version: 66.07.10.p01
glider: 573
mission: 9
dive: 360
start: 5 9 115 16 34 50
data:
$ID,573
$MISSION,9
$DIVE,360
$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,611.52295
$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,-14670.077
$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,16
$R_STBD_OVSHOOT,14
$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,359
$GPS1,090515,162635,-3431.269,2525.814,28,1.7,29,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-57.8
$GPS2,090515,163427,-3431.213,2525.632,44,1.2,45,-27.8
$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,17.3,14659,-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,-170.3,0.0,0.0,0,111,0.00,0.00,-83.32,0.000,2,0.000,0.000,71,1950,2544,0,0,0,0,0,0
$GC,113,-1.05,-170.3,3.4,-3.6,10,157,10.98,2.58,-24.08,0.000,4,0.241,0.114,2686,501,3598,0,0,0,0,0,0
$GC,259,-0.86,-170.3,37.7,-26.1,32,270,0.25,2.72,0.00,0.000,6,0.194,0.124,2745,1920,3601,0,0,0,0,0,0
$GC,411,-0.78,-170.3,62.8,-16.8,57,421,0.12,2.47,0.00,0.000,4,0.187,0.094,2766,3347,3602,0,0,0,0,0,0
$GC,556,-0.78,-170.3,82.2,-13.2,81,565,0.03,2.50,0.00,0.000,6,0.118,0.093,2776,1929,3603,0,0,0,0,0,0
$GC,894,-0.78,-170.3,124.5,-10.8,123,898,0.00,2.47,0.00,0.000,4,0.000,0.099,2767,3350,3605,0,0,0,0,0,0
$GC,970,-0.80,-170.3,132.4,-10.5,129,974,0.00,2.58,0.00,0.000,6,0.000,0.109,2767,1905,3605,0,0,0,0,0,0
$GC,1295,-0.80,-170.3,170.3,-11.5,159,1300,0.00,2.40,0.00,0.000,4,0.000,0.095,2767,484,3607,0,0,0,0,0,0
$GC,1347,-0.80,-170.3,176.7,-12.3,163,1352,0.08,2.45,0.00,0.000,6,0.203,0.076,2772,1925,3606,0,0,0,0,0,0
$GC,1675,-0.80,-170.3,214.6,-12.0,193,1679,0.00,2.50,0.00,0.000,4,0.000,0.109,2762,3349,3606,0,0,0,0,0,0
$GC,1840,-0.80,-170.3,234.5,-12.1,207,1845,0.00,2.58,0.00,0.000,6,0.000,0.111,2762,1921,3605,0,0,0,0,0,0
$GC,2168,-0.80,-170.3,274.7,-12.1,237,2172,0.00,2.45,0.00,0.000,4,0.000,0.090,2762,474,3604,0,0,0,0,0,0
$GC,2208,-0.80,-170.3,280.1,-13.2,240,2213,0.10,2.42,0.00,0.000,6,0.194,0.071,2773,1920,3604,0,0,0,0,0,0
$GC,2533,-0.80,-170.3,319.3,-12.2,270,2537,0.00,2.53,0.00,0.000,4,0.000,0.117,2763,3338,3603,0,0,0,0,0,0
$GC,2720,-0.83,-170.3,341.7,-11.4,286,2728,0.00,2.65,0.00,0.000,6,0.000,0.128,2763,1916,3601,0,0,0,0,0,0
$STATE,2736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2736,begin apogee
$GC,2741,-0.25,0.0,343.5,11.6,288,2880,0.62,0.00,132.90,0.797,6,0.169,0.000,2945,1753,2902,0,0,0,0,0,0
$STATE,2880,end apogee,CONTROL_FINISHED_OK
$STATE,2881,begin climb
$GC,2882,1.05,170.3,351.1,0.0,302,3029,1.27,2.70,137.73,0.775,4,0.099,0.092,3363,3180,2207,0,0,0,0,0,0
$GC,3286,0.93,187.5,330.0,9.3,337,3308,0.15,2.58,14.93,0.721,6,0.173,0.099,3335,1750,2136,0,0,0,0,0,0
$GC,3634,0.85,187.5,295.5,10.1,370,3638,0.10,2.30,0.00,0.000,4,0.194,0.053,3321,323,2134,0,0,0,0,0,0
$GC,3724,0.78,187.5,286.0,10.1,377,3732,0.12,2.30,0.00,0.000,6,0.159,0.033,3288,1768,2134,0,0,0,0,0,0
$GC,4049,0.86,254.7,260.4,7.4,408,4113,0.08,2.53,55.45,0.760,4,0.114,0.092,3332,3175,1862,0,0,0,0,0,0
$GC,4161,0.80,254.7,249.7,12.0,417,4166,0.17,2.58,0.00,0.000,6,0.163,0.100,3295,1748,1859,0,0,0,0,0,0
$GC,4486,0.80,254.7,217.5,10.3,447,4490,0.00,2.33,0.00,0.000,4,0.000,0.060,3306,323,1857,0,0,0,0,0,0
$GC,4657,0.80,254.7,198.9,11.0,461,4664,0.00,2.33,0.00,0.000,6,0.000,0.041,3306,1751,1855,0,0,0,0,0,0
$GC,4982,0.84,280.5,168.2,9.0,492,5010,0.00,2.47,21.83,0.706,4,0.000,0.086,3306,3183,1757,0,0,0,0,0,0
$GC,5037,0.84,280.5,162.8,10.3,496,5047,0.00,2.50,0.00,0.000,6,0.000,0.086,3315,1753,1755,0,0,0,0,0,0
$GC,5362,0.84,280.5,129.0,10.7,527,5366,0.00,2.30,0.00,0.000,4,0.000,0.057,3326,330,1753,0,0,0,0,0,0
$GC,5484,0.81,280.5,115.3,12.0,537,5489,0.12,2.25,0.00,0.000,6,0.151,0.035,3292,1769,1753,0,0,0,0,0,0
$GC,5822,0.94,351.3,89.2,7.2,581,5890,0.12,2.45,58.38,0.667,4,0.083,0.085,3365,3172,1468,0,0,0,0,0,0
$GC,5985,0.88,351.3,68.2,14.7,607,5993,0.20,2.50,0.00,0.000,6,0.151,0.092,3319,1756,1462,0,0,0,0,0,0
$GC,6341,0.94,367.6,28.4,9.4,668,6358,0.00,2.35,8.20,0.542,4,0.000,0.062,3329,318,1402,0,0,0,0,0,0
$GC,6392,1.00,367.6,23.7,10.4,675,6400,0.08,2.30,0.00,0.000,6,0.118,0.043,3386,1752,1401,0,0,0,0,0,0
$GC,6550,1.01,378.8,7.1,9.6,700,6562,0.10,2.38,5.55,0.421,4,0.151,0.082,3358,3186,1355,0,0,0,0,0,0
$STATE,6587,end climb,SURFACE_DEPTH_REACHED
$STATE,6587,begin surface coast
$FINISH,1.3,1.019624
$STATE,6619,end surface coast,CONTROL_FINISHED_OK
$STATE,6619,begin surface
$SM_CCo,6639,106.00,0.046,0,0,408,611.52
$SM_GC,1.85,0.00,0.00,106.00,0.000,0.000,0.046,69,1919,408,-9.27,-0.03,611.52
$IRIDIUM_FIX,-3412.10,2714.83,050308,030315
$TT8_MAMPS,0.026215
$HUMID,57.63
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,330.3,27.5
$24V_AH,23.8,35.442
$10V_AH,10.2,29.433
$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,23.350,79.100,434.950,106.000,0.000,25.319,46.133,240.669,7.750,0.000,47.660,1746.363,2564.770,587.065,2165.493,156.945,0.000,1338.066,0.000,1725.995,0.000,50.085,0.000
$DEVICE_MAMPS,240.975,127.755,797.130,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.906,1264.318,794.799,288.795,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330848
$DATA_FILE_SIZE,50400,710
$CAP_FILE_SIZE,92664,0
$CFSIZE,2097086464,2054782976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.088,303.4,1
$GPS,090515,182835,-3430.298,2525.344,44,1.3,45,-27.7