version: 66.07.10.p01
glider: 573
mission: 9
dive: 471
start: 5 18 115 13 10 22
data:
$ID,573
$MISSION,9
$DIVE,471
$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,-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,-14953.388
$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,8
$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,470
$GPS1,180515,130353,-3426.980,2515.830,43,1.5,43,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-67.7
$GPS2,180515,131002,-3426.928,2515.877,19,1.5,19,-27.6
$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,86.6,10954,-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,27,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-78.95,0.000,2,0.000,0.000,68,1933,2340,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-3.6,13,174,11.68,2.50,-40.47,0.000,4,0.263,0.099,2688,494,3600,2,0,0,0,0,0
$GC,296,-0.88,-170.3,33.7,-22.8,43,302,0.28,2.58,0.00,0.000,6,0.201,0.102,2748,1922,3601,0,0,0,0,0,0
$GC,442,-0.85,-170.3,55.1,-13.7,68,448,0.00,2.45,0.00,0.000,4,0.000,0.087,2748,483,3603,0,0,0,0,0,0
$GC,491,-0.81,-170.3,61.9,-15.0,76,497,0.12,2.50,0.00,0.000,6,0.185,0.086,2768,1929,3603,0,0,0,0,0,0
$GC,849,-0.81,-170.3,107.8,-14.0,133,854,0.00,2.45,0.00,0.000,4,0.000,0.105,2758,3346,3605,0,0,0,0,0,0
$STATE,880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,880,begin apogee
$GC,888,-0.25,0.0,112.7,11.9,135,1026,0.68,0.00,129.68,0.604,6,0.185,0.000,2947,1760,2902,0,0,0,0,0,0
$STATE,1027,end apogee,CONTROL_FINISHED_OK
$STATE,1027,begin climb
$GC,1029,1.05,170.3,119.4,0.0,149,1169,1.27,2.35,131.98,0.597,4,0.109,0.049,3374,316,2208,0,0,0,0,0,0
$GC,1342,0.93,188.8,102.9,9.3,177,1364,0.15,2.28,16.08,0.564,6,0.156,0.034,3333,1770,2131,0,0,0,0,0,0
$GC,1705,0.91,234.7,70.2,8.2,238,1748,0.00,2.28,37.17,0.591,4,0.000,0.065,3333,3178,1944,0,0,0,0,0,0
$GC,1847,0.85,234.7,55.7,10.1,263,1853,0.12,2.45,0.00,0.000,6,0.172,0.085,3311,1748,1940,0,0,0,0,0,0
$GC,2199,0.91,286.7,29.5,8.0,324,2233,0.00,2.33,26.85,0.562,4,0.000,0.060,3322,327,1731,0,0,0,0,0,0
$GC,2314,1.01,334.9,20.2,8.1,343,2346,0.10,2.28,23.67,0.523,6,0.093,0.044,3382,1755,1535,0,0,0,0,0,0
$GC,2398,0.97,334.9,11.9,10.5,356,2406,0.12,2.35,0.00,0.000,4,0.144,0.070,3348,3180,1529,0,0,0,0,0,0
$GC,2427,0.95,334.9,8.5,10.8,360,2435,0.03,2.47,0.00,0.000,6,0.169,0.086,3347,1756,1528,0,0,0,0,0,0
$STATE,2478,end climb,SURFACE_DEPTH_REACHED
$STATE,2478,begin surface coast
$FINISH,1.4,1.002242
$STATE,2510,end surface coast,CONTROL_FINISHED_OK
$STATE,2510,begin surface
$SM_CCo,2528,122.25,0.044,0,0,407,611.52
$SM_GC,1.99,0.00,0.00,122.25,0.000,0.000,0.044,70,1980,407,-9.26,1.72,611.52
$IRIDIUM_FIX,-3412.10,2516.79,140308,010144
$TT8_MAMPS,0.026215
$HUMID,59.68
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,26.7
$24V_AH,24.3,47.243
$10V_AH,10.2,37.820
$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,23.275,34.375,365.425,122.250,0.000,27.179,47.656,177.162,2.000,0.000,21.856,806.913,384.835,463.078,1259.689,118.407,0.000,932.630,0.000,952.050,0.000,17.133,0.000
$DEVICE_MAMPS,263.160,104.805,603.585,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.622,541.439,564.484,365.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,27131,373
$CAP_FILE_SIZE,49153,2
$CFSIZE,2097086464,2042626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,1
$GPS,180515,135537,-3426.564,2515.999,28,1.8,28,-27.6