version: 66.07.10.p01
glider: 573
mission: 9
dive: 270
start: 5 4 115 13 29 18
data:
$ID,573
$MISSION,9
$DIVE,270
$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,-14394.048
$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,3034
$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,17
$R_STBD_OVSHOOT,47
$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,2902
$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,269
$GPS1,040515,132329,-3423.008,2534.832,39,1.2,39,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-72.3
$GPS2,040515,132854,-3423.033,2534.858,18,1.2,18,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,248.0,25108,-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,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,61,0.00,0.00,-34.38,0.000,2,0.000,0.000,73,1976,2491,0,0,0,0,0,0
$GC,64,-1.05,-170.3,3.1,-3.9,4,125,11.10,2.40,-38.47,0.000,4,0.250,0.118,2676,3307,3599,0,0,0,0,0,0
$GC,179,-0.85,-170.3,15.4,-20.0,19,188,0.28,2.47,0.00,0.000,6,0.169,0.097,2756,1920,3600,0,0,0,0,0,0
$GC,237,-0.74,-170.3,27.0,-17.1,28,246,0.15,0.00,0.00,0.000,6,0.202,0.000,2791,1920,3601,0,0,0,0,0,0
$GC,384,-0.74,-170.3,47.2,-12.4,53,391,0.00,2.38,0.00,0.000,4,0.000,0.095,2783,3309,3601,0,0,0,0,0,0
$GC,504,-0.77,-170.3,60.7,-10.5,73,512,0.00,2.45,0.00,0.000,6,0.000,0.099,2783,1913,3602,0,0,0,0,0,0
$GC,865,-0.77,-170.3,96.5,-9.9,134,872,0.00,2.42,0.00,0.000,4,0.000,0.098,2783,488,3605,0,0,0,0,0,0
$GC,934,-0.77,-170.3,104.7,-11.9,143,939,0.00,2.45,0.00,0.000,6,0.000,0.092,2774,1885,3605,0,0,0,0,0,0
$STATE,971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,971,begin apogee
$GC,976,-0.25,0.0,109.1,11.5,146,1114,0.60,0.00,131.82,0.633,6,0.177,0.000,2947,1708,2901,0,0,0,0,0,0
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1116,1.05,170.3,115.2,0.0,160,1259,1.27,2.25,131.35,0.616,4,0.109,0.055,3369,374,2206,0,0,0,0,0,0
$GC,1377,0.93,170.3,96.2,11.6,184,1385,0.12,2.25,0.00,0.000,6,0.159,0.040,3337,1764,2204,0,0,0,0,0,0
$GC,1730,0.92,211.0,63.8,8.4,245,1773,0.00,2.33,33.70,0.613,4,0.000,0.051,3347,377,2039,0,0,0,0,0,0
$GC,1862,0.87,223.9,52.3,9.5,266,1883,0.12,2.25,11.32,0.565,6,0.161,0.043,3314,1768,1988,0,0,0,0,0,0
$GC,2232,0.93,277.6,23.7,7.9,329,2264,0.05,2.45,26.35,0.567,4,0.156,0.083,3363,3185,1768,0,0,0,0,0,0
$GC,2335,0.88,277.6,12.5,12.6,344,2345,0.17,2.40,0.00,0.000,6,0.148,0.081,3318,1801,1763,0,0,0,0,0,0
$GC,2398,0.91,282.4,5.9,9.8,353,2408,0.00,0.00,1.27,0.060,6,0.000,0.000,3318,1801,1750,0,0,0,0,0,0
$STATE,2427,end climb,SURFACE_DEPTH_REACHED
$STATE,2427,begin surface coast
$FINISH,1.3,1.011734
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2460,begin surface
$SM_CCo,2477,7.45,0.049,0,0,1677,300.24
$SM_GC,3.46,0.00,0.00,7.45,0.000,0.000,0.049,81,1959,1677,-9.23,1.16,300.24
$IRIDIUM_FIX,-3406.89,2533.19,290208,020225
$TT8_MAMPS,0.026964
$HUMID,59.92
$INTERNAL_PRESSURE,9.43085
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,33.4
$24V_AH,24.3,27.283
$10V_AH,10.3,23.700
$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,22.550,28.950,335.825,7.450,0.000,27.157,18.495,176.638,1.500,0.000,20.380,871.444,322.532,365.854,1180.953,86.898,0.000,771.126,0.000,900.777,0.000,11.610,0.000
$DEVICE_MAMPS,250.155,117.810,633.420,48.960,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.225,602.827,531.710,434.016,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331112
$DATA_FILE_SIZE,27002,362
$CAP_FILE_SIZE,47127,0
$CFSIZE,2097086464,2064220160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.087, 91.6,1
$GPS,040515,141159,-3423.257,2534.752,41,1.6,42,-27.7