version: 66.07.10.p01
glider: 573
mission: 9
dive: 281
start: 5 4 115 23 28 53
data:
$ID,573
$MISSION,9
$DIVE,281
$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,-14431.573
$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,8
$R_STBD_OVSHOOT,13
$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,280
$GPS1,040515,232135,-3425.308,2533.670,37,2.0,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.8
$GPS2,040515,232830,-3425.274,2533.670,43,1.4,43,-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,231.1,20581,-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,-37.55,0.000,2,0.000,0.000,75,1935,2511,0,0,0,0,0,0
$GC,67,-1.05,-170.3,3.1,-3.5,4,129,11.20,2.50,-38.38,0.000,4,0.253,0.112,2673,3341,3600,0,0,0,0,0,0
$GC,182,-0.86,-170.3,15.3,-20.4,19,192,0.25,2.53,0.00,0.000,6,0.181,0.094,2744,1914,3602,0,0,0,0,0,0
$GC,240,-0.75,-170.3,26.9,-18.2,28,250,0.17,2.53,0.00,0.000,4,0.193,0.103,2788,497,3602,0,0,0,0,0,0
$GC,278,-0.69,-170.3,32.4,-16.0,33,287,0.12,2.67,0.00,0.000,6,0.223,0.121,2805,1920,3602,0,0,0,0,0,0
$GC,429,-0.69,-170.3,53.6,-12.1,58,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1920,3602,0,0,0,0,0,0
$GC,782,-0.73,-170.3,84.3,-7.9,119,788,0.00,2.45,0.00,0.000,4,0.000,0.103,2795,3349,3605,0,0,0,0,0,0
$GC,985,-0.78,-170.3,101.9,-8.7,152,993,0.00,2.55,0.00,0.000,6,0.000,0.104,2794,1926,3606,0,0,0,0,0,0
$GC,1310,-0.82,-170.3,134.3,-10.0,183,1315,0.08,2.47,0.00,0.000,4,0.130,0.099,2765,481,3608,0,0,0,0,0,0
$GC,1351,-0.79,-170.3,139.1,-12.4,186,1356,0.10,2.45,0.00,0.000,6,0.198,0.080,2778,1922,3608,0,0,0,0,0,0
$STATE,1377,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1377,begin apogee
$GC,1382,-0.25,0.0,142.4,11.7,188,1522,0.60,0.00,132.60,0.660,6,0.174,0.000,2949,1714,2901,0,0,0,0,0,0
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1525,1.05,170.3,149.1,0.0,202,1668,1.27,2.28,131.88,0.641,4,0.106,0.053,3373,361,2207,0,0,0,0,0,0
$GC,1783,0.93,170.3,130.4,11.3,224,1788,0.15,2.28,0.00,0.000,6,0.158,0.037,3334,1762,2204,0,0,0,0,0,0
$GC,2109,0.89,192.4,100.1,9.1,254,2133,0.00,2.40,18.50,0.620,4,0.000,0.070,3334,3182,2118,0,0,0,0,0,0
$GC,2165,0.82,192.4,94.7,10.7,262,2173,0.15,2.40,0.00,0.000,6,0.179,0.086,3304,1794,2116,0,0,0,0,0,0
$GC,2517,0.82,192.4,60.3,10.9,323,2524,0.00,2.40,0.00,0.000,4,0.000,0.066,3316,329,2114,0,0,0,0,0,0
$GC,2639,0.91,261.3,50.2,7.3,344,2701,0.00,2.30,56.85,0.625,6,0.000,0.044,3316,1762,1836,0,0,0,0,0,0
$GC,3058,0.97,285.8,14.8,9.0,413,3077,0.10,2.35,11.32,0.513,4,0.097,0.056,3396,328,1733,0,0,0,0,0,0
$STATE,3153,end climb,SURFACE_DEPTH_REACHED
$STATE,3153,begin surface coast
$FINISH,1.2,1.010601
$STATE,3168,end surface coast,CONTROL_FINISHED_OK
$STATE,3168,begin surface
$SM_CCo,3187,5.25,0.050,0,0,1678,300.24
$SM_GC,3.33,0.00,0.00,5.25,0.000,0.000,0.050,76,1932,1678,-9.25,0.37,300.24
$IRIDIUM_FIX,-3414.71,2534.32,290208,101040
$TT8_MAMPS,0.026964
$HUMID,60.90
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,26.5
$24V_AH,24.2,28.155
$10V_AH,10.2,24.281
$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,23.150,39.625,351.150,5.250,0.000,34.750,53.350,191.080,2.500,0.000,44.997,1045.180,686.707,378.734,1412.759,100.902,0.000,836.068,0.000,1038.328,0.000,17.686,0.000
$DEVICE_MAMPS,253.215,120.870,660.195,49.725,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.196,725.513,581.218,413.039,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331160
$DATA_FILE_SIZE,30394,429
$CAP_FILE_SIZE,53993,0
$CFSIZE,2097086464,2063138816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.038, 10.5,1
$GPS,050515,002323,-3425.536,2533.384,42,1.0,43,-27.7