version: 66.07.10.p01
glider: 573
mission: 9
dive: 525
start: 5 21 115 19 1 55
data:
$ID,573
$MISSION,9
$DIVE,525
$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,30
$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,-15093.389
$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,11
$R_STBD_OVSHOOT,15
$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,524
$GPS1,210515,185353,-3435.349,2509.400,38,2.0,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-58.6
$GPS2,210515,190135,-3435.415,2509.196,30,1.8,30,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3426.062,2515.742
$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,57.7,20000,-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,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,95,0.00,0.00,-66.47,0.000,2,0.000,0.000,71,1934,2100,0,0,0,0,0,0
$GC,98,-1.05,-170.3,3.1,-3.7,11,167,11.35,2.50,-50.58,0.000,4,0.251,0.101,2691,495,3594,1,0,0,0,0,0
$GC,297,-0.88,-170.3,37.2,-20.8,43,303,0.25,2.55,0.00,0.000,6,0.194,0.099,2745,1917,3597,0,0,0,0,0,0
$GC,442,-0.81,-170.3,62.7,-16.3,68,448,0.10,2.47,0.00,0.000,4,0.185,0.101,2758,3353,3598,0,0,0,0,0,0
$GC,512,-0.81,-170.3,72.5,-13.2,80,518,0.00,2.58,0.00,0.000,6,0.000,0.107,2758,1918,3598,0,0,0,0,0,0
$GC,855,-0.81,-170.3,119.2,-12.8,128,859,0.00,2.42,0.00,0.000,4,0.000,0.093,2758,481,3600,0,0,0,0,0,0
$GC,884,-0.81,-170.3,123.1,-14.1,130,889,0.10,2.42,0.00,0.000,6,0.188,0.074,2770,1925,3600,0,0,0,0,0,0
$GC,1210,-0.81,-170.3,166.7,-13.4,160,1214,0.00,2.42,0.00,0.000,4,0.000,0.102,2760,3343,3601,0,0,0,0,0,0
$GC,1391,-0.83,-170.3,189.7,-12.2,175,1397,0.00,2.58,0.00,0.000,6,0.000,0.115,2760,1918,3601,0,0,0,0,0,0
$GC,1716,-0.83,-170.3,229.2,-11.5,206,1720,0.00,2.40,0.00,0.000,4,0.000,0.086,2760,484,3601,0,0,0,0,0,0
$GC,1739,-0.83,-170.3,232.1,-12.4,208,1743,0.00,2.42,0.00,0.000,6,0.000,0.074,2751,1918,3601,0,0,0,0,0,0
$GC,2069,-0.83,-170.3,277.1,-12.0,239,2073,0.00,2.45,0.00,0.000,4,0.000,0.099,2740,3341,3600,0,0,0,0,0,0
$GC,2248,-0.83,-170.3,297.7,-11.2,254,2253,0.10,2.50,0.00,0.000,6,0.144,0.097,2763,1913,3599,0,0,0,0,0,0
$STATE,2295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2295,begin apogee
$GC,2301,-0.25,0.0,303.4,11.6,258,2437,0.60,0.00,130.52,0.732,6,0.160,0.000,2945,1757,2904,0,0,0,0,0,0
$STATE,2438,end apogee,CONTROL_FINISHED_OK
$STATE,2438,begin climb
$GC,2440,1.05,170.3,311.3,0.0,272,2587,1.27,2.40,135.82,0.715,4,0.099,0.050,3378,327,2207,0,0,0,0,0,0
$GC,2769,0.89,170.3,293.0,11.4,302,2774,0.20,2.28,0.00,0.000,6,0.164,0.034,3324,1770,2204,0,0,0,0,0,0
$GC,3095,0.88,216.6,264.5,8.2,332,3140,0.00,2.40,37.85,0.700,4,0.000,0.073,3324,3180,2019,0,0,0,0,0,0
$GC,3199,0.81,216.8,254.5,10.0,341,3205,0.12,2.50,0.00,0.000,6,0.180,0.094,3302,1753,2016,0,0,0,0,0,0
$GC,3524,0.79,216.8,224.6,10.3,372,3528,0.00,2.25,0.00,0.000,4,0.000,0.057,3313,326,2014,0,0,0,0,0,0
$GC,3602,0.75,216.8,216.4,10.8,378,3608,0.12,2.25,0.00,0.000,6,0.168,0.035,3281,1770,2014,0,0,0,0,0,0
$GC,3930,0.81,266.1,189.0,8.1,409,3976,0.00,2.33,40.90,0.679,4,0.000,0.077,3281,3172,1816,0,0,0,0,0,0
$GC,4040,0.84,272.9,178.9,9.7,418,4055,0.00,2.47,6.50,0.549,6,0.000,0.092,3289,1756,1789,0,0,0,0,0,0
$GC,4374,0.84,272.9,144.0,10.0,450,4378,0.00,2.30,0.00,0.000,4,0.000,0.061,3300,328,1786,0,0,0,0,0,0
$GC,4533,0.86,288.5,128.5,9.4,463,4553,0.00,2.28,14.45,0.617,6,0.000,0.043,3301,1756,1724,0,0,0,0,0,0
$GC,4876,0.91,312.5,97.8,9.1,497,4905,0.08,2.42,20.40,0.616,4,0.119,0.090,3357,3171,1628,0,0,0,0,0,0
$GC,4964,0.85,312.5,87.6,11.5,512,4970,0.20,2.47,0.00,0.000,6,0.158,0.096,3312,1756,1626,0,0,0,0,0,0
$GC,5316,0.93,351.6,57.1,8.5,573,5357,0.08,2.33,33.17,0.597,4,0.114,0.058,3395,323,1467,0,0,0,0,0,0
$GC,5377,0.86,351.6,49.6,14.4,583,5383,0.30,2.33,0.00,0.000,6,0.141,0.042,3309,1764,1465,0,0,0,0,0,0
$GC,5731,1.04,442.4,20.1,6.4,644,5782,0.17,2.35,44.60,0.526,4,0.063,0.078,3392,3180,1097,0,0,0,0,0,0
$GC,5870,1.04,442.4,5.8,12.7,666,5878,0.08,2.53,0.00,0.000,6,0.136,0.093,3376,1755,1092,0,0,0,0,0,0
$STATE,5897,end climb,SURFACE_DEPTH_REACHED
$STATE,5897,begin surface coast
$FINISH,1.4,1.002102
$STATE,5922,end surface coast,CONTROL_FINISHED_OK
$STATE,5922,begin surface
$SM_CCo,5940,77.35,0.043,0,0,407,611.52
$SM_GC,2.15,0.00,0.00,77.35,0.000,0.000,0.043,73,1982,407,-9.26,1.78,611.52
$IRIDIUM_FIX,-3422.54,2508.45,170308,060627
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.46015
$TCM_TEMP,21.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,280.6,36.7
$24V_AH,24.0,52.438
$10V_AH,10.1,41.433
$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,23.950,68.175,464.225,77.350,0.000,24.863,45.317,238.188,7.000,0.000,32.820,1528.176,2201.545,496.078,2068.250,188.884,0.000,1262.188,0.000,1655.367,0.000,40.552,0.000
$DEVICE_MAMPS,250.920,114.750,732.105,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.974,1176.066,801.338,340.862,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330800
$DATA_FILE_SIZE,47228,674
$CAP_FILE_SIZE,86720,1
$CFSIZE,2097086464,2036858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$GPS,210515,204329,-3434.959,2509.328,38,1.0,38,-27.7