version: 66.07.10.p01
glider: 573
mission: 9
dive: 612
start: 5 25 115 2 8 28
data:
$ID,573
$MISSION,9
$DIVE,612
$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,45
$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,2
$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,-15339.797
$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,11
$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,30
$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,611
$GPS1,250515,020705,-3430.602,2431.860,34,1.1,34,-27.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-60.0
$GPS2,250515,020807,-3430.601,2431.855,15,1.5,15,-27.3
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.965,2441.108
$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,72.3,20000,-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,24,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-79.05,0.000,2,0.000,0.000,71,1941,2351,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-4.6,13,168,11.07,2.50,-37.60,0.000,4,0.246,0.098,2688,494,3598,1,0,0,0,0,0
$GC,286,-0.88,-170.3,31.0,-22.3,41,292,0.25,2.50,0.00,0.000,6,0.201,0.090,2742,1923,3600,0,0,0,0,0,0
$GC,433,-0.86,-170.3,53.2,-11.8,66,440,0.00,2.45,0.00,0.000,4,0.000,0.100,2733,3336,3601,0,0,0,0,0,0
$GC,529,-0.86,-170.3,64.6,-12.8,82,535,0.10,2.42,0.00,0.000,6,0.137,0.087,2758,1918,3601,0,0,0,0,0,0
$GC,881,-0.86,-170.3,107.2,-12.8,139,885,0.00,2.45,0.00,0.000,4,0.000,0.099,2757,484,3603,0,0,0,0,0,0
$GC,920,-0.86,-170.3,112.4,-12.8,142,925,0.00,2.45,0.00,0.000,6,0.000,0.078,2749,1920,3603,0,0,0,0,0,0
$STATE,969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,969,begin apogee
$GC,975,-0.25,0.0,119.1,13.5,146,1111,0.68,0.00,129.38,0.614,6,0.172,0.000,2945,1705,2902,0,0,0,0,0,0
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1114,1.05,170.3,127.1,0.0,160,1254,1.27,2.28,132.57,0.605,4,0.106,0.053,3377,321,2206,0,0,0,0,0,0
$GC,1512,0.92,178.9,105.4,9.7,196,1526,0.15,2.30,7.90,0.517,6,0.158,0.038,3337,1773,2172,0,0,0,0,0,0
$GC,1862,0.90,215.2,75.6,8.6,251,1894,0.05,0.00,30.17,0.592,6,0.241,0.000,3326,1770,2024,0,0,0,0,0,0
$GC,2241,0.98,283.6,44.5,7.3,317,2302,0.08,2.45,54.62,0.588,4,0.111,0.093,3382,3182,1746,0,0,0,0,0,0
$GC,2489,0.92,283.6,19.6,13.2,360,2497,0.20,2.58,0.00,0.000,6,0.151,0.105,3331,1756,1740,0,0,0,0,0,0
$GC,2548,0.97,328.5,14.4,8.2,369,2580,0.00,2.33,21.38,0.499,4,0.000,0.063,3341,326,1559,0,0,0,0,0,0
$GC,2620,1.00,328.5,7.7,10.0,380,2627,0.00,2.35,0.00,0.000,6,0.000,0.047,3341,1755,1556,0,0,0,0,0,0
$STATE,2669,end climb,SURFACE_DEPTH_REACHED
$STATE,2669,begin surface coast
$FINISH,1.3,1.006199
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2726,125.22,0.043,0,0,407,611.52
$SM_GC,2.01,0.00,0.00,125.22,0.000,0.000,0.043,70,1949,407,-9.26,0.85,611.52
$IRIDIUM_FIX,-3417.32,2432.26,200308,131320
$TT8_MAMPS,0.026215
$HUMID,59.68
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.4,22.3
$24V_AH,24.3,59.499
$10V_AH,10.1,46.139
$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,22.675,29.675,376.025,125.225,0.000,0.000,0.000,0.000,2.500,0.000,18.200,853.299,481.771,460.700,1055.583,74.635,0.000,951.146,0.000,1005.837,0.000,17.513,0.000
$DEVICE_MAMPS,245.565,120.105,614.295,42.840,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,262.360,572.254,583.850,358.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,27180,394
$CAP_FILE_SIZE,44990,1
$CFSIZE,2097086464,2028830720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1
$GPS,250515,025705,-3430.303,2431.878,28,1.4,28,-27.3