version: 66.07.10.p01
glider: 573
mission: 9
dive: 285
start: 5 5 115 3 30 58
data:
$ID,573
$MISSION,9
$DIVE,285
$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,-14444.888
$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,16
$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,284
$GPS1,050515,032158,-3426.563,2532.521,41,1.2,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-65.5
$GPS2,050515,033035,-3426.611,2532.468,39,1.3,40,-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,230.8,17616,-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,-170.3,0.0,0.0,0,70,0.00,0.00,-42.85,0.000,2,0.000,0.000,77,1953,2684,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.1,-3.3,5,117,11.50,2.62,-27.17,0.000,4,0.262,0.106,2681,488,3600,0,0,0,0,0,0
$GC,145,-0.86,-170.3,10.6,-17.1,14,155,0.28,2.65,0.00,0.000,6,0.208,0.111,2745,1908,3602,0,0,0,0,0,0
$GC,208,-0.75,-170.3,22.4,-18.1,23,215,0.17,2.53,0.00,0.000,4,0.202,0.104,2777,3352,3603,0,0,0,0,0,0
$GC,300,-0.71,-170.3,37.4,-15.7,38,311,0.08,2.53,0.00,0.000,6,0.168,0.090,2798,1914,3604,0,0,0,0,0,0
$GC,452,-0.71,-170.3,58.5,-12.0,63,461,0.00,2.53,0.00,0.000,4,0.000,0.103,2798,484,3604,0,0,0,0,0,0
$GC,609,-0.74,-170.3,74.1,-10.2,90,619,0.00,2.60,0.00,0.000,6,0.000,0.101,2789,1921,3605,0,0,0,0,0,0
$GC,964,-0.74,-170.3,110.4,-10.6,143,968,0.00,2.45,0.00,0.000,4,0.000,0.098,2778,3361,3608,0,0,0,0,0,0
$GC,1183,-0.76,-170.3,132.9,-10.1,162,1187,0.00,2.53,0.00,0.000,6,0.000,0.099,2778,1920,3609,0,0,0,0,0,0
$STATE,1392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1392,begin apogee
$GC,1397,-0.25,0.0,156.6,11.4,181,1537,0.57,0.00,132.95,0.663,6,0.181,0.000,2945,1760,2901,0,0,0,0,0,0
$STATE,1537,end apogee,CONTROL_FINISHED_OK
$STATE,1537,begin climb
$GC,1540,1.05,170.3,163.8,0.0,195,1681,1.30,0.00,132.43,0.645,6,0.107,0.000,3365,1759,2206,0,0,0,0,0,0
$GC,1998,0.95,170.3,121.6,12.2,238,2003,0.10,2.35,0.00,0.000,4,0.187,0.059,3353,325,2202,0,0,0,0,0,0
$GC,2064,0.85,170.3,113.3,12.0,243,2072,0.10,2.35,0.00,0.000,6,0.140,0.043,3311,1762,2202,0,0,0,0,0,0
$GC,2407,0.87,208.3,80.5,8.5,292,2440,0.00,0.00,31.38,0.630,6,0.000,0.000,3311,1762,2051,0,0,0,0,0,0
$GC,2787,0.99,303.6,49.5,6.2,357,2878,0.12,2.45,78.43,0.619,4,0.078,0.056,3396,332,1661,0,0,0,0,0,0
$GC,2945,0.91,303.6,33.0,13.7,381,2953,0.22,2.35,0.00,0.000,6,0.150,0.044,3334,1762,1656,0,0,0,0,0,0
$GC,3102,0.91,303.9,16.5,10.0,406,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1762,1654,0,0,0,0,0,0
$GC,3164,0.91,303.9,9.5,12.6,415,3173,0.00,2.40,0.00,0.000,4,0.000,0.082,3334,3180,1652,0,0,0,0,0,0
$GC,3194,0.91,303.9,6.3,10.8,419,3203,0.03,2.53,0.00,0.000,6,0.186,0.093,3335,1755,1652,0,0,0,0,0,0
$STATE,3223,end climb,SURFACE_DEPTH_REACHED
$STATE,3223,begin surface coast
$FINISH,1.1,1.021961
$STATE,3250,end surface coast,CONTROL_FINISHED_OK
$STATE,3250,begin surface
$SM_CCo,3327,0.00,0.000,0,0,1646,308.09
$SM_GC,2.13,8.77,0.00,0.00,0.050,0.000,0.000,76,1974,1646,-9.14,1.55,308.09
$IRIDIUM_FIX,-3414.71,2526.12,290208,151516
$TT8_MAMPS,0.026215
$HUMID,59.80
$INTERNAL_PRESSURE,9.44062
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.8,29.7
$24V_AH,24.2,28.481
$10V_AH,10.2,24.508
$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,23.250,35.450,375.175,0.000,0.000,24.540,41.680,302.034,2.750,0.000,43.325,1022.549,839.093,394.622,1482.388,118.486,0.000,857.188,0.000,1029.583,0.000,19.216,0.000
$DEVICE_MAMPS,261.630,143.055,663.255,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.029,731.289,564.762,393.897,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331144
$DATA_FILE_SIZE,30373,427
$CAP_FILE_SIZE,56458,0
$CFSIZE,2097086464,2062745600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.077,166.2,1
$GPS,050515,042735,-3427.107,2532.222,37,1.9,38,-27.7