version: 66.07.10.p01
glider: 573
mission: 9
dive: 138
start: 4 27 115 18 39 20
data:
$ID,573
$MISSION,9
$DIVE,138
$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,-13946.871
$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,19
$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,137
$GPS1,270415,183259,-3422.505,2549.061,39,1.1,40,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.7
$GPS2,270415,183900,-3422.519,2549.135,19,1.1,20,-27.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3433.318,2549.135
$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,23,begin dive
$GC,24,-1.01,-194.6,0.0,0.0,0,71,0.00,0.00,-44.12,0.000,2,0.000,0.000,81,1922,2430,0,0,0,0,0,0
$GC,73,-1.01,-194.6,3.1,-3.0,7,131,11.40,2.40,-40.35,0.000,4,0.265,0.094,2675,3343,3558,0,0,0,0,0,0
$GC,404,-0.86,-194.6,52.9,-15.6,61,411,0.22,2.38,0.00,0.000,6,0.175,0.080,2737,1928,3561,0,0,0,0,0,0
$GC,518,-0.77,-194.6,69.5,-14.4,80,527,0.12,2.38,0.00,0.000,4,0.191,0.077,2760,3335,3563,0,0,0,0,0,0
$GC,558,-0.73,-194.6,74.9,-13.0,86,566,0.05,2.42,0.00,0.000,6,0.151,0.083,2776,1922,3563,0,0,0,0,0,0
$GC,673,-0.70,-194.6,87.3,-10.1,105,678,0.05,0.00,0.00,0.000,6,0.259,0.000,2785,1922,3564,0,0,0,0,0,0
$GC,784,-0.70,-194.6,99.3,-10.5,124,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1922,3564,0,0,0,0,0,0
$STATE,887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,891,-0.25,0.0,110.3,11.3,141,1049,0.47,0.00,148.23,0.632,6,0.161,0.000,2932,1762,2761,0,0,0,0,0,0
$STATE,1049,end apogee,CONTROL_FINISHED_OK
$STATE,1049,begin climb
$GC,1051,1.01,194.6,118.0,0.0,169,1208,1.27,0.00,152.10,0.614,6,0.111,0.000,3341,1761,1968,0,0,0,0,0,0
$GC,1317,0.95,194.6,96.0,11.5,215,1323,0.05,2.35,0.00,0.000,4,0.204,0.052,3341,328,1962,0,0,0,0,0,0
$GC,1378,0.87,194.6,88.8,11.9,225,1385,0.15,2.28,0.00,0.000,6,0.153,0.031,3300,1776,1961,0,0,0,0,0,0
$GC,1492,0.90,214.2,78.0,9.2,244,1511,0.00,0.00,16.80,0.583,6,0.000,0.000,3300,1776,1888,0,0,0,0,0,0
$GC,1619,0.95,262.9,66.9,8.2,265,1665,0.08,2.40,40.65,0.601,4,0.116,0.048,3356,325,1691,0,0,0,0,0,0
$GC,1704,0.90,262.9,57.4,12.6,279,1710,0.15,2.28,0.00,0.000,6,0.148,0.032,3314,1757,1686,0,0,0,0,0,0
$GC,1818,0.90,262.9,44.4,11.4,298,1825,0.00,2.28,0.00,0.000,4,0.000,0.054,3314,3171,1684,0,0,0,0,0,0
$GC,1850,0.90,262.9,40.8,10.9,303,1856,0.00,2.30,0.00,0.000,6,0.000,0.057,3323,1746,1683,0,0,0,0,0,0
$GC,1964,0.90,262.9,28.5,10.7,322,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1747,1683,0,0,0,0,0,0
$GC,2046,0.90,262.9,20.1,10.1,335,2053,0.00,2.30,0.00,0.000,4,0.000,0.057,3323,3162,1682,0,0,0,0,0,0
$GC,2092,0.91,273.9,15.7,9.5,342,2107,0.05,2.28,4.62,0.405,6,0.144,0.055,3315,1761,1643,0,0,0,0,0,0
$GC,2184,1.01,325.3,8.3,8.2,356,2217,0.08,2.33,25.05,0.508,4,0.119,0.053,3373,347,1431,0,0,0,0,0,0
$STATE,2236,end climb,SURFACE_DEPTH_REACHED
$STATE,2236,begin surface coast
$FINISH,1.3,1.007370
$STATE,2269,end surface coast,CONTROL_FINISHED_OK
$STATE,2269,begin surface
$SM_CCo,2347,0.00,0.000,0,0,1420,329.19
$SM_GC,2.03,8.65,0.00,0.00,0.033,0.000,0.000,83,1925,1420,-9.09,0.17,329.19
$IRIDIUM_FIX,-3406.89,2550.70,220208,070711
$TT8_MAMPS,0.026215
$HUMID,60.35
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,24.3,15.240
$10V_AH,10.3,11.534
$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,22.800,33.300,387.450,0.000,0.000,25.091,47.538,186.993,2.250,0.000,22.309,755.211,216.885,279.063,1396.345,72.817,0.000,800.181,0.000,1014.401,0.000,14.499,0.000
$DEVICE_MAMPS,264.690,131.580,631.890,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.776,1015.815,749.279,1090.854,0.000,0.000,0.000,0.000,0.000,0.000
$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,27042,369
$CAP_FILE_SIZE,50201,0
$CFSIZE,2097086464,2078015488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,191935,-3422.854,2549.395,36,1.2,37,-27.8