version: 66.07.10.p01
glider: 573
mission: 9
dive: 153
start: 4 28 115 7 39 54
data:
$ID,573
$MISSION,9
$DIVE,153
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$D_ABORT,190
$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,53
$T_MISSION,68
$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,-13997.851
$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,21
$R_STBD_OVSHOOT,14
$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,60
$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,152
$GPS1,280415,073435,-3422.967,2550.377,32,1.2,33,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.4
$GPS2,280415,073930,-3422.997,2550.392,15,1.8,16,-27.8
$SPEED_LIMITS,0.174,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3435.580,2528.620
$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,268.9,40557,-15.8,-10.063
$D_GRID,160
$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,-1.02,-194.6,0.0,0.0,0,86,0.00,0.00,-59.47,0.000,2,0.000,0.000,82,1933,2741,0,0,0,0,0,0
$GC,88,-1.02,-194.6,3.2,-3.8,7,132,11.32,2.42,-23.67,0.000,4,0.262,0.099,2669,3363,3558,0,0,0,0,0,0
$GC,408,-0.86,-194.6,59.3,-17.7,57,417,0.28,2.42,0.00,0.000,6,0.180,0.083,2743,1927,3562,0,0,0,0,0,0
$GC,529,-0.79,-194.6,74.1,-12.0,76,539,0.08,2.40,0.00,0.000,4,0.217,0.084,2751,3340,3564,0,0,0,0,0,0
$GC,614,-0.74,-194.6,84.2,-11.5,89,622,0.10,2.42,0.00,0.000,6,0.171,0.086,2774,1910,3564,0,0,0,0,0,0
$GC,733,-0.71,-194.6,97.7,-12.4,108,742,0.05,0.00,0.00,0.000,6,0.272,0.000,2783,1910,3565,0,0,0,0,0,0
$GC,858,-0.71,-194.6,112.0,-12.0,127,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1910,3565,0,0,0,0,0,0
$GC,973,-0.69,-194.6,124.5,-11.3,146,983,0.00,2.45,0.00,0.000,4,0.000,0.093,2774,3334,3567,0,0,0,0,0,0
$STATE,1044,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1044,begin apogee
$GC,1050,-0.25,0.0,132.4,11.6,157,1206,0.52,0.00,148.68,0.655,6,0.164,0.000,2933,1756,2761,0,0,0,0,0,0
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1208,1.02,194.6,139.6,0.0,178,1370,1.27,2.40,152.15,0.638,4,0.111,0.050,3352,332,1966,0,0,0,0,0,0
$GC,1415,0.94,194.6,122.9,11.6,207,1423,0.10,2.33,0.00,0.000,6,0.161,0.034,3328,1767,1963,0,0,0,0,0,0
$GC,1533,0.90,194.6,110.5,10.1,226,1543,0.08,2.33,0.00,0.000,4,0.197,0.057,3310,3178,1961,0,0,0,0,0,0
$GC,1581,0.86,194.6,105.4,11.1,233,1589,0.10,2.35,0.00,0.000,6,0.179,0.060,3296,1746,1960,0,0,0,0,0,0
$GC,1698,0.89,220.4,94.0,9.2,252,1729,0.00,2.38,21.80,0.611,4,0.000,0.060,3306,337,1862,0,0,0,0,0,0
$GC,1786,0.89,220.4,85.6,10.4,265,1793,0.00,2.30,0.00,0.000,6,0.000,0.041,3306,1758,1858,0,0,0,0,0,0
$GC,1901,0.94,257.8,73.9,8.8,284,1941,0.00,0.00,31.73,0.618,6,0.000,0.000,3306,1758,1709,0,0,0,0,0,0
$GC,2052,1.02,301.7,60.1,8.5,307,2099,0.12,2.35,37.70,0.610,4,0.083,0.062,3375,3181,1531,0,0,0,0,0,0
$GC,2114,0.96,301.7,52.4,13.3,315,2122,0.20,2.33,0.00,0.000,6,0.147,0.050,3330,1751,1529,0,0,0,0,0,0
$GC,2230,0.96,301.7,39.2,10.4,334,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1750,1526,0,0,0,0,0,0
$GC,2350,0.99,301.7,26.8,10.3,353,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1751,1524,0,0,0,0,0,0
$GC,2435,1.02,301.7,18.2,10.2,366,2444,0.00,2.33,0.00,0.000,4,0.000,0.060,3341,346,1523,0,0,0,0,0,0
$GC,2545,1.02,301.7,6.3,11.0,383,2554,0.00,2.30,0.00,0.000,6,0.000,0.046,3340,1747,1521,0,0,0,0,0,0
$STATE,2574,end climb,SURFACE_DEPTH_REACHED
$STATE,2574,begin surface coast
$FINISH,1.2,1.021391
$STATE,2607,end surface coast,CONTROL_FINISHED_OK
$STATE,2607,begin surface
$SM_CCo,2683,0.00,0.000,0,0,1516,305.39
$SM_GC,1.93,8.70,0.00,0.00,0.047,0.000,0.000,83,1926,1516,-9.08,0.20,305.39
$IRIDIUM_FIX,-3409.50,2547.21,220208,202045
$TT8_MAMPS,0.026964
$HUMID,60.51
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.0,42.1
$24V_AH,24.2,16.471
$10V_AH,10.3,12.566
$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,22.925,38.550,392.050,0.000,0.000,25.265,17.298,158.268,1.750,0.000,18.457,894.544,254.201,390.152,1381.181,72.442,0.000,879.485,0.000,1056.225,0.000,13.191,0.000
$DEVICE_MAMPS,272.340,117.045,654.840,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.894,1059.951,769.202,1142.448,0.000,0.000,0.000,0.000,0.000,0.000
$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,30519,392
$CAP_FILE_SIZE,52195,0
$CFSIZE,2097086464,2076540928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.162, 69.6,1
$GPS,280415,082535,-3423.017,2550.245,25,1.1,26,-27.8