version: 66.07.10.p01
glider: 573
mission: 9
dive: 319
start: 5 7 115 0 19 59
data:
$ID,573
$MISSION,9
$DIVE,319
$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,-14550.972
$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,11
$R_STBD_OVSHOOT,7
$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,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,318
$GPS1,070515,000635,-3424.284,2526.938,36,1.2,37,-27.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.2
$GPS2,070515,001935,-3424.222,2526.944,44,1.1,44,-27.6
$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,282.9,7552,-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,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,69,0.00,0.00,-42.78,0.000,2,0.000,0.000,72,1927,2686,0,0,0,0,0,0
$GC,72,-1.05,-170.3,3.0,-3.5,5,116,11.12,2.53,-24.85,0.000,4,0.249,0.106,2685,493,3599,0,0,0,0,0,0
$GC,149,-0.84,-170.3,12.9,-22.1,15,159,0.28,2.65,0.00,0.000,6,0.198,0.109,2751,1922,3601,0,0,0,0,0,0
$GC,209,-0.71,-170.3,25.8,-21.7,24,219,0.20,2.53,0.00,0.000,4,0.207,0.090,2799,488,3602,0,0,0,0,0,0
$GC,246,-0.65,-170.3,31.6,-16.5,29,253,0.12,2.65,0.00,0.000,6,0.223,0.112,2817,1923,3602,0,0,0,0,0,0
$GC,396,-0.70,-170.3,46.1,-7.4,54,405,0.00,2.47,0.00,0.000,4,0.000,0.101,2806,3345,3604,0,0,0,0,0,0
$GC,561,-0.76,-170.3,59.6,-8.7,82,570,0.05,2.60,0.00,0.000,6,0.158,0.119,2770,1919,3605,0,0,0,0,0,0
$GC,916,-0.76,-170.3,92.1,-10.1,143,923,0.05,2.45,0.00,0.000,4,0.171,0.099,2784,483,3608,0,0,0,0,0,0
$GC,1000,-0.76,-170.3,101.2,-11.5,157,1005,0.00,2.50,0.00,0.000,6,0.000,0.088,2775,1923,3609,0,0,0,0,0,0
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1042,-0.25,0.0,105.6,11.0,160,1180,0.57,0.00,130.98,0.604,6,0.156,0.000,2945,1712,2902,0,0,0,0,0,0
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,1.05,170.3,111.5,0.0,174,1326,1.27,2.25,130.40,0.591,4,0.106,0.054,3371,383,2206,0,0,0,0,0,0
$GC,1412,0.93,170.3,94.8,11.8,196,1420,0.12,2.22,0.00,0.000,6,0.162,0.037,3339,1766,2203,0,0,0,0,0,0
$GC,1765,0.87,170.3,59.1,11.0,257,1772,0.10,2.30,0.00,0.000,4,0.183,0.067,3313,3183,2201,0,0,0,0,0,0
$GC,1807,0.83,170.3,54.4,11.0,264,1817,0.05,2.40,0.00,0.000,6,0.174,0.090,3306,1808,2200,0,0,0,0,0,0
$GC,2174,0.93,258.0,29.1,6.5,325,2225,0.08,2.42,43.22,0.574,4,0.118,0.085,3370,3185,1848,0,0,0,0,0,0
$GC,2261,0.91,289.9,23.0,8.8,337,2283,0.17,2.50,15.38,0.520,6,0.159,0.090,3333,1756,1719,0,0,0,0,0,0
$GC,2434,1.01,353.4,9.4,7.5,364,2470,0.08,2.40,29.98,0.492,4,0.117,0.060,3405,328,1459,0,0,0,0,0,0
$STATE,2489,end climb,SURFACE_DEPTH_REACHED
$STATE,2489,begin surface coast
$FINISH,1.3,1.021731
$STATE,2516,end surface coast,CONTROL_FINISHED_OK
$STATE,2516,begin surface
$SM_CCo,2595,0.00,0.000,0,0,1446,357.15
$SM_GC,2.08,9.00,0.00,0.00,0.047,0.000,0.000,70,1935,1446,-9.14,0.45,357.15
$IRIDIUM_FIX,-3412.10,2526.12,020308,131335
$TT8_MAMPS,0.026215
$HUMID,60.39
$INTERNAL_PRESSURE,9.49921
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,29.1
$24V_AH,24.4,31.522
$10V_AH,10.2,26.635
$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,23.275,39.925,349.950,0.000,0.000,50.322,50.133,451.226,1.500,0.000,46.373,904.725,432.730,362.497,1560.064,129.999,0.000,775.617,0.000,928.571,0.000,12.436,0.000
$DEVICE_MAMPS,248.625,119.340,603.585,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.537,533.967,561.263,383.539,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330892
$DATA_FILE_SIZE,27058,375
$CAP_FILE_SIZE,55654,0
$CFSIZE,2097086464,2059239424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.087, 24.1,1
$GPS,070515,010429,-3424.160,2526.707,42,1.4,42,-27.6