version: 66.07.10.p01
glider: 573
mission: 9
dive: 140
start: 4 27 115 20 10 44
data:
$ID,573
$MISSION,9
$DIVE,140
$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,-13953.678
$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,10
$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,139
$GPS1,270415,200505,-3423.212,2549.773,33,1.6,34,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.1
$GPS2,270415,201024,-3423.239,2549.875,24,1.6,25,-27.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3434.038,2549.875
$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,-44.28,0.000,2,0.000,0.000,78,1913,2489,0,0,0,0,0,0
$GC,73,-1.01,-194.6,3.1,-3.4,7,131,11.35,2.47,-35.42,0.000,4,0.264,0.102,2674,3345,3560,0,0,0,0,0,0
$GC,406,-0.85,-194.6,52.7,-16.3,61,412,0.25,2.40,0.00,0.000,6,0.169,0.085,2743,1927,3563,0,0,0,0,0,0
$GC,519,-0.77,-194.6,68.4,-13.3,80,526,0.10,0.00,0.00,0.000,6,0.200,0.000,2766,1927,3565,0,0,0,0,0,0
$GC,635,-0.73,-194.6,82.8,-11.7,99,640,0.05,0.00,0.00,0.000,6,0.257,0.000,2777,1927,3565,0,0,0,0,0,0
$GC,747,-0.70,-194.6,95.1,-10.2,118,754,0.05,0.00,0.00,0.000,6,0.253,0.000,2787,1927,3566,0,0,0,0,0,0
$GC,862,-0.70,-194.6,106.5,-10.1,137,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1927,3566,0,0,0,0,0,0
$STATE,899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,899,begin apogee
$GC,903,-0.25,0.0,110.2,10.7,143,1060,0.47,0.00,148.38,0.628,6,0.163,0.000,2931,1763,2763,0,0,0,0,0,0
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1062,1.01,194.6,116.5,0.0,171,1224,1.25,2.40,152.68,0.610,4,0.111,0.047,3345,329,1967,0,0,0,0,0,0
$GC,1292,0.93,194.6,96.8,12.1,211,1298,0.10,2.33,0.00,0.000,6,0.161,0.031,3321,1796,1963,0,0,0,0,0,0
$GC,1405,0.93,220.4,85.4,9.0,230,1434,0.00,0.00,22.08,0.584,6,0.000,0.000,3321,1796,1862,0,0,0,0,0,0
$GC,1543,0.96,269.7,74.0,8.2,253,1593,0.00,2.47,41.53,0.598,4,0.000,0.048,3331,329,1660,0,0,0,0,0,0
$GC,1638,0.98,303.6,65.6,8.8,269,1673,0.00,2.28,29.67,0.588,6,0.000,0.034,3331,1747,1523,0,0,0,0,0,0
$GC,1782,0.98,303.6,52.1,9.9,293,1787,0.00,2.33,0.00,0.000,4,0.000,0.049,3341,325,1518,0,0,0,0,0,0
$GC,1811,0.98,303.6,48.7,10.5,298,1818,0.00,2.33,0.00,0.000,6,0.000,0.035,3341,1758,1517,0,0,0,0,0,0
$GC,1926,1.01,323.6,38.4,9.2,317,1950,0.00,2.33,17.00,0.577,4,0.000,0.057,3341,3177,1443,0,0,0,0,0,0
$GC,2011,1.01,323.6,29.5,11.6,331,2018,0.00,2.35,0.00,0.000,6,0.000,0.053,3351,1734,1439,0,0,0,0,0,0
$GC,2093,1.01,323.6,19.6,11.4,344,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,1733,1437,0,0,0,0,0,0
$GC,2175,1.02,334.3,11.5,9.5,357,2189,0.00,2.28,4.93,0.403,4,0.000,0.054,3361,349,1397,0,0,0,0,0,0
$GC,2210,1.02,334.3,7.8,10.5,362,2217,0.00,2.28,0.00,0.000,6,0.000,0.037,3362,1762,1395,0,0,0,0,0,0
$STATE,2254,end climb,SURFACE_DEPTH_REACHED
$STATE,2254,begin surface coast
$FINISH,1.2,1.021993
$STATE,2287,end surface coast,CONTROL_FINISHED_OK
$STATE,2287,begin surface
$SM_CCo,2362,0.00,0.000,0,0,1387,337.04
$SM_GC,1.93,8.90,0.00,0.00,0.054,0.000,0.000,83,1935,1387,-9.08,0.42,337.04
$IRIDIUM_FIX,-3406.89,2547.21,220208,080807
$TT8_MAMPS,0.026964
$HUMID,59.96
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,24.3,15.406
$10V_AH,10.3,11.661
$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,22.525,28.800,416.250,0.000,0.000,26.998,19.099,172.076,2.250,0.000,27.088,745.739,214.030,300.867,1362.432,70.429,0.000,832.320,0.000,1017.928,0.000,14.509,0.000
$DEVICE_MAMPS,263.925,120.105,628.065,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.235,1020.229,749.292,1095.854,0.000,0.000,0.000,0.000,0.000,0.000
$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,27140,374
$CAP_FILE_SIZE,49772,0
$CFSIZE,2097086464,2077818880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,205105,-3423.577,2550.112,27,1.7,28,-27.8