version: 66.07.10.p01
glider: 573
mission: 9
dive: 442
start: 5 16 115 2 18 16
data:
$ID,573
$MISSION,9
$DIVE,442
$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,-14882.659
$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,18
$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,441
$GPS1,160515,021205,-3433.567,2512.154,32,1.0,32,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-60.3
$GPS2,160515,021754,-3433.565,2512.206,20,2.0,20,-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,207.8,16821,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,105,0.00,0.00,-76.32,0.000,2,0.000,0.000,82,1931,2314,0,0,0,0,0,0
$GC,108,-1.05,-170.3,3.1,-3.1,9,169,10.70,2.45,-37.67,0.000,4,0.236,0.109,2673,3334,3600,0,0,0,0,0,0
$GC,228,-0.84,-170.3,21.4,-23.8,25,235,0.30,2.45,0.00,0.000,6,0.176,0.095,2754,1914,3601,0,0,0,0,0,0
$GC,377,-0.80,-170.3,46.4,-14.6,50,384,0.08,2.42,0.00,0.000,4,0.210,0.096,2770,490,3603,0,0,0,0,0,0
$GC,489,-0.80,-170.3,62.3,-14.2,69,498,0.00,2.53,0.00,0.000,6,0.000,0.094,2761,1909,3604,0,0,0,0,0,0
$GC,839,-0.80,-170.3,106.5,-13.7,126,843,0.00,2.45,0.00,0.000,4,0.000,0.096,2751,3355,3606,0,0,0,0,0,0
$GC,1070,-0.80,-170.3,137.3,-13.3,146,1075,0.10,2.47,0.00,0.000,6,0.167,0.091,2774,1917,3607,0,0,0,0,0,0
$GC,1395,-0.80,-170.3,181.5,-12.9,176,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1917,3607,0,0,0,0,0,0
$GC,1716,-0.80,-170.3,221.3,-12.1,206,1720,0.00,2.40,0.00,0.000,4,0.000,0.090,2774,478,3606,0,0,0,0,0,0
$GC,1748,-0.80,-170.3,226.3,-13.8,208,1758,0.00,2.47,0.00,0.000,6,0.000,0.081,2765,1910,3606,0,0,0,0,0,0
$STATE,1829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1829,begin apogee
$GC,1834,-0.25,0.0,237.6,14.7,216,1972,0.60,0.00,130.82,0.705,6,0.161,0.000,2945,1706,2901,0,0,0,0,0,0
$STATE,1973,end apogee,CONTROL_FINISHED_OK
$STATE,1973,begin climb
$GC,1976,1.05,170.3,246.6,0.0,230,2122,1.30,2.30,133.93,0.686,4,0.112,0.052,3374,320,2207,0,0,0,0,0,0
$GC,2375,0.92,183.6,225.1,9.5,264,2397,0.12,2.30,11.62,0.625,6,0.146,0.034,3335,1762,2154,0,0,0,0,0,0
$GC,2715,0.89,224.3,195.3,8.4,296,2754,0.05,2.33,33.85,0.673,4,0.236,0.045,3334,322,1987,0,0,0,0,0,0
$GC,2920,0.83,225.2,174.6,10.0,314,2925,0.12,2.28,0.00,0.000,6,0.157,0.035,3301,1765,1983,0,0,0,0,0,0
$GC,3246,0.87,254.3,146.2,8.9,344,3276,0.00,2.30,24.85,0.655,4,0.000,0.073,3301,3172,1864,0,0,0,0,0,0
$GC,3337,0.87,254.3,137.0,10.4,351,3345,0.00,2.45,0.00,0.000,6,0.000,0.085,3309,1757,1861,0,0,0,0,0,0
$GC,3663,0.89,277.2,105.9,9.1,382,3687,0.00,2.38,19.55,0.631,4,0.000,0.060,3320,319,1771,0,0,0,0,0,0
$GC,3786,0.87,277.2,93.2,10.4,398,3793,0.00,2.28,0.00,0.000,6,0.000,0.039,3321,1755,1769,0,0,0,0,0,0
$GC,4140,0.88,289.7,56.7,9.5,459,4157,0.00,2.50,11.25,0.586,4,0.000,0.099,3321,3184,1720,0,0,0,0,0,0
$GC,4215,0.92,324.4,50.2,8.6,471,4253,0.00,2.53,29.33,0.610,6,0.000,0.099,3330,1759,1579,0,0,0,0,0,0
$GC,4608,1.00,352.2,18.8,8.9,536,4634,0.08,2.35,13.75,0.526,4,0.115,0.059,3406,327,1464,0,0,0,0,0,0
$STATE,4740,end climb,SURFACE_DEPTH_REACHED
$STATE,4741,begin surface coast
$FINISH,1.2,1.008542
$STATE,4767,end surface coast,CONTROL_FINISHED_OK
$STATE,4767,begin surface
$SM_CCo,4787,115.60,0.044,0,0,408,611.52
$SM_GC,1.85,0.00,0.00,115.60,0.000,0.000,0.044,72,1934,408,-9.26,0.42,611.52
$IRIDIUM_FIX,-3419.93,2510.81,110308,141421
$TT8_MAMPS,0.026964
$HUMID,60.51
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,221.3,30.8
$24V_AH,24.2,44.036
$10V_AH,10.2,35.468
$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,22.300,48.650,408.950,115.600,0.000,27.988,20.295,179.660,4.750,0.000,22.570,1360.012,1517.271,555.464,1693.547,138.150,0.000,1167.163,0.000,1383.130,0.000,31.405,0.000
$DEVICE_MAMPS,236.385,109.395,705.330,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.589,938.255,689.096,337.067,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,37110,560
$CAP_FILE_SIZE,69006,0
$CFSIZE,2097086464,2045870080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.368, 79.2,1
$GPS,160515,034105,-3433.924,2513.197,29,1.4,29,-27.7