version: 66.07.10.p01
glider: 573
mission: 9
dive: 512
start: 5 20 115 5 38 45
data:
$ID,573
$MISSION,9
$DIVE,512
$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,-15058.229
$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,12
$R_STBD_OVSHOOT,12
$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,511
$GPS1,200515,053035,-3430.938,2529.004,25,1.8,25,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.9
$GPS2,200515,053823,-3430.991,2528.994,40,1.9,40,-27.8
$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,218.3,8518,-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,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,105,0.00,0.00,-76.75,0.000,2,0.000,0.000,72,1940,2318,0,0,0,0,0,0
$GC,108,-1.05,-170.3,3.2,-2.9,9,168,11.20,2.53,-39.78,0.000,4,0.246,0.098,2684,487,3597,0,0,0,0,0,0
$GC,325,-0.89,-170.3,43.3,-22.0,42,336,0.22,2.55,0.00,0.000,6,0.196,0.093,2736,1914,3599,0,0,0,0,0,0
$GC,689,-0.84,-170.3,96.2,-13.4,103,696,0.10,2.45,0.00,0.000,4,0.192,0.099,2750,3346,3601,0,0,0,0,0,0
$GC,951,-0.84,-170.3,131.1,-14.0,128,955,0.00,2.45,0.00,0.000,6,0.000,0.089,2750,1922,3602,0,0,0,0,0,0
$GC,1276,-0.84,-170.3,174.9,-12.6,158,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1922,3603,0,0,0,0,0,0
$GC,1594,-0.84,-170.3,214.1,-11.6,188,1598,0.00,2.40,0.00,0.000,4,0.000,0.086,2750,479,3603,0,0,0,0,0,0
$GC,1645,-0.81,-170.3,220.4,-12.7,192,1654,0.08,2.45,0.00,0.000,6,0.163,0.073,2763,1913,3603,0,0,0,0,0,0
$GC,1970,-0.81,-170.3,260.5,-13.2,223,1975,0.00,2.55,0.00,0.000,4,0.000,0.109,2753,3358,3602,0,0,0,0,0,0
$GC,2169,-0.81,-170.3,288.5,-15.4,240,2174,0.08,2.55,0.00,0.000,6,0.158,0.098,2768,1910,3602,0,0,0,0,0,0
$GC,2494,-0.81,-170.3,336.9,-13.5,270,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1910,3601,0,0,0,0,0,0
$GC,2813,-0.83,-170.3,377.5,-11.3,300,2817,0.00,2.38,0.00,0.000,4,0.000,0.087,2768,478,3601,0,0,0,0,0,0
$GC,2914,-0.83,-170.3,388.5,-9.9,308,2923,0.00,2.47,0.00,0.000,6,0.000,0.075,2759,1917,3601,0,0,0,0,0,0
$GC,3233,-0.83,-170.3,424.4,-11.9,329,3238,0.00,2.55,0.00,0.000,4,0.000,0.112,2748,3348,3600,0,0,0,0,0,0
$GC,3430,-0.83,-170.3,449.1,-11.6,338,3435,0.05,2.60,0.00,0.000,6,0.170,0.112,2759,1918,3599,0,0,0,0,0,0
$STATE,3735,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3735,begin apogee
$GC,3741,-0.25,0.0,488.1,11.4,353,3880,0.70,0.00,135.98,0.900,6,0.183,0.000,2951,1750,2902,0,0,0,0,0,0
$STATE,3881,end apogee,CONTROL_FINISHED_OK
$STATE,3881,begin climb
$GC,3883,1.05,170.3,494.2,0.0,360,4035,1.27,2.67,140.50,0.869,4,0.105,0.097,3363,3173,2206,0,0,0,0,0,0
$GC,4287,0.90,170.3,469.9,10.1,378,4293,0.17,2.47,0.00,0.000,6,0.180,0.092,3329,1756,2201,0,0,0,0,0,0
$GC,4611,0.86,205.2,442.9,8.6,394,4648,0.08,2.47,29.40,0.850,4,0.211,0.082,3313,3171,2065,0,0,0,0,0,0
$GC,4903,0.88,270.2,419.8,7.4,407,4967,0.00,2.45,55.17,0.852,6,0.000,0.091,3321,1758,1799,0,0,0,0,0,0
$GC,5280,0.88,300.3,387.5,8.8,431,5316,0.00,2.40,26.00,0.822,4,0.000,0.060,3332,327,1676,0,0,0,0,0,0
$GC,5431,0.87,322.8,373.5,9.1,444,5457,0.08,2.30,19.88,0.786,6,0.171,0.037,3315,1765,1585,0,0,0,0,0,0
$GC,5774,0.87,322.8,333.2,13.7,476,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1765,1580,0,0,0,0,0,0
$GC,6094,0.87,322.8,297.5,11.2,506,6098,0.00,2.30,0.00,0.000,4,0.000,0.049,3324,327,1578,0,0,0,0,0,0
$GC,6167,0.87,322.8,288.3,11.8,512,6171,0.00,2.28,0.00,0.000,6,0.000,0.038,3324,1763,1578,0,0,0,0,0,0
$GC,6492,0.87,322.8,250.1,12.7,542,6496,0.00,2.38,0.00,0.000,4,0.000,0.091,3324,3173,1577,0,0,0,0,0,0
$GC,6566,0.87,322.8,240.5,12.2,548,6571,0.08,2.47,0.00,0.000,6,0.200,0.094,3317,1754,1577,0,0,0,0,0,0
$GC,6891,0.87,322.8,203.8,11.8,578,6895,0.00,2.28,0.00,0.000,4,0.000,0.059,3328,331,1576,0,0,0,0,0,0
$GC,7070,0.87,322.8,183.2,11.0,593,7077,0.03,2.28,0.00,0.000,6,0.145,0.037,3317,1759,1576,0,0,0,0,0,0
$GC,7395,0.87,322.8,149.0,11.3,624,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1759,1576,0,0,0,0,0,0
$GC,7715,0.87,322.8,112.8,11.5,654,7720,0.00,2.35,0.00,0.000,4,0.000,0.080,3317,3175,1576,0,0,0,0,0,0
$GC,7748,0.87,322.8,108.6,11.9,656,7758,0.00,2.47,0.00,0.000,6,0.000,0.092,3325,1766,1575,0,0,0,0,0,0
$GC,8094,0.87,322.8,71.4,10.2,710,8102,0.00,2.30,0.00,0.000,4,0.000,0.058,3337,326,1575,0,0,0,0,0,0
$GC,8154,0.87,322.8,64.5,12.0,720,8164,0.05,2.28,0.00,0.000,6,0.126,0.038,3319,1753,1575,0,0,0,0,0,0
$GC,8516,0.97,371.5,34.4,8.1,781,8562,0.08,2.33,34.72,0.605,4,0.117,0.050,3389,335,1384,0,0,0,0,0,0
$GC,8630,0.93,371.5,22.1,12.3,798,8641,0.15,2.30,0.00,0.000,6,0.129,0.041,3339,1753,1381,0,0,0,0,0,0
$GC,8794,0.96,374.3,5.9,9.9,823,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1754,1378,0,0,0,0,0,0
$STATE,8821,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$FINISH,1.3,1.008165
$STATE,8860,end surface coast,CONTROL_FINISHED_OK
$STATE,8860,begin surface
$SM_CCo,8878,108.47,0.044,0,0,406,611.52
$SM_GC,1.91,0.00,0.00,108.47,0.000,0.000,0.044,89,1946,406,-9.20,0.76,611.52
$IRIDIUM_FIX,-3414.71,2529.60,150308,161629
$TT8_MAMPS,0.026215
$HUMID,58.34
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,470.8,29.7
$24V_AH,23.4,50.692
$10V_AH,10.1,40.119
$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,23.225,73.325,441.650,108.475,0.000,24.510,48.197,233.039,11.250,0.000,42.371,2124.968,3981.597,623.680,2518.292,211.342,0.000,1509.601,0.000,2070.464,0.000,73.186,0.000
$DEVICE_MAMPS,246.330,148.410,899.640,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.023,1383.026,831.457,318.269,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,56993,833
$CAP_FILE_SIZE,106669,0
$CFSIZE,2097086464,2038497280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.125,228.0,1
$GPS,200515,080936,-3432.477,2528.077,27,1.5,27,-27.8