version: 66.07.10.p01
glider: 573
mission: 9
dive: 396
start: 5 11 115 0 40 39
data:
$ID,573
$MISSION,9
$DIVE,396
$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,611.52295
$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,-14764.622
$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,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,395
$GPS1,110515,003123,-3427.464,2523.891,38,1.2,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-66.4
$GPS2,110515,004016,-3427.514,2523.947,44,1.4,44,-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,208.0,16550,-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,26,-1.05,-170.3,0.0,0.0,0,103,0.00,0.00,-75.55,0.000,2,0.000,0.000,70,1939,2323,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.0,-2.7,9,159,11.30,2.60,-35.70,0.000,4,0.253,0.112,2687,494,3599,0,0,0,0,0,0
$GC,338,-0.89,-170.3,45.7,-19.4,45,348,0.22,2.67,0.00,0.000,6,0.196,0.118,2739,1919,3602,0,0,0,0,0,0
$GC,696,-0.84,-170.3,98.5,-13.4,106,704,0.08,2.45,0.00,0.000,4,0.224,0.098,2745,3355,3605,0,0,0,0,0,0
$STATE,904,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,905,begin apogee
$GC,912,-0.25,0.0,126.0,12.9,125,1042,0.73,0.00,125.78,0.604,6,0.193,0.000,2945,1758,2902,0,0,0,0,0,0
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1045,1.05,170.3,132.7,0.0,138,1187,1.30,2.58,131.90,0.603,4,0.111,0.087,3365,3177,2206,0,0,0,0,0,0
$GC,1262,0.90,170.3,125.9,10.7,158,1267,0.17,2.58,0.00,0.000,6,0.172,0.101,3330,1750,2204,0,0,0,0,0,0
$GC,1588,0.88,219.9,98.7,8.0,189,1639,0.00,2.35,39.80,0.606,4,0.000,0.058,3341,330,2004,0,0,0,0,0,0
$GC,1685,0.80,219.9,89.8,10.5,204,1695,0.12,2.33,0.00,0.000,6,0.134,0.037,3300,1765,2003,0,0,0,0,0,0
$GC,2041,0.92,319.6,63.4,6.1,265,2132,0.10,2.47,79.07,0.608,4,0.093,0.089,3364,3171,1598,0,0,0,0,0,0
$GC,2216,0.85,319.6,45.2,13.3,292,2224,0.22,2.58,0.00,0.000,6,0.159,0.109,3312,1751,1593,0,0,0,0,0,0
$GC,2581,0.96,374.1,11.9,7.9,353,2616,0.10,2.33,25.65,0.506,4,0.092,0.057,3400,332,1374,0,0,0,0,0,0
$GC,2656,0.93,374.1,4.1,11.1,363,2665,0.20,2.35,0.00,0.000,6,0.130,0.050,3336,1751,1368,0,0,0,0,0,0
$STATE,2672,end climb,SURFACE_DEPTH_REACHED
$STATE,2672,begin surface coast
$FINISH,1.4,1.014701
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2699,begin surface
$SM_CCo,2716,106.18,0.044,0,0,406,611.52
$SM_GC,1.94,0.00,0.00,106.18,0.000,0.000,0.044,68,1947,406,-9.27,0.79,611.52
$IRIDIUM_FIX,-3412.10,2522.63,060308,131325
$TT8_MAMPS,0.026964
$HUMID,60.04
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.1,30.1
$24V_AH,24.4,38.118
$10V_AH,10.2,31.234
$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,23.375,30.450,402.200,106.175,0.000,24.122,44.413,300.285,2.000,0.000,47.447,855.719,495.145,524.824,1368.337,127.649,0.000,956.489,0.000,923.654,0.000,14.642,0.000
$DEVICE_MAMPS,253.215,117.810,608.175,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.716,553.597,534.451,328.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,27151,369
$CAP_FILE_SIZE,49622,0
$CFSIZE,2097086464,2051309568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.141, 77.2,1
$GPS,110515,012859,-3427.742,2524.122,41,1.5,41,-27.7