version: 66.07.10.p01
glider: 573
mission: 9
dive: 283
start: 5 5 115 1 30 27
data:
$ID,573
$MISSION,9
$DIVE,283
$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,-14437.947
$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,9
$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,282
$GPS1,050515,012135,-3425.826,2533.126,31,1.3,32,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.0
$GPS2,050515,013005,-3425.820,2533.067,41,0.8,41,-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,228.8,19305,-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,-170.3,0.0,0.0,0,62,0.00,0.00,-35.35,0.000,2,0.000,0.000,80,1923,2496,0,0,0,0,0,0
$GC,65,-1.05,-170.3,3.0,-3.9,4,127,11.32,2.50,-39.90,0.000,4,0.256,0.111,2674,3341,3600,0,0,0,0,0,0
$GC,155,-0.87,-170.3,9.7,-16.3,15,165,0.25,2.55,0.00,0.000,6,0.185,0.100,2745,1920,3601,0,0,0,0,0,0
$GC,216,-0.75,-170.3,20.9,-18.6,24,226,0.17,2.55,0.00,0.000,4,0.193,0.103,2788,493,3602,0,0,0,0,0,0
$GC,255,-0.70,-170.3,27.5,-15.3,30,265,0.08,2.72,0.00,0.000,6,0.210,0.125,2798,1918,3602,0,0,0,0,0,0
$GC,408,-0.68,-170.3,44.4,-9.6,55,416,0.05,2.50,0.00,0.000,4,0.272,0.101,2796,3361,3603,0,0,0,0,0,0
$GC,487,-0.73,-170.3,54.0,-11.5,68,494,0.00,2.58,0.00,0.000,6,0.000,0.108,2796,1921,3604,0,0,0,0,0,0
$GC,841,-0.77,-170.3,85.7,-9.3,129,849,0.00,2.53,0.00,0.000,4,0.000,0.106,2796,491,3606,0,0,0,0,0,0
$GC,933,-0.79,-170.3,94.6,-10.0,144,942,0.00,2.60,0.00,0.000,6,0.000,0.107,2787,1916,3607,0,0,0,0,0,0
$GC,1269,-0.79,-170.3,132.8,-11.3,179,1273,0.00,2.45,0.00,0.000,4,0.000,0.103,2776,3358,3609,0,0,0,0,0,0
$STATE,1298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1298,begin apogee
$GC,1305,-0.25,0.0,135.9,11.5,181,1443,0.57,0.00,132.32,0.649,6,0.174,0.000,2945,1755,2901,0,0,0,0,0,0
$STATE,1444,end apogee,CONTROL_FINISHED_OK
$STATE,1444,begin climb
$GC,1446,1.05,170.3,143.4,0.0,195,1590,1.30,2.42,131.80,0.631,4,0.107,0.054,3374,319,2206,0,0,0,0,0,0
$GC,1827,0.93,170.3,112.3,10.2,228,1832,0.15,2.35,0.00,0.000,6,0.158,0.038,3334,1775,2202,0,0,0,0,0,0
$GC,2166,0.87,170.3,80.5,10.3,275,2175,0.08,2.35,0.00,0.000,4,0.207,0.053,3326,328,2200,0,0,0,0,0,0
$GC,2253,0.84,182.2,71.6,9.5,289,2275,0.10,2.30,10.05,0.578,6,0.168,0.043,3301,1759,2160,0,0,0,0,0,0
$GC,2624,0.94,265.0,44.5,6.7,352,2702,0.10,2.42,67.90,0.617,4,0.093,0.055,3379,329,1820,0,0,0,0,0,0
$GC,2810,0.87,265.0,23.8,12.5,381,2817,0.22,2.35,0.00,0.000,6,0.146,0.044,3317,1765,1814,0,0,0,0,0,0
$GC,2969,0.91,281.2,8.9,9.4,406,2978,0.00,0.00,7.05,0.445,6,0.000,0.000,3317,1765,1754,0,0,0,0,0,0
$GC,3031,0.94,284.9,3.1,9.9,415,3041,0.00,0.00,1.17,0.058,6,0.000,0.000,3317,1765,1739,0,0,0,0,0,0
$STATE,3048,end climb,SURFACE_DEPTH_REACHED
$STATE,3048,begin surface coast
$FINISH,1.3,1.022228
$STATE,3080,end surface coast,CONTROL_FINISHED_OK
$STATE,3080,begin surface
$SM_CCo,3097,6.35,0.048,0,0,1676,300.24
$SM_GC,3.27,0.00,0.00,6.35,0.000,0.000,0.048,78,1919,1676,-9.24,0.03,300.24
$IRIDIUM_FIX,-3412.10,2534.32,290208,121238
$TT8_MAMPS,0.026964
$HUMID,59.21
$INTERNAL_PRESSURE,9.44062
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.9,29.8
$24V_AH,24.2,28.315
$10V_AH,10.3,24.395
$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,23.000,40.400,350.300,6.350,0.000,24.016,21.014,315.827,2.250,0.000,43.655,1025.629,602.702,386.956,1492.141,121.522,0.000,852.983,0.000,1048.945,0.000,16.169,0.000
$DEVICE_MAMPS,271.575,124.695,649.485,48.195,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.830,726.550,597.757,446.755,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331080
$DATA_FILE_SIZE,30361,422
$CAP_FILE_SIZE,58060,0
$CFSIZE,2097086464,2062942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.023,177.2,1
$GPS,050515,022329,-3426.147,2532.815,43,1.1,43,-27.7