version: 66.07.10.p01
glider: 573
mission: 2
dive: 4
start: 9 20 112 8 58 25
data:
$ID,573
$MISSION,2
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$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,15
$T_MISSION,30
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0283
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,0
$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,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,601.71112
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2092.7622
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,2864
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1940
$C_ROLL_CLIMB,1940
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-87.754257
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,30
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,0.1
$SIM_PITCH,-20
$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,20
$GC_LAST_COLLECTION,-1
$GPS1,200912,085255,-4324.738,-955.116,13,1.4,14,-21.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-48.0
$GPS2,200912,085731,-4324.655,-955.086,15,1.4,15,-21.1
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,DEPLOY
$TGT_LATLONG,-4250.000,-1200.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.303,0.118
$KALMAN_X,11.0,-11.9,-11.2,-318.7,-9.9
$KALMAN_Y,-2265.0,-1386.3,-1382.0,-573.3,-1408.1
$MHEAD_RNG_PITCHd_Wd,312.4,181384,-13.9,-10.000
$D_GRID,45
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.48,-243.1,0.0,0.0,0,39,0.00,0.00,-13.52,0.000,2,0.000,0.000,98,1938,715,0,0,0,0,0,0
$GC,41,-0.48,-243.1,3.2,-9.4,2,214,9.98,2.22,-153.05,0.000,4,0.222,0.067,2693,3341,3851,0,0,0,0,0,0
$STATE,360,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,360,begin apogee
$GC,366,-0.17,0.0,35.5,10.3,57,471,0.38,0.00,99.68,0.522,6,0.233,0.000,2798,1929,2862,0,0,0,0,0,0
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,473,0.48,243.1,24.3,0.0,76,589,0.75,2.30,103.65,0.500,4,0.192,0.049,3008,544,1866,0,0,0,0,0,0
$GC,636,0.35,250.4,7.7,9.8,104,644,0.05,2.25,2.65,0.216,6,0.086,0.041,2972,1946,1840,0,0,0,0,0,0
$STATE,684,end climb,SURFACE_DEPTH_REACHED
$STATE,684,begin surface coast
$FINISH,-0.0,0.999843
$STATE,719,end surface coast,CONTROL_FINISHED_OK
$STATE,720,begin surface
$SM_CCo,733,161.27,0.506,0,0,408,601.71
$SM_GC,0.09,0.00,0.00,161.27,0.000,0.000,0.506,96,1945,408,-8.65,0.14,601.71
$IRIDIUM_FIX,-4311.50,-953.09,200912,080820
$TT8_MAMPS,0.029211
$HUMID,39.72
$INTERNAL_PRESSURE,9.10857
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,35.5,8.6
$24V_AH,24.8,4.128
$10V_AH,10.5,2.286
$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,19.025,8.950,205.975,161.275,0.000,26.131,46.229,132.186,1.000,0.000,18.379,189.273,10.120,326.437,646.230,24.425,32.321,635.389,0.000,420.652,0.000,9.757,0.000
$DEVICE_MAMPS,232.560,66.555,522.495,506.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,77.997,361.944,69.382,48.975,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354884
$DATA_FILE_SIZE,6982,118
$CAP_FILE_SIZE,22106,0
$CFSIZE,2097086464,2094137344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200912,091407,-4324.772,-955.059,13,1.5,14,-21.1