version: 66.07.10.p01
glider: 573
mission: 9
dive: 529
start: 5 22 115 0 54 9
data:
$ID,573
$MISSION,9
$DIVE,529
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,30
$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,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,-15103.768
$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,12
$R_STBD_OVSHOOT,15
$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,528
$GPS1,220515,004723,-3434.366,2508.450,38,1.3,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.0
$GPS2,220515,005349,-3434.426,2508.275,19,1.2,20,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.074,2514.820
$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,57.7,20000,-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,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,-72.88,0.000,2,0.000,0.000,71,1989,2262,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.2,-3.8,12,163,10.98,2.38,-38.42,0.000,4,0.240,0.105,2680,3352,3596,0,0,0,0,0,0
$GC,309,-0.90,-170.3,33.9,-18.2,45,315,0.22,2.50,0.00,0.000,6,0.171,0.095,2741,1919,3599,0,0,0,0,0,0
$GC,458,-0.82,-170.3,57.9,-14.6,70,463,0.10,0.00,0.00,0.000,6,0.187,0.000,2765,1919,3600,0,0,0,0,0,0
$GC,810,-0.82,-170.3,103.1,-12.8,130,814,0.00,2.45,0.00,0.000,4,0.000,0.094,2756,3355,3602,0,0,0,0,0,0
$GC,906,-0.82,-170.3,114.1,-10.8,138,910,0.00,2.50,0.00,0.000,6,0.000,0.094,2756,1911,3602,0,0,0,0,0,0
$STATE,1199,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1199,begin apogee
$GC,1205,-0.25,0.0,150.4,12.3,165,1341,0.65,0.00,128.70,0.611,6,0.171,0.000,2946,1751,2902,0,0,0,0,0,0
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1345,1.05,170.3,157.0,0.0,179,1485,1.25,2.30,131.82,0.600,4,0.103,0.046,3374,317,2207,0,0,0,0,0,0
$GC,1701,0.90,170.3,136.1,11.3,211,1706,0.17,2.25,0.00,0.000,6,0.155,0.031,3326,1766,2204,0,0,0,0,0,0
$GC,2029,0.90,230.6,111.1,7.6,241,2084,0.00,2.35,48.20,0.601,4,0.000,0.066,3326,3172,1961,0,0,0,0,0,0
$GC,2276,0.85,235.9,88.2,9.8,274,2287,0.10,2.40,4.85,0.448,6,0.175,0.078,3310,1740,1940,0,0,0,0,0,0
$GC,2632,0.94,309.1,57.9,7.1,336,2703,0.08,2.42,59.35,0.584,4,0.116,0.074,3373,3176,1639,0,0,0,0,0,0
$GC,2801,0.87,309.1,39.2,10.9,366,2809,0.20,2.40,0.00,0.000,6,0.135,0.078,3322,1768,1635,0,0,0,0,0,0
$GC,2955,0.92,324.9,25.2,9.4,391,2968,0.00,2.28,7.50,0.467,4,0.000,0.054,3332,329,1577,0,0,0,0,0,0
$GC,3105,1.03,376.1,12.4,8.0,415,3137,0.05,2.28,24.95,0.478,6,0.065,0.039,3379,1751,1366,0,0,0,0,0,0
$GC,3188,1.03,380.7,4.3,9.8,428,3196,0.00,2.38,1.48,0.051,4,0.000,0.077,3380,3197,1349,0,0,0,0,0,0
$STATE,3203,end climb,SURFACE_DEPTH_REACHED
$STATE,3203,begin surface coast
$FINISH,1.4,1.010053
$STATE,3235,end surface coast,CONTROL_FINISHED_OK
$STATE,3235,begin surface
$SM_CCo,3254,104.07,0.042,0,0,408,611.52
$SM_GC,2.03,0.00,0.00,104.07,0.000,0.000,0.042,69,1915,408,-9.27,-0.11,611.52
$IRIDIUM_FIX,-3419.93,2507.33,170308,131315
$TT8_MAMPS,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.48945
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.7,33.4
$24V_AH,24.4,52.834
$10V_AH,10.2,41.696
$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,22.700,33.400,406.850,104.075,0.000,28.208,18.858,211.701,2.500,0.000,23.174,948.578,776.169,464.821,1429.114,135.653,0.000,994.037,0.000,1108.470,0.000,17.715,0.000
$DEVICE_MAMPS,240.210,135.405,611.235,42.075,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.718,676.747,623.613,361.952,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,30336,435
$CAP_FILE_SIZE,54621,0
$CFSIZE,2097086464,2036531200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220515,015123,-3434.275,2508.060,37,1.3,37,-27.7