version: 66.07.10.p01
glider: 573
mission: 9
dive: 330
start: 5 7 115 9 10 24
data:
$ID,573
$MISSION,9
$DIVE,330
$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,-14582.253
$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,11
$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,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,329
$GPS1,070515,090329,-3424.766,2524.695,40,1.3,40,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-71.1
$GPS2,070515,091000,-3424.788,2524.645,19,1.6,20,-27.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,182.5,20886,-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,-170.3,0.0,0.0,0,62,0.00,0.00,-35.35,0.000,2,0.000,0.000,75,1942,2544,0,0,0,0,0,0
$GC,65,-1.05,-170.3,3.2,-3.7,4,116,11.00,2.45,-31.75,0.000,4,0.246,0.112,2673,3349,3598,0,0,0,0,0,0
$GC,163,-0.87,-170.3,15.2,-20.8,17,172,0.25,2.60,0.00,0.000,6,0.189,0.109,2744,1926,3600,0,0,0,0,0,0
$GC,222,-0.75,-170.3,27.0,-18.0,26,231,0.17,0.00,0.00,0.000,6,0.188,0.000,2788,1926,3600,0,0,0,0,0,0
$GC,373,-0.75,-170.3,46.6,-10.3,51,382,0.00,2.53,0.00,0.000,4,0.000,0.104,2788,491,3600,0,0,0,0,0,0
$GC,418,-0.75,-170.3,51.3,-10.7,58,426,0.00,2.60,0.00,0.000,6,0.000,0.109,2779,1922,3601,0,0,0,0,0,0
$GC,774,-0.75,-170.3,87.5,-10.3,119,781,0.00,2.42,0.00,0.000,4,0.000,0.103,2769,3352,3604,0,0,0,0,0,0
$STATE,940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,940,begin apogee
$GC,947,-0.25,0.0,105.4,10.4,144,1085,0.60,0.00,131.18,0.611,6,0.165,0.000,2947,1759,2901,0,0,0,0,0,0
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1088,1.05,170.3,110.8,0.0,158,1232,1.27,2.45,130.57,0.597,4,0.103,0.054,3375,317,2206,0,0,0,0,0,0
$GC,1333,0.93,170.3,92.4,11.1,184,1340,0.15,2.33,0.00,0.000,6,0.158,0.037,3336,1768,2203,0,0,0,0,0,0
$GC,1683,0.87,170.3,58.2,10.1,245,1691,0.10,2.30,0.00,0.000,4,0.184,0.049,3321,326,2202,0,0,0,0,0,0
$GC,1717,0.87,200.6,55.2,8.8,250,1751,0.00,2.28,24.83,0.591,6,0.000,0.040,3320,1757,2082,0,0,0,0,0,0
$GC,2100,0.96,280.7,24.7,6.8,315,2146,0.08,2.47,38.78,0.562,4,0.117,0.086,3380,3190,1754,0,0,0,0,0,0
$GC,2173,0.90,280.7,17.3,12.0,325,2183,0.20,2.53,0.00,0.000,6,0.139,0.090,3327,1757,1749,0,0,0,0,0,0
$GC,2235,0.92,298.2,11.0,9.3,334,2253,0.00,2.38,7.53,0.445,4,0.000,0.060,3337,321,1683,0,0,0,0,0,0
$STATE,2328,end climb,SURFACE_DEPTH_REACHED
$STATE,2328,begin surface coast
$FINISH,1.4,1.021260
$STATE,2361,end surface coast,CONTROL_FINISHED_OK
$STATE,2361,begin surface
$SM_CCo,2440,0.00,0.000,0,0,1673,301.47
$SM_GC,2.54,8.82,0.00,0.00,0.052,0.000,0.000,76,1923,1673,-9.14,0.11,301.47
$IRIDIUM_FIX,-3412.10,2524.99,020308,212138
$TT8_MAMPS,0.026215
$HUMID,60.78
$INTERNAL_PRESSURE,9.48945
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,29.9
$24V_AH,24.4,32.330
$10V_AH,10.3,27.166
$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,22.650,34.975,332.875,0.000,0.000,24.592,20.114,240.686,1.500,0.000,22.460,843.200,343.455,356.618,1194.861,108.797,0.000,748.541,0.000,876.821,0.000,11.602,0.000
$DEVICE_MAMPS,245.565,111.690,611.235,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.628,496.387,524.979,348.601,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331136
$DATA_FILE_SIZE,23647,353
$CAP_FILE_SIZE,45446,0
$CFSIZE,2097086464,2058158080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.031,201.7,1
$GPS,070515,095206,-3425.089,2524.693,29,1.0,29,-27.6