version: 66.07.10.p01
glider: 573
mission: 9
dive: 495
start: 5 19 115 10 19 58
data:
$ID,573
$MISSION,9
$DIVE,495
$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,-15014.092
$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,57
$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,494
$GPS1,190515,101041,-3425.367,2523.663,32,1.6,38,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.6
$GPS2,190515,101935,-3425.275,2523.805,40,1.0,40,-27.6
$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,231.6,20447,-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,-84.25,0.000,2,0.000,0.000,68,1973,2540,0,0,0,0,0,0
$GC,115,-1.05,-170.3,3.3,-3.3,10,158,11.02,0.00,-27.08,0.000,6,0.243,0.000,2682,1971,3597,0,0,0,0,0,0
$GC,210,-0.84,-170.3,17.0,-19.7,23,219,0.28,0.00,0.00,0.000,6,0.194,0.000,2758,1971,3600,0,0,0,0,0,0
$GC,268,-0.75,-170.3,28.6,-18.0,32,278,0.12,0.00,0.00,0.000,6,0.212,0.000,2787,1971,3601,0,0,0,0,0,0
$GC,422,-0.78,-170.3,47.2,-11.5,57,431,0.00,2.35,0.00,0.000,4,0.000,0.106,2777,3298,3602,0,0,0,0,0,0
$GC,521,-0.81,-170.3,58.0,-11.1,73,528,0.00,2.47,0.00,0.000,6,0.000,0.109,2777,1920,3603,0,0,0,0,0,0
$GC,876,-0.83,-170.3,95.1,-10.8,134,883,0.00,2.40,0.00,0.000,4,0.000,0.090,2777,477,3604,0,0,0,0,0,0
$GC,969,-0.86,-170.3,106.6,-12.3,146,974,0.00,2.42,0.00,0.000,6,0.000,0.090,2769,1877,3605,0,0,0,0,0,0
$STATE,995,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,995,begin apogee
$GC,1000,-0.25,0.0,109.8,11.5,148,1133,0.57,0.00,129.00,0.600,6,0.159,0.000,2943,1694,2902,0,0,0,0,0,0
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1136,1.05,170.3,116.0,0.0,161,1281,1.27,2.22,131.73,0.588,4,0.111,0.048,3370,315,2208,0,0,0,0,0,0
$GC,1438,0.93,180.9,97.6,9.6,188,1456,0.12,2.28,9.95,0.526,6,0.164,0.032,3338,1773,2163,0,0,0,0,0,0
$GC,1802,0.87,198.6,64.7,9.3,250,1826,0.08,2.30,15.60,0.564,4,0.204,0.063,3320,3173,2091,0,0,0,0,0,0
$GC,1855,0.82,198.6,59.3,10.2,258,1864,0.08,2.45,0.00,0.000,6,0.157,0.086,3305,1756,2089,0,0,0,0,0,0
$GC,2218,0.93,290.6,30.4,6.4,319,2277,0.08,2.35,47.45,0.568,4,0.114,0.058,3385,329,1714,0,0,0,0,0,0
$GC,2306,0.87,294.1,22.7,9.9,331,2314,0.25,2.28,0.00,0.000,6,0.145,0.040,3314,1752,1711,0,0,0,0,0,0
$GC,2465,0.99,356.6,9.9,7.5,356,2510,0.10,2.35,30.45,0.489,4,0.089,0.047,3405,325,1443,0,0,0,0,0,0
$STATE,2535,end climb,SURFACE_DEPTH_REACHED
$STATE,2536,begin surface coast
$FINISH,1.5,1.021250
$STATE,2544,end surface coast,CONTROL_FINISHED_OK
$STATE,2544,begin surface
$SM_CCo,2564,113.22,0.043,0,0,407,611.52
$SM_GC,2.02,0.00,0.00,113.22,0.000,0.000,0.043,74,1944,407,-9.25,0.71,611.52
$IRIDIUM_FIX,-3409.50,2513.32,140308,222250
$TT8_MAMPS,0.026215
$HUMID,60.86
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,34.4
$24V_AH,24.4,49.100
$10V_AH,10.2,39.068
$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,23.000,28.875,364.175,113.225,0.000,25.284,22.634,312.739,1.500,0.000,44.050,864.923,351.125,507.315,1346.166,156.723,0.000,944.602,0.000,918.846,0.000,11.621,0.000
$DEVICE_MAMPS,243.270,108.630,599.760,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.834,519.430,541.164,351.025,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,27041,366
$CAP_FILE_SIZE,51633,0
$CFSIZE,2097086464,2040266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.263, 79.7,1
$GPS,190515,110553,-3425.478,2524.113,40,1.2,40,-27.6