version: 66.07.10.p01
glider: 573
mission: 9
dive: 397
start: 5 11 115 1 38 16
data:
$ID,573
$MISSION,9
$DIVE,397
$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,611.52295
$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,-14768.541
$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,160
$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,12
$R_STBD_OVSHOOT,9
$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,396
$GPS1,110515,012859,-3427.742,2524.122,41,1.5,41,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-67.5
$GPS2,110515,013753,-3427.804,2524.191,42,1.1,42,-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,212.3,15905,-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,26,-1.05,-170.3,0.0,0.0,0,112,0.00,0.00,-83.75,0.000,2,0.000,0.000,68,1947,2565,0,0,0,0,0,0
$GC,114,-1.05,-170.3,3.3,-3.6,10,158,11.48,2.55,-24.10,0.000,4,0.258,0.110,2687,498,3596,0,0,0,0,0,0
$GC,302,-0.88,-170.3,43.0,-19.1,39,312,0.22,2.70,0.00,0.000,6,0.192,0.121,2741,1923,3599,0,0,0,0,0,0
$GC,662,-0.83,-170.3,95.6,-13.0,100,670,0.10,2.47,0.00,0.000,4,0.197,0.108,2755,3348,3601,0,0,0,0,0,0
$GC,875,-0.83,-170.3,120.6,-13.6,121,880,0.00,2.45,0.00,0.000,6,0.000,0.086,2754,1916,3602,0,0,0,0,0,0
$STATE,927,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,927,begin apogee
$GC,932,-0.25,0.0,127.2,12.8,125,1068,0.73,0.00,127.88,0.609,6,0.211,0.000,2945,1757,2902,0,0,0,0,0,0
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1069,begin climb
$GC,1071,1.05,170.3,134.4,0.0,139,1216,1.30,2.58,132.23,0.604,4,0.109,0.089,3366,3174,2206,0,0,0,0,0,0
$GC,1302,0.90,170.3,127.2,10.4,158,1310,0.17,2.55,0.00,0.000,6,0.171,0.099,3330,1753,2202,0,0,0,0,0,0
$GC,1630,0.86,205.3,99.5,8.6,189,1667,0.08,2.30,28.15,0.603,4,0.206,0.055,3323,330,2064,0,0,0,0,0,0
$GC,1698,0.83,226.4,93.6,9.2,199,1727,0.10,2.30,18.23,0.581,6,0.164,0.037,3298,1768,1979,0,0,0,0,0,0
$GC,2069,0.92,305.6,63.8,6.9,263,2139,0.10,2.42,63.35,0.609,4,0.096,0.086,3360,3180,1656,0,0,0,0,0,0
$GC,2259,0.86,305.6,41.7,12.3,294,2269,0.17,2.60,0.00,0.000,6,0.144,0.108,3315,1757,1650,0,0,0,0,0,0
$GC,2636,1.01,391.1,8.8,6.6,355,2688,0.12,2.35,39.70,0.497,4,0.078,0.059,3404,334,1302,0,0,0,0,0,0
$STATE,2696,end climb,SURFACE_DEPTH_REACHED
$STATE,2696,begin surface coast
$FINISH,1.2,1.021075
$STATE,2729,end surface coast,CONTROL_FINISHED_OK
$STATE,2729,begin surface
$SM_CCo,2749,98.68,0.044,0,0,408,611.52
$SM_GC,1.84,0.00,0.00,98.68,0.000,0.000,0.044,71,1939,408,-9.26,0.57,611.52
$IRIDIUM_FIX,-3414.71,2526.12,060308,141454
$TT8_MAMPS,0.026215
$HUMID,60.71
$INTERNAL_PRESSURE,9.42109
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,30.8
$24V_AH,24.4,38.206
$10V_AH,10.2,31.287
$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,23.450,30.350,409.525,98.675,0.000,59.686,97.241,179.927,2.000,0.000,45.707,857.966,576.461,516.467,1343.175,103.398,0.000,954.934,0.000,928.371,0.000,15.804,0.000
$DEVICE_MAMPS,257.805,133.110,608.940,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.528,553.871,537.707,322.944,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330800
$DATA_FILE_SIZE,27049,367
$CAP_FILE_SIZE,47788,0
$CFSIZE,2097086464,2051211264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.159, 70.5,1
$GPS,110515,022702,-3428.015,2524.360,42,2.0,42,-27.7