version: 66.07.10.p01
glider: 573
mission: 9
dive: 434
start: 5 15 115 17 49 10
data:
$ID,573
$MISSION,9
$DIVE,434
$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,-14861.215
$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,14
$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,433
$GPS1,150515,174235,-3434.511,2508.096,44,1.1,44,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-61.4
$GPS2,150515,174849,-3434.466,2508.111,22,1.1,22,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3424.318,2512.588
$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,24,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,-72.53,0.000,2,0.000,0.000,71,1941,2229,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.0,-3.0,12,161,10.93,2.47,-40.30,0.000,4,0.242,0.108,2676,3361,3598,0,0,0,0,0,0
$GC,170,-0.83,-170.3,8.5,-15.7,22,178,0.30,2.60,0.00,0.000,6,0.188,0.103,2759,1916,3598,0,0,0,0,0,0
$GC,229,-0.73,-170.3,20.4,-16.8,31,235,0.15,2.45,0.00,0.000,4,0.209,0.086,2786,3353,3600,0,0,0,0,0,0
$GC,498,-0.76,-170.3,53.6,-9.3,77,503,0.00,2.53,0.00,0.000,6,0.000,0.101,2786,1923,3601,0,0,0,0,0,0
$GC,849,-0.80,-170.3,87.3,-10.9,138,856,0.00,2.50,0.00,0.000,4,0.000,0.101,2786,487,3605,0,0,0,0,0,0
$GC,899,-0.82,-170.3,93.4,-11.9,146,904,0.00,2.58,0.00,0.000,6,0.000,0.106,2777,1920,3605,0,0,0,0,0,0
$GC,1233,-0.82,-170.3,134.3,-12.2,182,1237,0.00,2.45,0.00,0.000,4,0.000,0.101,2766,3348,3606,0,0,0,0,0,0
$STATE,1350,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1350,begin apogee
$GC,1359,-0.25,0.0,148.5,13.4,192,1495,0.60,0.00,129.65,0.633,6,0.168,0.000,2943,1752,2903,0,0,0,0,0,0
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1499,1.05,170.3,155.6,0.0,206,1643,1.27,2.40,132.55,0.623,4,0.107,0.051,3372,326,2207,0,0,0,0,0,0
$GC,1690,0.95,218.2,148.4,8.1,224,1736,0.12,2.33,39.33,0.607,6,0.164,0.033,3341,1774,2011,0,0,0,0,0,0
$GC,2062,0.88,218.2,112.0,10.0,259,2066,0.08,2.30,0.00,0.000,4,0.204,0.070,3323,3181,2005,0,0,0,0,0,0
$GC,2083,0.82,220.6,109.7,9.9,260,2091,0.10,2.50,0.00,0.000,6,0.148,0.094,3301,1758,2004,0,0,0,0,0,0
$GC,2425,0.88,270.1,82.0,8.1,310,2475,0.00,2.35,41.83,0.614,4,0.000,0.062,3312,336,1799,0,0,0,0,0,0
$GC,2571,0.90,280.3,68.0,9.6,336,2589,0.00,2.30,9.15,0.541,6,0.000,0.040,3312,1755,1759,0,0,0,0,0,0
$GC,2936,0.99,335.9,34.3,7.8,399,2983,0.12,2.45,36.15,0.587,4,0.078,0.086,3404,3185,1529,0,0,0,0,0,0
$GC,3085,0.91,335.9,17.2,11.8,424,3093,0.28,2.53,0.00,0.000,6,0.135,0.093,3327,1752,1524,0,0,0,0,0,0
$GC,3144,1.02,385.6,12.2,8.0,433,3177,0.10,2.45,23.83,0.503,4,0.090,0.081,3387,3183,1329,0,0,0,0,0,0
$GC,3210,1.00,385.6,5.0,13.4,443,3218,0.10,2.50,0.00,0.000,6,0.129,0.093,3362,1767,1323,0,0,0,0,0,0
$STATE,3230,end climb,SURFACE_DEPTH_REACHED
$STATE,3231,begin surface coast
$FINISH,1.4,1.021171
$STATE,3262,end surface coast,CONTROL_FINISHED_OK
$STATE,3262,begin surface
$SM_CCo,3280,101.32,0.044,0,0,408,611.52
$SM_GC,2.00,0.00,0.00,101.32,0.000,0.000,0.044,75,1980,408,-9.25,1.72,611.52
$IRIDIUM_FIX,-3422.54,2506.08,110308,050509
$TT8_MAMPS,0.026964
$HUMID,59.64
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.5,32.7
$24V_AH,24.3,43.316
$10V_AH,10.2,34.991
$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,22.950,44.825,412.475,101.325,0.000,24.820,43.425,183.821,2.500,0.000,24.858,980.089,764.110,475.594,1429.659,117.317,0.000,1025.368,0.000,1109.504,0.000,18.792,0.000
$DEVICE_MAMPS,241.740,107.865,632.655,44.370,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.620,684.841,630.163,372.210,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,30371,451
$CAP_FILE_SIZE,58504,0
$CFSIZE,2097086464,2046722048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150515,184656,-3433.995,2508.700,48,1.9,48,-27.7