version: 66.07.10.p01
glider: 573
mission: 9
dive: 115
start: 4 27 115 2 20 3
data:
$ID,573
$MISSION,9
$DIVE,115
$D_SURF,3
$D_FLARE,3
$D_TGT,110
$D_ABORT,140
$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,37
$T_MISSION,47
$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,-13868.226
$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,3020
$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,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,18
$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,114
$GPS1,270415,021453,-3420.189,2544.597,40,1.2,41,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-61.8
$GPS2,270415,021942,-3420.119,2544.647,15,1.2,16,-27.7
$SPEED_LIMITS,0.172,0.295
$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,260.5,7256,-15.6,-9.910
$D_GRID,110
$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,-1.01,-194.6,0.0,0.0,0,80,0.00,0.00,-53.12,0.000,2,0.000,0.000,77,1931,2589,0,0,0,0,0,0
$GC,82,-1.01,-194.6,3.1,-2.6,6,134,11.32,2.45,-30.67,0.000,4,0.262,0.103,2669,3335,3560,0,0,0,0,0,0
$GC,162,-0.79,-194.6,10.7,-16.5,16,172,0.30,2.40,0.00,0.000,6,0.169,0.077,2757,1934,3562,0,0,0,0,0,0
$GC,249,-0.68,-194.6,22.8,-12.6,29,259,0.15,0.00,0.00,0.000,6,0.190,0.000,2794,1933,3562,0,0,0,0,0,0
$GC,333,-0.66,-194.6,34.0,-12.0,42,343,0.00,2.50,0.00,0.000,4,0.000,0.095,2794,495,3563,0,0,0,0,0,0
$GC,426,-0.64,-194.6,44.7,-11.3,57,435,0.10,2.53,0.00,0.000,6,0.223,0.099,2806,1919,3564,0,0,0,0,0,0
$GC,542,-0.64,-194.6,55.3,-8.8,76,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1919,3565,0,0,0,0,0,0
$GC,656,-0.64,-194.6,66.7,-10.2,95,663,0.00,2.38,0.00,0.000,4,0.000,0.090,2796,3345,3565,0,0,0,0,0,0
$GC,722,-0.64,-194.6,73.9,-10.5,106,732,0.05,2.47,0.00,0.000,6,0.153,0.090,2812,1918,3566,0,0,0,0,0,0
$GC,839,-0.66,-194.6,85.1,-9.6,125,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1918,3566,0,0,0,0,0,0
$STATE,895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,895,begin apogee
$GC,899,-0.25,0.0,90.5,9.4,134,1056,0.38,0.00,148.10,0.611,6,0.153,0.000,2930,1757,2762,0,0,0,0,0,0
$STATE,1057,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1059,1.01,194.6,96.0,0.0,155,1220,1.25,0.00,151.90,0.595,6,0.109,0.000,3333,1757,1968,0,0,0,0,0,0
$GC,1327,0.96,194.6,72.9,10.9,195,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1757,1964,0,0,0,0,0,0
$GC,1440,0.91,194.6,61.1,10.2,214,1449,0.08,0.00,0.00,0.000,6,0.185,0.000,3316,1757,1963,0,0,0,0,0,0
$GC,1554,0.88,194.6,49.6,10.8,233,1561,0.00,2.30,0.00,0.000,4,0.000,0.052,3326,327,1962,0,0,0,0,0,0
$GC,1767,0.85,206.0,27.4,9.5,269,1779,0.08,2.30,5.15,0.444,6,0.131,0.036,3300,1770,1922,0,0,0,0,0,0
$GC,1857,0.96,280.5,20.8,7.4,282,1901,0.10,2.38,36.38,0.542,4,0.095,0.050,3367,325,1617,0,0,0,0,0,0
$GC,1941,0.93,280.5,12.8,10.2,293,1951,0.15,2.33,0.00,0.000,6,0.131,0.041,3318,1748,1611,0,0,0,0,0,0
$GC,2029,1.01,354.5,4.9,7.4,306,2055,0.08,0.00,23.73,0.483,2,0.118,0.000,3365,1758,1410,0,0,0,0,0,0
$STATE,2056,end climb,SURFACE_DEPTH_REACHED
$STATE,2056,begin surface coast
$FINISH,1.3,1.022030
$STATE,2101,end surface coast,CONTROL_FINISHED_OK
$STATE,2101,begin surface
$SM_CCo,2177,0.00,0.000,0,0,1396,335.07
$SM_GC,2.02,8.93,0.00,0.00,0.050,0.000,0.000,82,1933,1396,-9.09,0.37,335.07
$IRIDIUM_FIX,-3343.50,2545.11,210208,151535
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,16.4
$24V_AH,24.3,13.460
$10V_AH,10.3,10.211
$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,22.950,24.600,365.250,0.000,0.000,25.449,18.586,153.645,2.000,0.000,18.718,720.077,158.085,354.941,1188.113,59.263,0.000,782.139,0.000,885.702,0.000,14.479,0.000
$DEVICE_MAMPS,262.395,131.580,611.235,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,210.643,884.435,666.878,948.570,0.000,0.000,0.000,0.000,0.000,0.000
$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,23792,316
$CAP_FILE_SIZE,45264,0
$CFSIZE,2097086464,2080276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.303, 64.9,1
$GPS,270415,025735,-3420.119,2544.756,43,1.0,44,-27.7