version: 66.07.10.p01
glider: 573
mission: 9
dive: 464
start: 5 18 115 7 7 50
data:
$ID,573
$MISSION,9
$DIVE,464
$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,-14935.821
$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,10
$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,463
$GPS1,180515,070135,-3429.851,2514.744,35,1.0,35,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-64.9
$GPS2,180515,070730,-3429.835,2514.761,21,1.0,21,-27.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.200,2517.032
$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,37.6,20000,-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,-78.70,0.000,2,0.000,0.000,71,1922,2349,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-3.7,13,167,11.27,0.00,-38.55,0.000,6,0.252,0.000,2688,1917,3598,0,0,0,0,0,0
$GC,219,-0.83,-170.3,16.7,-23.6,30,227,0.25,2.45,0.00,0.000,4,0.198,0.090,2747,3336,3600,0,0,0,0,0,0
$GC,290,-0.79,-170.3,31.6,-18.8,41,296,0.12,2.45,0.00,0.000,6,0.168,0.093,2777,1918,3600,0,0,0,0,0,0
$GC,438,-0.79,-170.3,50.1,-9.9,66,444,0.00,2.50,0.00,0.000,4,0.000,0.099,2777,482,3601,0,0,0,0,0,0
$GC,464,-0.79,-170.3,53.0,-10.6,70,470,0.00,2.65,0.00,0.000,6,0.000,0.119,2769,1911,3602,0,0,0,0,0,0
$GC,817,-0.79,-170.3,92.9,-13.0,131,822,0.00,2.42,0.00,0.000,4,0.000,0.095,2757,3354,3603,0,0,0,0,0,0
$STATE,964,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,964,begin apogee
$GC,972,-0.25,0.0,110.8,12.7,150,1108,0.65,0.00,128.48,0.600,6,0.179,0.000,2944,1758,2902,0,0,0,0,0,0
$STATE,1109,end apogee,CONTROL_FINISHED_OK
$STATE,1109,begin climb
$GC,1111,1.05,170.3,117.5,0.0,164,1248,1.27,0.00,131.62,0.593,6,0.106,0.000,3364,1757,2206,0,0,0,0,0,0
$GC,1571,0.97,203.7,90.6,8.7,215,1604,0.05,0.00,26.90,0.582,6,0.220,0.000,3353,1757,2072,0,0,0,0,0,0
$GC,1949,0.89,211.0,54.7,9.7,281,1961,0.12,0.00,7.10,0.506,6,0.177,0.000,3321,1756,2041,0,0,0,0,0,0
$GC,2311,1.04,338.1,26.0,5.0,343,2384,0.12,2.38,64.03,0.555,4,0.078,0.057,3414,325,1521,0,0,0,0,0,0
$GC,2454,0.95,338.1,13.7,11.8,367,2462,0.20,2.33,0.00,0.000,6,0.137,0.039,3351,1759,1515,0,0,0,0,0,0
$GC,2513,0.97,351.1,7.6,9.5,376,2526,0.00,2.35,5.43,0.379,4,0.000,0.068,3351,3192,1469,0,0,0,0,0,0
$STATE,2557,end climb,SURFACE_DEPTH_REACHED
$STATE,2557,begin surface coast
$FINISH,1.6,1.021413
$STATE,2565,end surface coast,CONTROL_FINISHED_OK
$STATE,2565,begin surface
$SM_CCo,2585,117.03,0.044,0,0,406,611.52
$SM_GC,1.97,0.00,0.00,117.03,0.000,0.000,0.044,70,1909,406,-9.26,-0.31,611.52
$IRIDIUM_FIX,-3414.71,2515.55,130308,191920
$TT8_MAMPS,0.026964
$HUMID,58.62
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,34.6
$24V_AH,24.4,46.696
$10V_AH,10.2,37.447
$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,22.800,24.650,363.550,117.025,0.000,26.414,25.334,182.776,1.500,0.000,23.665,818.471,445.735,452.065,1241.830,112.312,0.000,918.510,0.000,952.740,0.000,12.781,0.000
$DEVICE_MAMPS,252.450,119.340,599.760,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.832,553.988,570.908,367.633,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,27084,384
$CAP_FILE_SIZE,46123,0
$CFSIZE,2097086464,2043314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180515,075405,-3429.344,2514.953,35,0.9,35,-27.6