version: 66.07.10.p01
glider: 573
mission: 9
dive: 131
start: 4 27 115 13 30 50
data:
$ID,573
$MISSION,9
$DIVE,131
$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,-13923.128
$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,25
$R_STBD_OVSHOOT,35
$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,130
$GPS1,270415,132505,-3420.688,2547.254,39,1.2,40,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-67.4
$GPS2,270415,133030,-3420.675,2547.296,16,1.4,16,-27.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3431.474,2547.296
$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,23,begin dive
$GC,24,-1.01,-194.6,0.0,0.0,0,77,0.00,0.00,-50.25,0.000,2,0.000,0.000,85,1901,2525,0,0,0,0,0,0
$GC,79,-1.01,-194.6,3.1,-3.2,8,131,11.12,2.42,-33.47,0.000,4,0.258,0.098,2674,3323,3556,0,0,0,0,0,0
$GC,261,-0.81,-194.6,29.7,-20.5,37,270,0.25,2.42,0.00,0.000,6,0.171,0.086,2748,1927,3559,0,0,0,0,0,0
$GC,344,-0.71,-194.6,41.2,-12.8,50,351,0.15,2.50,0.00,0.000,4,0.185,0.095,2787,491,3560,0,0,0,0,0,0
$GC,393,-0.68,-194.6,47.6,-11.7,58,401,0.05,2.53,0.00,0.000,6,0.200,0.096,2791,1899,3560,0,0,0,0,0,0
$GC,508,-0.68,-194.6,59.1,-10.3,77,513,0.00,2.42,0.00,0.000,4,0.000,0.089,2781,3352,3561,0,0,0,0,0,0
$GC,618,-0.68,-194.6,70.4,-9.9,95,624,0.08,2.47,0.00,0.000,6,0.178,0.090,2796,1908,3562,0,0,0,0,0,0
$GC,731,-0.68,-194.6,80.4,-8.6,114,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1908,3562,0,0,0,0,0,0
$GC,846,-0.68,-194.6,89.6,-8.1,133,856,0.00,2.40,0.00,0.000,4,0.000,0.086,2787,3352,3563,0,0,0,0,0,0
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,865,begin apogee
$GC,871,-0.25,0.0,91.1,8.2,135,1028,0.47,0.00,147.50,0.610,6,0.151,0.000,2935,1757,2762,0,0,0,0,0,0
$STATE,1029,end apogee,CONTROL_FINISHED_OK
$STATE,1029,begin climb
$GC,1030,1.01,194.6,98.3,0.0,163,1192,1.25,2.40,151.93,0.594,4,0.108,0.051,3351,327,1966,0,0,0,0,0,0
$GC,1259,0.92,194.6,78.0,13.3,203,1266,0.12,2.33,0.00,0.000,6,0.155,0.033,3318,1783,1963,0,0,0,0,0,0
$GC,1372,0.89,194.6,65.5,10.5,222,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1783,1962,0,0,0,0,0,0
$GC,1487,0.87,208.2,54.5,9.4,241,1504,0.08,0.00,11.50,0.549,6,0.192,0.000,3302,1783,1914,0,0,0,0,0,0
$GC,1611,0.89,223.0,42.5,9.4,262,1629,0.00,0.00,13.38,0.556,6,0.000,0.000,3302,1784,1853,0,0,0,0,0,0
$GC,1738,1.02,309.1,31.8,7.0,283,1793,0.12,2.40,47.88,0.571,4,0.083,0.050,3381,331,1498,0,0,0,0,0,0
$GC,1875,0.97,309.1,16.8,12.2,305,1883,0.15,2.30,0.00,0.000,6,0.128,0.034,3332,1755,1492,0,0,0,0,0,0
$GC,1958,1.00,309.1,7.9,10.3,318,1966,0.00,2.33,0.00,0.000,4,0.000,0.060,3332,3180,1489,0,0,0,0,0,0
$GC,1986,1.00,309.1,5.0,10.3,322,1993,0.00,2.35,0.00,0.000,6,0.000,0.058,3341,1749,1488,0,0,0,0,0,0
$STATE,2006,end climb,SURFACE_DEPTH_REACHED
$STATE,2006,begin surface coast
$FINISH,1.1,1.022017
$STATE,2039,end surface coast,CONTROL_FINISHED_OK
$STATE,2039,begin surface
$SM_CCo,2114,0.00,0.000,0,0,1483,313.73
$SM_GC,2.16,8.82,0.00,0.00,0.050,0.000,0.000,78,1936,1483,-9.10,0.48,313.73
$IRIDIUM_FIX,-3435.63,2544.61,220208,020205
$TT8_MAMPS,0.026215
$HUMID,59.09
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,17.5
$24V_AH,24.3,14.692
$10V_AH,10.3,11.104
$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,22.675,34.325,372.175,0.000,0.000,24.538,43.227,166.468,2.000,0.000,18.072,667.359,191.677,274.824,1252.656,66.126,0.000,770.038,0.000,915.219,0.000,14.457,0.000
$DEVICE_MAMPS,257.805,97.920,610.470,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.658,913.493,680.187,980.365,0.000,0.000,0.000,0.000,0.000,0.000
$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,23793,330
$CAP_FILE_SIZE,47137,0
$CFSIZE,2097086464,2078703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,140705,-3420.913,2547.532,29,1.4,30,-27.7