version: 66.07.10.p01
glider: 573
mission: 9
dive: 134
start: 4 27 115 15 34 49
data:
$ID,573
$MISSION,9
$DIVE,134
$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,-13933.411
$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,16
$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,133
$GPS1,270415,152853,-3421.353,2548.034,42,1.2,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.9
$GPS2,270415,153430,-3421.359,2548.065,21,1.1,22,-27.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3432.158,2548.065
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,25,-1.01,-194.6,0.0,0.0,0,72,0.00,0.00,-44.30,0.000,2,0.000,0.000,77,1928,2516,0,0,0,0,0,0
$GC,74,-1.01,-194.6,3.0,-2.9,7,125,11.18,2.42,-32.78,0.000,4,0.259,0.106,2674,3342,3556,0,0,0,0,0,0
$GC,243,-0.81,-194.6,29.2,-21.1,34,252,0.28,2.45,0.00,0.000,6,0.160,0.085,2757,1925,3559,0,0,0,0,0,0
$GC,326,-0.74,-194.6,40.0,-11.9,47,332,0.08,2.38,0.00,0.000,4,0.210,0.076,2764,3353,3560,0,0,0,0,0,0
$GC,472,-0.72,-194.6,55.3,-10.7,71,478,0.08,2.45,0.00,0.000,6,0.172,0.090,2780,1917,3561,0,0,0,0,0,0
$GC,587,-0.70,-194.6,67.4,-10.4,90,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1917,3562,0,0,0,0,0,0
$GC,702,-0.67,-194.6,79.4,-10.7,109,708,0.08,0.00,0.00,0.000,6,0.239,0.000,2796,1917,3562,0,0,0,0,0,0
$GC,814,-0.67,-194.6,91.7,-10.3,128,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1917,3563,0,0,0,0,0,0
$STATE,900,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,900,begin apogee
$GC,904,-0.25,0.0,100.5,10.9,142,1059,0.43,0.00,147.52,0.620,6,0.160,0.000,2928,1758,2762,0,0,0,0,0,0
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1062,1.01,194.6,108.1,0.0,170,1225,1.27,2.42,151.85,0.603,4,0.107,0.050,3352,332,1967,0,0,0,0,0,0
$GC,1263,0.93,194.6,92.6,11.8,205,1269,0.12,2.30,0.00,0.000,6,0.155,0.032,3319,1769,1964,0,0,0,0,0,0
$GC,1377,0.90,194.6,79.6,11.7,224,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1769,1962,0,0,0,0,0,0
$GC,1492,0.86,194.6,67.1,11.3,243,1497,0.08,0.00,0.00,0.000,6,0.193,0.000,3301,1770,1962,0,0,0,0,0,0
$GC,1603,0.86,194.6,55.3,11.0,262,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1770,1961,0,0,0,0,0,0
$GC,1718,0.88,206.9,44.4,9.5,281,1730,0.00,0.00,10.70,0.556,6,0.000,0.000,3301,1770,1918,0,0,0,0,0,0
$GC,1838,0.95,267.2,33.8,7.8,301,1885,0.08,2.28,39.40,0.589,4,0.119,0.060,3348,3169,1670,0,0,0,0,0,0
$GC,1930,0.92,267.2,25.7,10.0,316,1938,0.12,2.35,0.00,0.000,6,0.130,0.057,3316,1747,1665,0,0,0,0,0,0
$GC,2014,0.99,296.4,17.9,8.9,329,2035,0.08,2.30,13.77,0.514,4,0.121,0.051,3385,329,1552,0,0,0,0,0,0
$STATE,2139,end climb,SURFACE_DEPTH_REACHED
$STATE,2140,begin surface coast
$FINISH,1.3,1.013194
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2183,0.00,0.000,0,0,1538,300.24
$SM_GC,2.53,0.00,0.00,0.00,0.000,0.000,0.000,83,1921,1538,-9.18,0.06,300.24
$IRIDIUM_FIX,-3406.89,2547.21,220208,040436
$TT8_MAMPS,0.026964
$HUMID,60.39
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.5,14.1
$24V_AH,24.3,14.918
$10V_AH,10.3,11.278
$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,22.875,24.300,363.250,0.000,0.000,26.622,41.153,172.629,2.250,0.000,23.967,727.120,153.911,264.164,1323.470,65.814,0.000,754.538,0.000,964.339,0.000,15.952,0.000
$DEVICE_MAMPS,258.570,136.935,619.650,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.361,965.203,709.810,1036.769,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331484
$DATA_FILE_SIZE,27127,353
$CAP_FILE_SIZE,47282,0
$CFSIZE,2097086464,2078408704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,161225,-3421.581,2548.273,38,2.0,38,-27.7