version: 66.07.10.p01
glider: 573
mission: 9
dive: 400
start: 5 11 115 4 31 36
data:
$ID,573
$MISSION,9
$DIVE,400
$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,-14776.279
$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,16
$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,399
$GPS1,110515,042534,-3428.677,2524.899,38,1.1,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.2
$GPS2,110515,043113,-3428.679,2524.966,20,1.3,20,-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,219.1,13943,-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,-170.3,0.0,0.0,0,111,0.00,0.00,-83.35,0.000,2,0.000,0.000,73,1935,2545,0,0,0,0,0,0
$GC,114,-1.05,-170.3,3.3,-3.4,10,158,11.27,2.53,-24.98,0.000,4,0.253,0.106,2683,490,3600,0,0,0,0,0,0
$GC,185,-0.82,-170.3,15.1,-23.0,19,196,0.32,2.62,0.00,0.000,6,0.195,0.103,2762,1925,3601,0,0,0,0,0,0
$GC,244,-0.73,-170.3,26.3,-17.5,28,254,0.12,2.47,0.00,0.000,4,0.216,0.096,2779,3345,3603,0,0,0,0,0,0
$GC,296,-0.73,-170.3,34.2,-14.4,36,305,0.03,2.50,0.00,0.000,6,0.124,0.091,2789,1919,3603,0,0,0,0,0,0
$GC,448,-0.73,-170.3,52.1,-10.8,61,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1920,3604,0,0,0,0,0,0
$GC,798,-0.77,-170.3,90.6,-10.9,122,805,0.00,2.47,0.00,0.000,4,0.000,0.101,2780,3350,3607,0,0,0,0,0,0
$GC,870,-0.82,-170.3,98.2,-9.5,134,876,0.00,2.53,0.00,0.000,6,0.000,0.105,2780,1919,3607,0,0,0,0,0,0
$GC,1198,-0.85,-170.3,128.1,-8.7,166,1203,0.05,2.40,0.00,0.000,4,0.161,0.093,2758,484,3608,0,0,0,0,0,0
$STATE,1225,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1225,begin apogee
$GC,1232,-0.25,0.0,131.1,10.8,168,1369,0.70,0.00,128.88,0.636,6,0.189,0.000,2945,1758,2902,0,0,0,0,0,0
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1373,1.05,170.3,137.7,0.0,182,1516,1.30,2.50,131.77,0.623,4,0.111,0.086,3364,3179,2208,0,0,0,0,0,0
$GC,1768,0.91,170.3,112.0,10.4,216,1778,0.12,2.50,0.00,0.000,6,0.148,0.088,3334,1756,2203,0,0,0,0,0,0
$GC,2113,0.91,245.4,83.0,7.0,265,2181,0.00,2.35,60.12,0.623,4,0.000,0.056,3345,325,1900,0,0,0,0,0,0
$GC,2274,0.83,245.4,67.2,10.3,291,2284,0.12,2.33,0.00,0.000,6,0.134,0.037,3305,1759,1896,0,0,0,0,0,0
$GC,2629,0.83,245.4,38.1,10.1,352,2638,0.00,2.33,0.00,0.000,4,0.000,0.071,3304,3171,1892,0,0,0,0,0,0
$GC,2840,0.92,321.5,20.6,7.0,387,2890,0.00,2.40,36.90,0.558,6,0.000,0.083,3313,1756,1589,0,0,0,0,0,0
$GC,2942,0.97,321.5,12.1,10.3,401,2951,0.10,0.00,0.00,0.000,6,0.091,0.000,3390,1756,1584,0,0,0,0,0,0
$GC,3004,0.91,321.5,5.4,11.2,410,3012,0.22,0.00,0.00,0.000,6,0.148,0.000,3326,1756,1582,0,0,0,0,0,0
$STATE,3031,end climb,SURFACE_DEPTH_REACHED
$STATE,3032,begin surface coast
$FINISH,1.3,1.021048
$STATE,3070,end surface coast,CONTROL_FINISHED_OK
$STATE,3070,begin surface
$SM_CCo,3087,129.48,0.044,0,0,407,611.52
$SM_GC,1.96,0.00,0.00,129.48,0.000,0.000,0.044,72,1975,407,-9.26,1.58,611.52
$IRIDIUM_FIX,-3417.32,2527.24,060308,161628
$TT8_MAMPS,0.026215
$HUMID,60.35
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,25.6
$24V_AH,24.3,38.448
$10V_AH,10.2,31.455
$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,23.150,34.425,357.675,129.475,0.000,27.957,18.108,176.957,2.250,0.000,23.073,996.816,611.501,530.827,1320.756,111.771,0.000,1012.459,0.000,1038.457,0.000,17.175,0.000
$DEVICE_MAMPS,253.215,105.570,635.715,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.833,623.228,587.164,358.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,30383,420
$CAP_FILE_SIZE,53521,0
$CFSIZE,2097086464,2050916352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.165, 84.6,1
$GPS,110515,052629,-3428.993,2525.254,39,1.5,39,-27.7