version: 66.07.10.p01
glider: 573
mission: 9
dive: 147
start: 4 28 115 2 18 58
data:
$ID,573
$MISSION,9
$DIVE,147
$D_SURF,3
$D_FLARE,3
$D_TGT,130
$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,44
$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,-13977.697
$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,24
$R_STBD_OVSHOOT,13
$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,146
$GPS1,280415,021305,-3423.368,2550.538,34,1.0,35,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.0
$GPS2,280415,021836,-3423.345,2550.592,14,1.3,15,-27.8
$SPEED_LIMITS,0.171,0.294
$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,290.5,10146,-15.5,-9.848
$D_GRID,130
$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,-194.6,0.0,0.0,0,78,0.00,0.00,-51.78,0.000,2,0.000,0.000,77,1920,2770,0,0,0,0,0,0
$GC,81,-1.01,-194.6,3.0,-2.9,6,126,11.32,2.47,-23.00,0.000,4,0.261,0.103,2674,3344,3561,0,0,0,0,0,0
$GC,295,-0.79,-194.6,44.1,-24.7,38,306,0.28,2.45,0.00,0.000,6,0.165,0.084,2757,1927,3563,0,0,0,0,0,0
$GC,419,-0.73,-194.6,65.8,-14.1,57,427,0.10,2.35,0.00,0.000,4,0.197,0.080,2771,3345,3564,0,0,0,0,0,0
$GC,448,-0.68,-194.6,69.7,-13.5,61,457,0.10,2.42,0.00,0.000,6,0.178,0.083,2793,1913,3564,0,0,0,0,0,0
$GC,569,-0.68,-194.6,81.2,-8.1,80,578,0.00,2.42,0.00,0.000,4,0.000,0.082,2785,3345,3565,0,0,0,0,0,0
$GC,640,-0.68,-194.6,86.1,-7.1,91,647,0.00,2.40,0.00,0.000,6,0.000,0.083,2785,1922,3566,0,0,0,0,0,0
$GC,757,-0.68,-194.6,96.0,-9.7,110,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1922,3567,0,0,0,0,0,0
$GC,876,-0.68,-194.6,108.3,-10.7,129,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1922,3567,0,0,0,0,0,0
$GC,992,-0.68,-194.6,120.7,-10.5,148,1002,0.00,2.42,0.00,0.000,4,0.000,0.088,2776,3343,3568,0,0,0,0,0,0
$GC,1020,-0.68,-194.6,123.9,-11.2,152,1029,0.00,2.47,0.00,0.000,6,0.000,0.091,2776,1915,3568,0,0,0,0,0,0
$STATE,1081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1081,begin apogee
$GC,1085,-0.25,0.0,130.3,11.5,161,1243,0.52,0.00,149.27,0.643,6,0.165,0.000,2935,1751,2761,0,0,0,0,0,0
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1246,1.01,194.6,138.1,0.0,182,1409,1.23,2.38,152.52,0.630,4,0.106,0.049,3344,331,1967,0,0,0,0,0,0
$GC,1457,0.93,194.6,121.5,11.6,212,1467,0.05,2.35,0.00,0.000,6,0.138,0.033,3327,1768,1964,0,0,0,0,0,0
$GC,1578,0.89,194.6,108.2,11.4,231,1585,0.08,0.00,0.00,0.000,6,0.197,0.000,3309,1768,1962,0,0,0,0,0,0
$GC,1693,0.86,194.6,95.9,9.9,250,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1768,1961,0,0,0,0,0,0
$GC,1813,0.89,236.5,85.4,8.4,269,1858,0.00,2.33,34.70,0.613,4,0.000,0.055,3310,3180,1797,0,0,0,0,0,0
$GC,1897,0.92,288.3,78.5,8.1,281,1949,0.00,2.33,44.80,0.607,6,0.000,0.054,3319,1746,1584,0,0,0,0,0,0
$GC,2057,0.92,288.3,64.3,10.0,306,2067,0.00,2.33,0.00,0.000,4,0.000,0.053,3330,339,1578,0,0,0,0,0,0
$GC,2146,0.92,288.3,53.4,13.5,320,2155,0.00,2.30,0.00,0.000,6,0.000,0.036,3330,1762,1577,0,0,0,0,0,0
$GC,2266,0.95,288.3,38.6,12.0,339,2273,0.00,2.30,0.00,0.000,4,0.000,0.050,3339,338,1575,0,0,0,0,0,0
$GC,2352,0.95,288.3,28.8,10.9,353,2361,0.00,2.28,0.00,0.000,6,0.000,0.037,3339,1752,1574,0,0,0,0,0,0
$GC,2438,0.95,288.3,19.9,10.0,366,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1752,1573,0,0,0,0,0,0
$GC,2524,0.95,288.3,11.2,10.3,379,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,1752,1572,0,0,0,0,0,0
$STATE,2608,end climb,SURFACE_DEPTH_REACHED
$STATE,2608,begin surface coast
$FINISH,1.1,1.007070
$STATE,2641,end surface coast,CONTROL_FINISHED_OK
$STATE,2641,begin surface
$SM_CCo,2657,3.53,0.312,0,0,1537,300.24
$SM_GC,3.14,0.00,0.00,3.53,0.000,0.000,0.312,82,1929,1537,-9.18,0.25,300.24
$IRIDIUM_FIX,-3353.88,2554.32,220208,141430
$TT8_MAMPS,0.026964
$HUMID,59.96
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,24.2,15.975
$10V_AH,10.3,12.149
$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,22.425,38.575,381.300,3.525,0.000,25.824,41.175,169.589,2.750,0.000,17.400,915.184,184.381,395.397,1430.702,79.403,0.000,893.133,0.000,1071.879,0.000,17.496,0.000
$DEVICE_MAMPS,260.865,124.695,643.365,312.120,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.117,1076.455,775.929,1158.141,0.000,0.000,0.000,0.000,0.000,0.000
$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,30400,397
$CAP_FILE_SIZE,53620,0
$CFSIZE,2097086464,2077130752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.257, 77.4,1
$GPS,280415,030435,-3423.259,2550.598,43,0.8,43,-27.8