version: 66.07.10.p01
glider: 573
mission: 9
dive: 616
start: 5 25 115 5 47 32
data:
$ID,573
$MISSION,9
$DIVE,616
$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,2
$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,-15350.683
$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,8
$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,30
$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,615
$GPS1,250515,054605,-3429.498,2432.005,36,1.7,36,-27.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-63.8
$GPS2,250515,054712,-3429.496,2432.003,20,1.8,20,-27.3
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.859,2441.254
$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,72.3,20000,-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,26,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,109,0.00,0.00,-78.53,0.000,2,0.000,0.000,69,1942,2353,0,0,0,0,0,0
$GC,112,-1.05,-170.3,3.0,-2.3,13,169,11.23,2.47,-37.47,0.000,4,0.249,0.095,2687,498,3598,1,0,0,0,0,0
$GC,298,-0.89,-170.3,34.0,-22.5,43,304,0.25,2.50,0.00,0.000,6,0.202,0.090,2741,1925,3600,0,0,0,0,0,0
$GC,445,-0.86,-170.3,55.7,-13.5,68,451,0.05,2.45,0.00,0.000,4,0.239,0.101,2741,3348,3601,0,0,0,0,0,0
$GC,534,-0.86,-170.3,66.8,-12.5,83,539,0.00,2.50,0.00,0.000,6,0.000,0.094,2741,1911,3601,0,0,0,0,0,0
$GC,879,-0.86,-170.3,111.6,-12.9,136,884,0.05,2.42,0.00,0.000,4,0.167,0.091,2754,484,3603,0,0,0,0,0,0
$STATE,899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,899,begin apogee
$GC,907,-0.25,0.0,114.9,14.0,137,1042,0.70,0.00,129.30,0.610,6,0.182,0.000,2945,1767,2902,0,0,0,0,0,0
$STATE,1043,end apogee,CONTROL_FINISHED_OK
$STATE,1043,begin climb
$GC,1046,1.05,170.3,122.8,0.0,151,1186,1.27,2.38,132.57,0.600,4,0.108,0.044,3372,323,2206,0,0,0,0,0,0
$GC,1269,0.96,211.2,118.4,8.4,171,1311,0.10,2.30,33.42,0.583,6,0.173,0.036,3348,1763,2040,0,0,0,0,0,0
$GC,1645,0.89,213.2,81.7,9.9,221,1651,0.10,2.33,0.00,0.000,4,0.184,0.072,3323,3182,2036,0,0,0,0,0,0
$GC,1729,0.89,262.6,74.2,8.1,235,1779,0.00,2.47,41.97,0.588,6,0.000,0.090,3332,1747,1830,0,0,0,0,0,0
$GC,2122,0.92,282.2,37.3,9.2,304,2144,0.00,2.30,16.67,0.558,4,0.000,0.060,3343,325,1751,0,0,0,0,0,0
$GC,2414,0.94,303.7,11.6,9.2,353,2433,0.00,2.33,10.30,0.460,6,0.000,0.046,3343,1751,1660,0,0,0,0,0,0
$GC,2485,0.94,303.7,4.1,10.5,364,2492,0.00,2.33,0.00,0.000,4,0.000,0.055,3352,328,1657,0,0,0,0,0,0
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,1.2,1.004544
$STATE,2530,end surface coast,CONTROL_FINISHED_OK
$STATE,2531,begin surface
$SM_CCo,2551,136.50,0.042,0,0,407,611.52
$SM_GC,1.92,0.00,0.00,136.50,0.000,0.000,0.042,71,1941,407,-9.26,0.62,611.52
$IRIDIUM_FIX,-3417.32,2428.80,200308,181831
$TT8_MAMPS,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.2,18.8
$24V_AH,24.1,59.808
$10V_AH,10.1,46.355
$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,22.550,33.725,364.250,136.500,0.000,0.000,0.000,0.000,2.500,0.000,22.461,803.637,415.326,477.144,995.882,73.924,0.000,931.246,0.000,942.895,0.000,17.504,0.000
$DEVICE_MAMPS,249.390,100.980,609.705,42.075,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.831,547.202,567.429,355.953,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,27153,371
$CAP_FILE_SIZE,42593,1
$CFSIZE,2097086464,2028601344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1
$GPS,250515,063335,-3429.330,2432.102,37,1.0,37,-27.3