version: 66.07.10.p01
glider: 573
mission: 9
dive: 702
start: 5 28 115 2 28 10
data:
$ID,573
$MISSION,9
$DIVE,702
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$D_NO_BLEED,200
$D_BOOST,5
$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,33
$T_MISSION,48
$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,175
$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,150
$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,611.52295
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-15591.876
$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,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$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,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,2902
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,15
$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,701
$GPS1,280515,022642,-3420.435,2441.259,31,2.0,31,-27.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-62.4
$GPS2,280515,022749,-3420.445,2441.247,20,1.6,20,-27.2
$SPEED_LIMITS,0.175,0.280
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.797,2447.798
$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,177.2,20000,-17.0,-10.101
$D_GRID,100
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,103,0.00,0.00,-72.80,0.000,2,0.000,0.000,74,1929,2191,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.0,-3.8,12,175,12.57,2.50,-48.65,0.000,4,0.283,0.109,2677,3379,3599,6,0,0,0,0,0
$GC,390,-0.96,-170.3,44.4,-16.2,58,397,0.17,2.55,0.00,0.000,6,0.184,0.098,2720,1920,3601,0,0,0,0,0,0
$GC,743,-0.92,-170.3,93.2,-14.4,119,749,0.05,2.45,0.00,0.000,4,0.259,0.091,2731,483,3603,0,0,0,0,0,0
$STATE,795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,795,begin apogee
$GC,803,-0.25,0.0,100.4,12.5,128,939,0.77,0.00,130.57,0.594,6,0.175,0.000,2945,1768,2901,0,0,0,0,0,0
$STATE,939,end apogee,CONTROL_FINISHED_OK
$STATE,940,begin climb
$GC,942,1.05,170.3,109.0,0.0,142,1085,1.30,2.30,132.52,0.589,4,0.106,0.047,3377,322,2206,0,0,0,0,0,0
$GC,1344,1.00,242.2,88.9,7.2,189,1410,0.08,2.30,57.90,0.582,6,0.151,0.036,3353,1764,1913,0,0,0,0,0,0
$GC,1753,1.00,283.3,50.9,8.5,261,1793,0.00,2.35,33.50,0.569,4,0.000,0.074,3353,3177,1746,0,0,0,0,0,0
$GC,1831,0.96,284.4,43.8,10.1,274,1837,0.08,2.45,0.00,0.000,6,0.192,0.082,3346,1750,1744,0,0,0,0,0,0
$GC,2195,1.03,316.0,11.0,8.8,335,2215,0.00,2.28,15.25,0.474,4,0.000,0.058,3357,326,1613,0,0,0,0,0,0
$STATE,2282,end climb,SURFACE_DEPTH_REACHED
$STATE,2282,begin surface coast
$FINISH,1.4,1.021518
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2321,begin surface
$SM_CCo,2343,131.15,0.041,0,0,408,611.52
$SM_GC,1.94,0.00,0.00,131.15,0.000,0.000,0.041,82,1924,408,-9.23,0.14,611.52
$IRIDIUM_FIX,-3406.89,2446.51,230308,131324
$TT8_MAMPS,0.026964
$HUMID,59.92
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.0,66.163
$10V_AH,10.1,50.699
$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,23.800,24.125,369.750,131.150,0.000,0.000,0.000,0.000,2.250,0.000,22.572,753.641,304.659,462.659,965.322,66.823,0.000,902.117,0.000,915.252,0.000,14.377,0.000
$DEVICE_MAMPS,283.050,109.395,593.640,41.310,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.875,516.150,564.148,371.541,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,23610,355
$CAP_FILE_SIZE,37997,6
$CFSIZE,2097086464,2023227392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,1
$GPS,280515,031035,-3420.673,2440.715,33,1.3,33,-27.2