version: 66.07.10.p01
glider: 573
mission: 9
dive: 565
start: 5 23 115 10 30 46
data:
$ID,573
$MISSION,9
$DIVE,565
$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,-15210.934
$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,16
$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,564
$GPS1,230515,102405,-3436.976,2440.785,36,1.2,36,-27.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.0
$GPS2,230515,103026,-3437.017,2440.702,15,1.2,16,-27.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3427.665,2434.153
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,115,0.00,0.00,-84.50,0.000,2,0.000,0.000,71,1916,2498,0,0,0,0,0,0
$GC,118,-1.05,-170.3,3.3,-5.2,14,169,12.43,2.40,-31.05,0.000,4,0.279,0.095,2684,494,3598,5,0,0,0,0,0
$GC,228,-0.87,-170.3,18.0,-20.4,31,235,0.28,2.50,0.00,0.000,6,0.200,0.089,2748,1909,3599,0,0,0,0,0,0
$GC,284,-0.78,-170.3,28.2,-15.3,40,292,0.12,2.53,0.00,0.000,4,0.197,0.103,2767,3345,3600,0,0,0,0,0,0
$GC,342,-0.75,-170.3,36.0,-13.2,49,348,0.08,2.45,0.00,0.000,6,0.174,0.087,2782,1918,3600,0,0,0,0,0,0
$GC,489,-0.75,-170.3,57.1,-12.4,74,494,0.00,2.42,0.00,0.000,4,0.000,0.089,2774,3351,3600,0,0,0,0,0,0
$GC,588,-0.79,-170.3,69.4,-11.5,91,597,0.00,2.47,0.00,0.000,6,0.000,0.090,2774,1910,3601,0,0,0,0,0,0
$STATE,940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,941,begin apogee
$GC,946,-0.25,0.0,108.9,11.3,146,1082,0.57,0.00,129.27,0.590,6,0.151,0.000,2950,1763,2902,0,0,0,0,0,0
$STATE,1083,end apogee,CONTROL_FINISHED_OK
$STATE,1083,begin climb
$GC,1085,1.05,170.3,116.0,0.0,160,1224,1.23,0.00,132.07,0.581,6,0.093,0.000,3366,1762,2206,0,0,0,0,0,0
$GC,1551,0.96,197.0,88.3,9.0,214,1579,0.10,2.30,22.15,0.565,4,0.184,0.050,3353,314,2097,0,0,0,0,0,0
$GC,1694,0.87,198.3,75.9,10.0,239,1700,0.12,2.30,0.00,0.000,6,0.157,0.038,3320,1767,2096,0,0,0,0,0,0
$GC,2042,0.96,274.7,51.5,7.0,300,2115,0.08,2.45,61.40,0.580,4,0.113,0.084,3383,3178,1780,0,0,0,0,0,0
$GC,2269,0.88,274.7,30.2,12.4,339,2274,0.25,2.42,0.00,0.000,6,0.151,0.086,3322,1752,1775,0,0,0,0,0,0
$GC,2421,0.91,299.6,15.9,9.0,364,2441,0.00,2.30,11.48,0.468,4,0.000,0.058,3333,332,1679,0,0,0,0,0,0
$GC,2474,0.94,327.0,11.1,8.9,372,2494,0.00,2.30,12.90,0.455,6,0.000,0.044,3333,1751,1568,0,0,0,0,0,0
$GC,2545,1.01,354.1,4.8,8.9,383,2565,0.08,2.45,12.27,0.045,4,0.114,0.089,3397,3188,1455,0,0,0,0,0,0
$STATE,2573,end climb,SURFACE_DEPTH_REACHED
$STATE,2573,begin surface coast
$FINISH,1.2,1.021652
$STATE,2598,end surface coast,CONTROL_FINISHED_OK
$STATE,2598,begin surface
$SM_CCo,2619,113.25,0.041,0,0,407,611.52
$SM_GC,1.93,0.00,0.00,113.25,0.000,0.000,0.041,72,1915,407,-9.26,-0.11,611.52
$IRIDIUM_FIX,-3422.54,2439.20,180308,232306
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.46992
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,32.6
$24V_AH,24.1,55.814
$10V_AH,10.2,43.673
$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,24.225,33.925,381.550,113.250,0.000,24.135,42.163,191.741,1.500,0.000,18.830,830.648,428.699,472.484,1263.291,129.996,0.000,943.868,0.000,958.826,0.000,11.604,0.000
$DEVICE_MAMPS,279.225,131.580,589.815,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,259.590,566.664,593.868,377.263,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,27149,391
$CAP_FILE_SIZE,49454,5
$CFSIZE,2097086464,2032992256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,1
$GPS,230515,111735,-3436.899,2440.354,38,1.0,38,-27.5