version: 66.07.10.p01
glider: 573
mission: 9
dive: 276
start: 5 4 115 18 49 22
data:
$ID,573
$MISSION,9
$DIVE,276
$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,-14414.573
$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,14
$R_STBD_OVSHOOT,9
$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,275
$GPS1,040515,183859,-3424.604,2534.327,39,1.4,40,-27.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.0
$GPS2,040515,184859,-3424.641,2534.380,46,1.1,46,-27.7
$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,252.4,22080,-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,-170.3,0.0,0.0,0,64,0.00,0.00,-37.45,0.000,2,0.000,0.000,73,1925,2557,0,0,0,0,0,0
$GC,67,-1.05,-170.3,3.1,-3.4,4,120,11.38,2.47,-33.45,0.000,4,0.257,0.106,2673,3357,3597,0,0,0,0,0,0
$GC,302,-0.88,-170.3,44.4,-23.4,40,310,0.28,2.53,0.00,0.000,6,0.184,0.099,2744,1922,3600,0,0,0,0,0,0
$GC,655,-0.84,-170.3,98.2,-15.0,101,663,0.08,2.47,0.00,0.000,4,0.217,0.095,2753,3354,3603,0,0,0,0,0,0
$GC,726,-0.84,-170.3,108.1,-13.3,108,731,0.00,2.47,0.00,0.000,6,0.000,0.094,2753,1920,3603,0,0,0,0,0,0
$STATE,986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,986,begin apogee
$GC,990,-0.25,0.0,140.2,12.2,132,1131,0.68,0.00,131.75,0.653,6,0.169,0.000,2946,1757,2901,0,0,0,0,0,0
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1134,1.05,170.3,146.4,0.0,146,1279,1.27,2.45,131.95,0.636,4,0.108,0.053,3370,329,2205,0,0,0,0,0,0
$GC,1329,0.93,170.3,133.7,12.1,164,1339,0.10,2.40,0.00,0.000,6,0.145,0.039,3339,1770,2203,0,0,0,0,0,0
$GC,1654,0.88,180.9,100.9,9.6,195,1671,0.08,0.00,9.68,0.575,6,0.207,0.000,3321,1771,2163,0,0,0,0,0,0
$GC,2016,0.92,241.8,62.4,7.6,257,2072,0.00,2.42,49.80,0.630,4,0.000,0.074,3321,3180,1914,0,0,0,0,0,0
$GC,2092,0.96,293.0,57.2,8.0,268,2142,0.00,2.50,43.70,0.607,6,0.000,0.089,3330,1750,1707,0,0,0,0,0,0
$GC,2492,0.96,293.2,16.7,10.0,335,2501,0.00,2.35,0.00,0.000,4,0.000,0.066,3341,333,1694,0,0,0,0,0,0
$STATE,2620,end climb,SURFACE_DEPTH_REACHED
$STATE,2620,begin surface coast
$FINISH,1.1,1.018343
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2672,0.98,0.058,0,0,1677,300.24
$SM_GC,2.92,0.00,0.00,0.98,0.000,0.000,0.058,73,1928,1677,-9.26,0.25,300.24
$IRIDIUM_FIX,-3409.50,2536.67,290208,070733
$TT8_MAMPS,0.026215
$HUMID,60.71
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,120.5,34.1
$24V_AH,24.2,27.759
$10V_AH,10.3,24.015
$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,22.625,25.125,366.875,0.975,0.000,25.674,40.885,382.102,2.500,0.000,48.716,847.634,553.223,374.894,1406.752,106.896,0.000,756.084,0.000,876.214,0.000,16.180,0.000
$DEVICE_MAMPS,257.040,133.875,653.310,58.140,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.695,645.831,511.938,385.262,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331104
$DATA_FILE_SIZE,23667,360
$CAP_FILE_SIZE,47044,0
$CFSIZE,2097086464,2063630336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.112, 86.7,1
$GPS,040515,193506,-3424.791,2534.262,35,1.2,35,-27.7