version: 66.07.10.p01
glider: 573
mission: 9
dive: 215
start: 5 2 115 12 59 52
data:
$ID,573
$MISSION,9
$DIVE,215
$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,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,300
$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,-14211.595
$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,3020
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$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,16
$R_STBD_OVSHOOT,9
$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,2864
$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,214
$GPS1,020515,125005,-3425.207,2536.733,40,1.2,40,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-69.0
$GPS2,020515,125929,-3425.157,2536.842,42,1.0,42,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$TGT_RADIUS,3000.000
$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,280.4,22773,-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,25,-1.05,-170.3,0.0,0.0,0,69,0.00,0.00,-42.53,0.000,2,0.000,0.000,73,1930,2629,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.1,-3.0,5,125,11.55,2.60,-27.80,0.000,4,0.265,0.113,2670,499,3563,1,0,0,0,0,0
$GC,134,-0.82,-170.3,8.7,-12.4,12,143,0.32,2.58,0.00,0.000,6,0.207,0.097,2748,1922,3563,0,0,0,0,0,0
$GC,221,-0.69,-170.3,23.9,-17.1,25,231,0.17,2.53,0.00,0.000,4,0.202,0.105,2780,3346,3565,0,0,0,0,0,0
$GC,265,-0.64,-170.3,31.0,-14.0,31,273,0.12,2.62,0.00,0.000,6,0.175,0.119,2809,1916,3566,0,0,0,0,0,0
$GC,384,-0.66,-170.3,43.6,-8.2,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1916,3566,0,0,0,0,0,0
$GC,505,-0.70,-170.3,53.4,-8.1,69,512,0.00,2.47,0.00,0.000,4,0.000,0.103,2809,488,3568,0,0,0,0,0,0
$GC,562,-0.73,-170.3,58.9,-9.8,78,572,0.00,2.70,0.00,0.000,6,0.000,0.122,2800,1917,3568,0,0,0,0,0,0
$GC,681,-0.76,-170.3,69.8,-9.3,97,689,0.08,2.38,0.00,0.000,4,0.120,0.086,2750,3354,3568,0,0,0,0,0,0
$GC,752,-0.74,-170.3,77.2,-10.9,108,762,0.08,2.53,0.00,0.000,6,0.168,0.099,2773,1928,3569,0,0,0,0,0,0
$GC,873,-0.74,-170.3,89.9,-11.0,127,881,0.00,2.47,0.00,0.000,4,0.000,0.100,2764,3364,3570,0,0,0,0,0,0
$GC,929,-0.74,-170.3,96.6,-11.3,136,939,0.03,2.67,0.00,0.000,6,0.148,0.119,2772,1913,3570,0,0,0,0,0,0
$GC,1051,-0.74,-170.3,110.0,-11.4,155,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1913,3571,0,0,0,0,0,0
$GC,1167,-0.74,-170.3,124.2,-12.3,174,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1913,3571,0,0,0,0,0,0
$GC,1287,-0.74,-170.3,138.5,-12.1,193,1294,0.00,2.45,0.00,0.000,4,0.000,0.102,2772,481,3572,0,0,0,0,0,0
$GC,1318,-0.74,-170.3,142.0,-11.5,197,1325,0.08,2.45,0.00,0.000,6,0.211,0.080,2778,1925,3572,0,0,0,0,0,0
$STATE,1417,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1417,begin apogee
$GC,1422,-0.25,0.0,153.9,11.2,213,1562,0.52,0.00,131.77,0.666,6,0.174,0.000,2933,1722,2864,0,0,0,0,0,0
$STATE,1563,end apogee,CONTROL_FINISHED_OK
$STATE,1563,begin climb
$GC,1564,1.05,170.3,161.6,0.0,232,1707,1.30,2.35,133.10,0.647,4,0.113,0.053,3359,358,2168,0,0,0,0,0,0
$GC,1853,0.95,170.3,138.2,11.2,275,1861,0.12,2.28,0.00,0.000,6,0.161,0.037,3328,1768,2164,0,0,0,0,0,0
$GC,1971,0.92,180.4,126.5,9.6,294,1987,0.00,0.00,9.15,0.576,6,0.000,0.000,3328,1768,2126,0,0,0,0,0,0
$GC,2096,0.90,203.5,114.4,9.1,314,2121,0.08,0.00,20.00,0.620,6,0.200,0.000,3310,1768,2033,0,0,0,0,0,0
$GC,2232,0.93,233.2,102.7,8.8,335,2263,0.00,0.00,25.50,0.625,6,0.000,0.000,3310,1768,1912,0,0,0,0,0,0
$GC,2373,0.95,248.5,90.3,9.4,357,2389,0.00,0.00,14.10,0.600,6,0.000,0.000,3310,1768,1849,0,0,0,0,0,0
$GC,2499,0.95,248.5,78.2,10.2,377,2506,0.00,2.33,0.00,0.000,4,0.000,0.072,3310,3183,1845,0,0,0,0,0,0
$GC,2551,0.95,248.5,72.3,12.1,385,2558,0.00,2.38,0.00,0.000,6,0.000,0.083,3319,1788,1844,0,0,0,0,0,0
$GC,2666,0.95,248.5,59.1,11.0,404,2675,0.00,2.40,0.00,0.000,4,0.000,0.063,3331,339,1844,0,0,0,0,0,0
$GC,2821,0.95,248.5,42.3,10.9,429,2828,0.00,2.28,0.00,0.000,6,0.000,0.045,3331,1755,1843,0,0,0,0,0,0
$GC,2938,1.11,379.3,34.5,4.9,448,3032,0.12,2.42,82.00,0.608,4,0.080,0.052,3412,332,1313,0,0,0,0,0,0
$GC,3078,1.04,379.3,19.8,13.7,467,3088,0.15,2.35,0.00,0.000,6,0.140,0.037,3365,1764,1306,0,0,0,0,0,0
$GC,3165,1.04,379.3,9.0,12.2,480,3174,0.00,2.40,0.00,0.000,4,0.000,0.058,3374,337,1302,0,0,0,0,0,0
$GC,3182,1.04,379.3,6.7,12.4,482,3193,0.05,2.38,0.00,0.000,6,0.145,0.054,3358,1744,1302,0,0,0,0,0,0
$STATE,3213,end climb,SURFACE_DEPTH_REACHED
$STATE,3213,begin surface coast
$FINISH,1.3,1.000755
$STATE,3240,end surface coast,CONTROL_FINISHED_OK
$STATE,3240,begin surface
$SM_CCo,3316,0.00,0.000,0,0,1298,384.13
$SM_GC,2.02,8.88,0.00,0.00,0.049,0.000,0.000,77,1942,1298,-9.09,0.62,384.13
$IRIDIUM_FIX,-3412.10,2540.16,270208,020246
$TT8_MAMPS,0.026215
$HUMID,59.33
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.2,28.5
$24V_AH,24.2,22.962
$10V_AH,10.2,20.479
$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,23.650,54.650,415.625,0.000,0.000,50.732,121.980,196.410,2.750,0.000,44.638,1138.289,390.349,427.670,1834.144,100.193,0.000,1010.119,0.000,1288.567,0.000,19.183,0.000
$DEVICE_MAMPS,265.455,124.695,666.315,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.662,1296.961,914.179,1396.469,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331340
$DATA_FILE_SIZE,37189,490
$CAP_FILE_SIZE,67715,1
$CFSIZE,2097086464,2069561344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$CURRENT,0.221, 72.2,1
$GPS,020515,135605,-3425.121,2536.782,24,1.6,25,-27.7