version: 66.07.10.p01
glider: 573
mission: 9
dive: 402
start: 5 11 115 6 30 20
data:
$ID,573
$MISSION,9
$DIVE,402
$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,-14782.075
$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,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,401
$GPS1,110515,062405,-3429.330,2525.576,27,2.0,27,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.0
$GPS2,110515,062956,-3429.320,2525.613,20,2.3,39,-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,226.0,12468,-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,-170.3,0.0,0.0,0,104,0.00,0.00,-76.38,0.000,2,0.000,0.000,69,1936,2339,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.0,-3.0,9,159,11.12,2.55,-34.53,0.000,4,0.247,0.113,2691,501,3596,0,0,0,0,0,0
$GC,263,-0.85,-170.3,30.0,-24.0,32,272,0.25,2.70,0.00,0.000,6,0.201,0.120,2748,1925,3598,0,0,0,0,0,0
$GC,415,-0.79,-170.3,55.2,-13.8,57,425,0.10,2.55,0.00,0.000,4,0.200,0.112,2762,3349,3599,0,0,0,0,0,0
$GC,496,-0.79,-170.3,65.6,-11.7,70,503,0.05,2.47,0.00,0.000,6,0.172,0.094,2772,1920,3599,0,0,0,0,0,0
$GC,857,-0.79,-170.3,104.3,-12.1,129,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1919,3602,0,0,0,0,0,0
$GC,1173,-0.79,-170.3,145.1,-12.6,159,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1920,3602,0,0,0,0,0,0
$GC,1494,-0.79,-170.3,184.0,-12.5,189,1498,0.00,2.45,0.00,0.000,4,0.000,0.096,2772,484,3602,0,0,0,0,0,0
$GC,1525,-0.79,-170.3,188.5,-12.6,191,1533,0.00,2.45,0.00,0.000,6,0.000,0.075,2763,1917,3602,0,0,0,0,0,0
$STATE,1786,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1786,begin apogee
$GC,1791,-0.25,0.0,225.4,14.3,216,1930,0.62,0.00,130.48,0.715,6,0.170,0.000,2946,1710,2902,0,0,0,0,0,0
$STATE,1931,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1934,1.05,170.3,236.8,0.0,230,2080,1.27,2.30,134.82,0.696,4,0.106,0.050,3372,362,2206,0,0,0,0,0,0
$GC,2333,0.91,170.3,216.0,11.1,264,2343,0.12,2.28,0.00,0.000,6,0.145,0.034,3333,1776,2202,0,0,0,0,0,0
$GC,2658,0.82,170.3,180.1,11.1,295,2663,0.12,2.25,0.00,0.000,4,0.175,0.046,3309,368,2200,0,0,0,0,0,0
$GC,2734,0.84,230.1,173.6,7.6,301,2793,0.00,2.20,48.35,0.689,6,0.000,0.038,3309,1759,1961,0,0,0,0,0,0
$GC,3110,0.87,260.9,140.9,8.8,336,3140,0.00,2.38,25.25,0.665,4,0.000,0.084,3309,3171,1837,0,0,0,0,0,0
$GC,3234,0.86,273.3,130.0,9.5,346,3251,0.00,2.38,11.43,0.619,6,0.000,0.088,3318,1796,1787,0,0,0,0,0,0
$GC,3572,0.84,273.3,94.6,11.7,381,3582,0.05,2.42,0.00,0.000,4,0.236,0.063,3319,329,1783,0,0,0,0,0,0
$GC,3657,0.82,273.3,85.6,10.6,395,3664,0.08,2.28,0.00,0.000,6,0.171,0.040,3301,1758,1782,0,0,0,0,0,0
$GC,4009,0.94,355.9,54.0,6.7,456,4086,0.10,2.50,67.10,0.642,4,0.096,0.090,3368,3179,1450,0,0,0,0,0,0
$GC,4174,0.90,355.9,34.9,11.9,482,4183,0.15,2.60,0.00,0.000,6,0.142,0.105,3330,1758,1444,0,0,0,0,0,0
$GC,4327,0.93,355.9,19.9,10.2,507,4335,0.00,2.35,0.00,0.000,4,0.000,0.063,3341,332,1442,0,0,0,0,0,0
$GC,4487,1.03,409.3,6.5,7.9,532,4522,0.05,2.33,24.58,0.506,6,0.064,0.045,3395,1750,1230,0,0,0,0,0,0
$STATE,4529,end climb,SURFACE_DEPTH_REACHED
$STATE,4529,begin surface coast
$FINISH,1.3,1.006432
$STATE,4563,end surface coast,CONTROL_FINISHED_OK
$STATE,4563,begin surface
$SM_CCo,4581,90.88,0.045,0,0,407,611.52
$SM_GC,1.87,0.00,0.00,90.88,0.000,0.000,0.045,68,1938,407,-9.27,0.54,611.52
$IRIDIUM_FIX,-3417.32,2527.24,060308,181819
$TT8_MAMPS,0.026964
$HUMID,61.65
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,210.8,28.9
$24V_AH,24.1,38.628
$10V_AH,10.2,31.579
$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,23.225,44.050,442.000,90.875,0.000,27.897,18.297,167.400,4.500,0.000,42.963,1295.106,1429.693,555.919,1628.287,130.384,0.000,1149.384,0.000,1314.316,0.000,31.014,0.000
$DEVICE_MAMPS,247.095,120.105,714.510,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.731,898.597,682.946,326.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,37141,542
$CAP_FILE_SIZE,66992,0
$CFSIZE,2097086464,2050654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.220, 84.5,1
$GPS,110515,074934,-3429.815,2525.950,41,0.8,46,-27.7