version: 66.07.10.p01
glider: 573
mission: 9
dive: 474
start: 5 18 115 15 48 34
data:
$ID,573
$MISSION,9
$DIVE,474
$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,-14962.117
$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,13
$R_STBD_OVSHOOT,55
$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,473
$GPS1,180515,154223,-3426.002,2516.260,39,1.8,39,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-64.2
$GPS2,180515,154814,-3425.958,2516.223,23,1.8,23,-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,94.1,9658,-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,-79.05,0.000,2,0.000,0.000,70,1974,2349,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-3.3,13,167,11.52,0.00,-39.70,0.000,6,0.259,0.000,2691,1970,3597,0,0,0,0,0,0
$GC,219,-0.86,-170.3,16.0,-22.9,30,227,0.25,2.30,0.00,0.000,4,0.206,0.090,2750,3303,3600,0,0,0,0,0,0
$GC,291,-0.80,-170.3,29.2,-14.0,41,296,0.10,2.40,0.00,0.000,6,0.173,0.093,2771,1921,3601,0,0,0,0,0,0
$GC,438,-0.80,-170.3,46.3,-11.4,66,445,0.00,2.42,0.00,0.000,4,0.000,0.099,2763,3307,3602,0,0,0,0,0,0
$GC,474,-0.80,-170.3,50.9,-12.0,72,482,0.00,2.47,0.00,0.000,6,0.000,0.103,2763,1923,3602,0,0,0,0,0,0
$GC,829,-0.80,-170.3,93.7,-12.5,133,834,0.00,2.45,0.00,0.000,4,0.000,0.096,2763,472,3604,0,0,0,0,0,0
$GC,875,-0.80,-170.3,99.8,-12.9,141,888,0.05,2.42,0.00,0.000,6,0.191,0.081,2768,1871,3604,0,0,0,0,0,0
$STATE,989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,989,begin apogee
$GC,994,-0.25,0.0,113.9,11.4,152,1130,0.62,0.00,129.10,0.610,6,0.189,0.000,2944,1687,2902,0,0,0,0,0,0
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1134,1.05,170.3,120.7,0.0,166,1274,1.30,2.22,131.98,0.601,4,0.115,0.046,3373,312,2207,0,0,0,0,0,0
$GC,1495,0.91,170.7,97.9,10.0,199,1501,0.15,2.30,0.00,0.000,6,0.160,0.033,3333,1774,2203,0,0,0,0,0,0
$GC,1845,0.90,218.8,67.9,8.1,260,1889,0.00,2.28,38.70,0.597,4,0.000,0.065,3333,3180,2010,0,0,0,0,0,0
$GC,2004,0.83,218.8,52.0,10.7,288,2012,0.12,2.47,0.00,0.000,6,0.148,0.086,3304,1755,2005,0,0,0,0,0,0
$GC,2363,0.99,352.0,26.5,4.8,349,2436,0.12,2.28,66.00,0.559,4,0.078,0.054,3401,329,1464,0,0,0,0,0,0
$GC,2512,0.93,352.0,11.1,13.3,374,2520,0.20,2.30,0.00,0.000,6,0.133,0.039,3338,1749,1457,0,0,0,0,0,0
$GC,2572,0.96,354.9,4.6,9.9,383,2578,0.00,2.35,0.00,0.000,4,0.000,0.070,3338,3175,1455,0,0,0,0,0,0
$STATE,2585,end climb,SURFACE_DEPTH_REACHED
$STATE,2586,begin surface coast
$FINISH,1.3,1.012291
$STATE,2617,end surface coast,CONTROL_FINISHED_OK
$STATE,2617,begin surface
$SM_CCo,2637,115.10,0.044,0,0,408,611.52
$SM_GC,2.07,0.00,0.00,115.10,0.000,0.000,0.044,70,1909,408,-9.26,-0.28,611.52
$IRIDIUM_FIX,-3412.10,2516.79,140308,040428
$TT8_MAMPS,0.026964
$HUMID,60.27
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.5,28.2
$24V_AH,24.3,47.487
$10V_AH,10.2,37.982
$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,23.075,33.225,365.775,115.100,0.000,21.996,24.500,181.216,1.750,0.000,25.445,841.353,427.299,456.384,1272.850,118.592,0.000,948.261,0.000,988.915,0.000,13.107,0.000
$DEVICE_MAMPS,258.570,103.275,610.470,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.071,565.494,584.298,380.499,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,26945,390
$CAP_FILE_SIZE,49383,0
$CFSIZE,2097086464,2042331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180515,163535,-3425.660,2516.433,31,1.0,31,-27.6