version: 66.07.10.p01
glider: 573
mission: 9
dive: 160
start: 4 28 115 14 6 48
data:
$ID,573
$MISSION,9
$DIVE,160
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,333
$T_MISSION,348
$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,-14021.217
$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,19
$R_STBD_OVSHOOT,12
$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,2784
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$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,159
$GPS1,280415,135806,-3423.708,2549.540,43,1.0,43,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-67.8
$GPS2,280415,140628,-3423.740,2549.523,44,1.4,44,-27.8
$SPEED_LIMITS,0.173,0.296
$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,278.6,38683,-15.7,-10.010
$D_GRID,1000
$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,-1.02,-194.6,0.0,0.0,0,79,0.00,0.00,-52.35,0.000,2,0.000,0.000,71,1939,2639,0,0,0,0,0,0
$GC,81,-1.02,-194.6,3.1,-3.3,6,134,11.45,2.53,-29.27,0.000,4,0.263,0.105,2681,513,3582,0,0,0,0,0,0
$GC,390,-0.85,-194.6,56.0,-15.5,54,399,0.25,2.55,0.00,0.000,6,0.205,0.103,2740,1920,3585,0,0,0,0,0,0
$GC,513,-0.76,-194.6,72.7,-15.1,73,520,0.12,2.42,0.00,0.000,4,0.200,0.098,2759,3347,3587,0,0,0,0,0,0
$GC,594,-0.73,-194.6,83.5,-12.0,86,604,0.05,2.50,0.00,0.000,6,0.154,0.097,2775,1930,3587,0,0,0,0,0,0
$GC,717,-0.71,-194.6,98.3,-13.2,105,725,0.05,2.53,0.00,0.000,4,0.269,0.109,2784,478,3589,0,0,0,0,0,0
$GC,771,-0.68,-194.6,105.4,-13.0,113,779,0.10,2.55,0.00,0.000,6,0.225,0.097,2795,1926,3589,0,0,0,0,0,0
$GC,890,-0.68,-194.6,119.4,-11.8,132,903,0.00,2.47,0.00,0.000,4,0.000,0.106,2785,3342,3589,0,0,0,0,0,0
$GC,969,-0.68,-194.6,128.5,-11.3,144,979,0.00,2.53,0.00,0.000,6,0.000,0.103,2785,1920,3590,0,0,0,0,0,0
$GC,1093,-0.68,-194.6,141.8,-11.9,163,1100,0.00,2.47,0.00,0.000,4,0.000,0.104,2785,483,3590,0,0,0,0,0,0
$GC,1121,-0.68,-194.6,145.1,-11.2,167,1129,0.10,2.50,0.00,0.000,6,0.235,0.092,2794,1922,3590,0,0,0,0,0,0
$GC,1240,-0.68,-194.6,158.2,-10.9,186,1249,0.00,2.47,0.00,0.000,4,0.000,0.106,2784,3338,3590,0,0,0,0,0,0
$STATE,1255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1255,begin apogee
$GC,1262,-0.25,0.0,160.0,10.6,188,1423,0.47,0.00,150.52,0.668,6,0.152,0.000,2932,1747,2784,0,0,0,0,0,0
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1425,1.02,194.6,167.4,0.0,209,1588,1.25,2.47,153.60,0.649,4,0.110,0.054,3346,326,1989,0,0,0,0,0,0
$GC,1686,0.94,194.6,146.2,11.7,247,1694,0.10,2.35,0.00,0.000,6,0.163,0.040,3320,1766,1984,0,0,0,0,0,0
$GC,1806,0.90,194.6,133.1,10.7,266,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1766,1983,0,0,0,0,0,0
$GC,1925,0.88,210.6,121.6,9.5,285,1946,0.05,0.00,13.98,0.609,6,0.232,0.000,3309,1766,1923,0,0,0,0,0,0
$GC,2056,0.88,210.6,109.3,10.2,306,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1766,1921,0,0,0,0,0,0
$GC,2175,0.92,238.7,98.4,9.0,325,2205,0.00,0.00,24.40,0.630,6,0.000,0.000,3309,1766,1809,0,0,0,0,0,0
$GC,2315,0.98,287.5,85.4,8.3,347,2362,0.08,2.47,41.62,0.631,4,0.117,0.055,3366,330,1610,0,0,0,0,0,0
$GC,2429,0.92,287.5,71.2,13.2,364,2439,0.15,2.35,0.00,0.000,6,0.135,0.041,3318,1752,1605,0,0,0,0,0,0
$GC,2549,0.92,287.5,58.4,10.8,383,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1752,1604,0,0,0,0,0,0
$GC,2663,0.92,287.5,45.8,10.5,402,2672,0.00,2.35,0.00,0.000,4,0.000,0.068,3319,3173,1602,0,0,0,0,0,0
$GC,2703,0.92,292.4,41.8,9.8,408,2714,0.00,2.45,4.03,0.444,6,0.000,0.082,3328,1751,1592,0,0,0,0,0,0
$GC,2824,0.99,345.8,31.4,8.2,427,2862,0.00,0.00,32.38,0.604,6,0.000,0.000,3328,1751,1371,0,0,0,0,0,0
$GC,2940,1.14,432.4,23.4,7.0,444,2993,0.15,2.40,42.72,0.565,4,0.071,0.056,3415,331,1016,0,0,0,0,0,0
$GC,3052,1.08,432.4,9.4,14.8,459,3061,0.12,2.33,0.00,0.000,6,0.131,0.037,3376,1755,1009,0,0,0,0,0,0
$STATE,3100,end climb,SURFACE_DEPTH_REACHED
$STATE,3100,begin surface coast
$FINISH,1.1,1.009298
$STATE,3127,end surface coast,CONTROL_FINISHED_OK
$STATE,3127,begin surface
$SM_CCo,3203,0.00,0.000,0,0,1002,437.12
$SM_GC,1.79,8.98,0.00,0.00,0.050,0.000,0.000,82,1934,1002,-9.08,0.40,437.12
$IRIDIUM_FIX,-3409.50,2521.52,230208,020247
$TT8_MAMPS,0.026964
$HUMID,60.63
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.1,33.3
$24V_AH,24.2,17.100
$10V_AH,10.3,13.076
$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,23.475,49.850,463.250,0.000,0.000,23.198,21.275,317.546,2.750,0.000,46.506,1071.154,308.680,448.592,1784.303,102.596,0.000,1028.714,0.000,1249.868,0.000,19.211,0.000
$DEVICE_MAMPS,269.280,108.630,667.845,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.736,1257.851,891.200,1353.603,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331608
$DATA_FILE_SIZE,33675,470
$CAP_FILE_SIZE,65546,0
$CFSIZE,2097086464,2075787264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.126,100.7,1
$GPS,280415,150124,-3423.904,2549.306,39,1.4,40,-27.8