version: 66.07.10.p01
glider: 573
mission: 9
dive: 150
start: 4 28 115 5 0 16
data:
$ID,573
$MISSION,9
$DIVE,150
$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,-13988.067
$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,15
$R_STBD_OVSHOOT,10
$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,149
$GPS1,280415,045435,-3423.112,2550.636,31,1.3,32,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.9
$GPS2,280415,045955,-3423.100,2550.662,19,1.4,19,-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,283.6,10315,-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,25,-1.01,-194.6,0.0,0.0,0,79,0.00,0.00,-51.47,0.000,2,0.000,0.000,75,1930,2687,0,0,0,0,0,0
$GC,81,-1.01,-194.6,3.3,-2.8,6,127,11.45,2.42,-26.08,0.000,4,0.264,0.099,2672,3355,3561,0,0,0,0,0,0
$GC,229,-0.78,-194.6,26.1,-21.3,27,239,0.30,2.50,0.00,0.000,6,0.173,0.086,2760,1917,3563,0,0,0,0,0,0
$GC,316,-0.70,-194.6,41.0,-14.6,40,326,0.12,2.42,0.00,0.000,4,0.204,0.081,2780,3348,3564,0,0,0,0,0,0
$GC,393,-0.70,-194.6,50.4,-11.3,52,402,0.00,2.47,0.00,0.000,6,0.000,0.088,2780,1922,3564,0,0,0,0,0,0
$GC,514,-0.68,-194.6,63.1,-10.8,71,521,0.08,0.00,0.00,0.000,6,0.190,0.000,2795,1922,3565,0,0,0,0,0,0
$GC,630,-0.68,-194.6,76.1,-10.3,90,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1922,3566,0,0,0,0,0,0
$GC,749,-0.68,-194.6,87.9,-10.3,109,757,0.00,2.40,0.00,0.000,4,0.000,0.089,2786,3350,3567,0,0,0,0,0,0
$GC,789,-0.68,-194.6,91.9,-10.1,115,796,0.00,2.45,0.00,0.000,6,0.000,0.091,2786,1916,3567,0,0,0,0,0,0
$GC,906,-0.68,-194.6,103.8,-10.0,134,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1916,3568,0,0,0,0,0,0
$GC,1027,-0.68,-194.6,115.2,-9.7,153,1034,0.00,2.42,0.00,0.000,4,0.000,0.096,2786,483,3569,0,0,0,0,0,0
$GC,1047,-0.66,-194.6,117.6,-10.5,156,1057,0.08,2.47,0.00,0.000,6,0.229,0.082,2796,1916,3568,0,0,0,0,0,0
$STATE,1159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1159,begin apogee
$GC,1163,-0.25,0.0,130.2,12.9,173,1320,0.43,0.00,149.32,0.646,6,0.159,0.000,2928,1716,2763,0,0,0,0,0,0
$STATE,1321,end apogee,CONTROL_FINISHED_OK
$STATE,1321,begin climb
$GC,1322,1.01,194.6,138.2,0.0,194,1485,1.27,2.33,153.27,0.627,4,0.109,0.050,3348,365,1967,0,0,0,0,0,0
$GC,1666,0.92,194.6,104.2,13.0,246,1677,0.08,2.28,0.00,0.000,6,0.134,0.034,3323,1775,1961,0,0,0,0,0,0
$GC,1788,0.87,194.6,91.7,11.1,265,1795,0.08,0.00,0.00,0.000,6,0.195,0.000,3306,1775,1960,0,0,0,0,0,0
$GC,1904,0.86,202.3,79.9,9.6,284,1914,0.00,0.00,6.80,0.529,6,0.000,0.000,3306,1775,1937,0,0,0,0,0,0
$GC,2024,0.88,217.7,68.7,9.3,303,2045,0.00,0.00,14.23,0.589,6,0.000,0.000,3306,1775,1874,0,0,0,0,0,0
$GC,2154,0.92,250.3,57.9,8.7,324,2184,0.00,0.00,28.62,0.604,6,0.000,0.000,3306,1775,1740,0,0,0,0,0,0
$GC,2293,0.95,274.8,46.0,9.0,346,2317,0.00,0.00,21.35,0.591,6,0.000,0.000,3306,1775,1640,0,0,0,0,0,0
$GC,2429,1.02,296.4,33.7,9.1,367,2451,0.12,0.00,16.70,0.576,6,0.081,0.000,3378,1776,1551,0,0,0,0,0,0
$GC,2565,0.97,296.4,17.0,12.7,388,2575,0.15,2.33,0.00,0.000,4,0.158,0.054,3348,372,1545,0,0,0,0,0,0
$GC,2658,0.95,296.4,5.8,11.4,402,2669,0.05,2.25,0.00,0.000,6,0.138,0.043,3329,1750,1543,0,0,0,0,0,0
$STATE,2682,end climb,SURFACE_DEPTH_REACHED
$STATE,2682,begin surface coast
$FINISH,1.2,1.009387
$STATE,2715,end surface coast,CONTROL_FINISHED_OK
$STATE,2715,begin surface
$SM_CCo,2731,-0.12,0.000,0,0,1538,300.24
$SM_GC,2.83,0.00,0.00,-0.12,0.000,0.000,0.000,81,1932,1538,-9.19,0.37,300.24
$IRIDIUM_FIX,-3404.29,2551.91,220208,171736
$TT8_MAMPS,0.026964
$HUMID,60.23
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,21.5
$24V_AH,24.2,16.223
$10V_AH,10.3,12.360
$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,23.000,29.350,390.300,0.000,0.000,21.722,29.636,170.742,3.000,0.000,20.850,944.373,211.160,378.054,1451.054,78.355,0.000,873.189,0.000,1098.959,0.000,20.499,0.000
$DEVICE_MAMPS,263.925,99.450,646.425,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.690,1103.587,785.673,1186.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331544
$DATA_FILE_SIZE,30415,410
$CAP_FILE_SIZE,54449,0
$CFSIZE,2097086464,2076835840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.211, 70.1,1
$GPS,280415,054700,-3423.034,2550.579,38,1.3,39,-27.8