version: 66.07.10.p01
glider: 573
mission: 9
dive: 561
start: 5 23 115 6 56 50
data:
$ID,573
$MISSION,9
$DIVE,561
$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,330
$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,-15198.825
$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,21
$R_STBD_OVSHOOT,15
$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,560
$GPS1,230515,065023,-3437.016,2442.913,38,1.2,38,-27.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-67.2
$GPS2,230515,065630,-3437.060,2442.822,19,1.4,19,-27.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3427.708,2436.273
$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,357.5,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,109,0.00,0.00,-78.82,0.000,2,0.000,0.000,75,1911,2341,0,0,0,0,0,0
$GC,112,-1.05,-170.3,3.2,-4.2,13,168,10.93,2.47,-38.47,0.000,4,0.239,0.106,2678,3345,3596,0,0,0,0,0,0
$GC,197,-0.88,-170.3,10.4,-17.0,26,205,0.22,2.47,0.00,0.000,6,0.172,0.090,2743,1923,3597,0,0,0,0,0,0
$GC,256,-0.78,-170.3,22.2,-18.7,35,261,0.15,0.00,0.00,0.000,6,0.181,0.000,2782,1923,3598,0,0,0,0,0,0
$GC,403,-0.76,-170.3,43.8,-13.9,60,410,0.00,2.45,0.00,0.000,4,0.000,0.093,2774,3333,3599,0,0,0,0,0,0
$GC,457,-0.76,-170.3,51.4,-14.3,69,464,0.03,2.45,0.00,0.000,6,0.139,0.090,2782,1925,3598,0,0,0,0,0,0
$GC,816,-0.79,-170.3,94.7,-10.5,130,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1925,3600,0,0,0,0,0,0
$STATE,945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,945,begin apogee
$GC,951,-0.25,0.0,109.9,10.8,146,1081,0.52,0.00,126.90,0.589,6,0.146,0.000,2948,1754,2902,0,0,0,0,0,0
$STATE,1082,end apogee,CONTROL_FINISHED_OK
$STATE,1082,begin climb
$GC,1084,1.05,170.3,116.9,0.0,159,1223,1.23,2.25,131.38,0.579,4,0.095,0.046,3372,320,2206,0,0,0,0,0,0
$GC,1269,0.94,200.1,113.0,8.8,176,1300,0.10,2.33,24.55,0.555,6,0.141,0.033,3341,1769,2086,0,0,0,0,0,0
$GC,1638,0.94,251.2,77.4,8.0,230,1687,0.00,2.33,41.28,0.572,4,0.000,0.068,3341,3172,1876,0,0,0,0,0,0
$GC,1777,0.89,251.5,64.4,10.0,254,1783,0.10,2.42,0.00,0.000,6,0.183,0.083,3325,1746,1873,0,0,0,0,0,0
$GC,2129,0.95,300.8,37.6,8.1,315,2176,0.00,2.30,39.58,0.564,4,0.000,0.055,3336,329,1674,0,0,0,0,0,0
$GC,2206,1.00,340.9,31.0,8.4,328,2237,0.00,2.30,21.20,0.526,6,0.000,0.041,3336,1748,1511,0,0,0,0,0,0
$GC,2383,1.03,340.9,14.6,10.0,357,2390,0.08,2.42,0.00,0.000,4,0.114,0.086,3398,3186,1504,0,0,0,0,0,0
$GC,2436,0.95,340.9,8.1,13.3,365,2444,0.20,2.45,0.00,0.000,6,0.145,0.081,3346,1759,1503,0,0,0,0,0,0
$STATE,2480,end climb,SURFACE_DEPTH_REACHED
$STATE,2480,begin surface coast
$FINISH,1.3,1.000221
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2530,118.62,0.041,0,0,406,611.52
$SM_GC,1.93,0.00,0.00,118.62,0.000,0.000,0.041,74,1995,406,-9.25,2.15,611.52
$IRIDIUM_FIX,-3422.54,2442.67,180308,191924
$TT8_MAMPS,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,9.46992
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,34.0
$24V_AH,24.5,55.488
$10V_AH,10.1,43.455
$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,22.150,29.275,384.875,118.625,0.000,27.563,21.733,189.919,1.500,0.000,21.410,804.307,388.453,465.852,1241.018,128.816,0.000,944.113,0.000,948.371,0.000,11.619,0.000
$DEVICE_MAMPS,239.445,137.700,589.050,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.551,545.737,574.018,373.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330788
$DATA_FILE_SIZE,27094,377
$CAP_FILE_SIZE,48916,0
$CFSIZE,2097086464,2033385472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230515,074205,-3437.028,2442.323,27,1.4,27,-27.5