version: 66.07.10.p01
glider: 573
mission: 9
dive: 511
start: 5 20 115 3 34 44
data:
$ID,573
$MISSION,9
$DIVE,511
$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,-15055.668
$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,12
$R_STBD_OVSHOOT,11
$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,510
$GPS1,200515,032435,-3429.883,2529.087,33,1.1,33,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.4
$GPS2,200515,033422,-3429.943,2529.195,27,1.6,42,-27.8
$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,219.3,10477,-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,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,103,0.00,0.00,-74.38,0.000,2,0.000,0.000,74,1938,2246,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.1,-2.7,9,174,11.10,2.53,-45.33,0.000,4,0.243,0.096,2684,490,3600,0,0,0,0,0,0
$GC,408,-0.91,-170.3,66.8,-12.9,57,418,0.22,2.55,0.00,0.000,6,0.197,0.094,2736,1913,3602,0,0,0,0,0,0
$GC,766,-0.86,-170.3,96.8,-10.6,118,774,0.08,2.40,0.00,0.000,4,0.213,0.080,2753,481,3604,0,0,0,0,0,0
$GC,951,-0.84,-170.3,121.3,-16.1,136,956,0.08,2.45,0.00,0.000,6,0.197,0.076,2759,1922,3604,0,0,0,0,0,0
$GC,1276,-0.81,-170.3,169.7,-10.7,166,1281,0.00,2.47,0.00,0.000,4,0.000,0.107,2749,3349,3605,0,0,0,0,0,0
$GC,1450,-0.81,-170.3,184.9,-8.3,181,1457,0.08,2.45,0.00,0.000,6,0.161,0.088,2764,1920,3604,0,0,0,0,0,0
$GC,1776,-0.81,-170.3,220.0,-12.3,212,1780,0.00,2.45,0.00,0.000,4,0.000,0.096,2764,476,3604,0,0,0,0,0,0
$GC,1809,-0.81,-170.3,224.8,-12.9,214,1817,0.05,2.45,0.00,0.000,6,0.237,0.078,2763,1918,3604,0,0,0,0,0,0
$GC,2138,-0.81,-170.3,265.2,-13.5,245,2142,0.00,2.53,0.00,0.000,4,0.000,0.110,2753,3349,3604,0,0,0,0,0,0
$GC,2305,-0.81,-170.3,286.0,-11.6,259,2315,0.03,2.55,0.00,0.000,6,0.130,0.101,2762,1920,3603,0,0,0,0,0,0
$GC,2632,-0.81,-170.3,299.7,-4.3,290,2636,0.00,2.42,0.00,0.000,4,0.000,0.090,2762,472,3603,0,0,0,0,0,0
$GC,2736,-0.81,-170.3,315.8,-23.0,299,2745,0.08,2.42,0.00,0.000,6,0.216,0.070,2766,1920,3603,0,0,0,0,0,0
$STATE,2955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2955,begin apogee
$GC,2961,-0.25,0.0,382.9,27.2,320,3099,0.62,0.00,134.73,0.803,6,0.175,0.000,2947,1706,2902,0,0,0,0,0,0
$STATE,3100,end apogee,CONTROL_FINISHED_OK
$STATE,3100,begin climb
$GC,3104,1.05,170.3,392.6,0.0,334,3256,1.30,2.70,138.23,0.777,4,0.116,0.091,3358,3178,2205,0,0,0,0,0,0
$GC,3509,0.91,170.3,360.2,14.7,369,3517,0.15,2.47,0.00,0.000,6,0.181,0.089,3331,1744,2201,0,0,0,0,0,0
$GC,3835,0.83,170.3,305.2,11.3,400,3837,0.10,0.00,0.00,0.000,6,0.203,0.000,3306,1745,2201,0,0,0,0,0,0
$GC,4153,0.93,297.3,285.9,5.0,430,4264,0.08,2.35,102.82,0.750,4,0.118,0.058,3376,333,1689,0,0,0,0,0,0
$GC,4331,0.82,297.3,266.0,14.1,445,4338,0.28,2.28,0.00,0.000,6,0.148,0.034,3298,1766,1684,0,0,0,0,0,0
$GC,4656,0.82,297.3,229.6,10.9,476,4661,0.00,2.30,0.00,0.000,4,0.000,0.050,3307,332,1681,0,0,0,0,0,0
$GC,4723,0.82,297.3,222.4,10.7,481,4727,0.00,2.25,0.00,0.000,6,0.000,0.037,3307,1757,1679,0,0,0,0,0,0
$GC,5048,0.82,297.3,186.2,11.2,511,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1757,1679,0,0,0,0,0,0
$GC,5370,0.82,297.3,149.0,11.4,541,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1757,1679,0,0,0,0,0,0
$GC,5697,0.83,307.3,115.2,9.6,572,5712,0.00,2.35,7.82,0.583,4,0.000,0.082,3308,3175,1648,0,0,0,0,0,0
$GC,5761,0.83,307.3,108.0,11.7,577,5765,0.00,2.42,0.00,0.000,6,0.000,0.086,3317,1758,1648,0,0,0,0,0,0
$GC,6107,0.89,352.0,67.5,8.2,631,6151,0.00,2.38,38.25,0.635,4,0.000,0.059,3329,328,1466,0,0,0,0,0,0
$GC,6369,0.98,402.4,46.0,8.0,675,6420,0.03,2.30,41.35,0.609,6,0.102,0.042,3367,1752,1260,0,0,0,0,0,0
$STATE,6750,end climb,SURFACE_DEPTH_REACHED
$STATE,6750,begin surface coast
$FINISH,1.3,1.021388
$STATE,6776,end surface coast,CONTROL_FINISHED_OK
$STATE,6776,begin surface
$SM_CCo,6794,94.25,0.044,0,0,408,611.52
$SM_GC,1.99,0.00,0.00,94.25,0.000,0.000,0.044,72,1939,408,-9.26,0.57,611.52
$IRIDIUM_FIX,-3414.71,2529.60,150308,161641
$TT8_MAMPS,0.026964
$HUMID,58.66
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.9,35.6
$24V_AH,23.8,50.565
$10V_AH,10.1,40.021
$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,23.000,54.075,463.200,94.250,0.000,53.263,96.903,217.969,8.250,0.000,45.281,1803.711,2647.209,581.116,2269.114,181.409,0.000,1341.088,0.000,1777.121,0.000,55.160,0.000
$DEVICE_MAMPS,243.270,110.160,803.250,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.287,1312.773,828.147,306.310,0.000,0.000,0.000,0.000,0.000,0.000
$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,50439,741
$CAP_FILE_SIZE,86566,0
$CFSIZE,2097086464,2038628352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.069,155.3,1
$GPS,200515,053035,-3430.938,2529.004,25,1.8,25,-27.8