version: 66.07.10.p01
glider: 573
mission: 9
dive: 564
start: 5 23 115 9 39 5
data:
$ID,573
$MISSION,9
$DIVE,564
$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,-15208.265
$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,14
$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,563
$GPS1,230515,093205,-3437.033,2441.218,42,1.0,42,-27.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-63.6
$GPS2,230515,093843,-3437.077,2441.133,14,0.9,15,-27.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3427.724,2434.584
$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,357.5,20000,-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,-84.47,0.000,2,0.000,0.000,73,1947,2489,0,0,0,0,0,0
$GC,116,-1.05,-170.3,3.4,-5.4,14,166,11.05,0.00,-31.95,0.000,6,0.243,0.000,2692,1947,3596,0,0,0,0,0,0
$GC,218,-0.87,-170.3,16.1,-20.8,30,225,0.20,2.33,0.00,0.000,4,0.176,0.072,2735,3345,3598,0,0,0,0,0,0
$GC,256,-0.77,-170.3,23.9,-17.9,36,264,0.15,2.50,0.00,0.000,6,0.158,0.093,2779,1922,3598,0,0,0,0,0,0
$GC,408,-0.74,-170.3,45.3,-13.4,61,413,0.00,2.47,0.00,0.000,4,0.000,0.096,2770,3353,3599,0,0,0,0,0,0
$GC,512,-0.74,-170.3,59.6,-12.3,79,521,0.08,2.42,0.00,0.000,6,0.176,0.086,2786,1920,3598,0,0,0,0,0,0
$GC,872,-0.78,-170.3,99.4,-10.5,140,877,0.00,2.42,0.00,0.000,4,0.000,0.095,2786,479,3600,0,0,0,0,0,0
$GC,896,-0.81,-170.3,102.1,-10.9,143,900,0.00,2.58,0.00,0.000,6,0.000,0.103,2778,1922,3600,0,0,0,0,0,0
$STATE,943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,943,begin apogee
$GC,949,-0.25,0.0,107.5,10.9,147,1080,0.55,0.00,127.78,0.589,6,0.150,0.000,2948,1704,2902,0,0,0,0,0,0
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1083,1.05,170.3,114.2,0.0,160,1223,1.25,2.20,131.62,0.580,4,0.098,0.048,3379,332,2205,0,0,0,0,0,0
$GC,1480,0.90,170.3,90.8,10.1,203,1486,0.20,2.25,0.00,0.000,6,0.155,0.034,3323,1771,2202,0,0,0,0,0,0
$GC,1832,0.98,270.3,61.7,6.1,264,1921,0.08,2.42,78.35,0.577,4,0.112,0.086,3378,3168,1799,0,0,0,0,0,0
$GC,2047,0.92,292.8,42.5,9.1,301,2074,0.20,2.45,18.65,0.540,6,0.164,0.088,3334,1748,1708,0,0,0,0,0,0
$GC,2215,0.96,322.0,26.7,8.9,330,2238,0.00,2.28,15.02,0.506,4,0.000,0.055,3344,322,1585,0,0,0,0,0,0
$GC,2259,0.99,343.7,22.9,9.2,337,2276,0.00,2.28,10.65,0.471,6,0.000,0.041,3344,1758,1499,0,0,0,0,0,0
$GC,2424,1.02,349.5,6.6,9.8,364,2432,0.00,2.38,2.00,0.053,4,0.000,0.083,3344,3180,1477,0,0,0,0,0,0
$STATE,2457,end climb,SURFACE_DEPTH_REACHED
$STATE,2458,begin surface coast
$FINISH,1.3,1.021720
$STATE,2489,end surface coast,CONTROL_FINISHED_OK
$STATE,2489,begin surface
$SM_CCo,2510,115.95,0.041,0,0,407,611.52
$SM_GC,1.96,0.00,0.00,115.95,0.000,0.000,0.041,71,1915,407,-9.26,-0.11,611.52
$IRIDIUM_FIX,-3422.54,2446.14,180308,222212
$TT8_MAMPS,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.46992
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,32.0
$24V_AH,24.4,55.738
$10V_AH,10.2,43.619
$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,22.575,33.525,384.075,115.950,0.000,27.489,40.789,208.071,1.500,0.000,17.767,799.685,361.689,468.895,1275.773,131.577,0.000,946.423,0.000,955.407,0.000,11.605,0.000
$DEVICE_MAMPS,242.505,103.275,589.050,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.984,538.602,570.798,372.772,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330868
$DATA_FILE_SIZE,27026,374
$CAP_FILE_SIZE,49639,0
$CFSIZE,2097086464,2033090560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230515,102405,-3436.976,2440.785,36,1.2,36,-27.5