version: 66.07.10.p01
glider: 573
mission: 9
dive: 403
start: 5 11 115 7 59 15
data:
$ID,573
$MISSION,9
$DIVE,403
$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,-14784.4
$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,13
$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,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,402
$GPS1,110515,074934,-3429.815,2525.950,41,0.8,46,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-66.1
$GPS2,110515,075853,-3429.778,2525.931,46,1.2,46,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,231.8,11502,-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,-170.3,0.0,0.0,0,103,0.00,0.00,-75.88,0.000,2,0.000,0.000,68,1938,2323,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.1,-3.2,9,167,11.12,2.58,-37.60,0.000,4,0.246,0.112,2685,504,3600,0,0,0,0,0,0
$GC,271,-0.86,-170.3,30.1,-20.4,33,279,0.30,2.67,0.00,0.000,6,0.210,0.120,2749,1928,3602,0,0,0,0,0,0
$GC,419,-0.78,-170.3,57.3,-16.8,58,427,0.12,2.47,0.00,0.000,4,0.195,0.105,2769,3346,3603,0,0,0,0,0,0
$GC,512,-0.80,-170.3,68.3,-11.0,73,518,0.00,2.47,0.00,0.000,6,0.000,0.091,2769,1919,3604,0,0,0,0,0,0
$GC,860,-0.80,-170.3,108.4,-12.3,128,864,0.00,2.50,0.00,0.000,4,0.000,0.103,2760,3336,3607,0,0,0,0,0,0
$GC,889,-0.80,-170.3,111.9,-11.8,130,893,0.00,2.45,0.00,0.000,6,0.000,0.092,2760,1921,3607,0,0,0,0,0,0
$GC,1214,-0.80,-170.3,152.5,-12.5,160,1218,0.00,2.47,0.00,0.000,4,0.000,0.099,2760,481,3608,0,0,0,0,0,0
$GC,1269,-0.80,-170.3,160.2,-13.4,164,1279,0.05,2.47,0.00,0.000,6,0.169,0.080,2764,1916,3608,0,0,0,0,0,0
$GC,1594,-0.80,-170.3,204.6,-13.2,195,1598,0.00,2.55,0.00,0.000,4,0.000,0.116,2754,3354,3608,0,0,0,0,0,0
$GC,1738,-0.80,-170.3,223.2,-13.3,207,1747,0.05,2.53,0.00,0.000,6,0.122,0.095,2770,1918,3606,0,0,0,0,0,0
$GC,2064,-0.80,-170.3,264.2,-13.6,238,2068,0.00,2.42,0.00,0.000,4,0.000,0.090,2770,483,3605,0,0,0,0,0,0
$GC,2106,-0.80,-170.3,269.8,-14.3,241,2111,0.00,2.45,0.00,0.000,6,0.000,0.079,2761,1918,3605,0,0,0,0,0,0
$STATE,2309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2310,begin apogee
$GC,2315,-0.25,0.0,297.8,13.4,260,2453,0.62,0.00,132.50,0.770,6,0.172,0.000,2944,1710,2902,0,0,0,0,0,0
$STATE,2453,end apogee,CONTROL_FINISHED_OK
$STATE,2454,begin climb
$GC,2457,1.05,170.3,305.3,0.0,274,2599,1.30,0.00,136.35,0.749,6,0.108,0.000,3362,1710,2206,0,0,0,0,0,0
$GC,2916,0.97,204.8,281.0,8.6,316,2953,0.08,2.60,28.67,0.731,4,0.194,0.092,3346,3174,2066,0,0,0,0,0,0
$GC,3026,0.88,225.4,269.8,9.2,325,3050,0.12,2.45,18.27,0.704,6,0.182,0.095,3324,1788,1982,0,0,0,0,0,0
$GC,3369,0.86,248.8,236.5,9.1,357,3395,0.00,2.42,20.30,0.711,4,0.000,0.062,3335,332,1886,0,0,0,0,0,0
$GC,3497,0.80,248.8,223.8,11.0,368,3502,0.15,2.30,0.00,0.000,6,0.148,0.037,3294,1772,1883,0,0,0,0,0,0
$GC,3822,0.84,289.8,195.5,8.4,398,3862,0.00,0.00,34.17,0.718,6,0.000,0.000,3294,1772,1720,0,0,0,0,0,0
$GC,4181,0.88,319.9,163.1,8.8,432,4212,0.08,0.00,26.08,0.695,6,0.116,0.000,3347,1772,1596,0,0,0,0,0,0
$GC,4532,0.84,319.9,118.7,12.6,465,4538,0.15,0.00,0.00,0.000,6,0.151,0.000,3306,1773,1591,0,0,0,0,0,0
$GC,4869,0.87,319.9,81.6,10.2,510,4877,0.00,2.35,0.00,0.000,4,0.000,0.079,3306,3175,1589,0,0,0,0,0,0
$GC,4914,0.87,319.9,77.1,11.0,517,4921,0.00,2.45,0.00,0.000,6,0.000,0.088,3315,1750,1589,0,0,0,0,0,0
$GC,5265,0.92,339.7,41.0,9.2,578,5289,0.00,2.35,16.05,0.627,4,0.000,0.065,3326,329,1517,0,0,0,0,0,0
$GC,5410,1.00,380.1,28.4,8.4,601,5441,0.08,2.30,22.15,0.602,6,0.116,0.046,3384,1755,1351,0,0,0,0,0,0
$GC,5590,0.97,380.1,7.4,12.1,629,5599,0.12,2.35,0.00,0.000,4,0.146,0.055,3359,336,1345,0,0,0,0,0,0
$STATE,5631,end climb,SURFACE_DEPTH_REACHED
$STATE,5631,begin surface coast
$FINISH,1.2,1.000511
$STATE,5663,end surface coast,CONTROL_FINISHED_OK
$STATE,5663,begin surface
$SM_CCo,5683,104.10,0.046,0,0,408,611.52
$SM_GC,1.88,0.00,0.00,104.10,0.000,0.000,0.046,70,1936,408,-9.26,0.48,611.52
$IRIDIUM_FIX,-3414.71,2523.75,060308,212129
$TT8_MAMPS,0.026215
$HUMID,61.85
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,280.5,31.9
$24V_AH,24.0,38.739
$10V_AH,10.1,31.658
$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,23.200,54.675,434.550,104.100,0.000,50.366,100.105,196.144,6.250,0.000,48.722,1545.753,2128.329,583.118,1949.369,150.112,0.000,1227.531,0.000,1487.969,0.000,41.542,0.000
$DEVICE_MAMPS,246.330,120.105,770.355,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.793,1107.203,748.745,310.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,43768,640
$CAP_FILE_SIZE,78289,0
$CFSIZE,2097086464,2050555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.241, 83.1,1
$GPS,110515,093700,-3430.384,2526.306,41,1.7,41,-27.7