version: 66.07.10.p01
glider: 573
mission: 9
dive: 146
start: 4 28 115 1 24 30
data:
$ID,573
$MISSION,9
$DIVE,146
$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,-13974.238
$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,26
$R_STBD_OVSHOOT,32
$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,145
$GPS1,280415,011853,-3423.431,2550.520,39,1.7,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.3
$GPS2,280415,012408,-3423.404,2550.597,17,1.8,17,-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,292.7,10142,-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,-194.6,0.0,0.0,0,77,0.00,0.00,-51.00,0.000,2,0.000,0.000,73,1952,2660,0,0,0,0,0,0
$GC,80,-1.01,-194.6,3.1,-2.8,6,133,11.30,2.42,-28.10,0.000,4,0.260,0.101,2674,3334,3561,0,0,0,0,0,0
$GC,179,-0.78,-194.6,15.3,-20.1,19,189,0.30,2.40,0.00,0.000,6,0.171,0.076,2761,1933,3563,0,0,0,0,0,0
$GC,267,-0.69,-194.6,29.9,-14.9,32,277,0.12,0.00,0.00,0.000,6,0.209,0.000,2790,1933,3563,0,0,0,0,0,0
$GC,350,-0.63,-194.6,41.3,-12.9,45,358,0.10,2.50,0.00,0.000,4,0.216,0.096,2813,480,3564,0,0,0,0,0,0
$GC,464,-0.63,-194.6,54.5,-11.3,64,474,0.03,2.58,0.00,0.000,6,0.211,0.105,2810,1894,3564,0,0,0,0,0,0
$GC,580,-0.63,-194.6,68.7,-13.0,83,587,0.00,2.42,0.00,0.000,4,0.000,0.088,2800,3353,3565,0,0,0,0,0,0
$GC,700,-0.65,-194.6,82.3,-10.4,103,709,0.00,2.45,0.00,0.000,6,0.000,0.090,2800,1921,3565,0,0,0,0,0,0
$GC,817,-0.65,-194.6,93.1,-8.9,122,826,0.00,2.42,0.00,0.000,4,0.000,0.084,2792,3350,3567,0,0,0,0,0,0
$GC,875,-0.65,-194.6,98.4,-9.2,131,884,0.08,2.45,0.00,0.000,6,0.172,0.090,2807,1911,3567,0,0,0,0,0,0
$GC,989,-0.65,-194.6,108.1,-8.4,150,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1911,3568,0,0,0,0,0,0
$GC,1104,-0.65,-194.6,118.2,-8.9,169,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1911,3568,0,0,0,0,0,0
$GC,1217,-0.65,-194.6,128.9,-9.5,188,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1911,3568,0,0,0,0,0,0
$STATE,1230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1230,begin apogee
$GC,1234,-0.25,0.0,130.3,9.5,190,1393,0.43,0.00,149.02,0.646,6,0.155,0.000,2941,1751,2762,0,0,0,0,0,0
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1395,1.01,194.6,136.5,0.0,211,1559,1.23,2.38,153.02,0.627,4,0.109,0.048,3346,330,1968,0,0,0,0,0,0
$GC,1608,0.93,194.6,121.6,11.6,241,1615,0.10,2.33,0.00,0.000,6,0.161,0.031,3322,1781,1965,0,0,0,0,0,0
$GC,1721,0.89,194.6,109.5,10.8,260,1730,0.08,0.00,0.00,0.000,6,0.195,0.000,3305,1782,1963,0,0,0,0,0,0
$GC,1836,0.90,209.2,98.4,9.4,279,1852,0.00,0.00,13.12,0.584,6,0.000,0.000,3305,1783,1908,0,0,0,0,0,0
$GC,1959,0.93,228.6,86.7,9.2,299,1981,0.00,0.00,17.33,0.596,6,0.000,0.000,3305,1783,1829,0,0,0,0,0,0
$GC,2088,0.97,265.7,75.4,8.6,320,2127,0.08,2.25,31.92,0.607,4,0.118,0.056,3349,3166,1678,0,0,0,0,0,0
$GC,2153,0.92,265.7,68.4,11.7,329,2161,0.15,2.30,0.00,0.000,6,0.152,0.052,3318,1744,1675,0,0,0,0,0,0
$GC,2266,0.92,265.7,56.4,10.3,348,2276,0.00,2.30,0.00,0.000,4,0.000,0.054,3329,346,1672,0,0,0,0,0,0
$GC,2328,0.92,265.7,49.5,10.7,358,2337,0.00,2.25,0.00,0.000,6,0.000,0.034,3329,1746,1671,0,0,0,0,0,0
$GC,2444,0.93,273.9,38.1,9.6,377,2460,0.00,2.30,6.55,0.520,4,0.000,0.050,3338,348,1645,0,0,0,0,0,0
$GC,2550,0.93,273.9,26.9,11.4,394,2560,0.05,2.28,0.00,0.000,6,0.131,0.037,3319,1764,1642,0,0,0,0,0,0
$GC,2638,0.96,274.0,18.1,9.8,407,2648,0.00,2.25,0.00,0.000,4,0.000,0.056,3319,3168,1641,0,0,0,0,0,0
$GC,2675,0.96,274.0,14.1,10.8,412,2684,0.00,2.28,0.00,0.000,6,0.000,0.053,3328,1758,1641,0,0,0,0,0,0
$GC,2761,0.96,274.0,5.1,10.5,425,2770,0.00,2.33,0.00,0.000,4,0.000,0.057,3340,342,1640,0,0,0,0,0,0
$STATE,2783,end climb,SURFACE_DEPTH_REACHED
$STATE,2784,begin surface coast
$FINISH,1.1,1.009908
$STATE,2816,end surface coast,CONTROL_FINISHED_OK
$STATE,2816,begin surface
$SM_CCo,2834,11.77,0.478,0,0,1537,300.24
$SM_GC,2.67,0.00,0.00,11.77,0.000,0.000,0.478,77,1920,1537,-9.20,0.03,300.24
$IRIDIUM_FIX,-3412.10,2548.35,220208,131301
$TT8_MAMPS,0.026964
$HUMID,58.86
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,24.2,15.893
$10V_AH,10.3,12.082
$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,22.825,47.800,370.975,11.775,0.000,23.582,27.014,168.047,2.750,0.000,19.682,1007.699,162.612,413.777,1514.982,76.079,0.000,944.898,0.000,1159.601,0.000,17.504,0.000
$DEVICE_MAMPS,260.100,130.050,645.660,478.125,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,290.806,1164.290,838.668,1253.327,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331516
$DATA_FILE_SIZE,30426,433
$CAP_FILE_SIZE,60041,0
$CFSIZE,2097086464,2077229056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.228, 82.6,1
$GPS,280415,021305,-3423.368,2550.538,34,1.0,35,-27.8