version: 66.07.10.p01
glider: 573
mission: 9
dive: 232
start: 5 3 115 5 56 59
data:
$ID,573
$MISSION,9
$DIVE,232
$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,-14271.073
$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,15
$R_STBD_OVSHOOT,11
$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,231
$GPS1,030515,055053,-3424.539,2536.265,39,1.4,40,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.8
$GPS2,030515,055636,-3424.552,2536.324,19,1.5,19,-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,293.9,21894,-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,-42.25,0.000,2,0.000,0.000,74,1929,2638,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.2,-3.3,5,117,11.15,2.50,-28.48,0.000,4,0.255,0.108,2665,3346,3563,0,0,0,0,0,0
$GC,189,-0.83,-170.3,20.2,-22.3,21,199,0.25,2.50,0.00,0.000,6,0.174,0.091,2739,1923,3565,0,0,0,0,0,0
$GC,273,-0.72,-170.3,37.2,-17.5,34,283,0.17,2.58,0.00,0.000,4,0.184,0.106,2784,490,3566,0,0,0,0,0,0
$GC,331,-0.72,-170.3,44.5,-12.7,43,338,0.00,2.67,0.00,0.000,6,0.000,0.122,2774,1921,3566,0,0,0,0,0,0
$GC,444,-0.72,-170.3,56.9,-11.3,62,453,0.00,2.47,0.00,0.000,4,0.000,0.102,2763,3341,3567,0,0,0,0,0,0
$GC,561,-0.72,-170.3,69.9,-10.2,81,570,0.10,2.55,0.00,0.000,6,0.167,0.109,2785,1918,3568,0,0,0,0,0,0
$GC,675,-0.72,-170.3,83.0,-10.5,100,684,0.00,2.53,0.00,0.000,4,0.000,0.103,2785,481,3569,0,0,0,0,0,0
$GC,709,-0.72,-170.3,86.7,-11.2,105,717,0.00,2.60,0.00,0.000,6,0.000,0.109,2776,1919,3569,0,0,0,0,0,0
$GC,823,-0.72,-170.3,99.2,-10.4,124,831,0.00,2.47,0.00,0.000,4,0.000,0.101,2765,3347,3570,0,0,0,0,0,0
$GC,880,-0.72,-170.3,105.1,-10.8,133,888,0.08,2.58,0.00,0.000,6,0.179,0.115,2780,1918,3570,0,0,0,0,0,0
$GC,992,-0.72,-170.3,117.5,-11.2,152,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1918,3570,0,0,0,0,0,0
$GC,1109,-0.72,-170.3,129.8,-10.5,171,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1918,3571,0,0,0,0,0,0
$STATE,1221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1221,begin apogee
$GC,1226,-0.25,0.0,142.1,10.2,189,1363,0.52,0.00,132.30,0.662,6,0.192,0.000,2929,1748,2863,0,0,0,0,0,0
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1365,begin climb
$GC,1366,1.05,170.3,148.8,0.0,207,1506,1.30,0.00,132.80,0.645,6,0.107,0.000,3350,1748,2168,0,0,0,0,0,0
$GC,1612,0.97,170.3,130.5,10.4,244,1622,0.05,2.40,0.00,0.000,4,0.207,0.060,3350,330,2164,0,0,0,0,0,0
$GC,1672,0.89,170.3,124.7,10.4,253,1680,0.15,2.35,0.00,0.000,6,0.156,0.041,3309,1771,2164,0,0,0,0,0,0
$GC,1787,0.94,232.3,115.1,7.6,272,1847,0.00,2.40,50.83,0.636,4,0.000,0.073,3310,3188,1914,0,0,0,0,0,0
$GC,1867,0.99,276.7,109.0,8.3,283,1912,0.00,2.55,38.25,0.622,6,0.000,0.090,3319,1750,1734,0,0,0,0,0,0
$GC,2019,1.03,309.7,95.8,8.7,307,2057,0.10,2.38,28.80,0.616,4,0.092,0.060,3397,331,1599,0,0,0,0,0,0
$GC,2158,0.94,309.7,75.6,17.2,329,2167,0.25,2.30,0.00,0.000,6,0.151,0.035,3326,1768,1595,0,0,0,0,0,0
$GC,2272,0.96,309.7,59.8,13.2,348,2281,0.00,2.35,0.00,0.000,4,0.000,0.075,3327,3171,1593,0,0,0,0,0,0
$GC,2299,0.96,309.7,55.9,13.6,352,2308,0.00,2.50,0.00,0.000,6,0.000,0.090,3336,1754,1593,0,0,0,0,0,0
$GC,2414,0.96,309.7,38.9,16.5,371,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1754,1592,0,0,0,0,0,0
$GC,2530,0.99,309.7,25.1,10.2,390,2539,0.00,2.35,0.00,0.000,4,0.000,0.066,3347,336,1590,0,0,0,0,0,0
$GC,2678,1.02,338.1,9.7,8.9,413,2697,0.00,2.35,13.20,0.506,6,0.000,0.054,3347,1748,1484,0,0,0,0,0,0
$STATE,2741,end climb,SURFACE_DEPTH_REACHED
$STATE,2741,begin surface coast
$FINISH,1.4,1.014443
$STATE,2768,end surface coast,CONTROL_FINISHED_OK
$STATE,2769,begin surface
$SM_CCo,2845,0.00,0.000,0,0,1473,341.21
$SM_GC,2.13,8.95,0.00,0.00,0.060,0.000,0.000,78,1942,1473,-9.08,0.65,341.21
$IRIDIUM_FIX,-3409.50,2536.67,270208,181833
$TT8_MAMPS,0.026215
$HUMID,60.08
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,130.7,26.3
$24V_AH,24.2,24.388
$10V_AH,10.3,21.777
$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,23.075,50.025,396.175,0.000,0.000,28.644,17.479,189.740,3.250,0.000,21.027,980.514,210.436,397.580,1512.886,97.434,0.000,917.585,0.000,1142.794,0.000,20.515,0.000
$DEVICE_MAMPS,254.745,141.525,661.725,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,286.467,1148.840,821.806,1235.789,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331384
$DATA_FILE_SIZE,30368,426
$CAP_FILE_SIZE,57928,0
$CFSIZE,2097086464,2067955712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.180, 74.0,1
$GPS,030515,064535,-3424.446,2536.170,39,1.1,39,-27.7