACHED
$STATE,2176,begin surface coast
$FINISH,1.4,1.016311
$STATE,2204,end surface coast,CONTROL_FINISHED_OK
$STATE,2204,begin surface
$SM_CCo,2282,0.00,0.000,0,0,1352,345.87
$SM_GC,2.08,8.95,0.00,0.00,0.047,0.000,0.000,71,1931,1352,-9.09,0.37,345.87
$IRIDIUM_FIX,-3404.29,2543.73,210208,212108
$TT8_MAMPS,0.025466
$HUMID,59.41
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,15.9
$24V_AH,24.3,14.141
$10V_AH,10.3,10.711
$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,23.375,43.975,390.425,0.000,0.000,27.573,40.187,159.094,2.000,0.000,17.528,755.170,165.639,382.502,1246.257,66.175,0.000,836.240,0.000,914.654,0.000,14.465,0.000
$DEVICE_MAMPS,264.690,130.050,618.120,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.637,913.296,676.547,980.257,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331552
$DATA_FILE_SIZE,23678,328
$CAP_FILE_SIZE,50474,0
$CFSIZE,2097086464,2079391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.252, 67.7,1
$GPS,270415,092023,-3419.675,2545.769,39,0.9,40,-27.7