version: 66.07.10.p01
glider: 573
mission: 9
dive: 551
start: 5 22 115 22 5 57
data:
$ID,573
$MISSION,9
$DIVE,551
$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,330
$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,-15170.916
$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,9
$R_STBD_OVSHOOT,17
$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,550
$GPS1,220515,215235,-3436.195,2450.373,36,1.1,36,-27.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-58.8
$GPS2,220515,220535,-3436.372,2450.123,32,2.0,32,-27.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3427.020,2443.575
$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,357.6,20000,-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,26,-1.05,-170.3,0.0,0.0,0,113,0.00,0.00,-84.70,0.000,2,0.000,0.000,84,1935,2543,0,0,0,0,0,0
$GC,116,-1.05,-170.3,3.4,-5.0,14,161,13.07,2.40,-26.30,0.000,4,0.295,0.099,2672,3354,3598,7,0,0,0,0,0
$GC,311,-0.89,-170.3,40.6,-21.6,46,317,0.28,2.50,0.00,0.000,6,0.167,0.094,2748,1908,3600,0,0,0,0,0,0
$GC,666,-0.85,-170.3,92.2,-12.3,107,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1908,3601,0,0,0,0,0,0
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,865,begin apogee
$GC,872,-0.25,0.0,117.3,13.2,131,1003,0.65,0.00,126.78,0.589,6,0.162,0.000,2943,1757,2903,0,0,0,0,0,0
$STATE,1004,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1006,1.05,170.3,124.8,0.0,144,1146,1.25,2.30,131.70,0.579,4,0.097,0.044,3374,316,2207,0,0,0,0,0,0
$GC,1404,0.91,170.3,94.1,10.7,184,1411,0.17,2.22,0.00,0.000,6,0.157,0.030,3326,1763,2203,0,0,0,0,0,0
$GC,1757,0.95,242.9,67.9,7.1,245,1821,0.00,2.33,57.30,0.575,4,0.000,0.044,3336,332,1910,0,0,0,0,0,0
$GC,1955,1.05,355.6,53.9,5.6,280,2054,0.10,2.22,89.18,0.562,6,0.095,0.035,3398,1755,1452,0,0,0,0,0,0
$STATE,2351,end climb,SURFACE_DEPTH_REACHED
$STATE,2351,begin surface coast
$FINISH,1.2,1.009780
$STATE,2383,end surface coast,CONTROL_FINISHED_OK
$STATE,2383,begin surface
$SM_CCo,2401,113.12,0.041,0,0,408,611.52
$SM_GC,2.03,0.00,0.00,113.12,0.000,0.000,0.041,74,1939,408,-9.26,0.57,611.52
$IRIDIUM_FIX,-3422.54,2450.90,180308,111102
$TT8_MAMPS,0.025466
$HUMID,57.44
$INTERNAL_PRESSURE,9.48945
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,31.7
$24V_AH,24.2,54.688
$10V_AH,10.1,42.916
$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,24.300,14.525,404.950,113.125,0.000,54.024,88.167,385.307,1.750,0.000,35.284,733.395,463.057,457.461,1502.072,152.906,0.000,898.459,0.000,891.736,0.000,13.138,0.000
$DEVICE_MAMPS,294.525,115.515,589.050,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.988,506.930,517.890,319.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,23646,353
$CAP_FILE_SIZE,45695,7
$CFSIZE,2097086464,2034368512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,2
$GPS,220515,224905,-3436.442,2449.430,36,1.5,36,-27.6