version: 66.07.10.p01
glider: 573
mission: 9
dive: 136
start: 4 27 115 17 3 23
data:
$ID,573
$MISSION,9
$DIVE,136
$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,-13940.073
$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,18
$R_STBD_OVSHOOT,12
$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,135
$GPS1,270415,165705,-3421.906,2548.499,27,1.3,28,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-69.7
$GPS2,270415,170304,-3421.898,2548.550,19,5.2,39,-27.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3432.697,2548.550
$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,207.8,20000,-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,23,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,-44.20,0.000,2,0.000,0.000,82,1942,2580,0,0,0,0,0,0
$GC,74,-1.01,-194.6,3.1,-3.5,7,125,11.18,2.40,-30.95,0.000,4,0.259,0.093,2675,3343,3559,0,0,0,0,0,0
$GC,213,-0.81,-194.6,22.4,-19.1,29,221,0.25,2.45,0.00,0.000,6,0.157,0.083,2751,1919,3563,0,0,0,0,0,0
$GC,297,-0.73,-194.6,35.4,-13.9,42,305,0.12,2.40,0.00,0.000,4,0.187,0.075,2773,3343,3563,0,0,0,0,0,0
$GC,369,-0.71,-194.6,44.0,-11.5,54,378,0.03,2.42,0.00,0.000,6,0.133,0.080,2782,1926,3564,0,0,0,0,0,0
$GC,486,-0.71,-194.6,56.4,-11.2,73,491,0.00,2.35,0.00,0.000,4,0.000,0.077,2773,3351,3565,0,0,0,0,0,0
$GC,571,-0.71,-194.6,64.7,-9.2,87,577,0.08,2.42,0.00,0.000,6,0.179,0.084,2789,1916,3565,0,0,0,0,0,0
$GC,683,-0.71,-194.6,76.1,-10.4,106,690,0.00,2.45,0.00,0.000,4,0.000,0.092,2789,485,3567,0,0,0,0,0,0
$GC,722,-0.68,-194.6,80.3,-11.3,112,730,0.05,2.50,0.00,0.000,6,0.221,0.087,2792,1912,3566,0,0,0,0,0,0
$GC,840,-0.68,-194.6,92.5,-9.6,131,845,0.00,2.40,0.00,0.000,4,0.000,0.087,2782,3362,3568,0,0,0,0,0,0
$GC,906,-0.68,-194.6,99.5,-10.7,142,917,0.03,2.47,0.00,0.000,6,0.147,0.089,2791,1926,3568,0,0,0,0,0,0
$STATE,1006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1007,begin apogee
$GC,1011,-0.25,0.0,110.3,10.4,158,1164,0.45,0.00,148.23,0.631,6,0.159,0.000,2930,1747,2762,0,0,0,0,0,0
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1167,1.01,194.6,118.1,0.0,185,1329,1.27,2.38,152.10,0.617,4,0.115,0.050,3347,330,1967,0,0,0,0,0,0
$GC,1362,0.94,194.6,106.0,11.2,219,1368,0.10,2.33,0.00,0.000,6,0.160,0.031,3322,1790,1964,0,0,0,0,0,0
$GC,1474,0.90,194.6,94.3,10.3,238,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1790,1962,0,0,0,0,0,0
$GC,1589,0.87,202.2,83.2,9.6,257,1602,0.08,0.00,6.75,0.519,6,0.196,0.000,3305,1791,1938,0,0,0,0,0,0
$GC,1711,0.91,233.5,72.5,8.8,277,1746,0.00,2.42,27.50,0.601,4,0.000,0.050,3314,336,1808,0,0,0,0,0,0
$GC,1819,0.91,233.5,61.4,10.4,295,1824,0.00,2.28,0.00,0.000,6,0.000,0.035,3314,1744,1805,0,0,0,0,0,0
$GC,1931,0.92,245.6,50.6,9.5,314,1950,0.00,2.35,11.25,0.565,4,0.000,0.059,3314,3175,1758,0,0,0,0,0,0
$GC,1988,0.89,245.6,45.3,10.2,323,1994,0.05,2.30,0.00,0.000,6,0.216,0.053,3312,1741,1756,0,0,0,0,0,0
$GC,2102,0.93,274.0,34.5,8.9,342,2132,0.00,2.33,21.95,0.588,4,0.000,0.054,3323,345,1644,0,0,0,0,0,0
$GC,2146,0.95,296.2,30.5,9.1,349,2165,0.00,2.28,12.23,0.545,6,0.000,0.035,3323,1749,1553,0,0,0,0,0,0
$GC,2241,1.02,319.5,22.1,9.1,364,2262,0.08,2.33,11.73,0.521,4,0.117,0.054,3375,3175,1457,0,0,0,0,0,0
$GC,2276,1.02,319.5,18.2,11.3,369,2284,0.10,2.30,0.00,0.000,6,0.124,0.046,3350,1756,1454,0,0,0,0,0,0
$GC,2359,1.05,319.5,9.3,10.5,382,2367,0.00,2.30,0.00,0.000,4,0.000,0.054,3361,355,1450,0,0,0,0,0,0
$STATE,2416,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,1.3,1.022081
$STATE,2442,end surface coast,CONTROL_FINISHED_OK
$STATE,2443,begin surface
$SM_CCo,2521,0.00,0.000,0,0,1444,323.05
$SM_GC,2.10,8.93,0.00,0.00,0.054,0.000,0.000,78,1926,1444,-9.10,0.20,323.05
$IRIDIUM_FIX,-3414.71,2551.84,220208,050554
$TT8_MAMPS,0.026215
$HUMID,60.51
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,12.1
$24V_AH,24.3,15.079
$10V_AH,10.3,11.407
$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,22.775,52.800,391.725,0.000,0.000,27.007,44.207,172.698,2.500,0.000,42.200,822.766,231.335,295.619,1463.626,78.118,0.000,852.416,0.000,1071.028,0.000,17.460,0.000
$DEVICE_MAMPS,259.335,128.520,631.125,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.219,1075.694,785.661,1157.292,0.000,0.000,0.000,0.000,0.000,0.000
$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,30427,395
$CAP_FILE_SIZE,57672,0
$CFSIZE,2097086464,2078212096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,174635,-3422.236,2548.811,38,1.1,39,-27.8