version: 66.07.10.p01
glider: 573
mission: 9
dive: 437
start: 5 15 115 21 3 20
data:
$ID,573
$MISSION,9
$DIVE,437
$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,-14869.283
$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,54
$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,436
$GPS1,150515,204705,-3432.936,2509.694,31,1.3,31,-27.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-62.6
$GPS2,150515,210259,-3432.834,2509.683,43,1.4,43,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3440.000,2520.000
$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,157.9,20570,-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,-170.3,0.0,0.0,0,112,0.00,0.00,-83.75,0.000,2,0.000,0.000,68,1969,2552,0,0,0,0,0,0
$GC,115,-1.05,-170.3,3.3,-3.6,10,158,11.00,2.40,-24.25,0.000,4,0.242,0.127,2676,3306,3598,0,0,0,0,0,0
$GC,305,-0.90,-170.3,38.4,-17.5,39,313,0.25,2.45,0.00,0.000,6,0.179,0.103,2742,1913,3600,0,0,0,0,0,0
$GC,457,-0.86,-170.3,58.1,-11.2,64,464,0.00,2.40,0.00,0.000,4,0.000,0.101,2733,3299,3601,0,0,0,0,0,0
$GC,499,-0.83,-170.3,64.1,-13.6,71,506,0.12,2.40,0.00,0.000,6,0.154,0.092,2765,1912,3601,0,0,0,0,0,0
$GC,852,-0.83,-170.3,108.0,-12.2,127,856,0.00,2.45,0.00,0.000,4,0.000,0.102,2765,477,3603,0,0,0,0,0,0
$GC,892,-0.83,-170.3,113.3,-13.1,130,896,0.00,2.38,0.00,0.000,6,0.000,0.080,2757,1878,3604,0,0,0,0,0,0
$STATE,1059,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1059,begin apogee
$GC,1065,-0.25,0.0,134.8,12.8,145,1202,0.65,0.00,128.15,0.612,6,0.172,0.000,2947,1701,2902,0,0,0,0,0,0
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1203,begin climb
$GC,1206,1.05,170.3,142.7,0.0,159,1348,1.27,0.00,131.88,0.607,6,0.112,0.000,3363,1700,2206,0,0,0,0,0,0
$GC,1667,0.96,192.7,112.8,9.1,202,1691,0.08,2.53,18.67,0.584,4,0.197,0.073,3347,3180,2116,0,0,0,0,0,0
$GC,1728,0.86,194.2,106.9,10.0,207,1733,0.17,2.45,0.00,0.000,6,0.164,0.090,3310,1752,2114,0,0,0,0,0,0
$GC,2070,0.89,255.6,77.0,7.6,260,2126,0.00,2.38,50.30,0.602,4,0.000,0.060,3321,329,1859,0,0,0,0,0,0
$GC,2225,0.86,255.6,62.1,10.3,285,2234,0.00,2.33,0.00,0.000,6,0.000,0.039,3321,1766,1855,0,0,0,0,0,0
$GC,2580,0.93,308.9,32.2,7.9,346,2618,0.00,2.42,29.55,0.575,4,0.000,0.090,3321,3181,1640,0,0,0,0,0,0
$GC,2894,1.12,429.5,7.0,5.2,396,2947,0.15,2.47,46.78,0.485,2,0.035,0.090,3415,1758,1226,0,0,0,0,0,0
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,1.2,1.010793
$STATE,2981,end surface coast,CONTROL_FINISHED_OK
$STATE,2981,begin surface
$SM_CCo,2998,89.88,0.044,0,0,407,611.52
$SM_GC,1.99,0.00,0.00,89.88,0.000,0.000,0.044,81,1983,407,-9.23,1.81,611.52
$IRIDIUM_FIX,-3419.93,2507.33,110308,101028
$TT8_MAMPS,0.026964
$HUMID,59.25
$INTERNAL_PRESSURE,9.43085
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.9,28.8
$24V_AH,24.4,43.586
$10V_AH,10.2,35.169
$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,22.700,29.600,405.325,89.875,0.000,82.803,104.011,457.566,2.250,0.000,46.785,949.402,728.150,502.135,1718.797,157.093,0.000,949.169,0.000,990.736,0.000,16.175,0.000
$DEVICE_MAMPS,241.740,126.990,612.000,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.157,618.543,587.297,361.412,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,26986,407
$CAP_FILE_SIZE,56004,0
$CFSIZE,2097086464,2046427136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.243, 51.1,1
$GPS,150515,215605,-3432.767,2510.365,40,1.0,40,-27.7