version: 66.07.10.p01
glider: 573
mission: 9
dive: 724
start: 5 28 115 21 37 14
data:
$ID,573
$MISSION,9
$DIVE,724
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,65
$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,0
$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,-15654.238
$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,6
$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,723
$GPS1,280515,213536,-3420.676,2431.812,34,1.4,34,-27.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.6
$GPS2,280515,213653,-3420.677,2431.801,28,1.1,28,-27.2
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.877,2431.801
$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,27.2,20000,-16.8,-10.000
$D_GRID,150
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,109,0.00,0.00,-77.95,0.000,2,0.000,0.000,69,1933,2341,0,0,0,0,0,0
$GC,112,-1.05,-170.3,3.2,-3.7,13,169,11.32,2.47,-37.50,0.000,4,0.249,0.095,2689,497,3598,0,0,0,0,0,0
$GC,255,-0.88,-170.3,24.7,-22.8,35,262,0.25,2.50,0.00,0.000,6,0.203,0.088,2742,1925,3600,0,0,0,0,0,0
$GC,408,-0.85,-170.3,47.9,-13.7,60,415,0.05,2.47,0.00,0.000,4,0.233,0.099,2743,3343,3600,0,0,0,0,0,0
$GC,506,-0.85,-170.3,60.0,-11.2,76,512,0.05,2.45,0.00,0.000,6,0.175,0.090,2754,1920,3600,0,0,0,0,0,0
$GC,862,-0.85,-170.3,103.2,-12.2,136,866,0.00,2.45,0.00,0.000,4,0.000,0.091,2754,474,3603,0,0,0,0,0,0
$GC,928,-0.85,-170.3,111.2,-11.5,141,933,0.00,2.45,0.00,0.000,6,0.000,0.078,2746,1922,3603,0,0,0,0,0,0
$STATE,1193,end dive,NO_VERTICAL_VELOCITY
$STATE,1193,begin apogee
$GC,1199,-0.25,0.0,122.3,0.0,165,1335,0.62,0.00,131.38,0.610,6,0.128,0.000,2949,1706,2902,0,0,0,0,0,0
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1339,1.05,170.3,122.4,0.0,179,1486,1.23,2.62,133.55,0.597,4,0.098,0.080,3361,3177,2205,0,0,0,0,0,0
$GC,1597,0.98,212.2,114.2,8.3,202,1638,0.08,2.50,34.40,0.581,6,0.202,0.094,3354,1756,2036,0,0,0,0,0,0
$GC,1975,0.95,245.8,80.4,8.7,255,2009,0.05,2.30,28.27,0.580,4,0.236,0.054,3355,323,1898,0,0,0,0,0,0
$GC,2088,0.91,259.6,70.1,9.5,274,2107,0.10,2.28,12.30,0.542,6,0.164,0.035,3329,1767,1843,0,0,0,0,0,0
$GC,2453,1.01,344.0,39.4,6.7,337,2532,0.10,2.47,67.53,0.575,4,0.092,0.083,3404,3186,1496,0,0,0,0,0,0
$GC,2561,0.95,344.0,27.4,13.6,355,2567,0.25,2.55,0.00,0.000,6,0.154,0.096,3344,1753,1493,0,0,0,0,0,0
$GC,2715,1.05,393.4,13.4,8.1,380,2747,0.08,2.35,23.50,0.487,4,0.116,0.062,3409,336,1295,0,0,0,0,0,0
$STATE,2810,end climb,SURFACE_DEPTH_REACHED
$STATE,2810,begin surface coast
$FINISH,1.7,1.021631
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2857,98.50,0.041,0,0,407,611.52
$SM_GC,2.02,0.00,0.00,98.50,0.000,0.000,0.041,72,1929,407,-9.26,0.28,611.52
$IRIDIUM_FIX,-3409.50,2432.47,240308,080800
$TT8_MAMPS,0.026215
$HUMID,61.38
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,24.1,67.927
$10V_AH,10.0,51.829
$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,23.350,34.850,430.925,98.500,0.000,0.000,0.000,0.000,2.750,0.000,31.357,854.918,558.909,472.080,1069.909,87.586,0.000,980.575,0.000,1005.048,0.000,18.917,0.000
$DEVICE_MAMPS,249.390,99.450,609.705,41.310,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.058,595.764,584.737,352.219,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,27021,399
$CAP_FILE_SIZE,46550,0
$CFSIZE,2097086464,2021982208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280515,222752,-3420.409,2431.510,31,2.0,44,-27.1