version: 66.07.10.p01
glider: 573
mission: 9
dive: 37
start: 4 24 115 18 22 48
data:
$ID,573
$MISSION,9
$DIVE,37
$D_SURF,3
$D_FLARE,3
$D_TGT,330
$D_ABORT,360
$D_NO_BLEED,500
$D_BOOST,0
$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,110
$T_MISSION,120
$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,200
$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,-13605.791
$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,3050
$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,2090
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,20
$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,2762
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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,36
$GPS1,240415,181634,-3424.146,2544.259,39,1.0,43,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-63.2
$GPS2,240415,182224,-3424.199,2544.178,17,1.0,18,-27.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3418.960,2525.020
$TGT_RADIUS,2000.000
$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,330.7,30870,-15.7,-10.000
$D_GRID,330
$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,24,-1.02,-194.6,0.0,0.0,0,88,0.00,0.00,-61.30,0.000,2,0.000,0.000,89,2092,2722,0,0,0,0,0,0
$GC,90,-1.02,-194.6,3.1,-3.3,7,134,11.38,2.38,-23.85,0.000,4,0.263,0.088,2701,3502,3559,0,0,0,0,0,0
$GC,410,-0.92,-194.6,48.2,-13.0,57,418,0.17,2.33,0.00,0.000,6,0.164,0.076,2748,2106,3563,0,0,0,0,0,0
$GC,528,-0.87,-194.6,61.9,-11.2,76,538,0.08,2.50,0.00,0.000,4,0.210,0.099,2765,668,3564,0,0,0,0,0,0
$GC,558,-0.83,-194.6,65.1,-10.8,80,568,0.08,2.50,0.00,0.000,6,0.178,0.093,2778,2082,3564,0,0,0,0,0,0
$GC,678,-0.83,-194.6,76.7,-9.2,99,685,0.00,2.38,0.00,0.000,4,0.000,0.083,2768,3525,3566,0,0,0,0,0,0
$GC,765,-0.83,-194.6,85.6,-10.5,113,772,0.00,2.40,0.00,0.000,6,0.000,0.080,2768,2091,3566,0,0,0,0,0,0
$GC,880,-0.83,-194.6,97.1,-10.1,132,890,0.05,2.47,0.00,0.000,4,0.194,0.103,2778,665,3567,0,0,0,0,0,0
$GC,917,-0.83,-194.6,100.4,-9.9,137,924,0.00,2.47,0.00,0.000,6,0.000,0.090,2770,2097,3567,0,0,0,0,0,0
$GC,1033,-0.83,-194.6,112.6,-10.8,156,1042,0.00,2.38,0.00,0.000,4,0.000,0.083,2758,3518,3567,0,0,0,0,0,0
$GC,1080,-0.83,-194.6,117.7,-11.8,163,1088,0.10,2.40,0.00,0.000,6,0.176,0.083,2781,2088,3567,0,0,0,0,0,0
$GC,1195,-0.83,-194.6,130.0,-10.7,182,1208,0.00,2.47,0.00,0.000,4,0.000,0.103,2781,663,3567,0,0,0,0,0,0
$GC,1234,-0.83,-194.6,133.9,-10.8,187,1241,0.00,2.45,0.00,0.000,6,0.000,0.087,2773,2102,3567,0,0,0,0,0,0
$GC,1353,-0.83,-194.6,146.4,-9.9,206,1363,0.00,2.35,0.00,0.000,4,0.000,0.084,2762,3509,3567,0,0,0,0,0,0
$GC,1393,-0.83,-194.6,150.6,-10.6,212,1403,0.05,2.45,0.00,0.000,6,0.170,0.089,2777,2089,3567,0,0,0,0,0,0
$STATE,1408,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1408,begin apogee
$GC,1413,-0.25,0.0,152.2,10.6,214,1567,0.57,0.00,149.57,0.669,6,0.149,0.000,2959,1606,2762,0,0,0,0,0,0
$STATE,1568,end apogee,CONTROL_FINISHED_OK
$STATE,1568,begin climb
$GC,1569,1.02,194.6,158.8,0.0,235,1731,1.25,2.45,153.70,0.649,4,0.093,0.054,3384,197,1966,0,0,0,0,0,0
$GC,1877,0.87,194.6,127.5,15.2,281,1885,0.20,2.30,0.00,0.000,6,0.157,0.034,3331,1659,1961,0,0,0,0,0,0
$GC,1994,0.80,194.6,112.1,12.6,300,2003,0.10,0.00,0.00,0.000,6,0.184,0.000,3306,1665,1960,0,0,0,0,0,0
$GC,2114,0.77,194.6,98.6,11.3,319,2121,0.00,2.17,0.00,0.000,4,0.000,0.057,3306,3023,1960,0,0,0,0,0,0
$GC,2143,0.72,194.6,95.3,11.7,323,2151,0.12,2.30,0.00,0.000,6,0.171,0.057,3283,1593,1959,0,0,0,0,0,0
$GC,2259,0.73,197.5,83.2,9.9,342,2269,0.00,2.25,0.00,0.000,4,0.000,0.057,3293,216,1959,0,0,0,0,0,0
$GC,2300,0.70,197.5,78.9,10.3,348,2310,0.03,2.22,0.00,0.000,6,0.171,0.037,3284,1606,1959,0,0,0,0,0,0
$GC,2420,0.73,220.1,67.6,9.2,367,2450,0.00,2.35,20.40,0.619,4,0.000,0.061,3284,3034,1864,0,0,0,0,0,0
$GC,2480,0.74,225.9,61.4,9.8,376,2496,0.00,2.33,6.40,0.527,6,0.000,0.060,3293,1632,1840,0,0,0,0,0,0
$GC,2604,0.74,225.9,48.9,10.0,396,2613,0.00,2.35,0.00,0.000,4,0.000,0.059,3304,208,1837,0,0,0,0,0,0
$GC,2679,0.74,225.9,40.6,11.6,408,2689,0.03,2.28,0.00,0.000,6,0.147,0.038,3294,1624,1837,0,0,0,0,0,0
$GC,2799,0.74,225.9,28.9,10.8,427,2808,0.00,2.28,0.00,0.000,4,0.000,0.061,3294,3027,1835,0,0,0,0,0,0
$GC,2990,0.84,309.1,12.5,7.1,457,3042,0.00,2.30,39.33,0.545,6,0.000,0.060,3303,1621,1498,0,0,0,0,0,0
$STATE,3104,end climb,SURFACE_DEPTH_REACHED
$STATE,3104,begin surface coast
$FINISH,1.4,1.020972
$STATE,3150,end surface coast,CONTROL_FINISHED_OK
$STATE,3150,begin surface
$SM_CCo,3226,0.00,0.000,0,0,1486,313.00
$SM_GC,2.03,8.60,0.00,0.00,0.043,0.000,0.000,82,2083,1486,-9.18,-0.23,313.00
$IRIDIUM_FIX,-3401.68,2542.60,190208,070752
$TT8_MAMPS,0.026964
$HUMID,59.96
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.5,30.3
$24V_AH,24.2,7.272
$10V_AH,10.4,5.964
$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,22.800,63.175,369.400,0.000,0.000,31.777,43.307,183.077,1.750,0.000,20.663,1119.158,307.687,402.445,1700.150,61.083,0.000,973.843,0.000,1287.713,0.000,14.656,0.000
$DEVICE_MAMPS,263.160,123.930,669.375,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.664,1295.136,937.068,1392.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331544
$DATA_FILE_SIZE,33657,480
$CAP_FILE_SIZE,63862,0
$CFSIZE,2097086464,2087911424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.114,202.6,1
$GPS,240415,191735,-3424.099,2543.752,29,1.1,30,-27.8