version: 66.07.10.p01
glider: 573
mission: 9
dive: 135
start: 4 27 115 16 18 26
data:
$ID,573
$MISSION,9
$DIVE,135
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,180
$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,-13936.729
$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,20
$R_STBD_OVSHOOT,15
$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,134
$GPS1,270415,161225,-3421.581,2548.273,38,2.0,38,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-70.6
$GPS2,270415,161806,-3421.629,2548.295,15,1.6,16,-27.7
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3432.428,2548.295
$TGT_RADIUS,1852.000
$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,207.7,20000,-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,24,-1.01,-194.6,0.0,0.0,0,64,0.00,0.00,-37.90,0.000,2,0.000,0.000,82,1922,2419,0,0,0,0,0,0
$GC,67,-1.01,-194.6,3.0,-3.5,6,124,11.43,2.45,-40.47,0.000,4,0.265,0.103,2674,3347,3558,0,0,0,0,0,0
$GC,237,-0.81,-194.6,26.9,-21.2,33,244,0.25,2.45,0.00,0.000,6,0.165,0.085,2749,1931,3561,0,0,0,0,0,0
$GC,318,-0.73,-194.6,38.4,-11.9,46,325,0.12,0.00,0.00,0.000,6,0.188,0.000,2780,1931,3562,0,0,0,0,0,0
$GC,432,-0.71,-194.6,49.2,-10.2,65,437,0.00,2.35,0.00,0.000,4,0.000,0.083,2771,3348,3562,0,0,0,0,0,0
$GC,593,-0.71,-194.6,66.5,-10.6,92,601,0.05,2.50,0.00,0.000,6,0.141,0.090,2787,1908,3563,0,0,0,0,0,0
$GC,708,-0.71,-194.6,78.7,-10.5,111,714,0.00,2.42,0.00,0.000,4,0.000,0.098,2787,490,3564,0,0,0,0,0,0
$GC,740,-0.71,-194.6,82.6,-11.3,116,748,0.03,2.53,0.00,0.000,6,0.223,0.094,2784,1914,3564,0,0,0,0,0,0
$GC,855,-0.68,-194.6,94.9,-11.0,135,861,0.05,2.38,0.00,0.000,4,0.278,0.087,2782,3358,3565,0,0,0,0,0,0
$STATE,911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,911,begin apogee
$GC,917,-0.25,0.0,100.5,9.7,144,1072,0.47,0.00,147.45,0.626,6,0.151,0.000,2930,1756,2762,0,0,0,0,0,0
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1074,1.01,194.6,107.9,0.0,172,1237,1.25,2.42,151.35,0.614,4,0.108,0.052,3346,335,1966,0,0,0,0,0,0
$GC,1311,0.94,194.6,89.1,11.1,213,1317,0.10,2.33,0.00,0.000,6,0.161,0.034,3321,1784,1963,0,0,0,0,0,0
$GC,1423,0.90,194.6,77.8,10.1,232,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1784,1961,0,0,0,0,0,0
$GC,1538,0.86,194.6,66.0,10.3,251,1543,0.08,2.38,0.00,0.000,4,0.194,0.050,3312,320,1961,0,0,0,0,0,0
$GC,1580,0.85,206.5,61.6,9.5,258,1600,0.05,2.33,10.00,0.557,6,0.148,0.037,3295,1762,1920,0,0,0,0,0,0
$GC,1708,0.91,261.2,51.3,8.0,279,1765,0.00,2.38,45.78,0.607,4,0.000,0.059,3295,3177,1695,0,0,0,0,0,0
$GC,1815,0.91,261.2,41.7,10.8,297,1820,0.00,2.35,0.00,0.000,6,0.000,0.060,3304,1748,1691,0,0,0,0,0,0
$GC,1928,0.97,287.6,31.3,9.0,316,1953,0.08,2.35,15.65,0.565,4,0.119,0.057,3353,3171,1586,0,0,0,0,0,0
$GC,1962,0.97,287.6,27.7,10.3,321,1970,0.08,2.33,0.00,0.000,6,0.134,0.054,3337,1757,1584,0,0,0,0,0,0
$GC,2045,0.97,287.6,19.2,10.2,334,2052,0.00,2.33,0.00,0.000,4,0.000,0.054,3347,339,1581,0,0,0,0,0,0
$GC,2188,0.94,287.6,4.0,11.5,357,2196,0.05,2.28,0.00,0.000,6,0.138,0.040,3329,1746,1578,0,0,0,0,0,0
$STATE,2205,end climb,SURFACE_DEPTH_REACHED
$STATE,2205,begin surface coast
$FINISH,1.2,1.022018
$STATE,2237,end surface coast,CONTROL_FINISHED_OK
$STATE,2237,begin surface
$SM_CCo,2253,4.43,0.359,0,0,1536,300.24
$SM_GC,3.09,0.00,0.00,4.43,0.000,0.000,0.359,82,1941,1536,-9.18,0.62,300.24
$IRIDIUM_FIX,-3409.50,2544.86,220208,040422
$TT8_MAMPS,0.026215
$HUMID,60.19
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.5,17.4
$24V_AH,24.3,14.997
$10V_AH,10.3,11.340
$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,22.900,43.625,370.225,4.425,0.000,26.318,43.941,175.770,2.250,0.000,18.167,748.424,150.631,284.947,1361.339,68.460,0.000,801.166,0.000,993.915,0.000,15.985,0.000
$DEVICE_MAMPS,277.695,102.510,625.770,358.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.154,995.369,732.922,1069.609,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331512
$DATA_FILE_SIZE,26987,364
$CAP_FILE_SIZE,51953,0
$CFSIZE,2097086464,2078310400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,165705,-3421.906,2548.499,27,1.3,28,-27.8