version: 66.07.10.p01
glider: 573
mission: 9
dive: 156
start: 4 28 115 10 18 24
data:
$ID,573
$MISSION,9
$DIVE,156
$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,-14008.083
$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,16
$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,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,155
$GPS1,280415,100953,-3423.104,2550.038,40,1.1,41,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-70.5
$GPS2,280415,101759,-3423.167,2550.049,44,1.0,44,-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,275.9,39948,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.02,-194.6,0.0,0.0,0,79,0.00,0.00,-53.03,0.000,2,0.000,0.000,80,1929,2737,0,0,0,0,0,0
$GC,81,-1.02,-194.6,3.2,-3.9,6,126,11.57,2.53,-23.77,0.000,4,0.269,0.113,2678,501,3560,0,0,0,0,0,0
$GC,395,-0.84,-194.6,57.0,-17.2,56,404,0.28,2.55,0.00,0.000,6,0.203,0.100,2743,1914,3564,0,0,0,0,0,0
$GC,513,-0.77,-194.6,74.8,-14.3,75,520,0.10,2.45,0.00,0.000,4,0.210,0.096,2766,498,3565,0,0,0,0,0,0
$GC,645,-0.72,-194.6,92.4,-12.2,97,654,0.12,2.47,0.00,0.000,6,0.210,0.092,2784,1923,3566,0,0,0,0,0,0
$GC,762,-0.70,-194.6,105.2,-9.9,116,771,0.00,2.45,0.00,0.000,4,0.000,0.100,2774,3337,3566,0,0,0,0,0,0
$GC,807,-0.70,-194.6,109.8,-11.0,123,815,0.08,2.42,0.00,0.000,6,0.188,0.090,2789,1921,3567,0,0,0,0,0,0
$GC,923,-0.67,-194.6,122.1,-11.0,142,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1921,3568,0,0,0,0,0,0
$GC,1038,-0.67,-194.6,135.0,-10.6,161,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1921,3568,0,0,0,0,0,0
$STATE,1075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1075,begin apogee
$GC,1079,-0.25,0.0,139.2,11.3,167,1235,0.47,0.00,149.70,0.655,6,0.163,0.000,2935,1751,2761,0,0,0,0,0,0
$STATE,1235,end apogee,CONTROL_FINISHED_OK
$STATE,1236,begin climb
$GC,1237,1.02,194.6,146.8,0.0,188,1400,1.25,0.00,153.18,0.636,6,0.105,0.000,3340,1751,1966,0,0,0,0,0,0
$GC,1504,0.96,194.6,124.4,11.8,228,1513,0.00,2.38,0.00,0.000,4,0.000,0.054,3350,332,1962,0,0,0,0,0,0
$GC,1562,0.88,194.6,117.9,10.6,237,1571,0.17,2.33,0.00,0.000,6,0.153,0.036,3303,1777,1961,0,0,0,0,0,0
$GC,1676,0.89,204.0,105.9,9.7,256,1693,0.00,0.00,8.35,0.558,6,0.000,0.000,3303,1776,1929,0,0,0,0,0,0
$GC,1798,0.95,247.3,95.1,8.6,276,1844,0.05,0.00,37.35,0.623,6,0.161,0.000,3344,1776,1751,0,0,0,0,0,0
$GC,1950,0.92,247.3,77.3,12.0,300,1959,0.10,0.00,0.00,0.000,6,0.158,0.000,3319,1777,1747,0,0,0,0,0,0
$GC,2064,0.92,247.3,65.0,11.1,319,2071,0.00,2.38,0.00,0.000,4,0.000,0.055,3329,324,1746,0,0,0,0,0,0
$GC,2114,0.89,247.3,58.8,13.1,327,2122,0.08,2.30,0.00,0.000,6,0.172,0.041,3311,1757,1745,0,0,0,0,0,0
$GC,2227,0.89,247.3,44.6,13.0,346,2236,0.00,2.33,0.00,0.000,4,0.000,0.063,3311,3180,1744,0,0,0,0,0,0
$GC,2343,0.89,247.3,31.0,10.8,365,2351,0.00,2.35,0.00,0.000,6,0.000,0.066,3320,1746,1743,0,0,0,0,0,0
$GC,2465,0.93,279.9,19.7,8.9,384,2491,0.00,2.35,15.32,0.552,4,0.000,0.064,3331,337,1617,0,0,0,0,0,0
$GC,2599,0.93,279.9,6.3,10.5,404,2608,0.00,2.35,0.00,0.000,6,0.000,0.049,3331,1758,1612,0,0,0,0,0,0
$STATE,2633,end climb,SURFACE_DEPTH_REACHED
$STATE,2633,begin surface coast
$FINISH,1.1,1.022391
$STATE,2667,end surface coast,CONTROL_FINISHED_OK
$STATE,2667,begin surface
$SM_CCo,2683,8.40,0.457,0,0,1537,300.24
$SM_GC,3.10,0.00,0.00,8.40,0.000,0.000,0.457,77,1933,1537,-9.20,0.40,300.24
$IRIDIUM_FIX,-3406.89,2550.70,220208,222206
$TT8_MAMPS,0.025466
$HUMID,60.35
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,38.3
$24V_AH,24.2,16.724
$10V_AH,10.2,12.772
$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,22.950,34.250,363.900,8.400,0.000,24.854,41.093,284.898,2.000,0.000,46.766,954.658,149.016,379.626,1620.876,91.561,0.000,866.463,0.000,1115.557,0.000,14.713,0.000
$DEVICE_MAMPS,268.515,144.585,654.840,457.470,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.838,1121.197,812.109,1205.283,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331560
$DATA_FILE_SIZE,30415,414
$CAP_FILE_SIZE,55866,0
$CFSIZE,2097086464,2076246016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.167, 82.7,1
$GPS,280415,110429,-3423.281,2550.035,38,1.4,39,-27.8