version: 66.07.10.p01
glider: 573
mission: 9
dive: 137
start: 4 27 115 17 52 40
data:
$ID,573
$MISSION,9
$DIVE,137
$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,-13943.487
$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,25
$R_STBD_OVSHOOT,17
$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,136
$GPS1,270415,174635,-3422.236,2548.811,38,1.1,39,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.3
$GPS2,270415,175220,-3422.235,2548.879,18,1.1,18,-27.8
$SPEED_LIMITS,0.172,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,-3433.034,2548.879
$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,207.8,20000,-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,-194.6,0.0,0.0,0,77,0.00,0.00,-50.20,0.000,2,0.000,0.000,78,1926,2633,0,0,0,0,0,0
$GC,79,-1.01,-194.6,3.3,-3.7,8,125,11.20,2.42,-27.45,0.000,4,0.259,0.099,2674,3350,3556,0,0,0,0,0,0
$GC,398,-0.86,-194.6,52.9,-15.5,60,406,0.20,2.45,0.00,0.000,6,0.165,0.087,2735,1935,3561,0,0,0,0,0,0
$GC,516,-0.77,-194.6,68.5,-13.0,79,522,0.12,2.33,0.00,0.000,4,0.187,0.077,2758,3341,3562,0,0,0,0,0,0
$GC,615,-0.72,-194.6,79.6,-9.9,95,622,0.10,2.42,0.00,0.000,6,0.169,0.086,2781,1907,3563,0,0,0,0,0,0
$GC,729,-0.70,-194.6,91.2,-10.5,114,736,0.00,2.45,0.00,0.000,4,0.000,0.096,2781,487,3564,0,0,0,0,0,0
$GC,774,-0.66,-194.6,96.2,-11.9,121,780,0.12,2.42,0.00,0.000,6,0.219,0.080,2799,1914,3564,0,0,0,0,0,0
$GC,887,-0.66,-194.6,108.7,-10.2,140,894,0.00,2.42,0.00,0.000,4,0.000,0.089,2789,3352,3564,0,0,0,0,0,0
$STATE,902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,902,begin apogee
$GC,908,-0.25,0.0,110.3,10.5,142,1064,0.45,0.00,147.88,0.632,6,0.154,0.000,2929,1755,2762,0,0,0,0,0,0
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1066,1.01,194.6,118.6,0.0,170,1229,1.27,2.42,152.32,0.614,4,0.112,0.048,3349,328,1967,0,0,0,0,0,0
$GC,1406,0.93,194.6,86.8,11.7,229,1412,0.10,2.30,0.00,0.000,6,0.162,0.032,3323,1796,1963,0,0,0,0,0,0
$GC,1520,0.90,204.8,75.2,9.6,248,1531,0.00,0.00,9.18,0.548,6,0.000,0.000,3323,1797,1926,0,0,0,0,0,0
$GC,1638,0.87,204.8,62.9,10.3,268,1646,0.10,2.40,0.00,0.000,4,0.177,0.049,3308,335,1924,0,0,0,0,0,0
$GC,1695,0.88,212.0,57.3,9.7,277,1708,0.00,2.22,7.43,0.529,6,0.000,0.036,3308,1746,1896,0,0,0,0,0,0
$GC,1817,0.88,212.0,45.9,10.1,297,1822,0.00,2.28,0.00,0.000,4,0.000,0.057,3308,3178,1894,0,0,0,0,0,0
$GC,1866,0.86,212.0,40.0,11.6,305,1872,0.08,2.28,0.00,0.000,6,0.186,0.051,3300,1746,1893,0,0,0,0,0,0
$GC,1980,0.91,253.8,29.1,8.5,324,2013,0.00,2.38,22.15,0.576,4,0.000,0.057,3299,3180,1723,0,0,0,0,0,0
$GC,2076,0.94,278.8,21.1,9.1,339,2096,0.00,2.33,11.82,0.520,6,0.000,0.054,3308,1756,1623,0,0,0,0,0,0
$GC,2172,1.04,327.5,12.8,8.2,354,2205,0.12,2.35,23.83,0.519,4,0.080,0.053,3397,338,1422,0,0,0,0,0,0
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,1.4,1.021986
$STATE,2269,end surface coast,CONTROL_FINISHED_OK
$STATE,2269,begin surface
$SM_CCo,2347,0.00,0.000,0,0,1410,331.64
$SM_GC,2.18,8.75,0.00,0.00,0.034,0.000,0.000,82,1922,1410,-9.10,0.06,331.64
$IRIDIUM_FIX,-3409.50,2548.35,220208,060639
$TT8_MAMPS,0.026964
$HUMID,60.31
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,21.1
$24V_AH,24.3,15.158
$10V_AH,10.3,11.471
$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,22.625,43.250,374.600,0.000,0.000,24.843,49.346,176.301,2.500,0.000,20.593,759.805,223.645,268.947,1378.792,72.244,0.000,783.654,0.000,1010.896,0.000,17.480,0.000
$DEVICE_MAMPS,259.335,99.450,631.890,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.081,1012.299,745.961,1087.947,0.000,0.000,0.000,0.000,0.000,0.000
$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,27159,369
$CAP_FILE_SIZE,50594,0
$CFSIZE,2097086464,2078113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270415,183259,-3422.505,2549.061,39,1.1,40,-27.8