version: 66.07.10.p01
glider: 573
mission: 9
dive: 107
start: 4 26 115 20 32 59
data:
$ID,573
$MISSION,9
$DIVE,107
$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,-13841.273
$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,30
$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,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,106
$GPS1,260415,202435,-3420.344,2542.903,39,1.9,40,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-66.0
$GPS2,260415,203235,-3420.286,2543.075,35,1.4,36,-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,241.1,7021,-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,23,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,77,0.00,0.00,-51.15,0.000,2,0.000,0.000,74,1966,2569,0,0,0,0,0,0
$GC,80,-1.02,-194.6,3.1,-3.2,6,133,11.20,2.45,-30.85,0.000,4,0.263,0.100,2632,3390,3560,0,0,0,0,0,0
$GC,186,-0.78,-194.6,17.5,-22.3,20,195,0.28,2.42,0.00,0.000,6,0.164,0.083,2716,1992,3562,0,0,0,0,0,0
$GC,275,-0.66,-194.6,31.8,-14.0,33,283,0.17,2.33,0.00,0.000,4,0.179,0.075,2753,3392,3563,0,0,0,0,0,0
$GC,340,-0.63,-194.6,39.9,-11.3,43,351,0.10,2.38,0.00,0.000,6,0.169,0.074,2777,1970,3563,0,0,0,0,0,0
$GC,461,-0.60,-194.6,52.3,-10.0,62,471,0.00,2.40,0.00,0.000,4,0.000,0.077,2768,3394,3564,0,0,0,0,0,0
$GC,532,-0.60,-194.6,59.9,-10.7,73,543,0.05,2.38,0.00,0.000,6,0.196,0.079,2779,1976,3565,0,0,0,0,0,0
$GC,653,-0.60,-194.6,73.1,-11.2,92,662,0.00,2.50,0.00,0.000,4,0.000,0.098,2779,533,3566,0,0,0,0,0,0
$GC,726,-0.56,-194.6,81.3,-11.5,103,734,0.10,2.47,0.00,0.000,6,0.224,0.086,2790,1974,3566,0,0,0,0,0,0
$STATE,816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,817,begin apogee
$GC,821,-0.25,0.0,90.1,8.8,117,975,0.32,0.00,148.25,0.616,6,0.162,0.000,2890,1594,2762,0,0,0,0,0,0
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,977,1.02,194.6,98.7,0.0,138,1140,1.27,2.40,152.12,0.600,4,0.115,0.052,3307,173,1969,0,0,0,0,0,0
$GC,1269,0.99,197.0,77.0,9.9,181,1276,0.00,2.30,0.00,0.000,6,0.000,0.033,3307,1628,1964,0,0,0,0,0,0
$GC,1385,1.05,239.5,66.3,8.5,200,1428,0.00,0.00,37.38,0.591,6,0.000,0.000,3306,1628,1784,0,0,0,0,0,0
$GC,1538,1.08,265.9,53.0,9.1,224,1563,0.05,0.00,22.80,0.578,6,0.160,0.000,3343,1628,1677,0,0,0,0,0,0
$GC,1674,1.06,265.9,38.0,11.0,245,1682,0.08,2.20,0.00,0.000,4,0.166,0.052,3325,3004,1671,0,0,0,0,0,0
$GC,1738,1.06,265.9,30.6,11.3,255,1746,0.00,2.28,0.00,0.000,6,0.000,0.052,3335,1582,1671,0,0,0,0,0,0
$GC,1859,1.06,272.9,16.9,9.8,274,1870,0.00,2.25,2.60,0.249,4,0.000,0.054,3346,191,1649,0,0,0,0,0,0
$GC,1940,1.06,272.9,8.6,10.2,286,1951,0.05,2.22,0.00,0.000,6,0.134,0.034,3327,1594,1647,0,0,0,0,0,0
$STATE,1994,end climb,SURFACE_DEPTH_REACHED
$STATE,1995,begin surface coast
$FINISH,1.3,1.011110
$STATE,2034,end surface coast,CONTROL_FINISHED_OK
$STATE,2034,begin surface
$SM_CCo,2049,12.23,0.469,0,0,1537,300.24
$SM_GC,2.83,0.00,0.00,12.23,0.000,0.000,0.469,75,1986,1537,-9.08,0.34,300.24
$IRIDIUM_FIX,-3359.08,2544.95,210208,090900
$TT8_MAMPS,0.026215
$HUMID,60.63
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,16.4
$24V_AH,24.3,12.822
$10V_AH,10.3,9.767
$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,22.450,34.275,363.150,12.225,0.000,51.606,104.570,154.302,2.000,0.000,38.411,685.265,184.412,369.011,1261.634,61.209,0.000,772.916,0.000,834.531,0.000,14.452,0.000
$DEVICE_MAMPS,263.160,100.215,615.825,468.945,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.961,831.555,620.531,892.626,0.000,0.000,0.000,0.000,0.000,0.000
$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,20521,300
$CAP_FILE_SIZE,45211,0
$CFSIZE,2097086464,2081062912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.282, 66.4,1
$GPS,260415,210835,-3420.360,2543.217,40,1.0,41,-27.7