version: 66.07.10.p01
glider: 573
mission: 9
dive: 296
start: 5 6 115 2 33 28
data:
$ID,573
$MISSION,9
$DIVE,296
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,333
$T_MISSION,348
$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,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,-14480.378
$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,13
$R_STBD_OVSHOOT,41
$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,50
$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,295
$GPS1,060515,022605,-3429.604,2527.649,43,1.0,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-56.4
$GPS2,060515,023305,-3429.597,2527.639,33,1.1,33,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3420.000,2528.000
$TGT_RADIUS,3000.000
$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,358.0,17782,-16.9,-10.010
$D_GRID,1000
$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,25,-1.05,-170.3,0.0,0.0,0,94,0.00,0.00,-66.32,0.000,2,0.000,0.000,68,1960,2799,0,0,0,0,0,0
$GC,96,-1.05,-170.3,3.4,-4.4,8,132,11.45,2.62,-18.27,0.000,4,0.257,0.106,2685,493,3600,0,0,0,0,0,0
$GC,251,-0.87,-170.3,33.8,-20.1,31,259,0.30,2.58,0.00,0.000,6,0.204,0.112,2751,1893,3604,0,0,0,0,0,0
$GC,400,-0.81,-170.3,55.1,-11.3,56,408,0.08,2.50,0.00,0.000,4,0.212,0.098,2757,3361,3606,0,0,0,0,0,0
$GC,625,-0.81,-170.3,79.3,-11.7,94,634,0.05,2.53,0.00,0.000,6,0.164,0.096,2768,1916,3609,0,0,0,0,0,0
$GC,969,-0.81,-170.3,119.9,-11.9,140,976,0.00,2.47,0.00,0.000,4,0.000,0.099,2760,3345,3612,0,0,0,0,0,0
$GC,1056,-0.81,-170.3,130.1,-11.6,147,1063,0.00,2.50,0.00,0.000,6,0.000,0.096,2760,1908,3613,0,0,0,0,0,0
$GC,1381,-0.81,-170.3,168.7,-12.1,178,1385,0.00,2.42,0.00,0.000,4,0.000,0.096,2760,485,3612,0,0,0,0,0,0
$GC,1399,-0.79,-170.3,170.6,-11.7,179,1405,0.10,2.42,0.00,0.000,6,0.195,0.078,2772,1925,3612,0,0,0,0,0,0
$GC,1726,-0.79,-170.3,209.6,-12.1,209,1731,0.00,2.50,0.00,0.000,4,0.000,0.123,2762,3340,3612,0,0,0,0,0,0
$GC,1903,-0.79,-170.3,230.8,-12.7,224,1913,0.03,2.65,0.00,0.000,6,0.105,0.124,2773,1923,3612,0,0,0,0,0,0
$STATE,1918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1919,begin apogee
$GC,1924,-0.25,0.0,232.5,12.6,226,2062,0.62,0.00,134.52,0.720,6,0.173,0.000,2957,1750,2901,0,0,0,0,0,0
$STATE,2063,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2065,1.05,170.3,238.4,0.0,240,2208,1.25,2.45,133.88,0.696,4,0.099,0.053,3376,330,2206,0,0,0,0,0,0
$GC,2411,0.92,170.3,209.4,12.3,270,2416,0.17,2.30,0.00,0.000,6,0.162,0.036,3330,1766,2202,0,0,0,0,0,0
$GC,2737,0.88,186.3,178.5,9.4,300,2757,0.00,0.00,13.48,0.651,6,0.000,0.000,3330,1766,2142,0,0,0,0,0,0
$GC,3075,0.85,209.6,144.6,9.1,332,3098,0.08,0.00,20.30,0.666,6,0.206,0.000,3313,1767,2046,0,0,0,0,0,0
$GC,3413,0.88,233.8,113.0,9.1,364,3436,0.00,0.00,20.73,0.662,6,0.000,0.000,3313,1767,1948,0,0,0,0,0,0
$GC,3768,0.89,240.0,78.5,9.8,415,3781,0.00,2.30,5.95,0.547,4,0.000,0.073,3313,3175,1921,0,0,0,0,0,0
$GC,3858,0.89,240.0,69.2,10.3,430,3866,0.00,2.42,0.00,0.000,6,0.000,0.087,3322,1756,1919,0,0,0,0,0,0
$GC,4213,0.94,285.6,36.2,8.2,491,4257,0.00,2.45,35.67,0.630,4,0.000,0.086,3322,3179,1735,0,0,0,0,0,0
$GC,4300,0.97,309.4,28.5,9.1,504,4324,0.00,2.53,12.25,0.562,6,0.000,0.095,3331,1762,1637,0,0,0,0,0,0
$GC,4473,1.09,372.1,14.2,7.5,531,4515,0.15,2.38,30.67,0.539,4,0.070,0.056,3436,334,1379,0,0,0,0,0,0
$STATE,4565,end climb,SURFACE_DEPTH_REACHED
$STATE,4566,begin surface coast
$FINISH,1.3,1.021035
$STATE,4592,end surface coast,CONTROL_FINISHED_OK
$STATE,4592,begin surface
$SM_CCo,4672,0.00,0.000,0,0,1367,376.28
$SM_GC,1.97,9.10,0.00,0.00,0.047,0.000,0.000,68,1937,1367,-9.14,0.51,376.28
$IRIDIUM_FIX,-3414.71,2526.12,010308,131343
$TT8_MAMPS,0.026215
$HUMID,60.23
$INTERNAL_PRESSURE,9.43085
$TCM_TEMP,18.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,220.2,25.8
$24V_AH,24.1,29.701
$10V_AH,10.1,25.442
$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,23.375,45.075,407.450,0.000,0.000,25.782,21.827,241.126,5.000,0.000,36.715,1321.574,1553.032,423.769,1685.093,114.678,0.000,991.248,0.000,1304.857,0.000,31.349,0.000
$DEVICE_MAMPS,257.040,135.405,719.865,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.557,908.776,673.280,317.017,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331176
$DATA_FILE_SIZE,37029,548
$CAP_FILE_SIZE,65838,0
$CFSIZE,2097086464,2061434880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.159, 71.0,1
$GPS,060515,035235,-3428.931,2527.885,42,1.0,42,-27.7