version: 66.07.10.p01
glider: 573
mission: 9
dive: 219
start: 5 2 115 17 7 12
data:
$ID,573
$MISSION,9
$DIVE,219
$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,-14225.396
$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,13
$R_STBD_OVSHOOT,6
$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,218
$GPS1,020515,170059,-3424.936,2536.888,45,1.0,45,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.9
$GPS2,020515,170648,-3424.951,2536.906,19,1.2,20,-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,289.8,22835,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.05,-170.3,0.0,0.0,0,86,0.00,0.00,-59.95,0.000,2,0.000,0.000,69,1943,2597,0,0,0,0,0,0
$GC,89,-1.05,-170.3,3.2,-3.4,7,142,10.88,2.58,-29.70,0.000,4,0.246,0.112,2670,504,3563,0,0,0,0,0,0
$GC,157,-0.84,-170.3,9.4,-15.2,15,167,0.30,2.58,0.00,0.000,6,0.199,0.096,2742,1925,3565,0,0,0,0,0,0
$GC,245,-0.70,-170.3,26.0,-18.1,28,255,0.17,2.50,0.00,0.000,4,0.193,0.099,2776,3350,3565,0,0,0,0,0,0
$GC,416,-0.70,-170.3,46.0,-10.1,55,423,0.08,2.55,0.00,0.000,6,0.170,0.108,2790,1922,3566,0,0,0,0,0,0
$GC,536,-0.70,-170.3,57.2,-7.5,74,545,0.00,2.55,0.00,0.000,4,0.000,0.109,2791,493,3567,0,0,0,0,0,0
$GC,637,-0.70,-170.3,65.5,-8.1,90,646,0.00,2.67,0.00,0.000,6,0.000,0.121,2782,1916,3568,0,0,0,0,0,0
$GC,757,-0.70,-170.3,76.3,-8.9,109,764,0.00,2.45,0.00,0.000,4,0.000,0.102,2771,3352,3569,0,0,0,0,0,0
$GC,822,-0.70,-170.3,82.7,-10.3,119,830,0.08,2.55,0.00,0.000,6,0.177,0.109,2785,1920,3569,0,0,0,0,0,0
$GC,939,-0.70,-170.3,94.7,-10.3,138,948,0.00,2.53,0.00,0.000,4,0.000,0.104,2778,3347,3570,0,0,0,0,0,0
$GC,991,-0.70,-170.3,100.1,-10.6,146,1001,0.03,2.58,0.00,0.000,6,0.150,0.106,2785,1910,3570,0,0,0,0,0,0
$GC,1112,-0.70,-170.3,112.4,-9.9,165,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1910,3570,0,0,0,0,0,0
$GC,1226,-0.70,-170.3,125.5,-11.5,184,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1910,3571,0,0,0,0,0,0
$GC,1345,-0.70,-170.3,138.9,-11.3,203,1352,0.00,2.45,0.00,0.000,4,0.000,0.103,2786,483,3571,0,0,0,0,0,0
$GC,1377,-0.70,-170.3,142.6,-11.5,207,1385,0.05,2.53,0.00,0.000,6,0.241,0.099,2786,1920,3571,0,0,0,0,0,0
$STATE,1422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1422,begin apogee
$GC,1427,-0.25,0.0,147.5,9.8,214,1570,0.50,0.00,131.60,0.666,6,0.176,0.000,2935,1715,2864,0,0,0,0,0,0
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1572,1.05,170.3,155.1,0.0,233,1720,1.27,2.33,132.55,0.648,4,0.102,0.058,3363,368,2167,0,0,0,0,0,0
$GC,1866,0.95,170.3,131.5,10.4,277,1874,0.12,2.28,0.00,0.000,6,0.161,0.042,3330,1767,2163,0,0,0,0,0,0
$GC,1984,0.92,182.7,120.3,9.5,296,2001,0.05,0.00,10.27,0.584,6,0.234,0.000,3320,1768,2120,0,0,0,0,0,0
$GC,2111,0.91,200.5,109.0,9.3,316,2135,0.00,0.00,16.42,0.613,6,0.000,0.000,3320,1768,2044,0,0,0,0,0,0
$GC,2247,0.92,227.9,96.7,8.9,337,2278,0.00,2.35,23.27,0.622,4,0.000,0.070,3320,3184,1934,0,0,0,0,0,0
$GC,2328,0.89,227.9,88.1,11.0,349,2336,0.08,2.40,0.00,0.000,6,0.198,0.086,3313,1794,1931,0,0,0,0,0,0
$GC,2445,0.94,269.7,77.4,8.4,368,2491,0.00,2.47,35.50,0.627,4,0.000,0.064,3323,340,1762,0,0,0,0,0,0
$GC,2572,0.94,269.7,65.6,10.8,387,2579,0.00,2.30,0.00,0.000,6,0.000,0.044,3324,1756,1758,0,0,0,0,0,0
$GC,2690,0.94,269.7,52.3,12.3,406,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1756,1757,0,0,0,0,0,0
$GC,2807,0.94,269.7,36.0,14.5,425,2814,0.00,2.40,0.00,0.000,4,0.000,0.086,3323,3189,1754,0,0,0,0,0,0
$GC,2827,0.94,269.7,32.7,14.9,428,2837,0.00,2.53,0.00,0.000,6,0.000,0.096,3333,1765,1754,0,0,0,0,0,0
$GC,2951,1.05,357.3,21.5,6.6,447,3003,0.08,0.00,43.22,0.568,6,0.117,0.000,3395,1765,1403,0,0,0,0,0,0
$GC,3081,1.00,357.3,6.7,13.9,465,3090,0.17,2.40,0.00,0.000,4,0.158,0.066,3359,334,1396,0,0,0,0,0,0
$STATE,3110,end climb,SURFACE_DEPTH_REACHED
$STATE,3110,begin surface coast
$FINISH,1.5,1.020920
$STATE,3124,end surface coast,CONTROL_FINISHED_OK
$STATE,3124,begin surface
$SM_CCo,3203,0.00,0.000,0,0,1391,361.32
$SM_GC,2.19,8.98,0.00,0.00,0.055,0.000,0.000,74,1936,1391,-9.10,0.48,361.32
$IRIDIUM_FIX,-3409.50,2530.83,270208,040417
$TT8_MAMPS,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.8,21.4
$24V_AH,24.2,23.317
$10V_AH,10.3,20.791
$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,22.825,55.075,392.850,0.000,0.000,26.254,19.276,195.285,2.750,0.000,22.246,1091.761,307.273,426.723,1638.590,99.577,0.000,996.387,0.000,1247.691,0.000,19.191,0.000
$DEVICE_MAMPS,246.330,120.870,666.315,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.548,1255.881,894.327,1352.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331276
$DATA_FILE_SIZE,33733,471
$CAP_FILE_SIZE,63761,0
$CFSIZE,2097086464,2069200896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.249, 80.5,1
$GPS,020515,180135,-3424.895,2536.916,27,1.4,28,-27.7