version: 66.07.10.p01
glider: 573
mission: 9
dive: 526
start: 5 21 115 20 55 19
data:
$ID,573
$MISSION,9
$DIVE,526
$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,-15095.967
$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,57
$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,525
$GPS1,210515,204329,-3434.959,2509.328,38,1.0,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.0
$GPS2,210515,205458,-3435.048,2509.014,45,1.0,45,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.695,2515.561
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,100,0.00,0.00,-72.30,0.000,2,0.000,0.000,73,1982,2271,0,0,0,0,0,0
$GC,103,-1.05,-170.3,3.3,-4.1,12,160,10.98,2.30,-37.28,0.000,4,0.239,0.105,2677,3294,3598,0,0,0,0,0,0
$GC,309,-0.88,-170.3,38.1,-20.4,46,317,0.22,2.45,0.00,0.000,6,0.174,0.099,2742,1923,3601,0,0,0,0,0,0
$GC,457,-0.80,-170.3,62.9,-16.6,71,462,0.12,2.35,0.00,0.000,4,0.190,0.086,2764,3305,3601,0,0,0,0,0,0
$GC,492,-0.80,-170.3,68.5,-15.2,77,497,0.00,2.45,0.00,0.000,6,0.000,0.101,2765,1919,3602,0,0,0,0,0,0
$GC,842,-0.80,-170.3,113.5,-12.6,129,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1919,3603,0,0,0,0,0,0
$GC,1158,-0.80,-170.3,153.8,-11.8,159,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1919,3604,0,0,0,0,0,0
$GC,1479,-0.80,-170.3,189.8,-11.6,189,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1919,3603,0,0,0,0,0,0
$GC,1794,-0.80,-170.3,227.8,-11.6,219,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1919,3602,0,0,0,0,0,0
$STATE,1860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1860,begin apogee
$GC,1866,-0.25,0.0,236.2,13.2,225,2001,0.60,0.00,128.50,0.680,6,0.155,0.000,2946,1758,2903,0,0,0,0,0,0
$STATE,2002,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2004,1.05,170.3,244.8,0.0,239,2148,1.30,2.35,134.25,0.666,4,0.106,0.045,3378,316,2207,0,0,0,0,0,0
$GC,2307,0.88,170.3,232.8,12.4,267,2312,0.20,2.20,0.00,0.000,6,0.155,0.029,3322,1727,2205,0,0,0,0,0,0
$GC,2635,0.88,233.4,207.9,7.5,297,2691,0.00,0.00,50.83,0.662,6,0.000,0.000,3322,1727,1950,0,0,0,0,0,0
$GC,3014,0.87,260.6,170.8,8.9,333,3039,0.00,0.00,23.00,0.636,6,0.000,0.000,3321,1727,1838,0,0,0,0,0,0
$GC,3356,0.84,260.6,136.1,10.3,365,3361,0.05,0.00,0.00,0.000,6,0.230,0.000,3310,1728,1835,0,0,0,0,0,0
$GC,3682,0.88,292.2,105.1,8.8,396,3714,0.00,2.35,26.65,0.620,4,0.000,0.067,3310,3168,1709,0,0,0,0,0,0
$GC,3785,0.88,292.2,95.6,10.3,409,3790,0.00,2.42,0.00,0.000,6,0.000,0.086,3318,1754,1707,0,0,0,0,0,0
$GC,4135,0.90,308.6,61.6,9.4,470,4157,0.00,2.30,14.00,0.578,4,0.000,0.057,3330,333,1644,0,0,0,0,0,0
$GC,4256,0.93,333.4,50.1,9.0,491,4285,0.00,2.22,21.40,0.579,6,0.000,0.037,3330,1756,1542,0,0,0,0,0,0
$GC,4641,1.10,424.2,15.8,6.4,556,4692,0.15,2.35,44.05,0.509,4,0.067,0.072,3433,3191,1171,0,0,0,0,0,0
$STATE,4748,end climb,SURFACE_DEPTH_REACHED
$STATE,4748,begin surface coast
$FINISH,1.4,1.020775
$STATE,4767,end surface coast,CONTROL_FINISHED_OK
$STATE,4768,begin surface
$SM_CCo,4788,84.50,0.043,0,0,407,611.52
$SM_GC,2.21,0.00,0.00,84.50,0.000,0.000,0.043,67,1913,407,-9.27,-0.17,611.52
$IRIDIUM_FIX,-3419.93,2508.45,170308,080811
$TT8_MAMPS,0.026964
$HUMID,58.34
$INTERNAL_PRESSURE,9.46015
$TCM_TEMP,20.70
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,220.5,30.4
$24V_AH,24.2,52.550
$10V_AH,10.2,41.507
$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,22.675,28.300,442.675,84.500,0.000,25.667,22.377,432.058,13.000,0.000,47.532,1265.167,1700.288,484.767,1913.732,204.536,0.000,1086.451,0.000,1336.550,0.000,32.688,0.000
$DEVICE_MAMPS,239.445,136.170,680.085,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.638,973.601,718.964,337.225,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,40435,576
$CAP_FILE_SIZE,67955,0
$CFSIZE,2097086464,2036760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210515,221804,-3434.685,2509.034,42,1.2,53,-27.7