version: 66.07.10.p01
glider: 573
mission: 9
dive: 543
start: 5 22 115 14 45 14
data:
$ID,573
$MISSION,9
$DIVE,543
$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,0
$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,-15146.092
$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,13
$R_STBD_OVSHOOT,12
$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,542
$GPS1,220515,143535,-3434.893,2458.420,27,1.8,27,-27.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-50.9
$GPS2,220515,144452,-3435.004,2458.190,28,1.0,43,-27.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3424.205,2458.190
$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,27.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,113,0.00,0.00,-84.75,0.000,2,0.000,0.000,75,1940,2564,0,0,0,0,0,0
$GC,116,-1.05,-170.3,3.2,-1.7,14,161,10.88,2.47,-24.73,0.000,4,0.239,0.107,2678,3348,3600,0,0,0,0,0,0
$GC,309,-0.88,-170.3,39.8,-22.4,45,314,0.25,2.45,0.00,0.000,6,0.172,0.090,2746,1914,3601,0,0,0,0,0,0
$GC,453,-0.84,-170.3,66.4,-16.1,70,459,0.05,2.47,0.00,0.000,4,0.239,0.093,2749,3358,3601,0,0,0,0,0,0
$GC,474,-0.80,-170.3,69.9,-16.9,73,483,0.10,2.50,0.00,0.000,6,0.168,0.091,2772,1911,3601,0,0,0,0,0,0
$GC,821,-0.80,-170.3,112.5,-10.2,124,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1911,3602,0,0,0,0,0,0
$STATE,894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,894,begin apogee
$GC,900,-0.25,0.0,120.2,10.2,131,1037,0.60,0.00,128.35,0.596,6,0.181,0.000,2944,1753,2901,0,0,0,0,0,0
$STATE,1038,end apogee,CONTROL_FINISHED_OK
$STATE,1038,begin climb
$GC,1040,1.05,170.3,126.7,0.0,145,1178,1.27,0.00,131.35,0.585,6,0.106,0.000,3363,1752,2206,0,0,0,0,0,0
$GC,1496,0.98,206.3,98.7,8.6,189,1536,0.05,2.47,29.20,0.575,4,0.220,0.077,3353,3186,2059,0,0,0,0,0,0
$GC,1645,0.88,206.3,83.5,10.8,215,1651,0.15,2.47,0.00,0.000,6,0.162,0.086,3322,1743,2056,0,0,0,0,0,0
$GC,1998,1.00,332.9,57.6,5.0,276,2107,0.10,2.33,99.18,0.577,4,0.090,0.055,3415,334,1544,0,0,0,0,0,0
$GC,2357,0.91,332.9,8.4,16.3,338,2365,0.25,2.28,0.00,0.000,6,0.140,0.038,3336,1756,1536,0,0,0,0,0,0
$GC,2416,1.01,418.8,3.4,6.6,347,2424,0.08,0.00,5.57,0.044,2,0.112,0.000,3372,1757,1486,0,0,0,0,0,0
$STATE,2425,end climb,SURFACE_DEPTH_REACHED
$STATE,2425,begin surface coast
$FINISH,1.3,1.010960
$STATE,2469,end surface coast,CONTROL_FINISHED_OK
$STATE,2469,begin surface
$SM_CCo,2487,117.75,0.041,0,0,408,611.52
$SM_GC,1.81,0.00,0.00,117.75,0.000,0.000,0.041,76,1931,408,-9.25,0.34,611.52
$IRIDIUM_FIX,-3419.93,2456.74,180308,030304
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.47968
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,24.3
$24V_AH,24.5,54.017
$10V_AH,10.1,42.485
$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,22.475,20.050,393.650,117.750,0.000,55.662,101.475,191.584,2.250,0.000,46.970,743.266,552.366,471.290,1286.093,123.621,0.000,906.782,0.000,865.566,0.000,17.484,0.000
$DEVICE_MAMPS,238.680,133.110,595.935,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.504,524.460,518.197,315.108,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,23663,355
$CAP_FILE_SIZE,44993,0
$CFSIZE,2097086464,2035154944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,220515,152959,-3434.903,2457.467,42,1.5,42,-27.6