version: 66.07.10.p01
glider: 573
mission: 9
dive: 222
start: 5 2 115 20 5 25
data:
$ID,573
$MISSION,9
$DIVE,222
$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,-14235.785
$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,14
$R_STBD_OVSHOOT,46
$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,221
$GPS1,020515,195859,-3424.796,2536.923,42,1.1,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-72.1
$GPS2,020515,200501,-3424.837,2536.937,18,1.1,20,-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,284.7,22864,-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,-170.3,0.0,0.0,0,70,0.00,0.00,-43.45,0.000,2,0.000,0.000,77,1973,2624,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.4,-3.6,5,117,10.95,2.65,-28.30,0.000,4,0.249,0.109,2673,499,3562,0,0,0,0,0,0
$GC,139,-0.83,-170.3,9.6,-15.0,13,148,0.30,2.53,0.00,0.000,6,0.197,0.101,2746,1883,3564,0,0,0,0,0,0
$GC,225,-0.70,-170.3,26.0,-18.3,26,235,0.17,2.58,0.00,0.000,4,0.207,0.103,2777,3343,3565,0,0,0,0,0,0
$GC,453,-0.70,-170.3,51.8,-10.1,64,463,0.03,2.60,0.00,0.000,6,0.132,0.112,2787,1922,3567,0,0,0,0,0,0
$GC,569,-0.70,-170.3,63.5,-10.1,83,577,0.00,2.53,0.00,0.000,4,0.000,0.107,2787,476,3568,0,0,0,0,0,0
$GC,620,-0.70,-170.3,68.7,-10.5,91,628,0.05,2.65,0.00,0.000,6,0.236,0.115,2786,1923,3568,0,0,0,0,0,0
$GC,734,-0.70,-170.3,80.5,-10.5,110,743,0.00,2.47,0.00,0.000,4,0.000,0.103,2775,3344,3569,0,0,0,0,0,0
$GC,833,-0.70,-170.3,90.7,-9.7,126,843,0.03,2.60,0.00,0.000,6,0.135,0.112,2785,1914,3569,0,0,0,0,0,0
$GC,950,-0.70,-170.3,102.2,-9.9,145,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1914,3569,0,0,0,0,0,0
$GC,1063,-0.70,-170.3,114.2,-10.5,164,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1914,3570,0,0,0,0,0,0
$GC,1178,-0.70,-170.3,126.7,-11.8,183,1186,0.00,2.45,0.00,0.000,4,0.000,0.102,2785,483,3571,0,0,0,0,0,0
$GC,1213,-0.70,-170.3,130.5,-11.1,188,1223,0.03,2.60,0.00,0.000,6,0.213,0.106,2783,1916,3571,0,0,0,0,0,0
$GC,1330,-0.70,-170.3,143.3,-11.5,207,1339,0.00,2.47,0.00,0.000,4,0.000,0.106,2772,3358,3571,0,0,0,0,0,0
$STATE,1346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1346,begin apogee
$GC,1353,-0.25,0.0,145.3,11.3,209,1490,0.52,0.00,131.75,0.669,6,0.171,0.000,2928,1757,2864,0,0,0,0,0,0
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1491,begin climb
$GC,1493,1.05,170.3,151.7,0.0,227,1641,1.30,2.47,132.43,0.649,4,0.110,0.055,3356,318,2167,0,0,0,0,0,0
$GC,1723,0.95,170.3,136.4,10.5,261,1731,0.10,2.38,0.00,0.000,6,0.169,0.041,3332,1766,2164,0,0,0,0,0,0
$GC,1838,0.94,198.3,125.0,8.9,280,1868,0.00,0.00,23.55,0.627,6,0.000,0.000,3332,1766,2053,0,0,0,0,0,0
$GC,1973,0.90,198.3,111.8,10.1,302,1983,0.10,2.42,0.00,0.000,4,0.181,0.055,3317,322,2050,0,0,0,0,0,0
$GC,2021,0.87,198.3,107.1,10.2,309,2028,0.08,2.35,0.00,0.000,6,0.181,0.044,3300,1763,2049,0,0,0,0,0,0
$GC,2136,0.91,236.2,96.9,8.5,328,2175,0.00,2.38,31.40,0.635,4,0.000,0.074,3300,3183,1898,0,0,0,0,0,0
$GC,2212,0.93,252.5,90.3,9.4,339,2235,0.00,2.50,14.73,0.605,6,0.000,0.086,3310,1746,1833,0,0,0,0,0,0
$GC,2342,0.96,273.8,78.3,9.2,360,2366,0.00,2.42,18.98,0.614,4,0.000,0.063,3321,328,1746,0,0,0,0,0,0
$GC,2436,0.96,273.8,69.0,10.7,375,2445,0.00,2.35,0.00,0.000,6,0.000,0.044,3321,1765,1742,0,0,0,0,0,0
$GC,2549,0.96,273.8,57.7,10.7,394,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1765,1741,0,0,0,0,0,0
$GC,2664,0.98,273.8,45.2,11.3,413,2671,0.00,2.35,0.00,0.000,4,0.000,0.055,3330,325,1740,0,0,0,0,0,0
$GC,2707,0.98,273.8,40.0,11.4,420,2716,0.00,2.35,0.00,0.000,6,0.000,0.047,3330,1750,1740,0,0,0,0,0,0
$GC,2822,0.98,273.8,27.5,10.1,439,2832,0.00,2.45,0.00,0.000,4,0.000,0.090,3330,3183,1738,0,0,0,0,0,0
$GC,2934,0.98,273.8,16.6,10.2,456,2943,0.00,2.50,0.00,0.000,6,0.000,0.090,3340,1752,1738,0,0,0,0,0,0
$GC,3019,0.98,277.3,7.9,9.9,469,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1753,1736,0,0,0,0,0,0
$STATE,3072,end climb,SURFACE_DEPTH_REACHED
$STATE,3072,begin surface coast
$FINISH,1.4,1.009999
$STATE,3105,end surface coast,CONTROL_FINISHED_OK
$STATE,3105,begin surface
$SM_CCo,3121,10.32,0.049,0,0,1639,300.24
$SM_GC,3.37,0.00,0.00,10.32,0.000,0.000,0.049,73,1971,1639,-9.21,1.47,300.24
$IRIDIUM_FIX,-3412.10,2534.32,270208,080819
$TT8_MAMPS,0.026964
$HUMID,60.63
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.5,29.4
$24V_AH,24.2,23.563
$10V_AH,10.2,21.022
$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,22.450,60.300,352.825,10.325,0.000,26.108,52.334,178.290,2.500,0.000,22.302,1132.510,190.181,400.362,1690.412,95.189,0.000,956.692,0.000,1282.727,0.000,17.691,0.000
$DEVICE_MAMPS,249.390,117.810,668.610,48.960,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.455,1292.049,920.596,1390.104,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331288
$DATA_FILE_SIZE,33686,482
$CAP_FILE_SIZE,64042,0
$CFSIZE,2097086464,2068905984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.254, 70.2,1
$GPS,020515,205853,-3424.735,2536.933,41,1.1,42,-27.7