version: 66.07.10.p01
glider: 573
mission: 9
dive: 264
start: 5 4 115 8 58 42
data:
$ID,573
$MISSION,9
$DIVE,264
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,5
$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,175
$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,-14376.714
$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,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,2864
$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,263
$GPS1,040515,085253,-3422.293,2535.264,43,1.0,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-72.1
$GPS2,040515,085819,-3422.306,2535.263,19,1.0,19,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$TGT_RADIUS,3000.000
$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,295.7,20446,-16.9,-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,24,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,66,0.00,0.00,-38.20,0.000,2,0.000,0.000,73,1934,2540,0,0,0,0,0,0
$GC,68,-1.05,-170.3,3.1,-2.4,4,120,11.07,0.00,-32.35,0.000,6,0.252,0.000,2672,1932,3562,0,0,0,0,0,0
$GC,172,-0.83,-170.3,15.7,-21.2,18,182,0.25,2.45,0.00,0.000,4,0.199,0.093,2732,3336,3563,0,0,0,0,0,0
$GC,363,-0.79,-170.3,47.3,-10.7,50,371,0.12,2.47,0.00,0.000,6,0.167,0.098,2764,1922,3565,0,0,0,0,0,0
$GC,717,-0.79,-170.3,88.1,-11.0,111,726,0.00,2.50,0.00,0.000,4,0.000,0.099,2764,484,3567,0,0,0,0,0,0
$GC,763,-0.76,-170.3,93.4,-11.9,118,771,0.08,2.47,0.00,0.000,6,0.213,0.088,2769,1916,3568,0,0,0,0,0,0
$STATE,839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,839,begin apogee
$GC,844,-0.25,0.0,102.6,12.0,129,981,0.55,0.00,131.27,0.628,6,0.174,0.000,2933,1711,2863,0,0,0,0,0,0
$STATE,982,end apogee,CONTROL_FINISHED_OK
$STATE,982,begin climb
$GC,984,1.05,170.3,111.1,0.0,143,1130,1.27,2.33,132.15,0.611,4,0.108,0.054,3356,361,2167,0,0,0,0,0,0
$GC,1145,1.00,189.4,102.4,9.3,157,1169,0.05,2.35,16.60,0.571,6,0.193,0.042,3345,1773,2091,0,0,0,0,0,0
$GC,1511,0.94,189.4,62.4,11.6,219,1520,0.10,0.00,0.00,0.000,6,0.181,0.000,3320,1773,2086,0,0,0,0,0,0
$GC,1868,1.06,291.6,29.4,6.0,280,1927,0.12,2.42,52.17,0.588,4,0.081,0.076,3389,3181,1672,0,0,0,0,0,0
$GC,1972,0.98,291.6,19.5,12.4,295,1982,0.17,2.38,0.00,0.000,6,0.145,0.076,3344,1799,1666,0,0,0,0,0,0
$GC,2035,0.98,291.6,12.3,11.2,304,2044,0.00,2.45,0.00,0.000,4,0.000,0.063,3355,333,1665,0,0,0,0,0,0
$GC,2071,0.98,291.6,8.1,11.8,309,2081,0.05,2.35,0.00,0.000,6,0.141,0.048,3338,1749,1663,0,0,0,0,0,0
$STATE,2119,end climb,SURFACE_DEPTH_REACHED
$STATE,2120,begin surface coast
$FINISH,1.5,1.021979
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2169,1.90,0.053,0,0,1640,300.24
$SM_GC,3.14,0.00,0.00,1.90,0.000,0.000,0.053,82,1938,1640,-9.18,0.54,300.24
$IRIDIUM_FIX,-3409.50,2501.64,280208,212129
$TT8_MAMPS,0.026964
$HUMID,59.80
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,36.2
$24V_AH,24.3,26.831
$10V_AH,10.3,23.417
$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,22.625,24.800,332.200,1.900,0.000,22.103,41.720,162.519,1.250,0.000,21.681,766.765,242.416,358.578,1069.853,78.608,0.000,721.483,0.000,790.635,0.000,10.094,0.000
$DEVICE_MAMPS,251.685,113.220,628.065,52.785,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.301,535.116,478.774,392.512,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330988
$DATA_FILE_SIZE,23671,321
$CAP_FILE_SIZE,41624,0
$CFSIZE,2097086464,2064809984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.174, 77.7,1
$GPS,040515,093605,-3422.249,2535.179,36,1.0,37,-27.7