version: 66.07.10.p01
glider: 573
mission: 9
dive: 89
start: 4 26 115 7 36 18
data:
$ID,573
$MISSION,9
$DIVE,89
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$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,30
$T_MISSION,40
$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,-13780.548
$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,2888
$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,2062
$C_ROLL_CLIMB,1500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,22
$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,30
$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,88
$GPS1,260415,073104,-3420.041,2540.188,37,1.4,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-61.8
$GPS2,260415,073554,-3420.001,2540.174,14,1.7,15,-27.7
$SPEED_LIMITS,0.173,0.296
$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,256.3,21955,-15.7,-10.000
$D_GRID,90
$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,22,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,87,0.00,0.00,-60.58,0.000,2,0.000,0.000,72,2066,2509,0,0,0,0,0,0
$GC,89,-1.02,-194.6,3.1,-3.3,7,141,10.65,0.00,-31.52,0.000,6,0.260,0.000,2550,2064,3556,0,0,0,0,0,0
$GC,219,-0.64,-194.6,28.2,-30.6,25,228,0.45,0.00,0.00,0.000,6,0.203,0.000,2674,2064,3558,0,0,0,0,0,0
$GC,302,-0.47,-194.6,44.7,-15.8,38,312,0.20,2.45,0.00,0.000,4,0.186,0.087,2728,642,3559,0,0,0,0,0,0
$GC,344,-0.37,-194.6,52.1,-17.5,44,355,0.15,2.55,0.00,0.000,6,0.176,0.103,2763,2056,3559,0,0,0,0,0,0
$GC,466,-0.32,-194.6,68.9,-13.6,63,475,0.08,2.38,0.00,0.000,4,0.213,0.083,2769,3487,3560,0,0,0,0,0,0
$GC,535,-0.32,-194.6,78.2,-12.1,74,545,0.00,2.42,0.00,0.000,6,0.000,0.077,2769,2060,3561,0,0,0,0,0,0
$STATE,634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,635,begin apogee
$GC,639,-0.25,0.0,90.2,11.6,90,796,0.12,0.00,146.57,0.622,6,0.171,0.000,2801,1488,2762,0,0,0,0,0,0
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,799,1.02,194.6,103.9,0.0,111,962,1.35,2.35,152.32,0.608,4,0.142,0.058,3215,140,1966,0,0,0,0,0,0
$GC,988,1.27,312.6,97.7,5.9,137,1092,0.22,2.25,95.68,0.599,6,0.067,0.038,3309,1513,1487,0,0,0,0,0,0
$GC,1202,1.35,341.2,79.5,9.0,169,1234,0.00,2.42,24.48,0.584,4,0.000,0.067,3309,2921,1370,0,0,0,0,0,0
$GC,1320,1.38,341.2,66.0,11.9,187,1327,0.00,2.38,0.00,0.000,6,0.000,0.063,3318,1488,1366,0,0,0,0,0,0
$GC,1436,1.42,341.2,51.7,11.5,206,1445,0.08,0.00,0.00,0.000,6,0.119,0.000,3364,1488,1365,0,0,0,0,0,0
$GC,1555,1.39,341.2,38.6,10.1,225,1562,0.10,0.00,0.00,0.000,6,0.157,0.000,3338,1488,1364,0,0,0,0,0,0
$GC,1670,1.51,442.9,30.1,6.5,244,1739,0.10,2.25,56.80,0.582,4,0.095,0.055,3402,156,954,0,0,0,0,0,0
$GC,1811,1.48,442.9,15.9,13.6,263,1820,0.10,2.17,0.00,0.000,6,0.132,0.033,3369,1505,949,0,0,0,0,0,0
$GC,1897,1.48,442.9,5.2,10.6,276,1907,0.00,2.33,0.00,0.000,4,0.000,0.060,3369,2922,947,0,0,0,0,0,0
$STATE,1914,end climb,SURFACE_DEPTH_REACHED
$STATE,1914,begin surface coast
$FINISH,1.7,1.022212
$STATE,1922,end surface coast,CONTROL_FINISHED_OK
$STATE,1922,begin surface
$SM_CCo,1998,0.00,0.000,0,0,943,446.19
$SM_GC,2.06,8.90,0.00,0.00,0.049,0.000,0.000,81,2065,943,-8.67,0.08,446.19
$IRIDIUM_FIX,-3417.32,2536.57,200208,202002
$TT8_MAMPS,0.026215
$HUMID,60.23
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,24.2,11.365
$10V_AH,10.4,8.764
$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,22.500,28.400,475.850,0.000,0.000,26.513,40.194,137.673,1.750,0.000,17.406,592.889,172.728,424.585,1064.226,51.858,0.000,868.942,0.000,770.268,0.000,11.483,0.000
$DEVICE_MAMPS,260.100,114.750,621.945,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,183.510,766.063,561.142,821.856,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331540
$DATA_FILE_SIZE,20417,279
$CAP_FILE_SIZE,42124,0
$CFSIZE,2097086464,2082832384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.157, 54.0,1
$GPS,260415,081035,-3420.078,2540.100,27,1.6,28,-27.7