version: 66.07.10.p01
glider: 573
mission: 9
dive: 502
start: 5 19 115 16 54 52
data:
$ID,573
$MISSION,9
$DIVE,502
$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,-15031.944
$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,53
$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,501
$GPS1,190515,164823,-3426.623,2527.078,43,1.0,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-60.8
$GPS2,190515,165430,-3426.608,2527.095,19,1.1,19,-27.7
$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,244.7,16779,-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,27,-1.05,-170.3,0.0,0.0,0,114,0.00,0.00,-84.70,0.000,2,0.000,0.000,71,1982,2531,0,0,0,0,0,0
$GC,117,-1.05,-170.3,3.3,-3.7,10,162,11.18,2.35,-27.42,0.000,4,0.247,0.106,2677,3307,3599,0,0,0,0,0,0
$GC,243,-0.86,-170.3,26.3,-24.0,28,253,0.25,2.40,0.00,0.000,6,0.167,0.086,2751,1919,3601,0,0,0,0,0,0
$GC,396,-0.75,-170.3,55.7,-19.1,53,403,0.15,2.45,0.00,0.000,4,0.200,0.093,2786,485,3602,0,0,0,0,0,0
$GC,520,-0.75,-170.3,73.9,-12.1,74,528,0.00,2.50,0.00,0.000,6,0.000,0.103,2778,1877,3602,0,0,0,0,0,0
$GC,876,-0.77,-170.3,104.2,-9.6,132,880,0.00,2.47,0.00,0.000,4,0.000,0.094,2766,3356,3605,0,0,0,0,0,0
$GC,1124,-0.79,-170.3,128.8,-10.8,153,1128,0.00,2.47,0.00,0.000,6,0.000,0.092,2766,1922,3606,0,0,0,0,0,0
$STATE,1203,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1203,begin apogee
$GC,1208,-0.25,0.0,138.8,12.5,160,1346,0.62,0.00,129.98,0.619,6,0.176,0.000,2947,1753,2903,0,0,0,0,0,0
$STATE,1347,end apogee,CONTROL_FINISHED_OK
$STATE,1347,begin climb
$GC,1350,1.05,170.3,143.9,0.0,174,1493,1.25,2.38,132.73,0.608,4,0.102,0.048,3373,325,2207,0,0,0,0,0,0
$GC,1746,0.91,170.4,113.1,10.0,208,1755,0.12,2.30,0.00,0.000,6,0.143,0.034,3333,1767,2202,0,0,0,0,0,0
$GC,2082,0.95,272.8,88.5,6.0,254,2172,0.00,2.35,81.18,0.609,4,0.000,0.067,3333,3184,1789,0,0,0,0,0,0
$GC,2207,0.91,277.4,78.6,9.8,273,2218,0.03,2.53,5.10,0.453,6,0.190,0.087,3333,1751,1770,0,0,0,0,0,0
$GC,2565,1.03,382.2,47.0,5.9,334,2656,0.10,2.38,84.03,0.588,4,0.091,0.056,3415,330,1341,0,0,0,0,0,0
$GC,2802,0.94,382.2,17.8,15.5,371,2811,0.22,2.30,0.00,0.000,6,0.135,0.041,3345,1752,1334,0,0,0,0,0,0
$GC,2863,0.94,382.2,9.6,12.7,380,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1752,1333,0,0,0,0,0,0
$GC,2923,0.94,382.2,3.3,11.9,389,2932,0.00,2.38,0.00,0.000,4,0.000,0.078,3345,3177,1332,0,0,0,0,0,0
$STATE,2940,end climb,SURFACE_DEPTH_REACHED
$STATE,2940,begin surface coast
$FINISH,1.3,1.021548
$STATE,2953,end surface coast,CONTROL_FINISHED_OK
$STATE,2953,begin surface
$SM_CCo,2973,102.05,0.043,0,0,407,611.52
$SM_GC,1.86,0.00,0.00,102.05,0.000,0.000,0.043,71,1921,407,-9.26,0.03,611.52
$IRIDIUM_FIX,-3412.10,2528.47,150308,050504
$TT8_MAMPS,0.026964
$HUMID,59.60
$INTERNAL_PRESSURE,9.43085
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,32.2
$24V_AH,24.3,49.701
$10V_AH,10.1,39.446
$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,22.575,33.800,433.000,102.050,0.000,24.785,40.275,179.513,2.250,0.000,21.705,914.699,580.320,541.686,1294.985,123.812,0.000,1020.281,0.000,994.514,0.000,16.184,0.000
$DEVICE_MAMPS,247.095,147.645,618.885,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.391,581.806,534.854,303.859,0.000,0.000,0.000,0.000,0.000,0.000
$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,27047,393
$CAP_FILE_SIZE,51598,0
$CFSIZE,2097086464,2039578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.282, 96.8,1
$GPS,190515,174728,-3426.840,2527.348,41,1.1,43,-27.7