version: 66.07.10.p01
glider: 573
mission: 9
dive: 592
start: 5 24 115 9 43 44
data:
$ID,573
$MISSION,9
$DIVE,592
$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,45
$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,-15284.43
$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,13
$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,591
$GPS1,240515,093705,-3434.251,2435.454,34,1.4,34,-27.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-67.0
$GPS2,240515,094324,-3434.300,2435.375,16,1.8,16,-27.4
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3426.664,2444.634
$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,72.4,20000,-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,-170.3,0.0,0.0,0,109,0.00,0.00,-78.82,0.000,2,0.000,0.000,74,1950,2349,0,0,0,0,0,0
$GC,112,-1.05,-170.3,3.1,-3.2,13,175,11.05,2.38,-40.28,0.000,4,0.243,0.099,2677,3350,3598,0,0,0,0,0,0
$GC,192,-0.89,-170.3,8.4,-14.6,25,199,0.20,2.53,0.00,0.000,6,0.178,0.094,2734,1922,3599,0,0,0,0,0,0
$GC,251,-0.79,-170.3,19.8,-18.4,34,259,0.15,2.50,0.00,0.000,4,0.189,0.092,2772,472,3599,0,0,0,0,0,0
$GC,285,-0.72,-170.3,25.8,-17.1,39,291,0.15,2.60,0.00,0.000,6,0.217,0.099,2795,1923,3600,0,0,0,0,0,0
$GC,435,-0.75,-170.3,45.2,-10.8,64,441,0.00,2.45,0.00,0.000,4,0.000,0.103,2785,3349,3600,0,0,0,0,0,0
$GC,491,-0.80,-170.3,50.6,-9.4,73,496,0.00,2.55,0.00,0.000,6,0.000,0.102,2785,1911,3600,0,0,0,0,0,0
$GC,845,-0.85,-170.3,86.4,-9.9,134,850,0.08,0.00,0.00,0.000,6,0.125,0.000,2757,1911,3601,0,0,0,0,0,0
$STATE,946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,946,begin apogee
$GC,952,-0.25,0.0,97.6,11.1,152,1084,0.65,0.00,127.80,0.588,6,0.168,0.000,2947,1752,2902,0,0,0,0,0,0
$STATE,1087,end apogee,CONTROL_FINISHED_OK
$STATE,1087,begin climb
$GC,1089,1.05,170.3,105.0,0.0,168,1234,1.25,2.58,132.23,0.578,4,0.106,0.086,3358,3180,2206,0,0,0,0,0,0
$GC,1334,0.93,179.3,96.4,9.7,193,1353,0.12,2.47,8.07,0.496,6,0.177,0.084,3336,1747,2171,0,0,0,0,0,0
$GC,1701,0.89,206.7,61.8,8.9,256,1735,0.00,2.50,23.40,0.560,4,0.000,0.085,3337,3177,2057,0,0,0,0,0,0
$GC,1801,0.83,206.7,51.6,10.9,273,1808,0.12,2.47,0.00,0.000,6,0.149,0.090,3306,1759,2055,0,0,0,0,0,0
$GC,2157,0.98,331.7,29.0,5.1,334,2231,0.12,2.40,62.97,0.545,4,0.078,0.063,3399,326,1546,0,0,0,0,0,0
$STATE,2387,end climb,SURFACE_DEPTH_REACHED
$STATE,2387,begin surface coast
$FINISH,2.0,1.021770
$STATE,2394,end surface coast,CONTROL_FINISHED_OK
$STATE,2394,begin surface
$SM_CCo,2415,122.53,0.042,0,0,408,611.52
$SM_GC,2.03,0.00,0.00,122.53,0.000,0.000,0.042,72,1938,408,-9.26,0.54,611.52
$IRIDIUM_FIX,-3419.93,2435.73,190308,222239
$TT8_MAMPS,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.44062
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,31.7
$24V_AH,24.4,57.960
$10V_AH,10.1,45.101
$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,22.700,30.450,354.475,122.525,0.000,25.817,41.148,189.626,1.250,0.000,19.070,790.475,311.754,460.214,1236.169,130.858,0.000,920.549,0.000,931.995,0.000,10.092,0.000
$DEVICE_MAMPS,242.505,133.875,588.285,42.075,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.464,526.438,570.917,392.253,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,27127,374
$CAP_FILE_SIZE,46562,0
$CFSIZE,2097086464,2030338048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240515,102705,-3434.119,2435.159,25,1.9,25,-27.4