version: 66.07.10.p01
glider: 573
mission: 9
dive: 144
start: 4 27 115 23 35 4
data:
$ID,573
$MISSION,9
$DIVE,144
$D_SURF,3
$D_FLARE,3
$D_TGT,130
$D_ABORT,150
$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,44
$T_MISSION,55
$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,-13967.277
$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,16
$R_STBD_OVSHOOT,21
$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,143
$GPS1,270415,232859,-3423.548,2550.415,38,1.1,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.7
$GPS2,270415,233442,-3423.551,2550.487,18,1.1,19,-27.8
$SPEED_LIMITS,0.171,0.294
$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,298.9,9948,-15.5,-9.848
$D_GRID,130
$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,24,-1.01,-194.6,0.0,0.0,0,71,0.00,0.00,-44.97,0.000,2,0.000,0.000,70,1924,2592,0,0,0,0,0,0
$GC,74,-1.01,-194.6,3.0,-2.8,5,128,11.45,2.50,-31.33,0.000,4,0.265,0.102,2683,499,3560,0,0,0,0,0,0
$GC,180,-0.78,-194.6,16.1,-21.3,19,190,0.32,2.55,0.00,0.000,6,0.202,0.098,2761,1911,3562,0,0,0,0,0,0
$GC,267,-0.68,-194.6,29.5,-15.2,32,277,0.15,2.45,0.00,0.000,4,0.223,0.084,2796,491,3564,0,0,0,0,0,0
$GC,285,-0.58,-194.6,32.6,-15.2,34,294,0.12,2.58,0.00,0.000,6,0.204,0.100,2821,1916,3564,0,0,0,0,0,0
$GC,403,-0.61,-194.6,46.7,-11.2,53,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1916,3564,0,0,0,0,0,0
$GC,517,-0.64,-194.6,58.6,-10.2,72,526,0.00,2.42,0.00,0.000,4,0.000,0.087,2810,3346,3565,0,0,0,0,0,0
$GC,590,-0.68,-194.6,66.0,-9.3,84,599,0.00,2.42,0.00,0.000,6,0.000,0.078,2810,1923,3565,0,0,0,0,0,0
$GC,705,-0.70,-194.6,77.3,-10.5,103,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1923,3566,0,0,0,0,0,0
$GC,817,-0.73,-194.6,88.6,-9.7,122,827,0.08,2.40,0.00,0.000,4,0.121,0.083,2749,3343,3567,0,0,0,0,0,0
$GC,868,-0.68,-194.6,94.7,-13.0,130,878,0.15,2.42,0.00,0.000,6,0.158,0.083,2794,1921,3567,0,0,0,0,0,0
$GC,984,-0.68,-194.6,107.4,-10.7,149,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1921,3568,0,0,0,0,0,0
$GC,1100,-0.68,-194.6,120.6,-11.3,168,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1921,3568,0,0,0,0,0,0
$STATE,1186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1186,begin apogee
$GC,1190,-0.25,0.0,130.9,12.2,182,1347,0.45,0.00,149.57,0.650,6,0.164,0.000,2932,1758,2761,0,0,0,0,0,0
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1349,1.01,194.6,140.0,0.0,203,1512,1.25,2.45,153.43,0.630,4,0.112,0.050,3344,329,1967,0,0,0,0,0,0
$GC,1600,0.93,194.6,120.3,12.1,240,1610,0.05,2.35,0.00,0.000,6,0.138,0.033,3326,1772,1962,0,0,0,0,0,0
$GC,1718,0.88,194.6,107.1,11.9,259,1724,0.08,0.00,0.00,0.000,6,0.197,0.000,3309,1774,1961,0,0,0,0,0,0
$GC,1829,0.86,194.6,95.0,10.7,278,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1774,1960,0,0,0,0,0,0
$GC,1945,0.83,199.1,83.2,9.7,297,1955,0.08,2.30,4.12,0.448,4,0.190,0.056,3292,3180,1949,0,0,0,0,0,0
$GC,2010,0.81,199.1,76.7,9.9,307,2018,0.08,2.30,0.00,0.000,6,0.189,0.054,3284,1746,1948,0,0,0,0,0,0
$GC,2122,0.83,214.2,66.3,9.3,326,2146,0.00,2.33,14.27,0.594,4,0.000,0.055,3294,336,1886,0,0,0,0,0,0
$GC,2187,0.84,223.1,60.2,9.5,336,2204,0.00,2.30,8.75,0.556,6,0.000,0.037,3294,1759,1851,0,0,0,0,0,0
$GC,2309,0.91,264.5,49.4,8.4,356,2348,0.05,0.00,35.67,0.608,6,0.164,0.000,3333,1759,1682,0,0,0,0,0,0
$GC,2455,0.94,285.4,35.6,9.1,379,2478,0.00,2.40,17.40,0.580,4,0.000,0.051,3342,338,1597,0,0,0,0,0,0
$GC,2535,0.94,285.4,26.6,11.9,391,2545,0.05,2.30,0.00,0.000,6,0.136,0.037,3325,1756,1593,0,0,0,0,0,0
$GC,2622,0.97,285.4,17.1,10.5,404,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1756,1590,0,0,0,0,0,0
$GC,2708,0.99,285.5,8.7,9.8,417,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1756,1589,0,0,0,0,0,0
$STATE,2767,end climb,SURFACE_DEPTH_REACHED
$STATE,2767,begin surface coast
$FINISH,1.2,1.010371
$STATE,2806,end surface coast,CONTROL_FINISHED_OK
$STATE,2807,begin surface
$SM_CCo,2822,5.72,0.407,0,0,1537,300.24
$SM_GC,3.07,0.00,0.00,5.72,0.000,0.000,0.407,74,1926,1537,-9.21,0.20,300.24
$IRIDIUM_FIX,-3338.31,2557.93,220208,121245
$TT8_MAMPS,0.026964
$HUMID,60.47
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,24.2,15.732
$10V_AH,10.3,11.938
$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,23.150,39.050,383.225,5.725,0.000,26.446,49.277,171.371,2.750,0.000,21.522,1007.072,155.263,401.986,1543.085,78.916,0.000,928.427,0.000,1159.263,0.000,17.503,0.000
$DEVICE_MAMPS,264.690,125.460,650.250,406.980,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.450,1164.940,841.796,1253.067,0.000,0.000,0.000,0.000,0.000,0.000
$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,30355,432
$CAP_FILE_SIZE,60042,0
$CFSIZE,2097086464,2077425664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.300, 91.0,1
$GPS,280415,002326,-3423.515,2550.544,39,1.8,39,-27.8