version: 66.07.10.p01
glider: 573
mission: 9
dive: 127
start: 4 27 115 10 48 26
data:
$ID,573
$MISSION,9
$DIVE,127
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,180
$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,-13909.291
$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,22
$R_STBD_OVSHOOT,33
$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,126
$GPS1,270415,104235,-3419.849,2546.170,35,1.2,36,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.9
$GPS2,270415,104806,-3419.837,2546.216,20,1.3,21,-27.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3430.636,2546.216
$TGT_RADIUS,1852.000
$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,207.7,20000,-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,22,begin dive
$GC,24,-1.01,-194.6,0.0,0.0,0,71,0.00,0.00,-44.50,0.000,2,0.000,0.000,89,1933,2597,0,0,0,0,0,0
$GC,73,-1.01,-194.6,3.3,-4.0,7,118,11.10,2.38,-28.85,0.000,4,0.258,0.099,2674,3331,3558,0,0,0,0,0,0
$GC,262,-0.82,-194.6,31.6,-16.6,37,268,0.28,2.38,0.00,0.000,6,0.174,0.080,2749,1925,3560,0,0,0,0,0,0
$GC,376,-0.74,-194.6,46.4,-12.2,56,384,0.10,2.50,0.00,0.000,4,0.194,0.095,2774,487,3562,0,0,0,0,0,0
$GC,533,-0.69,-194.6,64.2,-11.5,82,541,0.08,2.47,0.00,0.000,6,0.188,0.086,2786,1901,3563,0,0,0,0,0,0
$GC,650,-0.67,-194.6,75.6,-10.1,101,656,0.05,2.40,0.00,0.000,4,0.269,0.086,2784,3361,3564,0,0,0,0,0,0
$GC,716,-0.67,-194.6,82.2,-9.7,112,724,0.03,2.47,0.00,0.000,6,0.142,0.086,2793,1918,3564,0,0,0,0,0,0
$STATE,802,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,802,begin apogee
$GC,806,-0.25,0.0,90.0,8.8,126,959,0.43,0.00,147.95,0.609,6,0.151,0.000,2928,1752,2760,0,0,0,0,0,0
$STATE,960,end apogee,CONTROL_FINISHED_OK
$STATE,960,begin climb
$GC,961,1.01,194.6,96.9,0.0,153,1123,1.27,2.42,151.57,0.592,4,0.108,0.050,3350,330,1966,0,0,0,0,0,0
$GC,1159,0.93,194.6,80.2,12.1,188,1167,0.08,2.38,0.00,0.000,6,0.135,0.032,3325,1786,1964,0,0,0,0,0,0
$GC,1275,0.93,228.8,69.6,8.7,207,1310,0.00,0.00,28.25,0.577,6,0.000,0.000,3325,1786,1829,0,0,0,0,0,0
$GC,1419,0.97,281.0,56.4,8.1,231,1469,0.00,2.42,43.88,0.579,4,0.000,0.049,3336,327,1615,0,0,0,0,0,0
$GC,1536,0.97,281.0,44.4,10.7,251,1541,0.00,2.30,0.00,0.000,6,0.000,0.037,3336,1760,1610,0,0,0,0,0,0
$GC,1647,0.97,281.0,33.4,10.1,270,1654,0.00,2.30,0.00,0.000,4,0.000,0.057,3335,3175,1608,0,0,0,0,0,0
$GC,1674,0.97,281.0,30.5,11.1,274,1681,0.00,2.35,0.00,0.000,6,0.000,0.057,3345,1746,1607,0,0,0,0,0,0
$GC,1792,0.97,281.0,16.9,10.3,293,1799,0.00,2.30,0.00,0.000,4,0.000,0.055,3356,339,1606,0,0,0,0,0,0
$STATE,1916,end climb,SURFACE_DEPTH_REACHED
$STATE,1916,begin surface coast
$FINISH,1.3,1.010905
$STATE,1942,end surface coast,CONTROL_FINISHED_OK
$STATE,1942,begin surface
$SM_CCo,1960,7.50,0.428,0,0,1537,300.24
$SM_GC,3.23,0.00,0.00,7.50,0.000,0.000,0.428,86,1922,1537,-9.17,0.08,300.24
$IRIDIUM_FIX,-3406.89,2543.73,210208,232334
$TT8_MAMPS,0.026964
$HUMID,59.13
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,15.3
$24V_AH,24.3,14.376
$10V_AH,10.3,10.879
$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,22.000,34.025,371.650,7.500,0.000,21.319,40.733,173.344,2.000,0.000,23.029,642.810,115.210,272.630,1219.753,63.356,0.000,732.294,0.000,878.753,0.000,14.477,0.000
$DEVICE_MAMPS,268.515,123.930,608.940,428.400,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.010,876.472,653.757,940.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331512
$DATA_FILE_SIZE,23804,317
$CAP_FILE_SIZE,43940,0
$CFSIZE,2097086464,2079096832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,112230,-3420.044,2546.423,42,1.1,43,-27.7