version: 66.07.10.p01
glider: 573
mission: 9
dive: 491
start: 5 19 115 6 28 15
data:
$ID,573
$MISSION,9
$DIVE,491
$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,-15002.675
$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,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,490
$GPS1,190515,061905,-3425.011,2521.506,34,1.2,34,-27.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-60.0
$GPS2,190515,062752,-3424.936,2521.683,43,1.6,60,-27.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,224.4,22371,-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,-84.15,0.000,2,0.000,0.000,70,1913,2509,0,0,0,0,0,0
$GC,115,-1.05,-170.3,3.3,-3.2,10,167,11.00,2.50,-31.00,0.000,4,0.241,0.103,2680,3343,3595,0,0,0,0,0,0
$GC,250,-0.88,-170.3,23.5,-20.7,29,259,0.25,2.50,0.00,0.000,6,0.179,0.096,2747,1915,3597,0,0,0,0,0,0
$GC,399,-0.84,-170.3,45.9,-13.3,54,408,0.00,2.42,0.00,0.000,4,0.000,0.087,2738,3336,3598,0,0,0,0,0,0
$GC,474,-0.84,-170.3,55.5,-12.3,66,484,0.05,2.47,0.00,0.000,6,0.116,0.091,2755,1920,3599,0,0,0,0,0,0
$GC,833,-0.82,-170.3,99.8,-14.0,127,840,0.00,2.42,0.00,0.000,4,0.000,0.091,2755,475,3600,0,0,0,0,0,0
$STATE,849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,849,begin apogee
$GC,856,-0.25,0.0,103.0,13.0,129,993,0.70,0.00,127.95,0.595,6,0.184,0.000,2945,1754,2902,0,0,0,0,0,0
$STATE,993,end apogee,CONTROL_FINISHED_OK
$STATE,994,begin climb
$GC,996,1.05,170.3,110.2,0.0,143,1141,1.30,2.47,131.85,0.585,4,0.113,0.082,3364,3172,2205,0,0,0,0,0,0
$GC,1199,0.94,201.5,106.4,8.8,160,1231,0.12,2.50,26.10,0.565,6,0.175,0.093,3342,1756,2079,0,0,0,0,0,0
$GC,1570,0.86,201.5,68.2,10.4,218,1577,0.10,2.28,0.00,0.000,4,0.187,0.053,3328,319,2074,0,0,0,0,0,0
$GC,1638,0.83,221.2,61.5,9.2,229,1661,0.10,2.28,16.73,0.560,6,0.161,0.035,3302,1768,1999,0,0,0,0,0,0
$GC,2006,0.89,273.8,34.3,7.9,292,2051,0.00,2.35,34.33,0.576,4,0.000,0.072,3302,3177,1782,0,0,0,0,0,0
$GC,2260,0.99,323.0,14.7,8.1,333,2295,0.08,2.45,22.90,0.502,6,0.047,0.084,3387,1758,1583,0,0,0,0,0,0
$GC,2347,0.91,323.0,4.9,12.1,345,2357,0.20,2.33,0.00,0.000,4,0.142,0.054,3340,323,1578,0,0,0,0,0,0
$STATE,2364,end climb,SURFACE_DEPTH_REACHED
$STATE,2365,begin surface coast
$FINISH,1.4,1.013478
$STATE,2391,end surface coast,CONTROL_FINISHED_OK
$STATE,2391,begin surface
$SM_CCo,2411,127.20,0.042,0,0,406,611.52
$SM_GC,1.98,0.00,0.00,127.20,0.000,0.000,0.042,74,1921,406,-9.25,0.06,611.52
$IRIDIUM_FIX,-3412.10,2520.27,140308,191956
$TT8_MAMPS,0.026215
$HUMID,59.72
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,36.9
$24V_AH,24.4,48.749
$10V_AH,10.1,38.845
$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,22.475,33.900,359.850,127.200,0.000,54.070,100.772,156.026,1.250,0.000,62.927,823.547,343.802,526.184,1279.402,109.353,0.000,936.131,0.000,879.775,0.000,10.102,0.000
$DEVICE_MAMPS,240.975,103.275,595.170,42.075,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.202,504.117,534.870,355.217,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,23719,351
$CAP_FILE_SIZE,46114,0
$CFSIZE,2097086464,2040659968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.238, 86.5,1
$GPS,190515,071153,-3425.193,2522.016,42,1.5,42,-27.6