version: 66.07.10.p01
glider: 573
mission: 9
dive: 433
start: 5 15 115 16 37 20
data:
$ID,573
$MISSION,9
$DIVE,433
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,20
$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,-14858.89
$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,51
$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,432
$GPS1,150515,162636,-3435.172,2507.463,44,1.2,44,-27.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-57.7
$GPS2,150515,163659,-3435.088,2507.482,44,1.2,44,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3424.940,2511.960
$TGT_RADIUS,1852.000
$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,47.7,20000,-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,26,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-72.62,0.000,2,0.000,0.000,67,1980,2222,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.0,-4.1,12,167,11.00,2.62,-41.12,0.000,4,0.242,0.106,2691,499,3600,0,0,0,0,0,0
$GC,296,-0.90,-170.3,37.8,-21.8,43,303,0.22,2.55,0.00,0.000,6,0.201,0.116,2738,1883,3602,0,0,0,0,0,0
$GC,445,-0.84,-170.3,61.6,-13.1,68,451,0.10,2.55,0.00,0.000,4,0.193,0.106,2757,3349,3603,0,0,0,0,0,0
$GC,546,-0.84,-170.3,72.9,-10.9,85,551,0.00,2.50,0.00,0.000,6,0.000,0.096,2753,1922,3604,0,0,0,0,0,0
$GC,891,-0.82,-170.3,115.5,-13.0,136,896,0.05,2.47,0.00,0.000,4,0.181,0.100,2763,481,3607,0,0,0,0,0,0
$GC,925,-0.80,-170.3,120.0,-13.1,138,931,0.08,2.47,0.00,0.000,6,0.210,0.082,2768,1922,3607,0,0,0,0,0,0
$GC,1254,-0.80,-170.3,161.2,-12.7,169,1259,0.00,2.47,0.00,0.000,4,0.000,0.107,2758,3349,3607,0,0,0,0,0,0
$STATE,1400,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1400,begin apogee
$GC,1408,-0.25,0.0,179.5,11.0,181,1544,0.65,0.00,129.85,0.653,6,0.176,0.000,2944,1756,2904,0,0,0,0,0,0
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1547,1.05,170.3,187.2,0.0,195,1686,1.27,0.00,133.93,0.643,6,0.109,0.000,3360,1756,2207,0,0,0,0,0,0
$GC,2003,0.94,170.3,158.3,10.2,238,2007,0.10,2.28,0.00,0.000,4,0.187,0.051,3347,316,2202,0,0,0,0,0,0
$GC,2090,0.87,197.9,150.5,8.9,245,2122,0.12,2.30,22.77,0.623,6,0.161,0.034,3314,1778,2095,0,0,0,0,0,0
$GC,2441,0.85,213.5,119.6,9.4,278,2462,0.00,2.30,13.90,0.601,4,0.000,0.073,3314,3165,2030,0,0,0,0,0,0
$GC,2497,0.80,213.5,113.9,10.8,283,2502,0.12,2.45,0.00,0.000,6,0.178,0.090,3292,1747,2029,0,0,0,0,0,0
$GC,2835,0.86,263.7,86.0,8.0,328,2885,0.00,2.35,40.88,0.623,4,0.000,0.065,3303,339,1826,0,0,0,0,0,0
$GC,2989,0.90,294.5,72.3,8.8,355,3024,0.05,2.28,25.52,0.600,6,0.164,0.042,3337,1751,1703,0,0,0,0,0,0
$GC,3371,0.96,345.0,33.6,8.0,421,3410,0.00,2.47,32.70,0.587,4,0.000,0.092,3337,3188,1494,0,0,0,0,0,0
$GC,3514,0.99,370.0,20.8,9.0,445,3533,0.00,2.53,12.55,0.511,6,0.000,0.096,3346,1754,1391,0,0,0,0,0,0
$GC,3584,1.02,375.6,14.3,9.8,456,3592,0.00,2.40,2.38,0.194,4,0.000,0.078,3346,3180,1369,0,0,0,0,0,0
$GC,3602,1.12,421.1,13.0,8.2,458,3634,0.08,2.55,22.55,0.501,6,0.047,0.099,3427,1752,1185,0,0,0,0,0,0
$GC,3687,1.07,421.1,3.4,12.8,471,3694,0.17,2.33,0.00,0.000,4,0.145,0.057,3388,337,1178,0,0,0,0,0,0
$STATE,3701,end climb,SURFACE_DEPTH_REACHED
$STATE,3702,begin surface coast
$FINISH,1.3,1.020588
$STATE,3727,end surface coast,CONTROL_FINISHED_OK
$STATE,3727,begin surface
$SM_CCo,3747,86.68,0.044,0,0,408,611.52
$SM_GC,1.89,0.00,0.00,86.68,0.000,0.000,0.044,71,1940,408,-9.26,0.62,611.52
$IRIDIUM_FIX,-3422.54,2502.59,110308,040443
$TT8_MAMPS,0.026964
$HUMID,59.52
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,161.2,32.7
$24V_AH,24.2,43.228
$10V_AH,10.2,34.931
$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,22.925,49.600,437.025,86.675,0.000,24.419,19.575,392.478,3.250,0.000,46.553,1041.953,1074.454,490.857,1695.879,163.450,0.000,1059.271,0.000,1165.175,0.000,22.273,0.000
$DEVICE_MAMPS,241.740,115.515,653.310,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.785,764.533,639.977,346.342,0.000,0.000,0.000,0.000,0.000,0.000
$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,33786,477
$CAP_FILE_SIZE,66956,0
$CFSIZE,2097086464,2046754816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,150515,174235,-3434.511,2508.096,44,1.1,44,-27.7