version: 66.07.10.p01
glider: 573
mission: 9
dive: 581
start: 5 24 115 0 31 28
data:
$ID,573
$MISSION,9
$DIVE,581
$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,30
$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,-15254.819
$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,15
$R_STBD_OVSHOOT,10
$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,580
$GPS1,240515,002459,-3435.153,2438.105,39,1.2,39,-27.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-64.3
$GPS2,240515,003107,-3435.138,2438.047,19,1.2,19,-27.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.785,2444.594
$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,57.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,114,0.00,0.00,-84.43,0.000,2,0.000,0.000,71,1938,2514,0,0,0,0,0,0
$GC,117,-1.05,-170.3,3.2,-4.0,14,168,10.90,2.45,-32.75,0.000,4,0.239,0.096,2690,495,3597,0,0,0,0,0,0
$GC,263,-0.88,-170.3,24.9,-20.5,37,268,0.28,2.55,0.00,0.000,6,0.199,0.097,2750,1926,3599,0,0,0,0,0,0
$GC,411,-0.81,-170.3,51.0,-16.9,62,417,0.08,2.47,0.00,0.000,4,0.207,0.103,2756,3358,3600,0,0,0,0,0,0
$GC,597,-0.81,-170.3,73.9,-11.8,94,603,0.05,2.47,0.00,0.000,6,0.177,0.088,2767,1910,3601,0,0,0,0,0,0
$STATE,874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,874,begin apogee
$GC,880,-0.25,0.0,106.1,11.5,137,1015,0.60,0.00,128.82,0.589,6,0.172,0.000,2943,1760,2902,0,0,0,0,0,0
$STATE,1016,end apogee,CONTROL_FINISHED_OK
$STATE,1016,begin climb
$GC,1019,1.05,170.3,113.9,0.0,151,1161,1.27,0.00,131.85,0.579,6,0.096,0.000,3367,1760,2208,0,0,0,0,0,0
$GC,1490,0.98,216.2,84.2,8.2,211,1534,0.08,2.30,37.03,0.571,4,0.190,0.053,3362,323,2021,0,0,0,0,0,0
$GC,1681,0.91,216.2,62.2,13.3,244,1687,0.12,2.28,0.00,0.000,6,0.155,0.039,3327,1768,2018,0,0,0,0,0,0
$GC,2034,1.02,309.3,33.7,6.3,305,2096,0.10,2.42,53.60,0.558,4,0.090,0.086,3392,3176,1639,0,0,0,0,0,0
$GC,2167,0.94,309.3,19.7,13.9,327,2175,0.17,2.45,0.00,0.000,6,0.137,0.078,3345,1750,1634,0,0,0,0,0,0
$GC,2226,0.94,309.3,12.8,10.6,336,2233,0.00,2.33,0.00,0.000,4,0.000,0.060,3356,326,1632,0,0,0,0,0,0
$GC,2272,0.92,309.3,7.8,10.8,343,2280,0.08,2.33,0.00,0.000,6,0.134,0.046,3331,1752,1631,0,0,0,0,0,0
$STATE,2322,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,1.4,1.009675
$STATE,2367,end surface coast,CONTROL_FINISHED_OK
$STATE,2367,begin surface
$SM_CCo,2386,132.25,0.041,0,0,407,611.52
$SM_GC,2.07,0.00,0.00,132.25,0.000,0.000,0.041,69,1946,407,-9.27,0.79,611.52
$IRIDIUM_FIX,-3422.54,2436.82,190308,121254
$TT8_MAMPS,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.46015
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,30.2
$24V_AH,24.4,57.115
$10V_AH,10.1,44.525
$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,22.500,24.625,351.300,132.250,0.000,24.665,26.401,190.903,1.500,0.000,21.887,763.238,362.895,465.867,1179.323,128.016,0.000,893.043,0.000,890.704,0.000,11.610,0.000
$DEVICE_MAMPS,238.680,130.050,589.050,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.004,516.786,557.755,356.495,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330864
$DATA_FILE_SIZE,23793,358
$CAP_FILE_SIZE,44009,0
$CFSIZE,2097086464,2031419392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240515,011435,-3434.907,2437.951,30,1.0,30,-27.5