version: 66.07.10.p01
glider: 573
mission: 9
dive: 507
start: 5 19 115 21 51 4
data:
$ID,573
$MISSION,9
$DIVE,507
$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,-15045.314
$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,56
$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,506
$GPS1,190515,214429,-3428.298,2528.869,42,1.0,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.4
$GPS2,190515,215042,-3428.382,2528.966,20,1.4,20,-27.7
$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,255.0,13341,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,104,0.00,0.00,-75.07,0.000,2,0.000,0.000,70,1973,2267,0,0,0,0,0,0
$GC,107,-1.05,-170.3,3.0,-2.4,9,169,11.15,2.33,-42.00,0.000,4,0.246,0.109,2675,3308,3598,0,0,0,0,0,0
$GC,216,-0.84,-170.3,16.6,-24.2,23,226,0.28,2.45,0.00,0.000,6,0.168,0.095,2756,1923,3600,0,0,0,0,0,0
$GC,273,-0.72,-170.3,30.1,-21.6,32,282,0.15,2.38,0.00,0.000,4,0.210,0.087,2783,3297,3601,0,0,0,0,0,0
$GC,407,-0.75,-170.3,48.1,-12.5,54,415,0.00,2.42,0.00,0.000,6,0.000,0.094,2784,1919,3600,0,0,0,0,0,0
$GC,762,-0.78,-170.3,86.8,-10.7,115,768,0.00,2.45,0.00,0.000,4,0.000,0.092,2783,479,3602,0,0,0,0,0,0
$GC,801,-0.78,-170.3,91.0,-10.7,121,809,0.00,2.45,0.00,0.000,6,0.000,0.092,2774,1874,3603,0,0,0,0,0,0
$GC,1134,-0.78,-170.3,132.8,-13.4,158,1138,0.00,2.50,0.00,0.000,4,0.000,0.097,2763,3354,3603,0,0,0,0,0,0
$GC,1175,-0.78,-170.3,138.6,-14.7,161,1180,0.08,2.55,0.00,0.000,6,0.157,0.103,2779,1911,3603,0,0,0,0,0,0
$STATE,1226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1226,begin apogee
$GC,1231,-0.25,0.0,145.1,12.6,165,1363,0.52,0.00,127.70,0.630,6,0.152,0.000,2942,1759,2902,0,0,0,0,0,0
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1366,1.05,170.3,153.0,0.0,178,1511,1.30,2.50,132.82,0.615,4,0.110,0.081,3365,3183,2206,0,0,0,0,0,0
$GC,1765,0.94,207.5,132.8,8.5,212,1801,0.10,2.45,30.17,0.607,6,0.152,0.081,3343,1754,2056,0,0,0,0,0,0
$GC,2124,0.85,207.5,96.3,11.1,248,2131,0.12,2.35,0.00,0.000,4,0.183,0.072,3309,3180,2052,0,0,0,0,0,0
$GC,2391,0.80,207.5,66.8,11.8,294,2400,0.08,2.45,0.00,0.000,6,0.151,0.085,3296,1754,2052,0,0,0,0,0,0
$GC,2746,0.98,354.6,37.8,4.2,355,2856,0.15,2.50,102.47,0.588,4,0.069,0.075,3393,3185,1455,0,0,0,0,0,0
$GC,2978,0.91,354.6,17.0,10.2,390,2988,0.22,2.47,0.00,0.000,6,0.130,0.084,3331,1759,1447,0,0,0,0,0,0
$GC,3041,0.96,368.7,10.9,9.5,399,3051,0.00,0.00,6.10,0.405,6,0.000,0.000,3331,1758,1398,0,0,0,0,0,0
$GC,3103,1.00,368.7,5.1,10.2,408,3112,0.08,2.33,0.00,0.000,4,0.114,0.058,3410,332,1395,0,0,0,0,0,0
$STATE,3126,end climb,SURFACE_DEPTH_REACHED
$STATE,3126,begin surface coast
$FINISH,1.4,1.009233
$STATE,3146,end surface coast,CONTROL_FINISHED_OK
$STATE,3146,begin surface
$SM_CCo,3166,109.32,0.043,0,0,406,611.52
$SM_GC,2.07,0.00,0.00,109.32,0.000,0.000,0.043,83,1946,406,-9.22,0.76,611.52
$IRIDIUM_FIX,-3414.71,2529.60,150308,101001
$TT8_MAMPS,0.026215
$HUMID,59.76
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.0,29.7
$24V_AH,24.3,50.123
$10V_AH,10.1,39.721
$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,23.125,39.550,399.275,109.325,0.000,26.499,43.514,178.227,2.500,0.000,22.762,981.198,688.606,530.910,1333.611,127.448,0.000,1017.319,0.000,1027.392,0.000,17.703,0.000
$DEVICE_MAMPS,245.565,126.990,629.595,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.854,626.882,570.943,336.103,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,30342,414
$CAP_FILE_SIZE,54298,0
$CFSIZE,2097086464,2039087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.265,106.3,1
$GPS,190515,224658,-3428.621,2529.470,37,1.2,40,-27.7