version: 66.07.10.p01
glider: 573
mission: 9
dive: 105
start: 4 26 115 19 6 28
data:
$ID,573
$MISSION,9
$DIVE,105
$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,-13834.626
$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,32
$R_STBD_OVSHOOT,14
$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,104
$GPS1,260415,190105,-3420.181,2542.302,39,1.2,40,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-66.4
$GPS2,260415,190604,-3420.144,2542.412,22,1.2,24,-27.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3424.000,2544.000
$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,233.9,7542,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,73,0.00,0.00,-46.92,0.000,2,0.000,0.000,87,1973,2672,0,0,0,0,0,0
$GC,75,-1.02,-194.6,3.3,-3.2,5,119,11.12,2.38,-25.30,0.000,4,0.263,0.089,2632,3401,3559,0,0,0,0,0,0
$GC,191,-0.79,-194.6,18.9,6.5,21,201,0.30,2.42,0.00,0.000,6,0.162,0.078,2722,1990,3562,0,0,0,0,0,0
$GC,279,-0.68,-194.6,29.1,-7.9,34,289,0.12,2.40,0.00,0.000,4,0.190,0.078,2744,3406,3561,0,0,0,0,0,0
$GC,452,-0.63,-194.6,48.8,-12.1,62,463,0.08,2.47,0.00,0.000,6,0.150,0.086,2768,1973,3563,0,0,0,0,0,0
$GC,571,-0.59,-194.6,63.8,-12.6,81,578,0.08,0.00,0.00,0.000,6,0.230,0.000,2783,1973,3564,0,0,0,0,0,0
$GC,689,-0.59,-194.6,78.1,-11.7,100,698,0.00,2.47,0.00,0.000,4,0.000,0.097,2784,542,3565,0,0,0,0,0,0
$GC,760,-0.57,-194.6,86.2,-11.8,111,768,0.08,2.47,0.00,0.000,6,0.241,0.090,2788,1973,3565,0,0,0,0,0,0
$STATE,804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,804,begin apogee
$GC,807,-0.25,0.0,90.8,9.6,117,962,0.35,0.00,148.27,0.617,6,0.165,0.000,2895,1602,2762,0,0,0,0,0,0
$STATE,963,end apogee,CONTROL_FINISHED_OK
$STATE,963,begin climb
$GC,964,1.02,194.6,101.6,0.0,138,1127,1.27,2.40,152.43,0.604,4,0.115,0.051,3311,180,1968,0,0,0,0,0,0
$GC,1255,0.99,194.6,80.0,10.4,181,1263,0.00,2.30,0.00,0.000,6,0.000,0.032,3311,1633,1964,0,0,0,0,0,0
$GC,1371,1.02,218.8,68.7,9.2,200,1402,0.00,2.45,20.98,0.583,4,0.000,0.050,3321,180,1867,0,0,0,0,0,0
$GC,1427,1.02,218.8,63.2,10.0,208,1436,0.03,2.28,0.00,0.000,6,0.161,0.031,3312,1601,1865,0,0,0,0,0,0
$GC,1547,1.02,218.8,51.4,10.2,227,1553,0.00,2.25,0.00,0.000,4,0.000,0.052,3311,3019,1863,0,0,0,0,0,0
$GC,1610,0.99,218.8,44.8,10.8,237,1618,0.10,2.28,0.00,0.000,6,0.167,0.048,3295,1583,1862,0,0,0,0,0,0
$GC,1727,1.05,273.4,34.5,8.1,256,1772,0.08,0.00,37.12,0.591,6,0.120,0.000,3338,1582,1644,0,0,0,0,0,0
$GC,1886,1.05,273.4,17.3,10.2,280,1896,0.08,2.33,0.00,0.000,4,0.174,0.055,3320,3003,1638,0,0,0,0,0,0
$GC,2010,1.05,273.4,5.5,10.7,299,2018,0.00,2.28,0.00,0.000,6,0.000,0.050,3328,1597,1636,0,0,0,0,0,0
$STATE,2038,end climb,SURFACE_DEPTH_REACHED
$STATE,2038,begin surface coast
$FINISH,1.4,1.009233
$STATE,2077,end surface coast,CONTROL_FINISHED_OK
$STATE,2077,begin surface
$SM_CCo,2093,11.27,0.464,0,0,1536,300.24
$SM_GC,3.18,0.00,0.00,11.27,0.000,0.000,0.464,80,1959,1536,-9.07,-0.45,300.24
$IRIDIUM_FIX,-3404.29,2543.73,210208,070702
$TT8_MAMPS,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,15.7
$24V_AH,24.3,12.658
$10V_AH,10.3,9.658
$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,22.375,34.475,358.800,11.275,0.000,25.264,21.645,154.198,2.000,0.000,26.724,710.892,122.950,359.050,1173.309,56.564,0.000,766.968,0.000,863.734,0.000,14.477,0.000
$DEVICE_MAMPS,263.160,97.155,616.590,464.355,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.348,860.210,646.910,923.217,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331532
$DATA_FILE_SIZE,23762,309
$CAP_FILE_SIZE,44786,0
$CFSIZE,2097086464,2081259520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.287, 68.6,1
$GPS,260415,194256,-3420.261,2542.619,29,4.1,49,-27.7