version: 66.07.10.p01
glider: 573
mission: 9
dive: 462
start: 5 18 115 5 24 8
data:
$ID,573
$MISSION,9
$DIVE,462
$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,-14931.176
$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,18
$R_STBD_OVSHOOT,16
$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,461
$GPS1,180515,051753,-3430.890,2514.369,42,1.1,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.2
$GPS2,180515,052348,-3430.873,2514.376,18,1.1,18,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.238,2516.647
$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,-78.85,0.000,2,0.000,0.000,70,1945,2375,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-2.7,13,168,11.40,2.42,-34.62,0.000,4,0.256,0.103,2676,3340,3600,2,0,0,0,0,0
$GC,285,-0.88,-170.3,34.2,-21.1,41,291,0.25,2.50,0.00,0.000,6,0.160,0.103,2746,1919,3603,0,0,0,0,0,0
$GC,432,-0.85,-170.3,57.0,-12.8,66,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1919,3603,0,0,0,0,0,0
$GC,786,-0.82,-170.3,102.0,-13.6,126,791,0.08,2.47,0.00,0.000,4,0.199,0.096,2754,3348,3606,0,0,0,0,0,0
$GC,876,-0.82,-170.3,113.6,-12.3,133,882,0.05,2.58,0.00,0.000,6,0.183,0.115,2765,1918,3607,0,0,0,0,0,0
$STATE,945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,945,begin apogee
$GC,950,-0.25,0.0,122.3,13.1,140,1086,0.60,0.00,129.30,0.604,6,0.162,0.000,2945,1756,2903,0,0,0,0,0,0
$STATE,1087,end apogee,CONTROL_FINISHED_OK
$STATE,1087,begin climb
$GC,1089,1.05,170.3,128.2,0.0,154,1229,1.27,2.45,131.77,0.597,4,0.106,0.076,3364,3176,2208,0,0,0,0,0,0
$GC,1268,1.01,254.9,123.3,6.7,170,1346,0.00,2.45,68.47,0.589,6,0.000,0.077,3373,1744,1861,0,0,0,0,0,0
$GC,1682,0.90,254.9,71.1,15.0,226,1688,0.17,2.25,0.00,0.000,4,0.163,0.054,3336,328,1855,0,0,0,0,0,0
$GC,1773,0.85,254.9,60.3,11.8,241,1778,0.10,2.25,0.00,0.000,6,0.160,0.036,3309,1759,1854,0,0,0,0,0,0
$GC,2125,0.95,321.0,31.5,7.4,302,2167,0.10,2.38,34.67,0.565,4,0.091,0.081,3383,3191,1592,0,0,0,0,0,0
$GC,2234,0.88,321.0,19.5,11.8,320,2242,0.22,2.50,0.00,0.000,6,0.132,0.089,3321,1754,1587,0,0,0,0,0,0
$GC,2293,0.98,378.7,14.5,7.7,329,2332,0.10,2.33,27.92,0.501,4,0.091,0.057,3400,338,1355,0,0,0,0,0,0
$GC,2384,0.92,378.7,3.9,13.9,343,2392,0.20,2.30,0.00,0.000,6,0.133,0.041,3337,1758,1349,0,0,0,0,0,0
$STATE,2399,end climb,SURFACE_DEPTH_REACHED
$STATE,2399,begin surface coast
$FINISH,1.3,1.009396
$STATE,2424,end surface coast,CONTROL_FINISHED_OK
$STATE,2424,begin surface
$SM_CCo,2442,104.43,0.043,0,0,408,611.52
$SM_GC,2.03,0.00,0.00,104.43,0.000,0.000,0.043,72,1936,408,-9.26,0.48,611.52
$IRIDIUM_FIX,-3419.93,2514.30,130308,171759
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,16.2
$24V_AH,24.3,46.536
$10V_AH,10.2,37.340
$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,23.250,29.475,392.150,104.425,0.000,25.674,18.871,192.903,2.500,0.000,20.809,758.530,403.830,456.706,1183.320,110.440,0.000,921.907,0.000,890.488,0.000,18.978,0.000
$DEVICE_MAMPS,256.275,126.225,603.585,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.518,518.844,521.372,332.322,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,23765,349
$CAP_FILE_SIZE,48134,2
$CFSIZE,2097086464,2043510784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,1
$GPS,180515,060753,-3430.349,2514.530,41,1.5,41,-27.6