version: 66.07.10.p01
glider: 573
mission: 9
dive: 145
start: 4 28 115 0 29 16
data:
$ID,573
$MISSION,9
$DIVE,145
$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,-13970.927
$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,20
$R_STBD_OVSHOOT,15
$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,144
$GPS1,280415,002326,-3423.515,2550.544,39,1.8,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.9
$GPS2,280415,002854,-3423.516,2550.526,16,1.2,17,-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,298.9,10012,-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,25,-1.01,-194.6,0.0,0.0,0,69,0.00,0.00,-42.40,0.000,2,0.000,0.000,74,1926,2518,0,0,0,0,0,0
$GC,71,-1.01,-194.6,3.0,-2.8,5,125,11.30,2.47,-34.88,0.000,4,0.259,0.099,2675,3342,3560,0,0,0,0,0,0
$GC,152,-0.79,-194.6,9.3,-14.0,15,162,0.28,2.42,0.00,0.000,6,0.174,0.075,2756,1923,3562,0,0,0,0,0,0
$GC,240,-0.68,-194.6,23.9,-15.4,28,249,0.17,2.40,0.00,0.000,4,0.200,0.076,2790,3337,3562,0,0,0,0,0,0
$GC,258,-0.59,-194.6,26.5,-14.9,30,269,0.10,2.45,0.00,0.000,6,0.165,0.082,2820,1921,3563,0,0,0,0,0,0
$GC,345,-0.59,-194.6,36.2,-10.1,43,352,0.00,2.45,0.00,0.000,4,0.000,0.094,2821,483,3563,0,0,0,0,0,0
$GC,421,-0.59,-194.6,43.6,-9.3,55,429,0.08,2.58,0.00,0.000,6,0.220,0.104,2826,1920,3563,0,0,0,0,0,0
$GC,540,-0.62,-194.6,52.9,-8.7,74,550,0.00,2.38,0.00,0.000,4,0.000,0.083,2815,3332,3564,0,0,0,0,0,0
$GC,588,-0.66,-194.6,57.1,-8.9,81,595,0.00,2.40,0.00,0.000,6,0.000,0.086,2815,1919,3564,0,0,0,0,0,0
$GC,706,-0.70,-194.6,69.3,-11.2,100,719,0.05,2.47,0.00,0.000,4,0.159,0.097,2782,485,3565,0,0,0,0,0,0
$GC,734,-0.70,-194.6,72.6,-11.8,103,742,0.10,2.50,0.00,0.000,6,0.226,0.089,2792,1929,3566,0,0,0,0,0,0
$GC,851,-0.70,-194.6,86.4,-10.8,122,860,0.00,2.40,0.00,0.000,4,0.000,0.090,2782,3345,3565,0,0,0,0,0,0
$GC,1007,-0.70,-194.6,102.4,-10.4,147,1014,0.00,2.42,0.00,0.000,6,0.000,0.085,2782,1904,3567,0,0,0,0,0,0
$GC,1122,-0.70,-194.6,114.4,-11.8,166,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1904,3567,0,0,0,0,0,0
$GC,1241,-0.70,-194.6,126.8,-10.7,185,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1905,3568,0,0,0,0,0,0
$STATE,1271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1271,begin apogee
$GC,1276,-0.25,0.0,130.6,11.3,190,1437,0.50,0.00,148.90,0.643,6,0.161,0.000,2935,1760,2764,0,0,0,0,0,0
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1439,1.01,194.6,137.2,0.0,211,1602,1.23,2.47,153.75,0.627,4,0.107,0.050,3345,326,1967,0,0,0,0,0,0
$GC,1665,0.93,194.6,120.8,11.3,243,1673,0.10,2.33,0.00,0.000,6,0.160,0.032,3320,1785,1963,0,0,0,0,0,0
$GC,1782,0.90,201.9,109.1,9.6,262,1793,0.00,0.00,6.82,0.525,6,0.000,0.000,3320,1785,1938,0,0,0,0,0,0
$GC,1903,0.90,227.9,98.1,9.0,281,1933,0.00,0.00,23.42,0.605,6,0.000,0.000,3320,1785,1830,0,0,0,0,0,0
$GC,2044,0.87,227.9,84.6,10.3,303,2052,0.08,2.20,0.00,0.000,4,0.193,0.055,3303,3160,1826,0,0,0,0,0,0
$GC,2096,0.85,227.9,78.7,11.7,311,2104,0.05,2.28,0.00,0.000,6,0.222,0.054,3300,1744,1825,0,0,0,0,0,0
$GC,2213,0.85,227.9,64.7,11.5,330,2222,0.00,2.28,0.00,0.000,4,0.000,0.055,3310,352,1824,0,0,0,0,0,0
$GC,2252,0.85,227.9,60.1,11.7,336,2262,0.00,2.22,0.00,0.000,6,0.000,0.036,3309,1738,1824,0,0,0,0,0,0
$GC,2372,0.85,227.9,46.9,11.1,355,2379,0.03,0.00,0.00,0.000,6,0.248,0.000,3300,1738,1824,0,0,0,0,0,0
$GC,2488,0.88,227.9,34.2,12.3,374,2498,0.00,2.28,0.00,0.000,4,0.000,0.054,3309,351,1823,0,0,0,0,0,0
$GC,2580,0.94,279.0,25.5,8.1,388,2615,0.00,2.25,25.17,0.572,6,0.000,0.039,3309,1753,1621,0,0,0,0,0,0
$GC,2693,1.03,317.1,15.8,8.6,404,2721,0.12,2.30,18.45,0.527,4,0.083,0.054,3381,3189,1467,0,0,0,0,0,0
$GC,2742,0.98,317.1,9.9,12.3,410,2752,0.15,2.33,0.00,0.000,6,0.127,0.047,3342,1751,1464,0,0,0,0,0,0
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,1.1,1.022079
$STATE,2830,end surface coast,CONTROL_FINISHED_OK
$STATE,2830,begin surface
$SM_CCo,2906,0.00,0.000,0,0,1456,320.11
$SM_GC,1.95,8.80,0.00,0.00,0.049,0.000,0.000,73,1952,1456,-9.08,0.93,320.11
$IRIDIUM_FIX,-3340.91,2549.79,220208,121230
$TT8_MAMPS,0.026964
$HUMID,59.37
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,24.2,15.812
$10V_AH,10.3,12.009
$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,23.125,52.850,376.525,0.000,0.000,26.858,23.985,180.432,2.750,0.000,19.555,985.792,273.677,403.679,1505.790,76.441,0.000,934.371,0.000,1139.967,0.000,17.498,0.000
$DEVICE_MAMPS,259.335,133.875,643.365,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.793,1146.566,825.411,1231.841,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331584
$DATA_FILE_SIZE,30403,423
$CAP_FILE_SIZE,61324,0
$CFSIZE,2097086464,2077327360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.253, 85.2,1
$GPS,280415,011853,-3423.431,2550.520,39,1.7,40,-27.8