version: 66.07.10.p01
glider: 573
mission: 9
dive: 67
start: 4 25 115 19 17 10
data:
$ID,573
$MISSION,9
$DIVE,67
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,650
$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,230
$T_MISSION,245
$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,-13705.485
$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,1870
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,3200
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,21
$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,20
$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,66
$GPS1,250415,190635,-3421.412,2536.412,37,0.9,38,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.2
$GPS2,250415,191623,-3421.468,2536.472,42,1.8,43,-27.6
$SPEED_LIMITS,0.030,0.040
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3428.620,2530.300
$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,237.1,16256,-17.1,-1.739
$D_GRID,120
$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,24,-0.39,-8.3,0.0,0.0,0,121,0.00,0.00,-93.97,0.000,2,0.000,0.000,83,3194,2771,0,0,0,0,0,0
$GC,122,-0.39,-9.9,3.1,-1.5,11,141,7.35,0.95,-1.05,0.000,4,0.272,0.081,1730,3798,2804,0,0,0,0,0,0
$GC,418,0.52,-9.9,52.3,-13.8,58,428,1.20,0.95,0.00,0.000,6,0.250,0.037,2024,3172,2806,0,0,0,0,0,0
$GC,535,1.34,-9.9,67.3,-12.9,77,543,1.08,0.95,0.00,0.000,4,0.251,0.053,2284,3798,2806,0,0,0,0,0,0
$STATE,784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,784,begin apogee
$GC,789,-0.11,0.0,100.7,13.8,118,799,1.20,0.00,5.57,0.360,6,0.056,0.000,1825,3051,2761,0,0,0,0,0,0
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,800,begin climb
$GC,801,0.39,9.9,102.8,0.0,119,817,0.68,2.28,5.60,0.462,4,0.256,0.061,1988,1646,2732,0,0,0,0,0,0
$GC,866,1.95,107.5,111.4,-12.0,129,951,2.05,2.33,75.88,0.614,6,0.242,0.071,2487,3055,2323,0,0,0,0,0,0
$GC,1060,1.95,107.5,99.8,6.4,158,1070,0.00,1.17,1.50,0.046,4,0.000,0.060,2482,3789,2327,0,0,0,0,0,0
$GC,1155,1.95,107.5,89.4,10.6,173,1166,0.00,1.15,1.62,0.047,6,0.000,0.039,2482,3059,2326,0,0,0,0,0,0
$GC,1275,1.95,107.5,76.1,11.2,192,1284,0.00,0.00,1.48,0.050,6,0.000,0.000,2482,3058,2326,0,0,0,0,0,0
$GC,1392,1.95,107.5,63.6,10.7,211,1400,0.00,1.15,1.45,0.051,4,0.000,0.053,2477,3803,2325,0,0,0,0,0,0
$GC,1433,1.95,107.5,59.5,10.6,217,1443,0.00,1.17,1.27,0.049,6,0.000,0.040,2478,3049,2325,0,0,0,0,0,0
$GC,1552,1.95,107.5,48.0,9.8,236,1562,0.00,1.17,1.30,0.050,4,0.000,0.054,2473,3784,2325,0,0,0,0,0,0
$GC,1616,1.95,107.5,41.6,9.6,246,1627,0.03,1.15,1.30,0.048,6,0.222,0.041,2483,3045,2325,0,0,0,0,0,0
$GC,1737,1.95,107.5,30.4,9.6,265,1747,0.00,1.15,1.20,0.050,4,0.000,0.052,2478,3792,2325,0,0,0,0,0,0
$GC,1768,1.95,107.5,28.1,9.4,269,1781,0.00,1.15,0.70,0.052,6,0.000,0.039,2479,3050,2328,0,0,0,0,0,0
$GC,1862,1.95,107.5,22.0,7.7,282,1872,0.00,2.33,1.33,0.052,4,0.000,0.076,2479,1651,2326,0,0,0,0,0,0
$GC,2172,1.95,107.5,8.9,3.2,328,2182,0.05,2.35,1.30,0.049,6,0.244,0.074,2482,3055,2324,0,0,0,0,0,0
$GC,2264,1.95,107.5,4.3,4.0,341,2276,0.00,1.15,1.27,0.050,4,0.000,0.061,2476,3791,2325,0,0,0,0,0,0
$STATE,2283,end climb,SURFACE_DEPTH_REACHED
$STATE,2283,begin surface coast
$FINISH,2.3,1.022238
$STATE,2291,end surface coast,CONTROL_FINISHED_OK
$STATE,2291,begin surface
$SM_CCo,2305,86.57,0.493,0,0,1536,300.24
$SM_GC,2.20,0.00,0.00,86.57,0.000,0.000,0.493,83,3197,1536,-5.59,-0.08,300.24
$IRIDIUM_FIX,-3406.89,2535.54,200208,080815
$TT8_MAMPS,0.026964
$HUMID,57.40
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.7,10.1
$24V_AH,24.6,9.580
$10V_AH,10.3,7.875
$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,19.775,24.650,102.775,86.575,0.000,33.919,40.894,377.904,2.500,0.000,45.477,1002.617,80.244,293.512,1567.539,69.586,0.000,654.760,0.000,978.043,0.000,17.392,0.000
$DEVICE_MAMPS,271.575,81.090,613.530,492.660,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.484,976.266,749.489,1045.990,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331520
$DATA_FILE_SIZE,23750,344
$CAP_FILE_SIZE,54696,0
$CFSIZE,2097086464,2084995072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.055,138.1,1
$GPS,250415,195822,-3421.533,2536.487,29,1.7,47,-27.7