version: 66.07.10.p01
glider: 573
mission: 9
dive: 96
start: 4 26 115 12 46 37
data:
$ID,573
$MISSION,9
$DIVE,96
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,55
$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,-13804.137
$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,2981
$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,1975
$C_ROLL_CLIMB,1602
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,16
$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,95
$GPS1,260415,124053,-3420.334,2540.234,38,1.6,39,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-64.1
$GPS2,260415,124613,-3420.334,2540.296,15,1.6,16,-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,277.5,21642,-15.7,-10.000
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.02,-194.6,0.0,0.0,0,71,0.00,0.00,-43.75,0.000,2,0.000,0.000,76,1990,2556,0,0,0,0,0,0
$GC,73,-1.02,-194.6,3.1,-3.1,5,126,11.05,2.40,-29.00,0.000,4,0.260,0.091,2630,3395,3560,0,0,0,0,0,0
$GC,146,-0.78,-194.6,12.3,-19.4,14,157,0.30,2.38,0.00,0.000,6,0.168,0.069,2720,1987,3561,0,0,0,0,0,0
$GC,234,-0.65,-194.6,27.8,-16.6,27,244,0.17,2.40,0.00,0.000,4,0.180,0.079,2756,3394,3563,0,0,0,0,0,0
$GC,350,-0.61,-194.6,42.3,-12.3,45,357,0.10,2.42,0.00,0.000,6,0.174,0.083,2779,1969,3563,0,0,0,0,0,0
$GC,466,-0.61,-194.6,55.8,-11.2,64,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1969,3563,0,0,0,0,0,0
$GC,585,-0.59,-194.6,68.8,-11.1,83,592,0.00,2.40,0.00,0.000,4,0.000,0.085,2771,3402,3565,0,0,0,0,0,0
$GC,613,-0.59,-194.6,72.0,-11.7,87,621,0.08,2.45,0.00,0.000,6,0.178,0.090,2787,1968,3564,0,0,0,0,0,0
$GC,730,-0.59,-194.6,85.7,-11.5,106,739,0.00,2.47,0.00,0.000,4,0.000,0.099,2787,545,3565,0,0,0,0,0,0
$GC,782,-0.57,-194.6,92.1,-12.3,114,792,0.05,2.55,0.00,0.000,6,0.198,0.099,2791,1971,3565,0,0,0,0,0,0
$STATE,857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,857,begin apogee
$GC,861,-0.25,0.0,100.4,11.7,125,1017,0.32,0.00,147.82,0.633,6,0.163,0.000,2890,1600,2763,0,0,0,0,0,0
$STATE,1018,end apogee,CONTROL_FINISHED_OK
$STATE,1018,begin climb
$GC,1019,1.02,194.6,111.0,0.0,146,1182,1.30,2.40,152.55,0.617,4,0.124,0.053,3307,179,1967,0,0,0,0,0,0
$GC,1299,1.05,243.8,93.3,8.3,187,1350,0.00,2.33,40.78,0.604,6,0.000,0.034,3307,1630,1766,0,0,0,0,0,0
$GC,1458,1.05,246.5,78.5,9.9,212,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1630,1762,0,0,0,0,0,0
$GC,1577,1.09,279.1,67.9,8.9,231,1614,0.08,2.28,29.52,0.602,4,0.118,0.062,3351,3010,1623,0,0,0,0,0,0
$GC,1635,1.05,279.1,61.5,11.7,239,1643,0.15,2.35,0.00,0.000,6,0.151,0.056,3321,1577,1621,0,0,0,0,0,0
$GC,1753,1.07,296.7,49.9,9.4,258,1778,0.00,2.33,15.73,0.579,4,0.000,0.054,3331,185,1552,0,0,0,0,0,0
$GC,1798,1.07,296.7,45.3,10.1,264,1807,0.00,2.30,0.00,0.000,6,0.000,0.035,3331,1605,1550,0,0,0,0,0,0
$GC,1916,1.07,296.7,32.5,11.2,283,1923,0.00,2.28,0.00,0.000,4,0.000,0.061,3331,3015,1547,0,0,0,0,0,0
$GC,2018,1.07,296.7,20.0,12.4,299,2028,0.03,2.33,0.00,0.000,6,0.162,0.057,3330,1599,1547,0,0,0,0,0,0
$GC,2105,1.07,296.7,10.8,10.6,312,2114,0.00,2.33,0.00,0.000,4,0.000,0.057,3340,187,1546,0,0,0,0,0,0
$STATE,2171,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$FINISH,1.6,1.022212
$STATE,2179,end surface coast,CONTROL_FINISHED_OK
$STATE,2179,begin surface
$SM_CCo,2197,0.25,0.096,0,0,1537,300.24
$SM_GC,2.77,0.00,0.00,0.25,0.000,0.000,0.096,73,1988,1537,-9.09,0.37,300.24
$IRIDIUM_FIX,-3425.16,2547.05,210208,010133
$TT8_MAMPS,0.026964
$HUMID,60.90
$INTERNAL_PRESSURE,9.35272
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,12.8
$24V_AH,24.2,11.950
$10V_AH,10.3,9.162
$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,22.300,44.050,386.400,0.250,0.000,27.846,25.785,176.044,2.250,0.000,18.570,740.990,138.373,382.811,1216.615,58.188,0.000,824.454,0.000,878.185,0.000,15.970,0.000
$DEVICE_MAMPS,260.100,99.450,632.655,96.390,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.203,876.440,640.296,944.785,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331596
$DATA_FILE_SIZE,23721,323
$CAP_FILE_SIZE,48218,0
$CFSIZE,2097086464,2082144256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.269, 71.1,1
$GPS,260415,132429,-3420.297,2540.310,40,1.1,41,-27.7