version: 66.07.10.p01
glider: 573
mission: 9
dive: 461
start: 5 18 115 4 22 30
data:
$ID,573
$MISSION,9
$DIVE,461
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,10
$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,-14928.846
$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,14
$R_STBD_OVSHOOT,10
$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,460
$GPS1,180515,041605,-3431.553,2514.108,35,1.1,35,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.3
$GPS2,180515,042210,-3431.547,2514.117,18,1.7,21,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.912,2516.388
$TGT_RADIUS,1852.000
$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,37.7,20000,-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,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-78.75,0.000,2,0.000,0.000,73,1939,2355,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-3.2,13,168,11.00,2.45,-36.75,0.000,4,0.243,0.102,2680,3348,3600,0,0,0,0,0,0
$GC,190,-0.85,-170.3,11.2,-20.4,25,198,0.25,2.55,0.00,0.000,6,0.169,0.103,2753,1926,3602,0,0,0,0,0,0
$GC,246,-0.75,-170.3,23.5,-18.8,34,254,0.12,2.53,0.00,0.000,4,0.202,0.098,2782,481,3603,0,0,0,0,0,0
$GC,296,-0.73,-170.3,31.4,-14.4,42,304,0.05,2.67,0.00,0.000,6,0.194,0.112,2787,1918,3603,0,0,0,0,0,0
$GC,446,-0.73,-170.3,50.9,-11.8,67,451,0.00,2.40,0.00,0.000,4,0.000,0.097,2776,3349,3604,0,0,0,0,0,0
$GC,553,-0.76,-170.3,63.4,-11.8,85,558,0.00,2.58,0.00,0.000,6,0.000,0.109,2776,1920,3604,0,0,0,0,0,0
$GC,904,-0.76,-170.3,104.1,-12.2,144,909,0.00,2.42,0.00,0.000,4,0.000,0.092,2776,475,3607,0,0,0,0,0,0
$GC,937,-0.76,-170.3,108.7,-13.3,146,944,0.08,2.53,0.00,0.000,6,0.230,0.086,2780,1917,3607,0,0,0,0,0,0
$STATE,1187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1187,begin apogee
$GC,1192,-0.25,0.0,138.3,12.3,170,1328,0.55,0.00,129.60,0.617,6,0.168,0.000,2945,1704,2903,0,0,0,0,0,0
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1332,1.05,170.3,145.7,0.0,184,1472,1.25,2.28,132.40,0.613,4,0.102,0.048,3370,319,2206,0,0,0,0,0,0
$GC,1597,0.94,197.2,135.0,8.9,208,1626,0.10,2.33,22.23,0.588,6,0.144,0.033,3340,1770,2097,0,0,0,0,0,0
$GC,1952,0.90,214.6,103.7,9.3,242,1973,0.05,2.30,15.18,0.578,4,0.235,0.067,3327,3187,2026,0,0,0,0,0,0
$GC,2005,0.83,214.6,98.3,10.8,247,2011,0.12,2.53,0.00,0.000,6,0.172,0.095,3306,1739,2024,0,0,0,0,0,0
$GC,2354,0.82,231.7,67.6,9.3,308,2374,0.00,0.00,14.93,0.578,6,0.000,0.000,3306,1739,1957,0,0,0,0,0,0
$GC,2717,0.92,317.2,37.5,6.6,372,2792,0.08,2.33,65.80,0.591,4,0.116,0.057,3389,338,1607,0,0,0,0,0,0
$GC,2830,0.84,317.2,28.0,11.1,391,2836,0.28,2.30,0.00,0.000,6,0.141,0.038,3309,1766,1603,0,0,0,0,0,0
$GC,2982,1.00,399.0,16.6,6.8,416,3032,0.12,2.38,39.70,0.510,4,0.076,0.050,3407,329,1271,0,0,0,0,0,0
$GC,3053,0.95,399.0,7.9,14.1,427,3061,0.20,2.33,0.00,0.000,6,0.131,0.041,3343,1754,1268,0,0,0,0,0,0
$STATE,3098,end climb,SURFACE_DEPTH_REACHED
$STATE,3098,begin surface coast
$FINISH,1.3,1.011148
$STATE,3130,end surface coast,CONTROL_FINISHED_OK
$STATE,3130,begin surface
$SM_CCo,3147,95.90,0.044,0,0,407,611.52
$SM_GC,2.06,0.00,0.00,95.90,0.000,0.000,0.044,71,1944,407,-9.26,0.74,611.52
$IRIDIUM_FIX,-3417.32,2515.55,130308,161600
$TT8_MAMPS,0.026964
$HUMID,58.34
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.9,31.5
$24V_AH,24.3,46.455
$10V_AH,10.2,37.290
$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,23.050,39.475,419.825,95.900,0.000,24.994,25.410,192.995,2.250,0.000,23.692,948.336,689.717,465.047,1394.791,122.155,0.000,1012.176,0.000,1086.926,0.000,16.176,0.000
$DEVICE_MAMPS,243.270,112.455,616.590,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.572,668.600,623.562,377.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,30509,439
$CAP_FILE_SIZE,56736,0
$CFSIZE,2097086464,2043609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,180515,051753,-3430.890,2514.369,42,1.1,42,-27.7